Automatic driving hole fertilizer applicator capable of regulating and controlling liquid fertilizer spraying angle in real time
A real-time control and automatic driving technology, applied in the field of agricultural machinery, can solve the problems of inability to adjust the needle body posture in real time, unable to drive automatically, and the needle body is easily blocked, so as to save manual labor, improve fertilization efficiency and fertilization quality, and avoid The effect of soil clogging
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Embodiment 1
[0029] Embodiment 1, the present invention is an automatic driving hole fertilizer applicator for real-time regulation and control of liquid fertilizer spraying angle, including a small crawler tractor 1, which is the prior art, manual traction can be selected, automatic driving traction can be selected, and the existing manual traction can be selected A small crawler tractor is all that is needed, and the principle example will be given after automatic driving and traction. The main improvement is that a tool 2 is installed and connected to the right end of the small crawler tractor 1, and is installed under the right end of the tool 2 via a rotating rod 3. There is a ground wheel 4, so that the ground wheel 4 can be adjusted to rotate, and can touch the ground after rotation, and specifically a frame-type rotating rod 3 is installed at the rightmost end of the implement 2, and a ground wheel 4 is installed in the middle of the rotating rod 3, The rotation of the rotating rod ...
Embodiment 2
[0035] Embodiment two, a GPS vehicle-mounted mobile station 15 is installed on the upper right end of the small crawler tractor 1, and a GPS reference station 16 is installed at the operating point, which refers to the end of the farmland during work.
[0036] The GPS reference station 16 and the GPS vehicle-mounted mobile station 15 of the present invention constitute an automatic driving system. Before the operation of the machine tool 2, the GPS reference station 16 needs to be installed in an open place near the work site. The reference station 16 obtains the longitude and latitude coordinates of the position of the overall machine tool 2 through its own positioning algorithm at the same time. The GPS reference station 16 and the GPS vehicle-mounted mobile station 15 can carry out data mutual transmission through 4G signals, and the GPS vehicle-mounted mobile station 15 calculates and processes two groups of data. Get data bias. The staff needs to use the Raspberry Pi comp...
Embodiment 3
[0038] Embodiment 3, the control of speed sensor 5, electromagnetic valve 9, laser sensor 14, stepper motor 11, and liquid fertilizer pump 8 all need to be controlled by the single-chip microcomputer in the control box 6. The following is the control circuit diagram of the single-chip microcomputer. The model of the single-chip microcomputer is PDIP- 40, STC12C5A60S2, add P4, the pin 1 of the microcontroller is connected to the cathode of the diode D2, relay K1, pin 37 of the microcontroller, the positive stage of the diode D2 is connected to the ground GND of the relay K1, and one end of the relay K1 is connected to the pin 2 of the solenoid valve , the pin 1 of the solenoid valve is connected to the power supply VCC and the positive pole of the polarized capacitor C4, and the other end of the polarized capacitor C4 is grounded to GND.
[0039] The pin 10 of the microcontroller is connected to the negative pole of the pole capacitor C5, and its capacitance is 10uF. The positiv...
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