CN116267493B - Fruit tree planting system based on Internet of things - Google Patents
Fruit tree planting system based on Internet of things Download PDFInfo
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- CN116267493B CN116267493B CN202310294312.7A CN202310294312A CN116267493B CN 116267493 B CN116267493 B CN 116267493B CN 202310294312 A CN202310294312 A CN 202310294312A CN 116267493 B CN116267493 B CN 116267493B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/04—Transplanting trees; Devices for grasping the root ball, e.g. stump forceps; Wrappings or packages for transporting trees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y10/00—Economic sectors
- G16Y10/10—Forestry
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y40/00—IoT characterised by the purpose of the information processing
- G16Y40/10—Detection; Monitoring
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y40/00—IoT characterised by the purpose of the information processing
- G16Y40/30—Control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/40—Afforestation or reforestation
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Abstract
The invention provides a fruit tree planting system based on the Internet of things, which comprises a server, a planting vehicle, a ramp detection module, a digging and pit digging module and a support module, wherein the ramp detection module, the digging and pit digging module and the support module are all arranged on the planting vehicle; the support module is used for supporting the ramp detection module and the digging and pit digging module, the support module is arranged on the planting vehicle, the ramp detection module is used for detecting a ramp at the current position of the planting vehicle, and the digging and pit digging module is used for digging a pit at the planting position. The ramp detection unit and the ramp evaluation unit are mutually matched, so that the ramps at the planting positions are detected, the whole system accurately positions the ramps at the planting positions, meanwhile, the protection of the planting vehicles is also considered, and the intelligent degree of the whole system is improved.
Description
Technical Field
The invention relates to the technical field of cultivation devices for fruit trees or similar data, in particular to a fruit tree planting system based on the Internet of things.
Background
Fruit trees refer to edible trees, perennial plants and stocks thereof which can provide edible fruits and seeds.
Another typical filling device with coating function for fruit tree sapling planting disclosed in the prior art like CN109644619B, although means and technology are quite mature in the process of planting fruit trees in the existing market, the filling process is still to be improved, in the process of filling soil in small-area orchards, a great deal of time is often consumed in the whole process, and in the process of filling soil, a great deal of supporting work is also required for fruit tree sapling by personnel, and the filling device has larger volume and cannot be well suitable for use in small-area orchards, and meanwhile, the purchasing cost is higher; in the process of planting fruit trees, paint work can not be well carried out on the outer surface of the fruit trees, workers are required to carry out paint work in addition, and the whole process is tedious and low in working efficiency.
Meanwhile, the prior art cannot be suitable for planting in mountain lands with a certain gradient, so that the planting device or the planting system is low in applicability;
the invention is designed for solving the problems that the field is low in automation degree, poor in interactivity, incapable of positioning the planting position of the sapling, incapable of being suitable for gradient planting and the like.
Disclosure of Invention
The invention aims to provide a fruit tree planting system based on the Internet of things, aiming at the defects existing at present.
In order to overcome the defects in the prior art, the invention adopts the following technical scheme:
the fruit tree planting system based on the Internet of things comprises a server and a planting vehicle, wherein the fruit tree planting system further comprises a ramp detection module, a digging and digging module and a supporting module, the server is respectively connected with the planting vehicle, the ramp detection module, the digging and digging module and the supporting module, and the ramp detection module, the digging and digging module and the supporting module are all arranged on the planting vehicle;
the support module is used for supporting the ramp detection module and the digging and pit digging module, the support module is arranged on the planting vehicle, the ramp detection module is used for detecting a ramp at a planting position, and the digging and pit digging module is used for digging a pit at the planting position;
the ramp detection module comprises a ramp detection unit and a ramp evaluation unit, wherein the ramp detection unit is used for detecting a ramp at the current position of the planting vehicle to form ramp detection data, and the ramp evaluation unit evaluates the ramp of the planting vehicle according to the ramp detection data so as to trigger the support module to adjust the posture of the planting vehicle;
the ramp detection unit comprises sampling plates, two laser rangefinders, an adjusting member and a data memory, wherein the sampling plates are used for supporting the two laser rangefinders, the sampling plates are arranged on two sides of the planting vehicle, the adjusting member is used for adjusting the positions of the sampling plates on two sides of the planting vehicle, so that the sampling plates on two sides can be parallel to the running direction of the planting vehicle, the two laser rangefinders are used for detecting the ramp of the current position of the planting vehicle, and the data memory is used for storing the data of the two laser rangefinders;
the slope detection unit is used for adjusting the sampling plates at two sides of the planting vehicle through the adjusting member in the process of detecting the planting vehicle, so that the sampling plates at two sides of the planting vehicle can be parallel to the traveling direction of the planting vehicle, and slope inclination angle data of the traveling direction of the planting vehicle can be obtained.
Optionally, the digging and digging device comprises a digging and digging unit and a position adjusting unit, wherein the position adjusting unit is used for adjusting the position of the digging and digging unit, and the digging and digging unit is used for digging the planting position of the fruit tree;
the position adjusting unit comprises a limiting member and a telescopic member, wherein the limiting member is used for limiting the digging and digging unit, and the telescopic member is used for adjusting the positions of the limiting member and the digging and digging unit.
Optionally, the supporting module comprises a supporting unit and a stabilizing unit, the supporting unit is used for supporting the ramp detecting module and the digging and pit digging module, and the stabilizing unit is used for stabilizing the planting vehicle, so that the planting vehicle can stably stay at a planting position;
the stabilizing unit comprises a supporting arm, a limiting claw, an adjusting rod, a hydraulic driving mechanism and a pitching driving mechanism, wherein one end of the supporting arm is connected with the supporting unit, the other end of the supporting arm is hinged with the limiting claw, two ends of the adjusting rod are respectively connected with the limiting claw and a rod body of the supporting arm, the hydraulic driving mechanism is used for driving and connecting the supporting arm to enable the supporting arm to stretch out and draw back, and the pitching driving mechanism is in driving connection with the adjusting rod to enable the limiting claw to rotate along the hinged position;
when the limiting claw is limited, the limiting claw is pricked into the soil in the front of the ramp.
Optionally, the fruit tree planting module further comprises a supply module, wherein the supply module is used for supplying seedlings of fruit trees, the supply module comprises a storage unit and a supply unit, the storage unit is used for storing the seedlings of the fruit trees, and the supply unit is used for supplying the seedlings of the fruit trees in the storage unit;
the storage unit comprises a storage cavity and a rotating member, wherein the rotating member is used for rotating seedlings of the fruit trees so as to place the seedlings of the fruit trees in a planting position;
wherein the rotating member is disposed in the storage cavity.
Optionally, the evaluation unit obtains distance data of the laser rangefinder during a climbing process of the planting vehicle, and calculates an inclination angle α between the two laser rangefinders according to the following formula:
；
wherein d 1 For the first of said laser rangefinder measured ground-level distance values,d 2 for the distance value between the second laser range finder and the horizontal ground, L is the horizontal distance between the mounting positions of the two laser range finders;
and triggering the stabilizing unit to adjust the posture of the planting vehicle if the inclination angle alpha exceeds a set stabilizing threshold stable.
Optionally, the stabilizing unit obtains the current posture of the supporting arm, and drives the supporting arm through the hydraulic driving mechanism and drives the adjusting rod through the pitching driving mechanism, so that the limiting claw can be pricked in soil at the front side of the planting vehicle, and the planting vehicle is stable.
Optionally, the telescopic member includes telescopic link, flexible detection piece and flexible actuating mechanism, the one end of telescopic link with stop member connects, flexible detection piece is used for right the flexible length of telescopic link detects, flexible actuating mechanism with the telescopic link drive is connected, so that the telescopic link carries out flexible operation.
The beneficial effects obtained by the invention are as follows:
1. the slope detection unit and the slope evaluation unit are matched with each other, so that the slope in the running direction of the planting vehicle can be detected, the protection of the planting vehicle is considered, and the intelligent degree of the whole system is improved;
2. through the mutual matching of the steering unit and the ramp detection unit, the ramp of the traveling direction of the planting vehicle can be detected according to different terrains in the planting process, so that the planting vehicle is suitable for planting requirements of different environments, and the whole system has wider application scenes;
3. through the mutual matching of the position adjusting unit and the digging and pit digging unit, digging is carried out according to the planting position, the accuracy of digging is improved, fine adjustment can be carried out according to the condition of the digging position in the digging process, and the situation that the planting position is provided with an obstacle and the fruit tree cannot be planted is prevented;
4. through the mutual cooperation of the stabilizing unit and the supporting unit, the stabilizing unit can be matched with the supporting unit, so that the digging and pit digging process of the planting vehicle is more stable, and the precision and reliability of digging are improved;
5. through the cooperation of the supply unit and the storage unit, the sapling of the fruit tree can be supplied and placed, the intelligent degree of the whole system is improved, the efficiency of planting the fruit tree is effectively improved, and the labor intensity of planting the fruit tree is greatly reduced;
6. through the cooperation of beating hammer unit and hilling unit for plant the intensity of labour of fruit tree greatly reduced, make the abundant contact of fruit tree root and earth, promoted the survival rate that the fruit tree was planted.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic block diagram of the overall structure of the present invention.
FIG. 2 is a schematic diagram of an evaluation flow of the ramp evaluation unit according to the present invention.
Fig. 3 is a block schematic diagram of the earth-boring unit, the supply module, and the hiller module of the present invention.
Fig. 4 is a schematic structural view of the mobile cart and the support base of the present invention.
Fig. 5 is a schematic view showing the structures of a planting vehicle, a stabilizing unit, a digging and pit-digging unit and a supply unit according to the present invention.
Fig. 6 is a schematic view showing a part of the construction of the earth-boring and pit-boring unit and the supply unit of the present invention.
Fig. 7 is a schematic structural view of the storage rack, the clamping head and the sapling of the invention.
Fig. 8 is an enlarged schematic view at a in fig. 7.
Fig. 9 is a schematic structural view of the hammer unit of the present invention.
Fig. 10 is a schematic diagram of the inclination angle α calculation process of the present invention.
Reference numerals illustrate: 1. planting vehicles; 2. a support base; 3. a steering seat; 4. tree seedlings; 5. a support arm; 6. a hydraulic drive mechanism; 7. a limit claw; 8. a storage cavity; 9. a lifting rod; 10. a storage rack; 11. a ground digging rod; 12. a telescoping member; 13. a limiting member; 14. a clamping head; 15. a placement cavity; 16. a steering drive mechanism; 17. a hilling driving mechanism; 18. a draw bar; 19. beating the hammer head; 20. a steering drive mechanism; 21. a movable cavity; 22. and (5) a hilling plate.
Detailed Description
The following embodiments of the present invention are described in terms of specific examples, and those skilled in the art will appreciate the advantages and effects of the present invention from the disclosure herein. The invention is capable of other and different embodiments and its several details are capable of modification and variation in various respects, all without departing from the spirit of the present invention. The drawings of the present invention are merely schematic illustrations, and are not intended to be drawn to actual dimensions. The following embodiments will further illustrate the related art content of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
Embodiment one.
According to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the embodiment provides a fruit tree planting system based on the internet of things, the fruit tree planting system comprises a server and a planting vehicle, the fruit tree planting system further comprises a ramp detection module, a digging pit module and a supporting module, the server is respectively connected with the planting vehicle, the ramp detection module, the digging pit module and the supporting module, and the ramp detection module, the digging pit module and the supporting module are all arranged on the planting vehicle;
the support module is used for supporting the ramp detection module and the digging and pit digging module, the support module is arranged on the planting vehicle, the ramp detection module is used for detecting a ramp at the current position of the planting vehicle, and the digging and pit digging module is used for digging a pit at the planting position;
the fruit tree planting system further comprises a central processor, wherein the central processor is respectively in control connection with the server, the ramp detection module, the digging and pit digging module and the supporting module, and the central processor is used for carrying out centralized control on the ramp detection module, the digging and pit digging module and the supporting module;
the ramp detection module comprises a ramp detection unit and a ramp evaluation unit, wherein the ramp detection unit is used for detecting a ramp at the current position of the planting vehicle to form ramp detection data, and the ramp evaluation unit evaluates the ramp of the planting vehicle according to the ramp detection data so as to trigger the support module to adjust the posture of the planting vehicle;
the ramp detection unit comprises sampling plates, two laser rangefinders, an adjusting member and a data memory, wherein the sampling plates are used for supporting the two laser rangefinders, the sampling plates are arranged on two sides of the planting vehicle, the adjusting member is used for adjusting the positions of the sampling plates on two sides of the planting vehicle, so that the sampling plates on two sides can be parallel to the running direction of the planting vehicle, the two laser rangefinders are used for detecting the ramp of the current position of the planting vehicle, and the data memory is used for storing the data of the two laser rangefinders;
the ramp detection unit is used for adjusting the sampling plates at two sides of the planting vehicle through the adjustment component in the process of detecting the planting vehicle, so that the sampling plates at two sides of the planting vehicle can be parallel to the traveling direction of the planting vehicle, and the ramp inclination angle data of the traveling direction of the planting vehicle is obtained;
the adjusting member comprises an adjusting seat, an adjusting driving mechanism and a rotating angle detecting piece, wherein the adjusting seat is used for supporting the two sampling plates, the adjusting seat is arranged on the upper end face of the planting vehicle and hinged, the adjusting driving mechanism is in driving connection with the adjusting seat so that the adjusting seat can rotate along the axis of the hinged position to adjust the position of the sampling plate, and the rotating angle detecting piece is used for detecting the rotating angle of the adjusting seat so that the adjusting driving mechanism can adjust the rotation of the adjusting seat more accurately and reliably;
optionally, the evaluation unit obtains distance data of the laser rangefinder during a climbing process of the planting vehicle, and calculates an inclination angle α between the two laser rangefinders according to the following formula:
；
wherein d 1 For the distance value d between the first laser distance meter and the horizontal ground 2 The distance value between the second laser range finder and the horizontal ground is measured, and L is the horizontal distance between the mounting positions of the two laser range finders; as shown in fig. 10, when the planting vehicle climbs a slope, the laser range finder changes from a horizontal state to a non-level state, and then the slope of the planting vehicle can be calculated by the above method;
if the inclination angle alpha exceeds a set stability threshold stable, triggering the stabilizing unit to adjust the posture of the planting vehicle;
if the inclination angle alpha does not exceed the set stability threshold value stable, continuing to monitor the inclination angle of the planting vehicle;
the slope detection unit and the slope evaluation unit are matched with each other, so that the slope in the running direction of the planting vehicle can be detected, the protection of the planting vehicle is considered, and the intelligent degree of the whole system is improved;
it is noted that the ramp detection module further comprises a steering unit for adjusting the position of the ramp detection unit to accommodate detection of different ramps;
the steering unit comprises a steering seat 3, a steering driving mechanism 20 and a steering angle detection piece, wherein the steering angle detection piece is used for detecting the steering angle of the steering seat 3, and the steering seat 3 is used for supporting the ramp detection unit and rotating along the axis of the steering seat 3 based on the driving of the steering mechanism;
wherein the steering seat 3 is hinged with the upper top of the supporting unit, so that the steering driving mechanism 20 can rotate along the axis of the steering seat 3 in the process of driving the steering seat 3;
meanwhile, through the mutual matching of the steering unit and the ramp detection unit, the advancing direction ramp of the planting vehicle can be detected according to different terrains in the planting process so as to adapt to planting requirements of different environments, and the whole system has wider application scenes;
optionally, the digging and digging device comprises a digging and digging unit and a position adjusting unit, wherein the position adjusting unit is used for adjusting the position of the digging and digging unit, and the digging and digging unit is used for digging the planting position of the fruit tree;
the position adjusting unit comprises a limiting member 13 and a telescopic member 12, wherein the limiting member 13 is used for limiting the digging and pit digging unit, and the telescopic member 12 is used for adjusting the limiting member 13 and the position fixed at the digging and pit digging unit;
optionally, the telescopic member 12 includes a telescopic rod, a telescopic detection piece, and a telescopic driving mechanism, where one end of the telescopic rod is connected to the limiting member 13, the telescopic detection piece is used to detect a telescopic length of the telescopic rod, and the telescopic driving mechanism is in driving connection with the telescopic rod, so that the telescopic rod performs a telescopic operation;
the limiting member 13 comprises a limiting seat and a passing hole arranged on the limiting seat, the limiting seat is used for supporting the digging and digging unit, and the digging end of the digging and digging unit penetrates through the passing hole so that the digging end can dig a pit at the planting position;
the digging and pit digging unit comprises a digging rod 11, a digging driving mechanism, a fixed seat, a lifting rod 9 and a lifting driving mechanism, wherein the digging rod 11 is used for digging the planting position, one end of the digging rod 11 is in driving connection with the digging driving mechanism to form a digging part, the other end of the digging rod 11 extends towards one side of the far digging driving mechanism,
the fixed seat is used for supporting the ground digging part so that the position of the ground digging part can be adjusted, one end of the lifting rod 9 is connected with the fixed seat, the other end of the lifting rod 9 is in driving connection with the lifting driving mechanism to form a lifting part, and the lifting part is arranged on a limiting seat of the limiting member 13;
in this embodiment, the ramp detecting unit is always in a running state, and in the process of moving the planting vehicle, the adjusting member adjusts the posture of the sampling plate, so that the posture of the sampling plate can be parallel to the running direction of the planting vehicle, and when the condition of triggering the stabilizing unit is met (the inclination angle α exceeds the set stability threshold value stable), the position of the planting vehicle at the ramp is described, when the planting vehicle needs to dig a pit, the planting vehicle is stabilized by the stabilizing unit, so as to prevent the overturning of the planting vehicle caused by the impact force generated by the driving of the digging rod by the digging driving mechanism in the process of digging the pit.
Through the mutual matching of the position adjusting unit and the digging and pit digging unit, the digging is carried out according to the planting position, the precision of digging is improved, and fine adjustment can be carried out according to the condition of the digging position in the digging process, so that the situation that the planting position is provided with an obstacle and the fruit tree cannot be planted is prevented;
optionally, the supporting module includes a supporting unit, and a stabilizing unit, where the supporting unit is used to support the ramp detecting module and the digging and pit digging module, and the stabilizing unit is used to stabilize the planting vehicle 1, so that the planting vehicle 1 can stably stay at a planting position;
the supporting unit comprises a supporting seat 2 and a movable cavity 21 arranged on the supporting seat 2, the supporting seat 2 is used for supporting the ground digging and digging module and the ramp detection module, and the movable cavity 21 is used for placing the ground digging and digging module;
in the present embodiment, the active chamber 21 is provided therein with an active position and an inactive position, and the earth-boring and pit-digging unit is hidden in the inactive position by the retracting action of the telescopic member 12 in the inactive state, and is in the active position when in the active state (pit-digging state);
in this embodiment, a plurality of stabilizing units are disposed on the peripheral side of the supporting unit, so as to ensure the stability of the whole supporting unit and the planting vehicle 1 during the digging process of the digging and digging unit;
the stabilizing unit comprises a supporting arm 5, a limiting claw 7, an adjusting rod, a hydraulic driving mechanism 6 and a pitching driving mechanism, wherein one end of the supporting arm 5 is connected with the supporting unit, the other end of the supporting arm is hinged with the limiting claw 7, two ends of the adjusting rod are respectively connected with the limiting claw 7 and a rod body of the supporting arm 5, the hydraulic driving mechanism 6 is used for driving and connecting the supporting arm so as to enable the supporting arm 5 to stretch and retract, and the pitching driving mechanism is in driving connection with the adjusting rod so as to enable the limiting claw 7 to rotate along the hinged position;
the limiting claw 7 is pricked into the soil in the front of the ramp when the limiting claw 7 is limited;
the supporting unit and the supporting unit are matched with each other, so that the stabilizing unit can be matched with the supporting unit more stably, and the precision and reliability of digging are improved;
optionally, the stabilizing unit obtains the current posture of the supporting arm 5, and drives the supporting arm 5 through the hydraulic driving mechanism 6 and drives the adjusting rod through the pitching driving mechanism, so that the limiting claw 7 can be pricked in soil at the front side of the planting vehicle 1 to maintain the stability of the planting vehicle 1;
in this embodiment, after the planting vehicle 1 moves to a set planting position, the stabilizing unit performs stabilizing and limiting on the supporting seat 2, so as to ensure stability and reliability of pit digging of the pit digging unit; meanwhile, after the support seat 2 is stabilized by the stabilizing unit, the digging and pit-digging unit is triggered to dig pits at planting positions, so that stability and reliability of a digging process are improved;
optionally, the fruit tree planting module further comprises a supply module, wherein the supply module is used for supplying seedlings 4 of fruit trees, the supply module comprises a storage unit and a supply unit, the storage unit is used for storing the seedlings 4 of the fruit trees, and the supply unit is used for supplying the seedlings 4 of the fruit trees in the storage unit;
the storage unit comprises a storage cavity 8 and a rotating member, wherein the rotating member is used for rotating the saplings 4 of the fruit trees so as to place the saplings 4 of the fruit trees in a planting position;
wherein the rotating member is arranged in the storage chamber 8;
meanwhile, the rotating member comprises a steering driving mechanism 20 and a storage rack 10, wherein the storage rack 10 is used for storing seedlings 4 of fruit trees, the steering driving mechanism 20 is used for driving the storage rack 10 so as to enable the seedlings 4 of the fruit trees on the storage rack 10 to rotate, the seedlings 4 can be transferred to the working position, and the seedlings 4 of the fruit trees are thrown into a pit;
meanwhile, in the process of digging the digging pit unit, the digging pit unit is transferred from the working position to the non-working position through the mutual matching of the telescopic member 12, the limiting member 13 and the lifting member, so that the supply unit can more conveniently transfer the fruit tree sapling 4 into the dug pit;
in the present embodiment, the supply unit is provided in the storage rack 10 such that the supply unit can supply the seedlings 4 of the respective fruit trees in the storage rack 10;
the supply unit comprises a clamping head 14 and a clamping driving mechanism, wherein the clamping head 14 is used for clamping the saplings 4 of the fruit trees so that the saplings 4 of the fruit trees can be hidden in the storage rack 10, and the clamping driving mechanism is in driving connection with the clamping head 14 so as to realize that the clamping head 14 can clamp the saplings 4 of the fruit trees;
wherein, the storage rack 10 is provided with a placement cavity 15, and each placement cavity 15 is distributed at equal intervals along the axis of the storage rack 10;
wherein, when the supply unit is transferred to the working position, the clamping head 14 is driven by the clamping driving mechanism to release the clamping of the sapling 4 of the fruit tree, so that the sapling 4 can fall into a pit;
in this embodiment, through supply unit with deposit the cooperation of unit for sapling 4 of fruit tree can supply and place, promotes entire system's intelligent degree, has effectively promoted the efficiency of planting the fruit tree, makes the intensity of labour of planting the fruit tree greatly reduced.
Embodiment two.
The embodiment should be understood to include all the features of any one of the foregoing embodiments, and be further improved on the basis thereof, as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the fruit tree planting system further includes a positioning module, and a hilling hammer module, where the positioning module is used to position the planting position of the fruit tree to determine the planting position of the fruit tree, and the hilling module is used to fill the earth dug by the digging pit module and hammer the earth to make full contact with the root of the sapling 4 of the fruit tree, so as to promote the survival rate of planting;
in this embodiment, the planting positions of the fruit trees are preset in the server by a manager, and after the planting vehicle is activated, the planting vehicle moves according to the preset planting positions of the fruit trees, so as to realize accurate positioning of the fruit trees;
in the moving process of the planting vehicle, the ramp detection module is always in operation, and when the evaluation result of the ramp detection module meets the condition of triggering the stabilizing unit (the inclination angle alpha exceeds the set stabilizing threshold stable), the auxiliary assistance of the stabilizing unit to the posture of the planting vehicle is triggered so as to maintain that the planting vehicle cannot overturn or topple over.
Notably, the hammer unit is required to stabilize the planting vehicle through the stabilizing unit in the process of beating the ridged soil, so that the planting vehicle can stably grab the ground to prevent the planting vehicle from tipping.
The positioning module comprises a positioning unit and a networking unit, wherein the positioning unit is used for positioning the planting position of the planting vehicle 1, so that the planting vehicle 1 can move according to the positioning position, the planting vehicle 1 can move accurately, the positioned planting position is planted, the networking unit transmits the current positioning position of the positioning unit to a server, the current position of the planting vehicle 1 is determined to be compared with the planting position preset by the server, and the accuracy and reliability of the planting position are improved;
the positioning unit comprises a positioner and a buffer, wherein the positioner is used for positioning the planting position of the planting vehicle 1, and the buffer is used for storing positioning data of the positioner in real time;
the positioning data stored in the buffer memory are associated with the time corresponding to the real-time position of the positioner, so that the positioning data in the buffer memory have traceability;
in this embodiment, the networking unit transmits real-time data of the locator to the server, and receives positioning data of the server on the planting position, so as to realize accurate positioning of the planting position;
through the mutual matching of the networking unit and the positioning unit, the position of the planting vehicle 1 can be accurately positioned, the accuracy and the reliability of the planting position are improved, the dynamic grasp of the position of the planting vehicle 1 is also considered, and the intelligent degree of the whole system and the interactivity of the system are ensured;
the earthing up hammer unit is arranged at the lower bottom of the planting vehicle 1 to earthing up soil generated by digging the pit;
the ridging hammer module comprises a ridging unit and a hammer unit, wherein the ridging unit is used for filling the dug soil into pits, and the hammer unit is used for hammering the soil beside the pits so as to tamp the contact gap between the root of the sapling 4 and the soil;
the hilling unit comprises two hilling plates 22, a traction rod 18, a hilling driving mechanism 17 and a distance detection piece, wherein the distance detection piece is respectively arranged on the two hilling plates 22 and faces each other, one ends of the two hilling plates 22 are hinged with each other, the other ends of the two hilling plates extend towards the other side, two ends of the traction rod 18 are connected with one side end face of the hilling plate 22, so that the two hilling plates 22 can approach or depart from each other, and the hilling driving mechanism 17 is used for driving the traction rod 18 to stretch;
in this embodiment, when soil needs to be hilled, the central processing unit controls the hilling driving mechanism 17 to drive the pulling rod 18 to retract, so that the soil at the periphery of the pit can be scraped into the pit, thereby achieving the purpose of hilling;
when all the soil is pushed to pit positions by the earthing up unit, triggering the beating hammer unit to beating the ridged soil so as to achieve the purpose that the soil can be fully contacted with the root of the sapling 4 of the fruit tree and the survival rate of planting is improved;
the hammer unit is arranged on the upper end surfaces of the two ridging plates 22, and triggers the hammer unit to perform hammer operation on ridged soil after the ridging driving mechanism 17 drives the traction rod 18 to reach the safe distance of the hammers;
it should be noted that, the safe distance of the hammer unit is set by the system or the operation according to the size of the sapling 4, which is a technical means well known to those skilled in the art, so in this embodiment, no detailed description is given;
the hammer unit comprises a hammer head 19, a pneumatic rod, a hammer driving mechanism and a supporting table arranged on the hilling plate 22, one end of the hammer head 19 is hinged with the upper end face of the hilling plate 22, one end of the pneumatic rod is hinged with the lower end face of a rod body of the hammer head 19, the other end of the pneumatic rod is in driving connection with the hammer driving mechanism to form a hammer part, the hammer part is arranged on the supporting table, and the hammer driving mechanism is in driving connection with the pneumatic rod so that the pneumatic rod can stretch and retract and drive the hammer head 19 to perform hammer on ridged soil;
meanwhile, the arrangement direction of the supporting table is parallel to the horizontal ground;
notably, the hammer driving mechanism can drive the pneumatic rod to hammer the hammer head 19 to the soil in the direction vertical to the top of the ridged soil, so that the ridged soil can be fully contacted with the seedlings 4;
in this embodiment, the driving mode of the hammer driving mechanism and the pneumatic rod is preferably a pneumatic driving mode, so that the hammer head 19 can perform a reciprocating motion more rapidly, so as to ensure that the hammers are used for the ridged soil; the pneumatic driving method is a technical means well known to those skilled in the art, so that a detailed description is omitted in this embodiment;
through the hammer unit with the cooperation of banking unit for plant the intensity of labour of fruit tree greatly reduces, makes the abundant contact of fruit tree root and earth, has promoted the survival rate that the fruit tree was planted.
The foregoing disclosure is only a preferred embodiment of the present invention and is not intended to limit the scope of the invention, so that all equivalent technical changes made by applying the description of the present invention and the accompanying drawings are included in the scope of the present invention, and in addition, elements in the present invention can be updated as the technology develops.
Claims (6)
1. The fruit tree planting system based on the Internet of things comprises a server and a planting vehicle, and is characterized by further comprising a ramp detection module, a digging pit module and a supporting module, wherein the server is respectively connected with the planting vehicle, the ramp detection module, the digging pit module and the supporting module, and the ramp detection module, the digging pit module and the supporting module are all arranged on the planting vehicle;
the support module is used for supporting the ramp detection module and the digging and pit digging module, the support module is arranged on the planting vehicle, the ramp detection module is used for detecting a ramp at the current position of the planting vehicle, and the digging and pit digging module is used for digging a pit at the planting position;
the ramp detection module comprises a ramp detection unit and a ramp evaluation unit, wherein the ramp detection unit is used for detecting a ramp at the current position of the planting vehicle to form ramp detection data, and the ramp evaluation unit evaluates the ramp of the planting vehicle according to the ramp detection data so as to trigger the support module to adjust the posture of the planting vehicle;
the ramp detection unit comprises sampling plates, two laser rangefinders, an adjusting member and a data memory, wherein the sampling plates are used for supporting the two laser rangefinders, the sampling plates are arranged on two sides of the planting vehicle, the adjusting member is used for adjusting the positions of the sampling plates on two sides of the planting vehicle, so that the sampling plates on two sides can be parallel to the running direction of the planting vehicle, the two laser rangefinders are used for detecting the ramp of the current position of the planting vehicle, and the data memory is used for storing the data of the two laser rangefinders;
the ramp detection unit is used for adjusting the sampling plates at two sides of the planting vehicle through the adjustment component in the process of detecting the planting vehicle, so that the sampling plates at two sides of the planting vehicle can be parallel to the traveling direction of the planting vehicle, and the ramp inclination angle data of the traveling direction of the planting vehicle is obtained;
the digging and digging module comprises a digging and digging unit and a position adjusting unit, wherein the position adjusting unit is used for adjusting the position of the digging and digging unit, and the digging and digging unit is used for digging the planting position of the fruit tree;
the evaluation unit acquires distance data of the laser range finders when the planting vehicle climbs a slope, and calculates an inclination angle alpha between the two laser range finders according to the following formula:
；
wherein d 1 For the distance value between the first laser range finder and the horizontal ground, d 2 For the distance value between the second laser range finder and the horizontal ground, L is the horizontal distance between the mounting positions of the two laser range finders;
if the inclination angle alpha exceeds a set stability threshold value, triggering a stabilizing unit to adjust the posture of the planting vehicle; the stabilizing unit comprises a supporting arm, a limiting claw, an adjusting rod, a hydraulic driving mechanism and a pitching driving mechanism;
the ramp detection module further comprises a steering unit, wherein the steering unit is used for adjusting the position of the ramp detection unit so as to adapt to detection of different ramps; the steering unit comprises a steering seat, a steering driving mechanism and a steering angle detection piece, wherein the steering angle detection piece is used for detecting the steering angle of the steering seat, and the steering seat is used for supporting the ramp detection unit and rotating along the axis of the steering seat based on the driving of the steering driving mechanism; the steering seat is hinged with the upper top of the supporting unit, so that the steering driving mechanism can rotate along the axis of the steering seat in the process of driving the steering seat;
the fruit tree planting system comprises a supply module for supplying seedlings of fruit trees, wherein the supply module comprises a seedling storage unit for storing the fruit trees, the storage unit comprises a storage cavity and a rotating member, and the rotating member is used for rotating the seedlings of the fruit trees so as to place the seedlings of the fruit trees in a planting position; wherein the rotating member is disposed in the storage cavity.
2. The fruit tree planting system based on the internet of things according to claim 1, wherein the position adjusting unit comprises a limiting member for limiting the digging pit unit and a telescopic member for adjusting the position between the limiting member and the digging pit unit.
3. The fruit tree planting system based on the internet of things according to claim 2, wherein the supporting module comprises a supporting unit and a stabilizing unit, the supporting unit is used for supporting the ramp detection module and the digging and pit digging module, and the stabilizing unit is used for stabilizing the planting vehicle, so that the planting vehicle can stably stay at a planting position;
one end of the supporting arm is connected with the supporting unit, the other end of the supporting arm is hinged with the limiting claw, two ends of the adjusting rod are respectively connected with the limiting claw and a rod body of the supporting arm, the hydraulic driving mechanism is used for driving and connecting the supporting arm to enable the supporting arm to stretch and retract, and the pitching driving mechanism is in driving connection with the adjusting rod to enable the limiting claw to rotate along the hinged position; when the limiting claw is limited, the limiting claw is pricked into the soil in the front of the ramp.
4. A fruit tree planting system based on the internet of things according to claim 3, wherein the supply module further comprises a supply unit, and the supply unit supplies fruit tree seedlings in the storage unit.
5. The fruit tree planting system based on the internet of things according to claim 4, wherein the stabilizing unit obtains the current posture of the supporting arm, and drives the supporting arm through the hydraulic driving mechanism and drives the adjusting rod through the pitching driving mechanism, so that the limiting claw can be pricked in soil at the front side of the planting vehicle to maintain the stability of the planting vehicle.
6. The fruit tree planting system based on the internet of things according to claim 5, wherein the telescopic member comprises a telescopic rod, a telescopic detection piece and a telescopic driving mechanism, one end of the telescopic rod is connected with the limiting member, the telescopic detection piece is used for detecting the telescopic length of the telescopic rod, and the telescopic driving mechanism is in driving connection with the telescopic rod so that the telescopic rod can conduct telescopic operation.
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| CN117960610B (en) * | 2024-01-29 | 2024-06-21 | 广州市从化华隆果菜保鲜有限公司 | Quick-freezing production system and method for litchi soaking |
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| JP6795890B2 (en) * | 2016-01-29 | 2020-12-02 | 株式会社小松製作所 | Tree planting system, tree planting method, cultivation machine, tree planting machine and management equipment |
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| JPH06233633A (en) * | 1993-02-10 | 1994-08-23 | Kobelco Kenki Eng Kk | Forestal machine for afforestation-silviculture |
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