Farmland marking machine and farmland marking machine control system

Abstract

The present invention provides a farmland marking machine and a farmland marking machine control system, which belong to the field of agricultural machinery. The farmland marking machine includes a frame, a storage bin and a marking device; the storage bin is connected to the frame; the marking device includes a feeding mechanism and a discharging mechanism, the feeding mechanism includes a hopper and a material shifting assembly, the hopper is arranged below the storage bin and is connected to the frame. The marking medium in the storage bin can fall into the hopper. The material shifting assembly can shift the marking medium in the hopper into the discharging pipe. Since the overall moving speed of the farmland marking machine is relatively fast and the staff does not need to carry containers; therefore, its overall efficiency is relatively high and can effectively reduce labor intensity. The farmland marking machine control system can collect motion information in real time, and correct the motion state according to the error between the motion trajectory and the preset trajectory, so that the deviation between the marked line and the preset trajectory marking line is small.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, and in particular to a farmland marking machine and a control system of the farmland marking machine. Background Art

[0002] In agricultural production, it is often necessary to divide fields into blocks and mark them in order to achieve scientific planning and effective use of the fields. Traditional handheld marking machines mainly rely on manual labor to hold a container filled with marking medium (powder) for marking, which is laborious and not suitable for long-term and large-area marking. At present, this inefficient marking device has become increasingly unsuitable for the requirements of modern intelligent agricultural equipment and is in urgent need of improvement. Therefore, providing a farmland marking machine has relatively important practical significance. Summary of the invention

[0003] The object of the present invention is to provide a farmland marking machine which can effectively reduce labor intensity and improve labor efficiency.

[0004] The present invention also provides a farmland marking machine control system, which can be used for the above-mentioned farmland marking machine.

[0005] The present invention is achieved in that:

[0006] A farmland marking machine, used for marking agricultural fields, comprises:

[0007] A frame, wherein a wheel assembly is disposed at the bottom of the frame;

[0008] A material storage bin connected to the vehicle frame;

[0009] A marking device, the marking device comprising a feeding mechanism and a feeding mechanism; the feeding mechanism comprises a hopper and a material shifting assembly, the hopper is arranged below the storage bin and connected to the frame, and the marking medium in the storage bin can fall into the hopper; an opening door is arranged at the lower part of the hopper;

[0010] The material-diverting assembly comprises a rotating shaft and a material-diverting plate, wherein the rotating shaft is horizontally arranged in the hopper and is rotatably connected to the side wall of the hopper, and the material-diverting plate is connected to the rotating shaft and extends along the length direction of the rotating shaft;

[0011] The feeding mechanism comprises a feeding pipe, the upper part of which is connected to the lower part of the hopper, and when the opening door is opened, the marking medium in the hopper can fall into the feeding pipe.

[0012] When in use, the powdered marking medium is stored in the storage bin in advance; then the farmland marking machine is driven to the farmland, and the farmland marking machine is made to mark while walking along the preset track. Specifically, when the rotating shaft of the material shifting assembly rotates, the material shifting plate shifts the marking medium to the position of the hopper opening door; at this time, the opening door is opened (the opening method can be manual operation, or a motor is used to open the opening door, or other mechanisms are used to apply force to the opening door to open it); the marking medium falls under the force of gravity and the material shifting assembly, and falls into the farmland along the feeding pipe.

[0013] Since the marking medium is in powder form, in order to prevent the height difference from being too high, which causes the marking medium to deviate from its original direction under the action of wind, a feed pipe is provided, and the pipe mouth of the feed pipe is kept at a small gap from the ground.

[0014] Preferably, the side of the opening door is rotatably connected to the hopper via a hinge shaft, and the hinge shaft is parallel to the rotating shaft; the material tapping assembly includes a plurality of material tapping plates, and when the rotating shaft rotates, the material tapping plates can open the opening door; on the cross section perpendicular to the rotating shaft, the material tapping plates are arc-shaped, and the lower part of the hopper is circular arc-shaped.

[0015] When the rotating shaft of the material-digging assembly rotates, the material-digging plate rotates synchronously; because the material-digging plate can abut against the opening door when it rotates downward, the material-digging plate can push the opening door downward to open the opening door. Since the material-digging plate is arc-shaped, and the part of the hopper adjacent to the material-digging plate is circular arc-shaped, when the material-digging plate moves to the circular arc part of the hopper, the gap between the end of the material-digging plate and the inner wall of the hopper is very small; when the material-digging plate moves the marking medium downward, the marking medium is difficult to move upward from the gap and can only be pushed downward, so that the material-digging plate can apply thrust to the opening door through the marking medium to open the opening door, and the marking medium falls into the discharge pipe through the gap opened by the opening door.

[0016] Preferably, multiple stripper plates are evenly distributed on the circumference of the rotating shaft, and the distance from the end of the stripper plate to the rotating shaft is greater than the distance from the end of the stripper plate to the rotating shaft when the open door is closed; so that when the stripper plate rotates, at least one stripper plate can hit the open door and push the open door open.

[0017] Preferably, the material-digging assembly is provided with 3 dipping plates. The use of a small number of dipping plates can make the drawn lines discontinuous dotted lines, thereby saving the marking medium. If there are too many dipping plates, there will always be a dipping plate in contact with the open door, the open door will always remain open, and the marking medium will always flow down. In order to reduce the frequency of feeding, the volume of the storage bin needs to be increased. Since the storage bin is arranged at the top, the larger storage bin not only makes the structure not compact, but also makes the center of gravity of the whole machine move up, and the chassis is unstable. Therefore, the use of 3 dipping plates can save the marking medium, make the whole machine compact, and the chassis is more stable. In addition, the use of 3 dipping plates can also make the interval of the dotted lines not too large at the same driving speed. In other embodiments, the material-dipping assembly can be provided with 1, 2, 4 or other suitable number of dipping plates.

[0018] Preferably, a connecting rod and a guide cylinder are provided in the discharge pipe; a discharge door is provided at the lower end of the discharge pipe, the guide cylinder is connected to the inner wall of the discharge pipe, the connecting rod is vertically arranged and slidably connected to the guide cylinder; the discharge door is detachably connected to the lower end of the connecting rod; when the connecting rod moves up and down, the connecting rod can drive the discharge door to block or open the discharge pipe;

[0019] An elastic member is also provided between the connecting rod and the guide cylinder, and the elastic member can exert an upward force on the connecting rod so that the unloading door blocks the unloading pipe;

[0020] A flat plate is provided at the upper end of the connecting rod, and a push rod is provided below the opening door. One end of the push rod is connected to the opening door, and the other end is provided with a roller, and the roller abuts against the flat plate. When the opening door is opened, the push rod can push the flat plate to move the connecting rod downward, and enable the unloading door to open the unloading pipe.

[0021] Since the lower end of the feeding pipe is close to the ground, there are inevitably raised clods of earth or slag in the field. When the feeding pipe hits the clods of earth or slag, the clods of earth may enter the feeding pipe and block it due to the bumps. Therefore, a feeding door is set at the end of the feeding pipe to prevent clods of earth from entering the feeding pipe from the end of the feeding pipe.

[0022] Under the action of the elastic member, the connecting rod pulls the discharge door upward, thereby closing the discharge door. When the opening door at the bottom of the hopper is opened, the push rod rotates downward, thereby pushing the plate and the connecting rod downward through the roller, and the discharge door is opened; the marking medium falling from the opening door falls from the gap between the discharge door and the discharge pipe. When the opening door is closed, the connecting rod and the discharge door are reset under the action of the elastic member. Under the coordinated action of the above-mentioned connecting rod, elastic member, discharge door, push rod, material diverting assembly, etc., when the marking medium needs to fall, the discharge door is opened; otherwise, the marking door is closed to prevent the discharge pipe from being blocked.

[0023] Preferably, the unloading door comprises an inclined plate and a vertical plate, the vertical plate is vertically arranged, the inclined plate is inclinedly arranged and connected to the vertical plate; the lower end of the connecting rod is clamped with the inclined plate;

[0024] The inner wall of the feeding pipe is vertically provided with a dovetail groove, and the dovetail groove and the vertical plate are provided with a dovetail-shaped guide block;

[0025] The vertical plate is vertically arranged and slidingly matched with the dovetail groove through the guide block.

[0026] In order to facilitate maintenance, the opening at the bottom of the feed pipe should be large enough to make the tool easy to operate; however, the marking device needs to draw a relatively thin line, so when the feed door is opened, the gap width between the feed door and the feed pipe should be small. The inclined plate structure can make the marking medium fall along the inclined plate on the one hand, and on the other hand, a smaller gap opening can be achieved when the opening is large.

[0027] In addition, since the inclined plate is arranged at an angle, it is connected to the connecting rod only through the upper part; when the inclined plate hits a raised soil block on the ground, the connection between it and the connecting rod is easily damaged. The arrangement of the vertical plate, the guide block and the dovetail groove enables the horizontal force on the inclined plate to be borne by the dovetail groove and the guide block, and the connection between it and the connecting rod is protected.

[0028] Preferably, the discharge door is a tetrahedral shell, the upper part of which is connected to the lower end of the connecting rod; the lower end of the discharge tube is provided with a trumpet-shaped chamfer, the inclination angle of which is equal to the taper of the shell. The chamfer can prevent the discharge door from being stuck in the discharge tube when it is closed.

[0029] Preferably, the elastic member is sleeved on the connecting rod, and one end of the elastic member abuts against the guide cylinder; the other end abuts against the lower surface of the plate.

[0030] Preferably, a limit plate is also provided on the flat plate to limit the sliding stroke of the push rod relative to the flat plate, and the limit plate is arranged perpendicular to the flat plate;

[0031] The push rod is rotatably connected to the opening door via a horizontal axis, so that the angle between the push rod and the free end of the opening door can be adjusted;

[0032] An elastic reset member is also provided between the push rod and the opening door, and the elastic reset member makes the angle have a tendency to increase;

[0033] A fixing block is provided at the connection between the push rod and the opening door, which is used to limit the maximum angle between the push rod and the free end of the opening door.

[0034] When the door is opened with a large opening range, the push rod rotates at a large angle. At this time, if the limit plate is not provided, the lower end of the push rod slides a large distance relative to the plate, so that the pressure applied by the push rod to the plate deviates from the connecting rod by a large distance, thereby subjecting the push rod to a large torque; this torque causes the connecting rod to deviate from the vertical position in the guide cylinder, and generates a relatively large friction force with the inner wall of the guide cylinder. This friction force may cause the connecting rod to be unable to be pushed down smoothly, and thus the unloading door cannot be opened normally.

[0035] The above design enables, when the lower end of the push rod abuts against the limit plate, the limit plate can prevent the push rod from applying too much torque to the connecting rod. When the push rod abuts against the limit plate and cannot move, since the push rod is rotatably connected to the opening door and an elastic reset member is provided between the push rod and the opening door, when the opening of the opening door continues to increase, the push rod can still apply a downward force to the horizontal plate, so that the unloading door can continue to open normally. When the opening door is closed, the elastic reset member resets the push rod to a position abutting against the fixed block, so that the push rod can continue to apply a thrust to the horizontal plate when the opening door is opened next time.

[0036] Preferably, the stiffness coefficient of the elastic reset member is greater than the stiffness coefficient of the elastic member on the push rod.

[0037] Preferably;

[0038] The wheel assembly includes two active front wheels, and the active front wheels are driven by two independent motors respectively;

[0039] The farmland marking machine also includes a control unit, an electronic compass and a GPS locator, wherein the electronic compass is used to collect vehicle posture information, and the GPS locator is used to determine the location information of the entire vehicle; the control unit is electrically connected to the electronic compass and the GPS locator respectively, and is used to receive and process the signals of the electronic compass and the GPS locator; the control unit is also electrically connected to the two motors, and is used to control the output speed of the two motors; the control unit can store preset path information.

[0040] A control system for a farmland marking machine, comprising:

[0041] A control unit, the control unit comprising a memory and a processor, the memory being capable of storing preset path information, and the processor being capable of controlling the walking speed and direction of the vehicle body according to the preset path information;

[0042] The detection unit is used to detect the walking speed, posture and position information of the vehicle body, and transmit the above information to the control unit in real time.

[0043] Preferably, the processor controls the walking direction by controlling the rotation speed of the two active wheels; the detection unit obtains the walking trajectory of the vehicle body through an electronic compass and a GPS locator, and the control unit compares the acquired walking trajectory with the preset trajectory in real time, and controls the speed of the active wheels according to the comparison result.

[0044] The beneficial effects of the technical solution provided by the present invention are:

[0045] The farmland marking machine obtained by the above design, when in use, stores the powdered marking medium in the storage bin in advance; then drive the farmland marking machine to the farmland, and make the farmland marking machine move along the preset track while marking. Specifically, when the rotating shaft of the material-diverting assembly rotates, the material-diverting plate shifts the marking medium to the position of the hopper opening door; at this time, the opening door is opened; the marking medium falls under the action of gravity and the force of the material-diverting assembly, and falls into the farmland along the discharge pipe. With the overall movement of the vehicle body, the marking device can draw a planned line in the field. Since the overall moving speed of the farmland marking machine is relatively fast, and the staff does not need to carry containers; therefore, its overall efficiency is relatively high, which can effectively reduce labor intensity.

[0046] The above-mentioned control system of the farmland marking machine can collect motion information in real time and correct the motion state according to the error between the motion trajectory and the preset trajectory, so that the deviation between the marked line and the preset trajectory line is smaller. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 It is a schematic diagram of the three-dimensional structure of a farmland marking machine provided by an embodiment of the present invention;

[0049] Figure 2 is a front view of a farmland marking machine provided by an embodiment of the present invention;

[0050] Figure 3 It is a structural schematic diagram of a hopper and a material shifting assembly provided in an embodiment of the present invention;

[0051] Figure 4 is a cross-sectional view of a scribing device provided by an embodiment of the present invention;

[0052] Figure 5 The embodiment of the present invention provides Figure 4 A partial enlarged view of

[0053] Figure 6 The embodiment of the present invention provides Figure 4 Right view of;

[0054] Figure 7 It is a cross-sectional view of a scribing device in another implementation provided by an embodiment of the present invention.

[0055] Icons: 010-field marking machine; 100-marking device; 110-feeding mechanism; 112-hopper; 114-opening door; 1141-push rod; 1142-fixed block; 115-hinge shaft; 116-material shifting assembly; 1162-rotating shaft; 1164-material shifting plate; 120-material unloading mechanism; 121-material unloading pipe; 122-connecting rod; 123-guide cylinder; 124-fixed rod; 125-elastic part; 126-flat plate; 127-limiting plate; 128-guide block; 129-material unloading door; 1291-tilted plate; 1292-vertical plate; 200-frame; 210-active front wheel; 300-storage bin. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] In the description of the present invention, it is necessary to understand that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0059] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0061] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0062] In the present invention, unless otherwise clearly specified and limited, a first feature being above or below a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, a first feature being above, above, and above a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being below, below, and below a second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0063] Embodiment 1:

[0064] Please refer to Figure 1 and Figure 2The present embodiment provides a farmland marking machine 010, which is used for marking farmland so as to divide the farmland into a plurality of different areas. The farmland marking machine 010 comprises a frame 200, a storage bin 300 and a marking device 100. The frame 200 is used to support other devices of the entire farmland marking machine 010. The storage bin 300 is connected to the frame 200, and the marking device 100 is arranged below the storage bin 300. The storage bin 300 is pre-loaded with powdered marking media (such as wood ash) and can fall into the marking device 100. When in use, the farmland marking machine 010 moves along a preset path, and the marking device 100 can be controllably dropped from the marking device 100 onto the farmland, thereby achieving marking.

[0065] For details, please continue to refer to Figure 1 and Figure 2 The frame 200 is a frame structure formed by welding profiles, with a wheel assembly at the bottom and a power device at the top. The wheel assembly includes two independent active front wheels 210 and two universal wheels, and the power device includes a battery and two motors. The two motors drive the two active front wheels 210 to rotate respectively; the battery is used to power the two motors. In order to facilitate speed control, in this embodiment, the motor adopts a servo motor.

[0066] The storage bin 300 is arranged above the frame 200 and is fixedly connected to the frame 200 by bolts; it is in the shape of a trumpet shell as a whole and is used to contain powdered marking medium; an outlet is arranged at the bottom.

[0067] Please refer to Figure 2 and Figure 3 The marking device 100 is arranged below the storage bin 300 and connected to the vehicle frame 200. The marking device 100 includes a feeding mechanism 110 and a discharging mechanism 120. The feeding mechanism 110 is connected to the lower outlet of the storage bin 300; the discharging mechanism 120 is connected to the lower outlet of the feeding mechanism 110. The feeding mechanism 110 controllably feeds the marking medium dropped from the storage bin 300 into the discharging mechanism 120, and the discharging mechanism 120 guides the marking medium to the ground of the farmland.

[0068] Specifically, please refer to Figure 3-Figure 6The feeding mechanism 110 includes a hopper 112 and a material-digging assembly 116. The upper opening of the hopper 112 is directly connected to the lower outlet of the storage bin 300, and the marking medium in the storage bin 300 can directly fall into the hopper 112. The material-digging assembly 116 includes a rotating shaft 1162 and three material-digging plates 1164. The rotating shaft 1162 is horizontally arranged in the hopper 112, and its two ends are connected to the two opposite side walls of the hopper 112 through bearings. The three material-digging plates 1164 are evenly distributed on the circumferential surface of the rotating shaft 1162 and extend along the length direction of the rotating shaft 1162. On the cross section perpendicular to the rotating shaft 1162, the free end of the material-digging plate 1164 is provided with an arc segment, and is bent in the direction of rotation of the rotating shaft 1162. Correspondingly, the lower part of the hopper 112 is in an arc shape. In addition, the gap between the end of the stripper plate 1164 and the inner wall of the arc-shaped plate at the bottom of the hopper 112 is relatively small (0.5-1 cm). The above structure facilitates the stripping medium to be sent to the lower outlet of the hopper body by the stripper plate 1164, preventing the powdered stripping medium from moving upward relative to the stripper plate 1164 after being pressurized.

[0069] An opening door 114 is provided at the lower opening of the hopper 112. One side of the opening door 114 is connected to the hopper 112 via a hinge shaft 115, and the hinge shaft 115 is parallel to the rotating shaft 1162 of the material-digging assembly 116. The installation height of the rotating shaft 1162 of the material-digging assembly 116 is lower than the distance from the free end of the material-digging plate 1164 to the center of the rotating shaft 1162, so that the material-digging plate 1164 can hit the opening door 114 when it rotates downward, thereby pushing it open. At this time, since the material-digging plate 1164 pushes the marking medium to move downward, the marking medium falls into the unloading mechanism 120 through the gap of the opening door 114.

[0070] The feeding mechanism 120 includes a feeding tube 121 and a feeding door 129. The upper end of the feeding tube 121 is a bell mouth and is sleeved on the lower part of the hopper 112 and connected to the outer wall of the hopper 112. The lower end of the feeding tube 121 is a square tube with a consistent cross section. The feeding door 129 can open or close the outlet at the lower end of the feeding tube 121. A connecting rod 122 and a guide cylinder 123 are arranged inside the feeding tube 121. The guide cylinder 123 is vertically arranged in the middle of the feeding tube 121 and is fixedly connected to the inner wall of the feeding tube 121 through a horizontally arranged fixing rod 124. The connecting rod 122 passes through the guide cylinder 123, and a horizontal plate 126 is arranged at the upper end thereof, and the lower end is detachably connected to the feeding door 129. When the connecting rod 122 moves up and down, the connecting rod 122 can drive the feeding door 129 to move up and down, thereby opening or closing the feeding tube 121.

[0071] The connecting rod 122 is also provided with an elastic member 125 (a compression spring in this embodiment), one end of the elastic member 125 abuts against the flat plate 126, and the other end abuts against the guide cylinder 123, so that the flat plate 126 has a tendency to move upward. In order to open the unloading door 129, a push rod 1141 is provided below the opening door 114, one end of the push rod 1141 is connected to the lower surface of the opening door 114, and a roller is provided at the lower end; the push rod 1141 abuts against the upper surface of the flat plate 126 through the roller. When the opening door 114 is opened, the push rod 1141 moves downward, thereby pushing the flat plate 126 and the connecting rod 122 to move downward, and then opening the unloading door 129. At this time, the marking medium falling from above can flow out through the gap between the unloading door 129 and the unloading tube 121.

[0072] Please refer to Figure 4 and Figure 5 , the unloading door 129 includes an inclined plate 1291 and a vertical plate 1292, the vertical plate 1292 is vertically arranged, the inclined plate 1291 is inclinedly arranged and connected to the vertical plate 1292. The lower end of the connecting rod 122 is engaged with the inclined plate 1291; the inner wall of the unloading tube 121 is vertically provided with a dovetail groove, and the vertical plate 1292 is provided with a dovetail-shaped guide block 128; the vertical plate 1292 is slidably matched with the dovetail groove through the guide block 128. When the connecting rod 122 drives the unloading door 129 to move downward, the gap between the inclined plate 1291 and the inner wall of the unloading tube 121 is enlarged. When foreign matter enters the unloading tube 121, the opening door 114 can be pulled down to disconnect the connection between the opening door 114 and the connecting rod; after the inspection is completed, the opening door 114 can be pushed upward to reconnect.

[0073] For further information, please continue to refer to Figure 4 A limit plate 127 is also provided on the upper surface of the flat plate 126 for limiting the sliding travel of the push rod 1141 relative to the flat plate 126, and the limit plate 127 is arranged perpendicular to the flat plate 126. The push rod 1141 is rotatably connected to the opening door 114 via a horizontal axis, so that the angle A between the push rod 1141 and the free end of the opening door 114 can be adjusted.

[0074] An elastic reset member (a tension spring in this embodiment) is also provided between the push rod 1141 and the door 114, which makes the angle tend to increase. A fixing block 1142 is provided at the connection between the push rod 1141 and the door 114, which is used to limit the maximum angle between the push rod 1141 and the free end of the door 114 (in this embodiment, the maximum angle is 90).

[0075] When the opening range of the door 114 is large, the overall rotation angle of the push rod 1141 is large. At this time, if the limit plate 127 is not provided, the lower end of the push rod 1141 slides a large distance relative to the flat plate 126, so that the pressure applied by the push rod 1141 to the flat plate 126 deviates from the connecting rod by a large distance, thereby causing the push rod 1141 to be subjected to a large torque. This torque causes the connecting rod to deviate from the vertical position in the guide cylinder 123, and a relatively large friction force is generated between the connecting rod and the inner wall of the guide cylinder 123. This friction force may cause the connecting rod to be unable to be pushed down smoothly, thereby causing the unloading door 129 to be unable to open normally.

[0076] When the door opening 114 drives the push rod 1141 to rotate downward, the roller at the lower end of the push rod 1141 moves to the left along the flat plate 126 (with reference to the attached figure) until the roller of the push rod 1141 contacts the limit plate 127. Since the push rod 1141 is rotatably connected to the door opening 114, and an elastic reset member is provided between the push rod 1141 and the door opening 114; this allows the push rod 1141 to overcome the elastic force of the elastic reset member when the opening of the door opening 114 continues to increase, and the angle A between the push rod 1141 and the door opening 114 becomes smaller, and the push rod 1141 can still apply a downward force to the horizontal plate 126, so that the unloading door 129 can continue to open normally. When the door opening 114 is closed, the elastic reset member allows the push rod 1141 to return to the position of contacting with the fixed block 1142, so that the push rod 1141 can continue to apply a thrust to the horizontal plate 126 when the door opening 114 is opened next time.

[0077] Furthermore, the farmland marking machine 010 also includes a control unit, an electronic compass and a GPS locator. The electronic compass is used to collect vehicle posture information, and the GPS locator is used to determine the position information of the entire vehicle. The control unit is electrically connected to the electronic compass and the GPS locator respectively, and is used to receive and process signals from the electronic compass and the GPS locator. The control unit is also electrically connected to the two motors, and is used to control the output speed of the two motors; the control unit can store preset path information.

[0078] The control unit controls the speed of the two motors according to the attitude and position information collected by the electronic compass and the GPS locator, so that the speed of the two active wheels can be inconsistent to adjust the direction of movement. The preset path information stored in the memory of the control unit includes a predetermined coordinate system and multiple predetermined coordinate positions.

[0079] The above control unit adopts PLC. Since PLC, electronic compass and GPS locator can be purchased directly, they will not be introduced in detail.

[0080] Please refer to Figure 6 and Figure 7 In other embodiments, the opening door 114 may have other shapes, such as a quadrangular prism shell shape.

[0081] Embodiment 2:

[0082] The present embodiment provides a control system for a farmland marking machine 010, which can be used for the farmland marking machine 010 provided in Example 1, including a control unit and a detection unit. The control unit includes a memory and a processor, and the memory can store preset path information, including a custom coordinate system and multiple coordinate values. The detection unit is used to detect the walking speed, body posture and position information of the vehicle body, and transmit the above information to the control unit in real time. The processor can compare the acquired walking coordinates, speed, acceleration and other information with the preset path information in real time. When deviating from the left side of the preset track, the speed of the left motor is controlled to increase or the speed of the right motor is controlled to decrease; when deviating from the right side of the preset track, the speed of the left motor is controlled to decrease or the speed of the right motor is controlled to increase.

[0083] The control system of the above-mentioned farmland marking machine 010 can collect motion information in real time, and correct the motion state according to the error between the motion trajectory and the preset trajectory, so that the deviation between the marked line and the preset trajectory is small. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A farmland marking machine, used for marking farmland, characterized in that: include: A vehicle frame (200), wherein a wheel assembly is disposed at the bottom of the vehicle frame (200); A material storage bin (300), the material storage bin (300) being connected to the vehicle frame (200); A marking device (100), the marking device (100) comprising a feeding mechanism (110) and a feeding mechanism (120); the feeding mechanism (110) comprising a hopper (112) and a material shifting assembly (116); the hopper (112) is arranged below the material storage bin (300) and connected to the vehicle frame (200); the marking medium in the material storage bin (300) can fall into the hopper (112); an opening door (114) is arranged at the bottom of the hopper (112); The material shifting assembly (116) comprises a rotating shaft (1162) and a material shifting plate (1164); the rotating shaft (1162) is horizontally arranged in the hopper (112) and is rotatably connected to the side wall of the hopper (112); the material shifting plate (1164) is connected to the rotating shaft (1162) and extends along the length direction of the rotating shaft (1162); The material discharge mechanism (120) comprises a material discharge pipe (121), the upper portion of the material discharge pipe (121) is connected to the lower portion of the hopper (112), and when the opening door (114) is opened, the marking medium in the hopper (112) can fall into the material discharge pipe (121); The side of the opening door (114) is rotatably connected to the hopper (112) via a hinge shaft (115), and the hinge shaft (115) is parallel to the rotating shaft (1162); the material shifting assembly (116) includes three material shifting plates (1164), and when the rotating shaft (1162) rotates, the material shifting plates (1164) can open the opening door (114); On a cross section perpendicular to the rotating shaft (1162), the free end of the material shifting plate (1164) is arc-shaped, and the lower part of the hopper (112) is arc-shaped; A connecting rod (122) and a guide cylinder (123) are arranged inside the discharge pipe (121); a discharge door (129) is arranged at the lower end of the discharge pipe (121); the guide cylinder (123) is connected to the inner wall of the discharge pipe (121); the connecting rod (122) is arranged vertically and is slidably connected to the guide cylinder (123); the discharge door (129) is detachably connected to the lower end of the connecting rod (122); When the connecting rod (122) moves up and down, the connecting rod (122) can drive the unloading door (129) to block or open the unloading pipe (121); An elastic member (125) is also provided between the connecting rod (122) and the guide cylinder (123), and the elastic member (125) can exert an upward force on the connecting rod (122), so that the unloading door (129) blocks the unloading pipe (121); A flat plate (126) is provided at the upper end of the connecting rod (122), and a push rod (1141) is provided below the opening door (114); one end of the push rod (1141) is connected to the opening door (114), and the other end is provided with a roller, and the roller abuts against the flat plate (126); when the opening door (114) is opened, the push rod (1141) can push the flat plate (126) to move the connecting rod (122) downward, and enable the unloading door (129) to open the unloading door (129); The unloading door (129) comprises an inclined plate (1291) and a vertical plate (1292), wherein the vertical plate (1292) is arranged vertically, and the inclined plate (1291) is arranged obliquely and connected to the vertical plate; the lower end of the connecting rod (122) is clamped with the inclined plate (1291); The inner wall of the feed tube (121) is vertically provided with a dovetail groove, and the vertical plate is provided with a dovetail-shaped guide block (128); The vertical plate is slidably matched with the dovetail groove through the guide block (128); The wheel assembly comprises two active front wheels (210), and the active front wheels (210) are driven by two independent motors respectively; The farmland marking machine (010) further comprises a control unit, an electronic compass and a GPS locator, wherein the electronic compass is used to collect vehicle posture information, and the GPS locator is used to determine the position information of the entire vehicle; The control unit is electrically connected to the electronic compass and the GPS locator respectively, and is used to receive and process signals from the electronic compass and the GPS locator; The control unit is also electrically connected to the two motors for controlling the output speeds of the two motors; the control unit can store preset path information.

2. The farmland marking machine according to claim 1, characterized in that: The unloading door (129) is a four-sided pyramid-shaped shell, and the upper part of the unloading door (129) is connected to the lower end of the connecting rod (122); the lower end of the unloading pipe (121) is provided with a trumpet-shaped chamfer, and the inclination angle of the chamfer is equal to the taper of the shell.

3. The farmland marking machine according to claim 1, characterized in that: The elastic member (125) is sleeved on the connecting rod, and one end thereof abuts against the guide cylinder (123); and the other end abuts against the lower surface of the flat plate (126).

4. The farmland marking machine according to claim 1, characterized in that: A limit plate (127) is also provided on the flat plate (126) for limiting the sliding travel of the push rod (1141) relative to the flat plate (126); the limit plate (127) is arranged perpendicular to the flat plate (126); The push rod (1141) is rotatably connected to the opening door (114) via a horizontal axis, so that the angle between the push rod (1141) and the free end of the opening door (114) can be adjusted; An elastic reset member is also provided between the push rod (1141) and the opening door (114), and the elastic reset member makes the included angle have a tendency to increase; A fixing block (1142) is provided at the connection between the push rod (1141) and the opening door (114) for limiting the maximum angle between the push rod (1141) and the free end of the opening door (114).

5. A control system for a farmland marking machine, wherein a user controls the farmland marking machine according to any one of claims 1 to 4; It is characterized in that include: A control unit, the control unit comprising a memory and a processor, the memory being capable of storing preset path information, and the processor being capable of controlling the walking speed and direction of the vehicle body according to the preset path information; The detection unit is used to detect the walking speed, posture and position information of the vehicle body, and transmit the above information to the control unit in real time.

6. The control system of the farmland marking machine according to claim 5, characterized in that: The processor controls the walking direction by controlling the rotation speed of the two active wheels; the detection unit obtains the walking trajectory of the vehicle body through an electronic compass and a GPS locator, and the control unit compares the acquired walking trajectory with the preset trajectory in real time, and controls the speed of the active wheels according to the comparison result.

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