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Underground crop excavating device for agricultural receiving and working method thereof

A technology for underground crops and excavation equipment, applied in the agricultural field, can solve the problems of low excavation efficiency, difficult to release labor force, inconvenient mechanized operation, etc., and achieve the effect of improving traffic efficiency, improving growth environment, and adapting to the land environment.

Active Publication Date: 2019-01-01
倪为勇
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Crops are divided into two types: aboveground crops and underground crops. For aboveground crops, they can be harvested manually or mechanized, and the mechanization development has been relatively mature, which can replace manual harvesting on a large scale; for underground crops, because they grow underground , it is impossible to observe the underground part intuitively, and the mechanized operation is very inconvenient. Specifically, it is difficult to accurately obtain the position of the underground part, which easily leads to low excavation efficiency, and in the process of excavation, it is easy to cause damage to the crops. Excavation still adopts the manual harvesting method, which is difficult to liberate the labor force

Method used

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  • Underground crop excavating device for agricultural receiving and working method thereof
  • Underground crop excavating device for agricultural receiving and working method thereof
  • Underground crop excavating device for agricultural receiving and working method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0054] like figure 1 , 2 As shown in , 3 and 4, an underground crop excavation equipment for agricultural harvesting includes a drone 1, a connecting mechanism 2, an excavating mechanism 3 and a control mechanism 4, and the control mechanism 4 includes a processor 5, a driving device 6, The first positioning device 7 and the first navigation device 8, the processor 5 is connected with the driving device 6, the first positioning device 7 and the first navigation device 8 respectively, and the first positioning device 7 is used to obtain the first position information of the excavating mechanism 3 And the first position information is sent to the processor 5, the first navigation device 8 is used to generate the moving route of the excavating mechanism 3 and the moving route is sent to the processor 5, the excavating mechanism 3 includes a laser range finder 9, a camera 10, Mechanical shovel 11 and storage box 12, laser range finder 9 and camera device 10 are connected with pro...

Embodiment 2

[0064] like Figure 5 Shown, a kind of working method of the underground crop digging equipment that is used for agricultural receiving, comprises the following working steps:

[0065] a) Set the preset area and preset crops, the processor 5 imports the preset area into the second navigation device 14, the second navigation device 14 generates the first flight route of the UAV 1 and sends the first flight route to the processing device 5;

[0066] b) The processor 5 outputs the first flight signal to the UAV 1, and the UAV 1 carries the excavation mechanism 3 to fly according to the first flight route;

[0067] c) The imaging device 10 acquires the surrounding environment of the excavating mechanism 3 and sends the photographed image to the processor 5;

[0068] d) Processor 5 judges whether there is a preset crop in the captured image;

[0069] e) If yes, the processor 5 extracts the aboveground part of the preset crop, and judges whether the preset crop meets the excavati...

Embodiment 3

[0091] like Figure 9 As shown, the processor 5 calculates the digging depth of the mechanical shovel 11 according to the received height value and also includes:

[0092] The processor 5 sets a safety depth according to the position of the underground part, and the safety depth is less than the excavation depth;

[0093] The processor 5 outputs a first excavation signal to the driving device 6, and the driving device 6 drives the mechanical shovel 11 to dig downward at a first preset speed;

[0094] The processor 5 judges whether the digging depth of the mechanical shovel 11 is greater than or equal to the safety depth;

[0095] If so, the processor 5 outputs a second digging signal to the driving device 6, and the driving device 6 drives the mechanical shovel 11 to dig downward at a second preset speed, and the second preset speed is lower than the first preset speed.

[0096] Specifically, the position of the underground part of the preset crop is only the estimated resul...

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Abstract

The invention discloses an underground crop excavating device for agricultural receiving and a working method thereof. The underground crop excavating device comprises a drone, a connecting mechanism,an excavation mechanism and a control mechanism, wherein the control mechanism comprises a processor, a drive unit, a first positioning device and a first navigation device, the first positioning device is used for acquiring first position information of the excavation mechanism, the first navigation device is configured to generate a movement route of the excavation mechanism, the excavation mechanism includes a laser rangefinder, a camera device and a mechanical shovel, the laser rangefinder is used to detect altitudes from the surface of the earth and to compute the altitudes, the camera device is used for acquiring surroundings of excavation mechanism, the mechanical shovel is used to dig for underground crops, the drone is connected with the excavation mechanism through a connectionmechanism for controlling the connection relationship between the drone and the excavation mechanism, the drone comprises a second positioning device and a second navigation device, the second positioning device is used for acquiring the second position information of the drone, and the second navigation device is used for generating the flight path of the drone.

Description

technical field [0001] The invention relates to the field of agriculture, in particular to an underground crop digging device for agricultural harvesting and a working method thereof. Background technique [0002] Crops are divided into two types: aboveground crops and underground crops. For aboveground crops, they can be harvested manually or mechanized, and the mechanization development has been relatively mature, which can replace manual harvesting on a large scale; for underground crops, because they grow underground , it is impossible to observe the underground part intuitively, and the mechanized operation is very inconvenient. Specifically, it is difficult to accurately obtain the position of the underground part, which easily leads to low excavation efficiency, and in the process of excavation, it is easy to cause damage to the crops. Excavation still adopts manual harvesting method, which is difficult to liberate the labor force. Contents of the invention [0003...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D13/00A01G25/09B64C39/02
CPCA01D13/00A01G25/09B64C39/02B64U2101/00
Inventor 张振花
Owner 倪为勇
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