RU2518234C2 - Agricultural complex - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: invention relates to the field of agricultural engineering and can be used in creation of new methods (including robotic) cropping and agricultural complex for their implementation. The agricultural complex comprises the agricultural bridge 1 with interchangeable equipment and reference points 11 for operation of the agricultural bridge 1. The agricultural complex is provided with starting-technological platform 2 with the service equipment and the reference points 11 for navigation reference of the agricultural bridge 1, located at the entrance at the processed field 3. The reference points 11 are located along the contour of the processed field 3 and the starting platform 2, and the agricultural bridge 1 is made with the ability to move in directions without the presence of them of the guides under the control of onboard navigation system with reference of the agricultural bridge 1 to the starting-technological platform 2 and the processed field 3.

EFFECT: constructive implementation enables to provide automated movement of the agricultural complex along the predetermined route with the processing of the whole area of the field of any configuration.

10 cl, 4 dwg

Description

The invention relates to the field of agricultural engineering and can be used to create new methods (including robotic) for the cultivation of crops and agricultural complexes for their implementation.

The known system of bridge farming by AS USSR 1588295, publ. in bull. N32 from 08.30.90, where an agromost was used, walking on piles, which is associated with the loss of fertile soil under piles.

The known method I.A. Maysova according to patent RU 2055457, publ. in bull. N7 dated 03/10/96. It includes farmland with constant longitudinal and transverse ruts and a bridge unit containing a farm on self-propelled carts.

A known method of cultivation of crops and agricultural complex for its implementation Burkova L.N. according to patent RU 2253208, publ. 06/10/2005, the Method includes the formation of crop rotation and the breakdown of the fields in such a way that a tramline is laid along the contour of the fields, and hangars are built on the short sides of the fields and technological and working equipment are installed in them, agromosts are installed on the tramline, and then the fields are processed , while one of the agromost is used as a repair. The tramline is made of profiled reinforced concrete slabs. The agricultural complex has hangars with the technological and working equipment installed in them.

Significant disadvantages of this method of performing agricultural work are:

- the presence of hangars and a stationary tramline leads to the withdrawal from circulation of arable land (crop), based on:

(wide gauge) :( wide gauge) X 100% = (from 1% to 10%);

- the linking of agricultural bridges, hangars, technological and working equipment to a specific field multiplies the cost of engineering equipment in many fields;

- processing fields of only a rectangular configuration.

Known sowing combination unit Bankina V.A. according to patent RU 2305924, published on September 20, 2007, it contains a wheeled tractor with front and rear wheels. In the cross-wheel space there is a hopper for seeds and fertilizers with sowing devices, seed tubes and a drive mechanism for the shaft of the sowing devices. Front and rear tire treads are mounted on rims. Tire treads of the front wheels are used as openers, and treads of the rear wheels are used as press rollers. The metering shaft is kinematically connected to the rear wheel.

Significant disadvantages of this device are:

- the inability to use liquid fertilizers;

- the impossibility of the simultaneous application of seeds and fertilizers (for one penetration);

- the movement of the tractor in the operating mode in only one direction.

Known seeder sod Kormshchikova A.D. according to patent RU 2305924, publ. November 20, 2007, it contains supporting-driving rear wheels seed box with sowing devices, a milling section, a mechanism for controlling the depth of processing and a casing. The milling section has working elements in the form of a disk with tillage knives. In the rear part of the casing, behind the working elements in the form of disks with tillage knives, a removable multi-level trap is installed over the entire width and height of the casing. It consists of a frame and receiving cells. The latter are arranged vertically one above the other.

Significant disadvantages of this device are:

- the inability to install in place a multi-level trap of other equipment for tillage or additional cartridges with seeds, after determining the optimal depth of tillage;

- the impossibility of the simultaneous application of seeds and fertilizers (for one penetration);

- movement of the seeder in the operating mode in only one direction.

Known agrocomplex containing agromost with interchangeable equipment and reference points for controlling the agromost (see RF patent No. 2076551, application No. 94015138, publ. 04/10/1997) - the closest analogue of the proposed solution.

The well-known agro-complex has all the disadvantages inherent in agro-complexes, in which special guides are used to move the agro-bridge, and are given above.

The technical result to which the invention is directed is as follows:

- the creation of a universal, mobile, automated, all-weather agricultural complex, including equipment capable of autonomously, in full, very accurately multiple times, taking into account crop rotation and technology, to carry out agricultural work using the minimum engineering equipment (reference points, launch pad) of fields of any configuration and size

- creation of the design of a universal agromost-orat (yelling - plowing, cultivating the land, with emphasis on the first syllable) of a modular type, with two engines and different types of interchangeable wheels, using universal removable cartridges and mounted or trailed equipment with a top reverse mechanism;

- increasing the profitability of the agricultural complex, reducing the cost and labor costs in the engineering equipment of the cultivated fields;

- use of the entire area of the field for crop rotation without withdrawing up to 10% of arable land for stationary ruts and hangars;

- Creation of a data bank of fields equipped for the operation of the agricultural complex, with the possibility of crop rotation planning, a complete calculation of the time required to carry out the work and the cost of providing them at current prices and for the coming years, taking into account the forecast inflation;

- optimization of the operating mode of the agromost-orat along the route (the start point of the movement coincides with the end point of the work) and the speed of movement (turning on any of the engines separately or both together);

- Creation of a universal, mobile, autonomous technological and repair equipment of the agricultural complex;

- providing all-weather shift round-the-clock battery life both in manual mode and in the main “autopilot” mode with remote video control and real-time control.

The indicated technical result is achieved in that the agro-complex containing an agromost with interchangeable equipment and reference points, for example, in the form of corner reflectors, for controlling the agromost is equipped with a launch and technological platform with service equipment and reference points for navigating an agromost located at the entrance, at at least one field to be processed. In this case, the reference points are placed along the contour of the field to be worked out and the launch-technological platform, and the agromost is made with the possibility of moving in directions without the presence of guides on them under the control of the airborne navigation complex with the link of the agromost to the launch-technological platform and to the processed field.

The agro-complex can be equipped with at least one additional agro-bridge, while the agro-bridge (each agro-bridge) can be made with a symmetrical chassis, each part of which is coupled to an independent drive, which allows implementing the algorithm of the agro-bridge moving along a closed route without 180 ° turns and provides return to the starting point along the perimeter of the field.

Drive motors can have different power.

The agromost can be made with the possibility of installing replaceable fuel tanks and with the possibility of installing replaceable working equipment, including on the frame of the upper reverse mechanism, and replaceable cartridges with fertilizers, water, planting and seed material, with working equipment, including on the chassis frame , to perform the relevant work.

The agricultural complex can be equipped with kungs for storing planting material, fertilizers, repair and technological equipment, kungs for eating and resting workers, and kungs with communication and remote control equipment for an agromost, a gas tanker-water carrier with removable tanks and a helicopter.

The invention is illustrated by drawings.

In Fig.1 - agromost, in Fig.2 - the field to be processed with one launch and technological platform, in Fig.3 - two fields with launch and technological platforms, in Fig.4 - a diagram of the movement of the agromost between fields

Agromost 1 is equipped with a gyrocompass, a radar installation, video cameras, communications and a computer that automatically controls its operation in the ″ autopilot ″ mode. Using the radar, the on-board navigation system connects the agromost 1 to the launch-technological platform 2, the entry point on field 3 and to a specific field, according to the algorithm, it calculates the route of the agromost 1 along the field and its processing algorithm (set of working bodies and their height above the surface) calculates the required amount of fuel, fertilizer, seed, planting material, as well as the time required to complete the work, calculates the time to replace used cartridges, fuel tanks and the place If the replacement is carried out in the field, it remembers the contours of the field and ensures that when carrying out the next agricultural (or when using two or more agromosts 1 at the same time) exact movement along the initial route (row spacing) and calculation of fuel, fertilizers applied, a set of working bodies and their height placement for a new technological operation, determines the relative position of two or more agromosts 1 operating on the same field, if necessary, calculates the strategic planning of the work of the agricultural complex ksa for a given number of working agro-bridges 1 and servicing mobile devices, a given number of cultivated fields, for crop rotation types specified for them, for a given season or cycle of seasons (any necessary period of time), in any shift mode at specified prices and taking into account inflation.

Agromost 1 (Figure 1) is made on a symmetrical chassis - "push-push" and is equipped with:

- two wide wheels-rollers 4 of large diameter with interchangeable-overhead treads, front - coulters and rear - rolling rollers, wide wheels-rollers during certain agricultural operations can be replaced with wheels of different widths, diameters and tread patterns corresponding to the cultivated agricultural crop , soil condition, and operation performed;

- two independent engines of various power 5, one for each axis 6, working in any combination to ensure the necessary speed and economy in operation;

- places for installation of 14 automated control systems;

- replaceable cartridges 7 with working bodies;

- replaceable sealed cartridges 8 with seed; planting material, fertilizers of various classes, for irrigation;

- replaceable tanks 9 with fuel or batteries;

- interchangeable attachments or trailers, with a removable mechanism of the upper reverse 10.

The agricultural complex in its composition has:

1. A loader crane used to replace cartridges, interchangeable protectors, wheels, fuel tanks or batteries, install attachments, and repair work.

2. Kung (kungs) with microclimate and lighting supported in them to ensure long-term storage of cartridges with seedlings in it and possibly with germinated seeds in a special planting tape.

3. Kung (kungs) with repair equipment, tools, spare parts and accessories for the planned types of work (included portable tent canopy, collapsible tent frame and portable searchlights).

4. Kung (kungs) for transportation of sealed cartridges with seeds, fertilizers and working bodies for the planned work.

5. Kung (kungs) for storing, preparing and eating food, as well as for resting a free shift of workers, equipped with means of communication with a dispatcher and controls the work of the agromost.

6. Petrol tanker-water truck with a removable tank.

7. The helicopter.

A feature of the functioning of the agricultural complex is as follows:

- reference points 11 (corner reflectors) line of sight along the contour of the fields;

- the entry point of the agromost on the field is equipped with reference points and a launch and technological platform;

- mobility of the agricultural complex - the processing of many fields 3 sequentially with one agromost 1 or in parallel with several agromost 1 in the presence of one set of technological and repair equipment;

- the route calculation algorithm allows you to process fields 3 of any (not only rectangular) configuration, and agromost 1 moves so that the start point of the movement coincides with the end point - the point of entry into the field, while there is no repeated passage through the already processed section of the field (Fig. 2);

- automatic planning for any period of time, for any number of fields, taking into account crop rotation, with accurate calculation of time and cost of work;

- the relatively low cost of engineering equipment (reference points and launch pad) of each field, not growing much with increasing size;

- the absence of problems with the operation of the agricultural complex at fields 3 far removed from the settlements, related to the need for daily delivery of workers and the need to protect equipment 24 hours a day;

- the possibility of using on equipped fields 3 different, including more modern, productive, universal and economical, agricultural machinery without significant engineering re-equipment;

- a helicopter used, if necessary, to transfer the agromost 1 over the shortest distance in the conditions of the mudslide to an adjacent field or, if necessary, to remove the agromost 1 from the swampy area of the field.

The technical result when cultivating crops is achieved due to the fact that:

- cultivated fields 3 and their entry points are equipped with reference points 11 (corner reflectors) of direct visibility and a launch technological and repair site laid with standard reinforced concrete airfield plates;

- mobile and autonomous all the technical means of ensuring the work and repair of the agricultural complex, working according to a single algorithm;

- universal agromost 1 makes it possible to process fields of any (not only rectangular) configuration, very accurately and repeatedly, taking into account crop rotation in the automated mode “autopilot” strictly according to plan.

To reduce the pressure on the soil, the main structural details of the agromost 1, cartridges 7, 8 and attachments are made of reinforced composite materials based on carbon fiber, and the fuel tanks 9 are made of transparent plastic in a removable modular design.

The use of this agricultural complex allows more efficient use of technical equipment with minimal engineering field equipment, processing large fields and various configurations, without inappropriate (up to 10%) land use under stationary tramlines and hangars, with the subsequent possibility of unhindered processing of these fields by other machines. The modular principle of completing the agromost increases labor productivity, allows for the replacement and repair of equipment both at launch pad 2 and directly on the field during operation.

The mobility of the agricultural complex and its use in an all-weather round-the-clock shift mode significantly increase the profitability of agricultural work, provide more efficient use of universal equipment.

Reducing the pressure on the soil is achieved through the use of large-diameter rollers 4, the use of reinforced composite materials in the construction of the agromost and replaceable cartridges and fuel tanks.

The on-board computer plans to work according to the specified parameters for any period of time and controls the operation of the agro-bridge 1 and the agro-complex as a whole, both in the "autopilot" mode and in manual mode.

The field (fields) 3 and the place of entry into the field are equipped with reference points and a launch pad 2, the route of the agro-bridge movement along the field is calculated and stored according to the algorithm. For the planned work, the agromost on the launch pad is equipped with the necessary wheels, treads, cartridges, tanks with fuel and attachments, on the launch pad there is a supply of cartridges and fuel based on the processing of the entire field and technological equipment for autonomous maintenance of the health of the agricultural complex, after processing one field the agricultural complex moves to the following, where, if necessary, reconfiguration of the agromost takes place under a new set of works and other cultivated agricultural my culture. The work on the field is carried out in an automated “autopilot” mode with real-time remote video monitoring.

The agricultural complex works as follows. From the place 12 of basing and picking (base), the fully prepared agromost 1 along the access roads 13 is moved to the launch and technological platform 2 of a specific field 3, where it performs the work in the above way, after moving to the next field, the agromost 1 is completed with everything necessary by transportation from the base and so on until the complete processing of all fields 3 equipped for applying the method.

Agromost 1 moves between fields on its own or with a helicopter. Before starting work on launch pad 2, it is equipped with everything necessary for the planned work, it is tied to field 3, according to the algorithm, it calculates the route of movement along the field and sets all working bodies and equipment to the initial position, operates in the "autopilot" mode, refuel with consumables during operation directly on the field at the calculated point.

Claims (10)

1. An agricultural complex containing an agromost with interchangeable equipment and reference points for controlling an agromost, characterized in that it is equipped with a launch and technological platform with service equipment and reference points for navigating an agromost located at the entrance of at least one field to be processed, the reference points are placed along the contour of the field and the launching and technological platform, and the agromost is made with the ability to move in directions without the presence of guides on them under the control Niemi-board navigation system with reference to the start-agromosta technological platform and to the treated field. 2. The agricultural complex according to claim 1, characterized in that it is equipped with at least one additional agromost. 3. The agricultural complex according to claim 1, characterized in that the reference points are made in the form of corner reflectors. 4. The agricultural complex according to claim 1, characterized in that the agromost is made with a symmetrical chassis, each part of which is coupled to an independent drive, which allows the algorithm to move the agromost along a closed route without 180 ° turns and ensures a return to the starting point along the field perimeter. 5. The agricultural complex according to claim 4, characterized in that the drive motors have different power. 6. The agricultural complex according to any one of claims 1 to 5, characterized in that the agromost is configured to install interchangeable wheels of different widths and wheels with interchangeable protectors. 7. The agricultural complex according to claim 1, characterized in that the agromost is made with replaceable fuel tanks and with the possibility of installing removable working equipment, including on the frame of the upper reverse mechanism, and replaceable cartridges with fertilizers, water, planting and seed, with working equipment, including on the chassis frame, to perform the corresponding work. 8. The agricultural complex according to claim 1 or 2, characterized in that it is equipped with kungs for storing planting material, fertilizers, repair and technological equipment, kungs for eating and resting workers and kungs with communication equipment and remote control of the agromost. 9. The agricultural complex according to claim 1 or 2, characterized in that it is equipped with a water tanker-water carrier with replaceable tanks. 10. The agricultural complex according to claim 1 or 2, characterized in that it is equipped with a helicopter.

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