阅读说明：本技术 一种新型无人驾驶远程遥控挖藕机 (Novel unmanned remote control lotus root digging machine ) 是由 徐淑婷 郭志刚 于 2020-05-25 设计创作，主要内容包括：本发明涉及一种新型无人驾驶远程遥控挖藕机,属于植保喷雾机械技术领域。该无人驾驶远程遥控挖藕机包括动力装置、行走装置、转向装置、稳压装置、射流装置、调压系统、船体、电控系统、智能决策系统以及远程遥控装置。该挖藕机在射流作业时可根据实际情况选择手动或自动的操作模式。利用智能决策系统通过对射流作业以及挖藕机驱动控制器的控制实现射流压力的稳定及车身控制。本挖藕机通过增加压力反馈控制和稳压系统,减少由于水压过大和不稳定等因素造成的莲藕损伤情况。采用远程遥控操作减轻了从业人员的工作负担,避免了挖藕作业时需要人工入田的情况,大幅度提高工作效率,解放劳动力,减轻劳动强度以及人体伤害。(The invention relates to a novel unmanned remote control lotus root digging machine, and belongs to the technical field of plant protection spraying machinery. The unmanned remote control lotus root digging machine comprises a power device, a walking device, a steering device, a pressure stabilizing device, a jet device, a pressure regulating system, a ship body, an electric control system, an intelligent decision system and a remote control device. The lotus root digging machine can select a manual or automatic operation mode according to the actual situation during the jet flow operation. The intelligent decision system is utilized to realize the stability of jet pressure and the control of a vehicle body through controlling the jet operation and the drive controller of the lotus root digging machine. This dig lotus root machine reduces the lotus root damage condition that causes because factors such as water pressure is too big and unstable through increasing pressure feedback control and steady voltage system. The remote control operation is adopted, the workload of workers is reduced, the condition that the lotus roots need to enter the field manually during digging is avoided, the working efficiency is greatly improved, the labor force is liberated, and the labor intensity and the human body injury are reduced.)

1. A novel unmanned remote control lotus root digging machine comprises a power device, a walking device, a steering device, a pressure stabilizing device, a jet device, a ship body, an electric control system, an intelligent decision system and a remote control device;

the power device comprises a gasoline generator; the traveling device comprises two rear wheel hub motors and two rear wheel lithium batteries; the steering device comprises two front wheel hub motors and two front wheel lithium batteries, and the hub motors are provided with anti-sinking structure traveling wheels; the pressure stabilizing device and the jet device comprise an electric water pump, a pressure stabilizing tank, an electric pressure regulating valve, a connecting pipeline, a nozzle and the like; a lotus leaf poking structure is arranged on the boat body;

the electric control system comprises a power supply management module, a front wheel driving module, a rear wheel driving module, a general electric control system and the like; the intelligent decision system and the remote control device are integrated and installed in the vehicle-mounted control box, and the intelligent decision system is characterized in that: the intelligent decision system comprises a pressure detection sensor, an execution terminal and a CPU controller; the stabilization and balance of the water pressure are controlled by a software program.

2. The novel unmanned remote control lotus root digging machine as claimed in claim 1, characterized in that: the lotus leaf poking structure is additionally arranged on the boat body, so that the lotus root digging machine is not blocked by the lotus leaves when running.

3. The novel unmanned remote control lotus root digging machine as claimed in claim 1, characterized in that: the boat body is driven to walk and turn by the hub motor, the boat body turning function is realized by the front wheel hub motor, the boat body is powered by the rear wheel hub motor, the problem that the existing lotus root digging machine is pulled and turned by manpower in a common mode is solved, and the boat body turning device is simple in structure and very convenient to adjust speed and turn.

4. The novel unmanned remote control lotus root digging machine as claimed in claim 1, characterized in that: the electric transmission is used instead of the mechanical transmission, all the parts are arranged in a split mode, the lotus root digging machine can be transported to a working site, the lotus root digging machine can work normally through simple assembly, the structure is simple, and the disassembly is convenient.

5. The novel unmanned remote control lotus root digging machine as claimed in claim 1, characterized in that: the jet pipeline is additionally provided with a pressure feedback control and pressure stabilizing and regulating system, so that the lotus root damage condition caused by factors such as overlarge water pressure, instability and the like is reduced.

6. The novel unmanned remote control lotus root digging machine as claimed in claim 1, characterized in that: before the spraying operation, an operation mode can be selected, and in the manual mode, an operator controls the running state of the trolley and the jet flow operation in time through a handheld wireless remote controller; under the automatic mode, the atomizing dolly carries out autopilot and efflux lotus root digging operation according to preset's procedure, has alleviateed practitioner's work burden, has avoided the condition that needs the manual work to go into the field when digging the lotus root operation, increases substantially work efficiency, liberates the labour.

7. The novel unmanned remote control lotus root digging machine as claimed in claim 1, characterized in that: and the remote control device is connected and communicated with the main controller chip through a wireless radio frequency signal to control the starting, stopping and adjusting of the running state of the trolley and the jet state of the jet device.

8. The novel unmanned remote control lotus root digging machine as claimed in claim 1, characterized in that: the running states of the lotus root digging machine such as starting, stopping, turning, jetting, pressure control, speed regulation and the like are completely and remotely controlled.

Technical Field

The invention belongs to the technical field of agricultural harvesting machinery, and particularly relates to a novel unmanned remote control lotus root digging machine.

Background

The lotus root has rich nutritive value and important pharmacological action, and is an important economic crop in China. But the harvesting mechanization level is lower, and the lotus roots are mainly harvested manually, so that the production cost of the lotus roots is greatly increased. Therefore, the development of a convenient and efficient lotus root digging machine becomes a key problem which needs to be solved urgently in the development of the lotus root industry.

In 2017, Liupeng introduced a hydraulically-driven lotus root digging machine in the structural design of the hydraulically-driven lotus root digging machine published in agricultural chemistry research, volume 39, No. 1, which comprises a power system, a water storage system, a spraying system, an operation and control system, a main body frame and other structures, wherein a gasoline engine provides power, and a water pump is used for absorbing and spraying water so as to control the whole machine to walk. However, after the lotus root digging machine is started, the walking direction needs to be controlled manually, workers need to enter water for operation, and the labor intensity is high.

In 2018, Liu Xiang Jun introduced a hand lotus root digging machine in the structural design and research of a novel hand lotus root digging machine published by Anhui agricultural science, 587, No. 10, the machine uses a dual-power system, a gasoline engine water pump is responsible for supplying water, and a diesel engine drives the machine to advance through a gearbox. Each part is convenient for disassembly and assembly transportation when in work, has certain portability for operating personnel, and still needs manual water entering for direction control. In addition, the lotus root digging machine with various models appears in the market, but the generator water receiving pump is mostly adopted to be connected with the simple mechanical connection of the spray head, the damage rate is generally too high, the operation difficulty is large, the problems of manpower assistance and the like are needed, and the quality of lotus roots and the lotus root digging efficiency are influenced.

Disclosure of Invention

The invention aims to overcome the defects of the existing lotus root digging mechanical equipment, and provides a novel unmanned remote control lotus root digging machine aiming at the problems of high lotus root harvesting damage rate, high operation difficulty, necessity of manpower assistance and the like.

The technical scheme is as follows:

the unmanned remote control lotus root digging machine comprises a power device, a walking device, a brick direction device, a pressure stabilizing device, a jet device, a pressure regulating system, a ship body, an electric control system, an intelligent decision system and a remote control device.

The method is characterized in that: the power device comprises a gasoline generator, the output end of the gasoline generator is connected with a socket, and an electric water pump in the jet device, a lithium battery in the walking device and a lithium battery in the steering device are all connected with the socket;

the traveling device comprises two rear wheel hub motors and two rear wheel lithium batteries, the rear wheel hub motors are connected with the two rear wheel lithium batteries, and the hub motors are provided with anti-sinking structure traveling wheels;

the steering device comprises two front wheel hub motors and two front wheel lithium batteries, the front wheel hub motors are connected with the two front wheel lithium batteries, and the hub motors are provided with anti-sinking structure traveling wheels;

the pressure stabilizing device comprises an electric water pump, a water inlet pipeline, a water pump and pressure stabilizing tank connecting pipeline, a pressure stabilizing tank, an electric pressure regulating valve, a water outlet pipeline and a spray head, wherein a power line of the electric water pump is connected with a socket, the water inlet pipeline is connected with a water inlet of the electric water pump, a water outlet of the electric water pump is divided into two paths to be connected with water inlets at two sides of the pressure stabilizing tank of the water pump, and the electric pressure regulating valve is arranged;

the jet flow and pressure regulating device comprises four L-shaped water outlet pipelines, each pipeline is provided with an electric pressure regulating valve and is respectively connected with four uniformly distributed water outlets of the pressure stabilizing tank, the tail end of each pipeline is provided with a vertical pipeline and two obliquely downward pipelines of 45 degrees, and the mouths of the pipelines are provided with conical nozzles and pressure sensors;

a lotus leaf poking structure is arranged on the ship body;

the electric control system comprises a power management module, driving modules of a front wheel hub motor and a rear wheel hub motor and a general electric control system, wherein electric energy output by the gasoline generator is used for supplying power to the electric water pump, the hub motor and the lithium battery, is also used for supplying power to each driving module and comprises a circuit protection device; the front wheel hub motor outputs torque through a corresponding electric control device and a driving device; the rear wheel hub motor is driven and regulated by the controller; and in the main electric control system, all the modules are controlled in a unified way through the main electric control system, and then signal transmission is carried out between the modules and the outside through an I/O external interface so as to carry out navigation and jet operation control on the wireless remote controller.

The controlled electric device comprises a gasoline generator, an electric water pump, a pressure sensor and a control module thereof, a front wheel hub motor and a driving module, a rear wheel hub motor and a driving module, a lithium battery and a control module thereof and the like.

The intelligent decision system realizes pressure feedback control by utilizing an expert decision system; the hardware comprises a pressure detection sensor, an electric pressure regulating valve and a CPU control chip; the state of the electric pressure regulating valve is adjusted through analyzing the numerical value measured by the pressure detection sensor, so that the dynamic balance of the pressure is realized.

And the remote control device is connected and communicated with the main controller chip through radio frequency signals to control the running state of the lotus root digging machine, the jet state of the jet device and the like.

The remote control device can remotely control the start, stop, steering, braking, backing and speed regulation of the lotus root digging machine in a wireless remote control mode so as to adjust the running state of the lotus root digging machine according to different lotus root digging operations and field requirements.

The remote control device can remotely control the start and stop of the gasoline generator in a wireless remote control mode; controlling the starting and stopping of the electric water pump; controlling the starting and stopping of the jet device and the actual output pressure regulation;

the unmanned remote control lotus root digging machine can select an operation mode before jet flow operation, and in a manual mode, an operator can control the lotus root digging machine to run and the jet flow operation in due time through a handheld wireless remote controller; in the automatic mode, the lotus root digging machine carries out automatic driving and jet flow operation according to a preset program.

The invention has the beneficial effects that:

1) the lotus leaf pushing structure is additionally arranged on the boat body, so that the lotus root digging machine is not blocked by the lotus leaves when running;

2) according to the invention, the hub motor is used for driving the ship body to walk and steer, the front wheel hub motor realizes the ship body steering function, the rear wheel hub motor provides power for the ship body, the problem that the existing lotus root digging machine generally adopts manpower to drag and steer is solved, and the lotus root digging machine is simple in structure and very convenient and fast in speed regulation and steering;

3) the lotus root digging machine uses electric transmission instead of mechanical transmission, all parts are arranged in a split mode, the lotus root digging machine can be transported to a working site, normal work can be achieved through simple assembly, the structure is simple, and disassembly is convenient.

4) The jet pipeline is additionally provided with a pressure feedback control and pressure stabilization system, so that the lotus root damage condition caused by factors such as overlarge water pressure, instability and the like is reduced.

5) Work burden of workers is reduced through remote control operation, the situation that the workers need to enter the field during lotus root digging operation is avoided, work efficiency is greatly improved, labor force is liberated, and human body injury is reduced.

Drawings

Fig. 1-schematic diagram of a novel unmanned remote control lotus root digging machine, wherein: 1-hull, 2-lotus leaf poke-open structure, 3-gasoline engine generator, 4-electric water pump, 5-surge tank, 6-rear wheel hub motor, 7-front wheel hub motor, 8-front wheel lithium battery, 9-rear wheel lithium battery, 10-water inlet pipeline, 11-water pump and surge tank connecting pipeline, 12-L type water outlet pipeline, 13-vertical pipeline, 14-obliquely downward 45-degree pipeline, 15-nozzle, 16-electric pressure regulating valve

Figure 2-novel upper view of unmanned remote control lotus root digging machine

Figure 3-rear view of novel unmanned remote control lotus root digging machine

FIG. 4-schematic diagram of an intelligent control hardware system

FIG. 5 is a schematic diagram of the operation process of the novel unmanned remote control lotus root digging machine

Detailed Description

The following describes a specific embodiment of the present invention with reference to the drawings.

As shown in fig. 1-3, after the machine is placed in the lotus root pond, the bottom surface of the ship body 1 is approximately 20cm below the water surface, and the structure of the ship body 1 is designed to ensure that the water surface is approximately in the middle of the ship body 1. The front part of the ship body 1 is provided with a lotus leaf poking structure 2, so that the ship body 1 is not interfered by sundries such as lotus leaves and the like in the advancing process;

the gasoline generator 3 is started, the socket connected with the output end of the generator is electrified, and the electric water pump 4 is connected with the socket jack.

At the moment, the electric water pump 4 starts to work, the water pump sucks clear pond water in front of the ship body 1, meanwhile, a water inlet of the water pump is provided with a filtering device, so that water flow does not block a pipeline and the water pump, the water flow enters a connecting pipeline 11 of the water pump and a pressure stabilizing tank through two pipelines and is input into the pressure stabilizing tank 5, four water outlets are uniformly distributed on the right side of the pressure stabilizing tank 5 and are respectively connected with an L-shaped water outlet pipeline 12, the tail end of each water outlet pipeline is provided with a vertical pipeline 13, two pipelines 14 with 45 degrees downwards are inclined, a nozzle 15 is arranged at the outlet of each pipeline, the water flow in the vertical pipeline 13 cuts pond soil into strips, the pipelines 14 with 45 degrees downwards inclined disperse the soil, and lotus roots are washed out of mud; meanwhile, the control software processes the detection value of the pressure detection sensor to carry out pressure regulation on the electric pressure regulating valve 16;

on the other hand, the power supplies of the front wheel lithium battery 8 and the rear wheel lithium battery 9 are connected to the socket, so that the front wheel lithium battery and the rear wheel lithium battery are always in a powered state;

the two rear wheel lithium batteries 9 are respectively connected with the two rear wheel hub motors 6 to drive the hub motors to start, stop, change speed and the like; the two front wheel lithium batteries 8 are respectively connected with the two front wheel hub motors 7, and the steering action of the whole ship body 1 is realized through the speed regulation of the two hub motors;

as shown in fig. 4, a schematic diagram of an intelligent control hardware system is shown, an operation control system B1 and a jet flow control B2 are carried on an intelligent boat platform a0, a control object of a micro control center D1 is an electric pressure regulating valve 16, wherein a sensor for feedback regulation is a pressure detection sensor 17;

in order to realize wireless radio frequency communication, a wireless transceiver module A is integrated at the end of a main controller chip, a wireless transceiver module B is integrated at a remote control end, and the wireless transceiver module A and the wireless transceiver module B are in wireless communication connection through radio frequency signals, so that the running state and the jet flow function state of the robot can be controlled through key operation at a manual remote control terminal:

as shown in fig. 5, in the novel unmanned remote control lotus root digging robot provided by the present embodiment, specifically, bottom layer parameters such as lotus root field environment and lotus root demand characteristics are set by software in the operation process; program self-checking, including timing checking, pressure sensor state checking and communication checking; the operation mode is manually selected, and in the automatic mode, the lotus root digging machine carries out automatic driving and jet flow operation according to a preset program; in the manual mode, according to the actual operation requirement, the operation controller 27 is controlled by key operation at the remote control terminal to change the operation speed and direction of the lotus root digging machine, control the start and stop of the gasoline generator 3 and the electric water pump 4, and control the start and stop of the jet device and actual output pressure regulation;

although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.