CN111758311A - Rotary tillage robot for orchard - Google Patents
Rotary tillage robot for orchard Download PDFInfo
- Publication number
- CN111758311A CN111758311A CN201910263170.1A CN201910263170A CN111758311A CN 111758311 A CN111758311 A CN 111758311A CN 201910263170 A CN201910263170 A CN 201910263170A CN 111758311 A CN111758311 A CN 111758311A
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- China
- Prior art keywords
- rotary
- motor
- control module
- rotary tillage
- pull rod
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/087—Lifting devices; Depth regulation devices; Mountings
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/082—Transmissions; Gearings; Power distribution
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Power Engineering (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an orchard rotary tillage robot capable of finishing the tillage operation of the robot by using a transmitter, which comprises a walking unit, a rotary tillage unit and a control unit, wherein the walking unit comprises a crawler driven by a brushless motor, the rotary tillage unit comprises a rotary cultivator, the rotary cultivator is hinged at the tail part of the crawler through a connecting rod, a lifting pull rod motor is fixedly arranged on the crawler, a driving rod of the lifting pull rod motor is hinged with the top part of the rotary cultivator through a lifting pull rod, the rotary cultivator can be lifted by pulling the lifting pull rod through the lifting pull rod motor, the crawler is also fixedly provided with a rotary tillage motor, and the rotary tillage motor is connected with a power output shaft on the rotary cultivator through a coupling; the control unit comprises a control module, a transmitter and a ground control station, the brushless motor, the lifting pull rod motor and the rotary tillage motor are all connected with the control module, the control module is connected with a receiver, and the control module is in communication connection with the transmitter and the ground control station in a wireless mode through the receiver.
Description
Technical Field
The invention relates to the technical field of modern farmland mechanical tillage devices, in particular to a rotary tillage robot for an orchard.
Background
At present, the rotary cultivator is mainly applied to agricultural automatic cultivation, and the rotary cultivator is commonly used in modern agriculture in China to complete land cultivation by matching with a tractor. In the process of completing cultivation by matching with a tractor, the tractor is manually operated, even though the novel micro cultivator gets rid of the limitation of being combined with the tractor, the cultivator is still manually operated to complete the cultivation task, and the rotary cultivation depth and the rotary speed of a rotary cultivation cutter are always fixed when the rotary cultivator works.
The control center of the orchard tillage robot utilizes a PID algorithm control system to realize signal transmission among the robot, a ground station and a transmitter, and the rotary tillage of the tillage robot can be realized through the transmitter; the control center is connected with the rotary cultivator, so that the rotary cultivator can adjust the rotating speed of a cutter and the rotary tillage depth of the rotary cultivator according to the current situation of tillage, and the rotary tillage efficiency is improved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, adapt to practical requirements, provide an orchard rotary tillage robot which can complete the tillage operation of the robot by using a transmitter and improve the rotary tillage efficiency, and solve the technical problems that the existing cultivator needs to depend on manual control operation and the rotary tillage effect is single.
In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
the rotary tillage robot for the orchard comprises a walking unit, a rotary tillage unit and a control unit, wherein the walking unit comprises a tracked vehicle driven by a brushless motor, the rotary tillage unit comprises a rotary cultivator, the rotary cultivator is hinged to the tail of the tracked vehicle through a connecting rod, a lifting pull rod motor is fixedly mounted on the tracked vehicle, a driving rod of the lifting pull rod motor is hinged to the top of the rotary cultivator through a lifting pull rod, the rotary cultivator can be lifted through the lifting pull rod motor, a rotary tillage motor is further fixed on the tracked vehicle, and the rotary tillage motor is connected with a power output shaft on the rotary cultivator through a shaft coupler and drives a blade rotary tillage cutter in the rotary cultivator through the rotary tillage motor;
the control unit comprises a control module, a transmitter and a ground control station, the brushless motor, the lifting pull rod motor and the rotary tillage motor are all connected with the control module, the control module is connected with a receiver, and the control module is in communication connection with the transmitter and the ground control station in a wireless mode through the receiver.
The control unit further comprises an electric regulator, the electric regulator is connected with the control module, and the output end of the electric regulator is connected with the brushless motor, the lifting pull rod motor and the rotary tillage motor.
The control unit further comprises a raspberry pi connected with the control module, and the receiver is connected with the control module through the raspberry pi.
The control unit further comprises a wireless data transmission antenna and a 4G communication module connected with the control module, the wireless data transmission antenna is connected with the 4G communication module and the receiver, the receiver is in wireless communication connection with the transmitter through the wireless data transmission antenna, and the control module is in wireless communication connection with the ground station through the 4G communication module.
The control unit also comprises a difference module connected with the control module.
The control unit further comprises a direction-finding antenna, a positioning antenna and an inertial navigation module which are connected with the control module.
The ground station includes a computer.
The invention has the beneficial effects that:
the rotary cultivator tiller solves the technical problems that the existing cultivator needs to be controlled by manual operation and the rotary tillage effect is single, can control the robot to complete the rotary cultivator tillage operation through the transmitter or the ground station, and can adjust the rotary tillage depth and the rotating speed of the rotary tillage cutter to optimize the rotary tillage effect.
Drawings
FIG. 1 is a schematic diagram of the main structure of the present invention;
fig. 2 is a schematic diagram of the main electrical principle of the present invention.
In the figure:
1. a rotary cultivator; 2. the top of the rotary cultivator; 3. a direction-finding antenna; 4. an inertial navigation module; 5. a control module; 6. a difference module; 7.4G communication module; 8. a receiver; 9. a raspberry pie; 10. a wireless data transmission antenna; 11. positioning an antenna; 12. a brushless motor; 13. electrically adjusting; 14. a power source; 15. a rotary tillage motor; 16. lifting the pull rod; 17. a coupling; 18. a lifting pull rod motor.
Detailed Description
The invention is further illustrated with reference to the following figures and examples:
example 1: a rotary tillage robot for an orchard, which is shown in figures 1 and 2.
It includes walking unit, rotary tillage unit and the control unit, walking unit includes tracked vehicle (prior art) by brushless motor drive, the rotary tillage unit includes rotary cultivator 1 (prior art), and the rotary cultivator passes through the connecting rod and articulates afterbody (prior art) at tracked vehicle.
According to the design, a lifting pull rod motor 18 is fixedly installed on the crawler, a driving rod of the lifting pull rod motor 18 is hinged with the top 2 of the rotary cultivator through a lifting pull rod 16, the rotary cultivator 1 can be lifted by pulling the lifting pull rod through the lifting pull rod motor 18, and meanwhile, the height of the rotary cultivator can be reduced through the lifting pull rod motor; furthermore, a rotary tillage motor 15 is fixed on the crawler, the rotary tillage motor 15 is connected with a power output shaft on the rotary cultivator through a coupling 17 to provide power for rotary tillage of a cutter of the rotary cultivator, and the rotary tillage purpose is achieved by driving a rotary tillage cutter in the rotary cultivator through the rotary tillage motor.
Specifically, the control unit comprises a control module 5, a transmitter and a ground control station, the ground control station comprises a computer, the brushless motor, the lifting pull rod motor 18 and the rotary tillage motor 15 are all connected with the control module, the control module is connected with a receiver 8, and the control module is in communication connection with the transmitter and the ground control station in a wireless mode through the receiver.
More specifically, the control unit still includes electricity 14, and electricity 14 is connected with control module, and the output of electricity 14 is connected with brushless motor 12, promotion pull rod motor 18, rotary tillage motor 15, through 14 steerable brushless motor of electricity, promotion pull rod motor, rotary tillage motor's rotational speed.
The control unit further comprises a raspberry pi 9 connected with the control module, a wireless data transmission antenna 10 and a 4G communication module 7 connected with the control module, the wireless data transmission antenna 10 is connected with the 4G communication module 7 and a receiver 8, the receiver is in wireless communication connection with a transmitter through the wireless data transmission antenna 10, and the control module is in wireless communication connection with a ground station through the 4G communication module.
Furthermore, the control unit further comprises a differential module 6 connected with the control module, a direction-finding antenna 3 connected with the control module, a positioning antenna and an inertial navigation module 4, the inertial navigation module 4 improves the stability and reliability of the control system, and the use of the differential module 6 improves the positioning precision.
The control module, the transmitter, the difference module, the inertial navigation module, the electronic controller, the raspberry pi, the wireless data transmission antenna, the 4G communication module, and the receiver used in this embodiment are all in the prior art, and are not the design point, and the specific structure is not described in detail in this embodiment.
In the device, the control module is controlled based on the PID algorithm of the single chip microcomputer, information transmission between the control module and the ground station and between the control module and the transmitter is realized through the receiver and the 4G communication module, so that the remote control of the robot can be completed by the transmitter, and meanwhile, the control module is connected with the rotary cultivator, the control on the rotating speed of the rotary tillage cutter and the rotary tillage depth is realized, the full-automatic operation of the orchard rotary tillage robot is realized, and the rotary tillage efficiency is optimized.
When the orchard rotary tillage robot is in use, the ground station of the orchard rotary tillage robot collects the running data of the whole robot, meanwhile, the ground station can send the walking data and preset information of the orchard rotary tillage robot to a control module in the orchard rotary tillage robot in real time, the transmitter can control the orchard rotary tillage robot in a short distance, when the transmitter controls the orchard rotary tillage robot, the control information of the transmitter is sent to a raspberry group through a receiver, the control information is transmitted to the control module through data decoding operation of the raspberry group 9, then the control module respectively transmits different control information to a brushless motor, a lifting pull rod motor and a rotary tillage motor, the brushless motor can control the walking speed and direction of a crawler, the lifting pull rod motor can realize lifting and descending of a rotary tillage machine and realize adjustment of rotary tillage depth, the rotary cultivator can be controlled by the rotary cultivator motor, so that the rotary cultivation operation of the orchard robot is automated; when the rotary tillage robot for the orchard is in operation, the differential module, the inertial navigation module, the direction-finding antenna and the positioning antenna can complete positioning of the position of the crawler, and signal transmission among the robot, the ground station and the transmitter is completed by the aid of technologies such as GPS positioning and raspberry dispatching.
In conclusion, the rotary tillage robot for the orchard can replace manual control of rotary cultivator rotary tillage operation through the control of the transmitter, can control the rotary tillage cutter speed and the rotary tillage depth of the rotary cultivator, optimizes the operation efficiency of the rotary cultivator, liberates manual labor force, enables people to simply complete the control of the rotary tillage robot for the orchard through the transmitter, greatly improves the work efficiency, is easy to use and operate, meets the requirement of agricultural development in China, and is suitable for large-scale popularization.
The embodiments of the present invention are disclosed as the preferred embodiments, but not limited thereto, and those skilled in the art can easily understand the spirit of the present invention and make various extensions and changes without departing from the spirit of the present invention.
Claims (7)
1. The utility model provides an orchard ploughs machine people soon, includes walking unit, rotary tillage unit and the control unit, its characterized in that: the walking unit comprises a crawler driven by a brushless motor, the rotary tillage unit comprises a rotary cultivator, the rotary cultivator is hinged to the tail of the crawler through a connecting rod, a lifting pull rod motor is fixedly mounted on the crawler, a driving rod of the lifting pull rod motor is hinged to the top of the rotary cultivator through a lifting pull rod, the rotary cultivator can be lifted through the lifting pull rod motor by pulling the lifting pull rod, a rotary tillage motor is further fixed on the crawler, and the rotary tillage motor is connected with a power output shaft on the rotary cultivator through a shaft coupler and drives a blade rotary tillage cutter in the rotary cultivator through the rotary tillage motor;
the control unit comprises a control module, a transmitter and a ground control station, the brushless motor, the lifting pull rod motor and the rotary tillage motor are all connected with the control module, the control module is connected with a receiver, and the control module is in communication connection with the transmitter and the ground control station in a wireless mode through the receiver.
2. An orchard rotary tilling robot as claimed in claim 1, wherein: the control unit further comprises an electric regulator, the electric regulator is connected with the control module, and the output end of the electric regulator is connected with the brushless motor, the lifting pull rod motor and the rotary tillage motor.
3. An orchard rotary tilling robot as claimed in claim 1, wherein: the control unit further comprises a raspberry pi connected with the control module, and the receiver is connected with the control module through the raspberry pi.
4. An orchard rotary tilling robot as claimed in claim 1, wherein: the control unit further comprises a wireless data transmission antenna and a 4G communication module connected with the control module, the wireless data transmission antenna is connected with the 4G communication module and the receiver, the receiver is in wireless communication connection with the transmitter through the wireless data transmission antenna, and the control module is in wireless communication connection with the ground station through the 4G communication module.
5. An orchard rotary tilling robot as claimed in claim 1, wherein: the control unit also comprises a difference module connected with the control module.
6. An orchard rotary tilling robot as claimed in claim 1, wherein: the control unit further comprises a direction-finding antenna, a positioning antenna and an inertial navigation module which are connected with the control module.
7. An orchard rotary tilling robot as claimed in claim 1, wherein: the ground station includes a computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910263170.1A CN111758311A (en) | 2019-04-02 | 2019-04-02 | Rotary tillage robot for orchard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910263170.1A CN111758311A (en) | 2019-04-02 | 2019-04-02 | Rotary tillage robot for orchard |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111758311A true CN111758311A (en) | 2020-10-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910263170.1A Pending CN111758311A (en) | 2019-04-02 | 2019-04-02 | Rotary tillage robot for orchard |
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| Country | Link |
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| CN (1) | CN111758311A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09163810A (en) * | 1995-10-12 | 1997-06-24 | Honda Motor Co Ltd | Hitch structure in working machine |
| CN104713503A (en) * | 2013-12-16 | 2015-06-17 | 中国农业机械化科学研究院 | On-line detecting method and device for tilling depth of trailed farm implement |
| CN205540281U (en) * | 2016-01-21 | 2016-08-31 | 孙斌 | Quick -witted system of many rotors plant protection of independently flying based on differential positioning |
| US20170112043A1 (en) * | 2015-10-23 | 2017-04-27 | Deere & Company | System and method for residue detection and implement control |
| CN207201237U (en) * | 2017-09-27 | 2018-04-10 | 湖北工业大学 | A kind of crawler type canopy room remote control electric mini-tiller |
| CN108345299A (en) * | 2017-01-23 | 2018-07-31 | 株式会社久保田 | Operation Van's wireless management system |
| KR20180087127A (en) * | 2017-01-24 | 2018-08-01 | 가부시끼 가이샤 구보다 | Working vehicle |
| CN109090087A (en) * | 2018-10-26 | 2018-12-28 | 济南钰成霖信息科技有限公司 | A kind of independent navigation spray robot and its working method for orchard operation |
| CN209861492U (en) * | 2019-04-02 | 2019-12-31 | 新疆农业大学 | Rotary tillage robot for orchard |
-
2019
- 2019-04-02 CN CN201910263170.1A patent/CN111758311A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09163810A (en) * | 1995-10-12 | 1997-06-24 | Honda Motor Co Ltd | Hitch structure in working machine |
| CN104713503A (en) * | 2013-12-16 | 2015-06-17 | 中国农业机械化科学研究院 | On-line detecting method and device for tilling depth of trailed farm implement |
| US20170112043A1 (en) * | 2015-10-23 | 2017-04-27 | Deere & Company | System and method for residue detection and implement control |
| CN205540281U (en) * | 2016-01-21 | 2016-08-31 | 孙斌 | Quick -witted system of many rotors plant protection of independently flying based on differential positioning |
| CN108345299A (en) * | 2017-01-23 | 2018-07-31 | 株式会社久保田 | Operation Van's wireless management system |
| KR20180087127A (en) * | 2017-01-24 | 2018-08-01 | 가부시끼 가이샤 구보다 | Working vehicle |
| CN207201237U (en) * | 2017-09-27 | 2018-04-10 | 湖北工业大学 | A kind of crawler type canopy room remote control electric mini-tiller |
| CN109090087A (en) * | 2018-10-26 | 2018-12-28 | 济南钰成霖信息科技有限公司 | A kind of independent navigation spray robot and its working method for orchard operation |
| CN209861492U (en) * | 2019-04-02 | 2019-12-31 | 新疆农业大学 | Rotary tillage robot for orchard |
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