Four digitalized special equipment for farmland

Abstract

A wheel-rail chassis agricultural machine is characterized by comprising a wheel-rail chassis, several operating modules connected to an operating module bus, and a control system. The wheel-rail chassis traverses a solar energy utilization device of a tracked solar energy system in farmland, which operates on the track. The wheel-rail chassis includes a chassis and two wheel sets on each side of the chassis that are tactilely connected to the track. The operating module bus includes an umbilical cable bus or a crossbeam bus. The umbilical cable bus includes power cables or conduits and their connection interfaces. The crossbeam bus includes several mechanical connection interfaces, the main transmission device of the umbilical cable bus or material conveying assembly. Lighter operating modules are suspended on the crossbeam bus. Heavier operating modules travel on the ground. The operating modules transmit electricity, electrical signals, and water and fertilizer through the umbilical cable. The operating modules are used to implement relevant agronomic practices. Electrified agricultural machinery is lightweight, low-carbon, efficient, powerful, and readily absorbs emerging new technologies.

Description

Technical Field

[0001] This invention relates to the fields of solar energy utilization, facility farmland, rail, agricultural machinery, portable electrical equipment, and automatic pipeline connection technology. Background Technology

[0002] To implement sustainable development, the first step is to address the issue of installation sites for photovoltaic power generation. We began by inventing photovoltaic systems for fallow land, and then progressed to rail-mounted solar power systems and digitalized facility farms with their specialized equipment. Digitalized facility farms hold the promise of meeting consumers' needs for low-cost, fully traceable organic produce, and further, for fully pre-orderable organic produce.

[0003] This specification cites the technologies disclosed in our authorized Chinese patent 2019106221462, including two types of mobile automatic connection devices, such as double-insertion pipe machinery; other references include 2013107508513 Mobile photovoltaic system and automatic tillage device method and facilities for farmland with track base, 2023108922548 Water management area and method and special equipment, and 2014103602898 Track base robot for isolated planting of farmland.

[0004] This article assumes that the operation module is unmanned, powered by a battery, or connected to the power grid via a mobile automatic connection device for uninterrupted power supply. A general understanding of existing technologies is that an operation module refers to a functional unit that integrates power machinery, operation machinery, and auxiliary devices into a collaborative working unit to perform specific field operation tasks. This includes soil tillage modules, planting mechanization modules, field management modules, and harvesting mechanization modules. Operation machinery refers to components that directly perform specific agricultural operations, such as plows and seeders. Summary of the Invention

[0005] One of the objectives of this invention is to provide a solar energy system with an orbital track.

[0006] The objective of this invention is achieved by constructing a tracked solar energy system, arranged in an east-west direction and installed in or adjacent to fallow farmland, with the spacing between two adjacent rows of solar energy systems in a north-south direction including: ≥3 times the installation width (e.g., 2.5 meters, the installation width is usually not less than the north-south dimension of the solar energy utilization device in the working state), ≤100 meters.

[0007] The solar energy system includes a foundation (e.g., two rows of parallel cement piles; specific foundation design and implementation can refer to existing technology) and one or more interconnected track bases fixedly connected to the foundation. The track base is an integral steel structure, including a set of two parallel tracks and assembly accessories; the length of the track base is unlimited, for example, the length of the track base is an integer multiple of 3.5 meters, and the front-to-back spacing of the foundation piles is taken as 3.5 / 2 = 1.75 meters; here, 3.5 meters is the rounded-down version of 3 * 1134 (assuming a component width of 1134 mm) = 3.402.

[0008] The track includes ordinary track and steel pipe track. Solar energy utilization devices are directly or indirectly fixed to the track base, but the height angle of the solar energy devices is not restricted, forming a solar energy system with track; solar energy utilization devices include photovoltaic modules, photothermal energy conversion elements, and algae production devices.

[0009] The track includes a running platform serving as a wheel-rail chassis device. The wheel-rail chassis device, powered by a battery, runs on the track across the solar energy utilization devices. The wheel-rail chassis device includes wheel-rail chassis photovoltaic operation and maintenance robots, wheel-rail chassis vehicles, and wheel-rail chassis agricultural machinery. The wheel-rail chassis device includes a chassis carrying functional components and two or more wheel sets on each side of the chassis that are rolledly connected to the track; the wheel sets include braking components. The operating width of the wheel-rail chassis agricultural machinery includes a width equal to or half the distance between two adjacent rows of the solar energy systems running north-south.

[0010] The functional components of wheel-rail chassis agricultural machinery include a working module bus extending to the left or right, and working modules connected mechanically or via umbilical cables through the bus. The umbilical cables include power cables, signal cables, or conduits; the working module bus incorporates a flexible design. The weight of the wheel-rail chassis and its load, and the weight of the track base and its load, are transferred to the ground through the track and foundation.

[0011] In one possible design, at least a portion of the tracked solar system has a water supply main pipe connected to a water source installed on its track base, or a power transmission line connected to a power source installed, and correspondingly, a number of quick-connect pipe sockets connected to the water supply main pipe and a number of electrical quick-connect sockets connected to the power transmission line are evenly distributed along the frame of the solar system; and at least a portion of the wheel-rail chassis device is equipped with a double-plug pipe mechanism and a double-plug electrical mechanism.

[0012] The beneficial effects of this design include: the pipeline or electrical double-plug mechanism includes a first plug robotic arm and a second plug robotic arm, which continuously switch between plugging into the pipeline quick-connect socket or the electrical quick-connect socket, enabling uninterrupted water or power supply to a wheel-rail chassis device (e.g., wheel-rail chassis agricultural machinery) traveling at a speed of 2 m / s. Related content regarding the pipeline quick-connect socket and the pipeline double-plug mechanism includes reference to existing technologies such as the two movable automatic connection devices (reference 2019106221462).

[0013] The second objective of this invention is to provide a tracked solar energy system that can be temporarily installed in farmland during periods of rest.

[0014] The objective of this invention is achieved as follows: a track-mounted solar energy system is manufactured and installed in a fallow farmland; the track-mounted solar energy system includes a track base fixedly connected to a foundation, the track base including two parallel tracks and assembly accessories; solar energy utilization devices are directly or indirectly fixedly connected to the track base, but the height angle variation of the solar energy devices is not restricted; a wheel-rail chassis device runs on the track, passing over the solar energy utilization devices, the wheel-rail chassis device including a wheel-rail chassis photovoltaic operation and maintenance robot, a wheel-rail chassis vehicle, and a wheel-rail chassis agricultural machinery; the wheel-rail chassis device includes a chassis carrying functional components and two or more wheel sets on each side of the chassis that are rotatably connected to the track; The functional components of the wheel-rail chassis agricultural machinery include a working module bus extending to the left or right, and working modules mechanically connected or connected by umbilical cables through the bus, and supplying water to the working modules.

[0015] The third objective of this invention is to provide a digital facility farmland-specific equipment wheel-rail chassis agricultural machinery.

[0016] This objective of the present invention is achieved by manufacturing a wheel-rail chassis agricultural machine, comprising a wheel-rail chassis, several operating modules connected to the operating module bus, and a control system. A wheel-rail chassis carries a tracked solar energy system whose solar energy utilization devices operate on the track. The wheel-rail chassis includes a chassis and two or more wheel sets on each side of the chassis that are tactilely connected to the track. Each wheel set includes a braking component. There is space between the wheel sets on both sides of the same wheel-rail chassis so that the solar energy utilization devices can just pass through.

[0017] The operating module bus includes an umbilical cable bus or a crossbeam bus; the umbilical cable includes a high-voltage cable connecting to the power grid or power battery, a low-voltage cable connecting to the control system host, flexible or rigid conduits and their connection interfaces; flexible umbilical cables include those with a tensile strength ≥1000N; A crossbeam bus includes a rigid crossbeam (e.g., 20 meters long), several work module connection interfaces mounted on the crossbeam, and the main conveyor of an umbilical cable bus or material transfer assembly.

[0018] The material conveying assembly includes a main conveying device and sub-conveying devices that are connected to the main conveying device.

[0019] Lighter work modules (e.g., irrigation modules ≤20kg) are suspended on the mechanical connection interface of the crossarm beam bus; Heavier work modules (e.g., ≥36kg, including bulldozers, harvesters, and tillage tractors for land leveling) are driven on the ground; The operation module transmits electricity, electrical signals, and water, fertilizer, and pesticides via an umbilical cable; and is connected to the main transmission device on the crossbeam via a sub-transmission device. The operation module is used to implement relevant agronomic practices.

[0020] Umbilical cables include high-voltage cables connecting to the power grid or power battery, low-voltage cables connecting to the control system host, conduits, and their connection interfaces. Umbilical cable connection interfaces include high-voltage quick-connect interfaces (e.g., power socket plugs), low-voltage quick-connect interfaces (e.g., USB socket plugs), and conduit quick-connect interfaces (e.g., fire hydrant hose connection interfaces); relevant information regarding umbilical cables and their connection interfaces can be found in existing technologies.

[0021] The work module bus is supported by the wheel-rail chassis, or by the wheel-rail chassis and the traveling crane; the individual umbilical cable bus includes work modules pulled and lifted by the wheel-rail chassis and the self-contained tracked chassis or front and rear wheel chassis. The tensile strength of an individual umbilical cable bus is ≥1000N.

[0022] The traveling crane includes an independent traveling crane with a crane boom mounted on a tracked chassis or a front and rear wheel chassis, or a combined traveling crane with a crane boom added to a ground-based working module; the crane boom is used to lift and connect to the crossbeam bus or umbilical cable bus. Cameras, sensors, including strain gauges, as well as wheel sets, component height angle adjustment arms, material conveying assemblies, and work modules, are installed at various locations on the wheel-rail chassis agricultural machinery and are connected to the control system host via their own I / O interface circuits; the status of the cameras, sensors, wheel sets, component height angle adjustment arms, material conveying assemblies, and work modules changes according to the status of the control system host.

[0023] In one possible design, the track-mounted solar system includes a platform, a water supply main connected to a water source or a power transmission line connected to a power source, and several quick-connect sockets for the water supply main or the power transmission line are evenly distributed along the platform; the wheel-rail chassis of the agricultural machinery is equipped with a double-plug mechanism for the water supply or a double-plug mechanism for the power transmission line. In this way, the agricultural machinery can obtain uninterrupted power from the power grid and water supply from the water supply main while in motion.

[0024] The fourth objective of this invention is to provide a photovoltaic operation and maintenance robot, one of the specialized equipment for digital facility farmland.

[0025] The objective of this invention is achieved by manufacturing a photovoltaic (PV) maintenance robot that travels along the track of a tracked PV system in farmland. The PV maintenance robot includes a wheel-rail chassis, which comprises a chassis, a power battery, and a robot control system. Each side of the chassis includes two or more wheel sets that are rolled along the track. Several robotic arms are connected to the chassis.

[0026] The chassis bottom surface contains two photovoltaic module racks arranged side by side. Each rack includes vertical plates that are close to both ends of the photovoltaic module and one or more electric locking tongues arranged on each vertical plate. The electric locking tongues have a surface that matches the frame of the photovoltaic module and can support the photovoltaic module. The electric locking tongues have two stable states: extended and retracted. When the electric locking tongues are retracted, they are not connected to the photovoltaic module. When the electric locking tongues are extended, they maintain the photovoltaic module they support.

[0027] The photovoltaic operation and maintenance robot is used for transporting, installing, connecting, and disassembling track bases, platforms, and components, as well as cleaning the components and adjusting their status, including elevation angle. Further details can be found in existing technologies.

[0028] The fifth objective of this invention is to provide a wheel-rail chassis vehicle, which includes a wheel-rail chassis, a truck bed, and a control system; the wheel-rail chassis includes a chassis and two or more wheel sets on each side of the chassis that are tactilely connected to the track, and the wheel-rail chassis passes over a solar energy utilization device of a tracked solar energy system in farmland.

[0029] This invention provides a technical solution for digitalized facility farmland. Digitalized facility farmland includes farmland and a tracked solar energy system arranged (e.g., east-west) within the farmland; the solar energy system includes a track base fixedly connected to a foundation comprising helical concrete piles and sleeper piles; the track base is an integral steel structure comprising a set of two parallel tracks and assembly accessories; the length of the track base is unlimited (e.g., an integer multiple of 3.5 meters). An extended platform is fixedly connected to the track base. The platform includes an elevation angle tracking device, and solar energy utilization devices are fixedly connected to the platform, but the elevation angle variation of the solar energy devices is not restricted; thus forming a tracked solar energy system. The interval between two adjacent rows of the solar energy systems in the north-south direction includes ≥3 times the installation width (the installation width is usually not less than the maximum north-south dimension of the solar energy utilization devices in the working state), and ≤100 meters.

[0030] A wheel-rail chassis device runs on the track across the solar energy utilization device. The wheel-rail chassis device includes agricultural machinery, vehicles, and photovoltaic operation and maintenance robots as special equipment for digital facility farmland. The operating width of the wheel-rail chassis agricultural machinery covers the farmland between two adjacent rows of the solar energy systems to the north and south. The wheel-rail chassis assembly includes a chassis, functional components on the chassis (such as a cargo bed or a height angle adjustment robotic arm for solar energy utilization devices), and two or more wheel sets on each side of the chassis that are rotatably connected to the track. Each wheel set includes a braking component. A space is provided between the wheel sets on both sides of the same wheel-rail chassis to allow the solar energy utilization device to pass just wide. Each wheel set includes one or more wheels; the wheels are rotatably connected to the track; each wheel includes a driving wheel and a driven wheel; the driving wheel has its own drive mechanism that enables it to traction the wheel-rail chassis assembly to travel on the track.

[0031] At least a portion of the track base (e.g., at least one every 50 meters or 300 meters in the north-south direction) is equipped with power transmission lines connected to the power source and / or water supply mains connected to the water source, and correspondingly, several quick-connect electrical sockets for movable automatic electrical connection devices connected to the power transmission lines are evenly distributed along the track base, or several quick-connect pipe sockets for movable automatic pipe connection devices connected to the water supply mains are evenly distributed. At least some of the specialized equipment (e.g., agricultural robots) are equipped with electrical double-prong mechanisms compatible with the electrical sockets or pipe double-prong mechanisms compatible with the pipe sockets, to ensure uninterrupted power supply or water supply and pumping while they are traveling on the track. The track base and its load, as well as the weight of the track load, are transferred to the ground through the track and foundation.

[0032] This invention provides a method for transforming existing farmland into digital facility farmland, including constructing a track-mounted photovoltaic system on fallow farmland, characterized by the following steps: 1) Re-divide farmland plots and roads, including farm roads, determine the basic construction project of the solar energy system with track, determine the land leveling or farmland rotation plan, and the land leveling plan includes east-west field ridges parallel to the solar energy system and other north-south field ridges; 2) The construction of the foundation (e.g., using engineering machinery powered by power batteries, umbilical power lines and movable electrical connection interfaces) includes the construction of several sets of foundation piles arranged in parallel east-west directions, each set of foundation piles including two rows of parallel foundation piles, and each set of foundation piles is equipped with a row of the solar energy system. The spacing between the two foundation piles in each group (e.g., 2.5 meters) is also called the installation width. The installation width is usually no less than the maximum north-south dimension of the solar energy utilization device under working conditions. The east-west spacing (front and back spacing) of the foundation piles depends on the components (e.g., half of the 3.5-meter width of a 3*1132mm component, which is 1.75 meters). Foundation piles include spiral cement piles and sleeper piles.

[0033] 4) Includes a photovoltaic operation and maintenance robot, on which several interconnected track bases are fixedly connected. Each track base is an integral steel structure, including a set of two parallel tracks and assembly accessories. The length of the track base is unlimited (e.g., multiples of 3.5 meters, mainly to facilitate the overall relocation of the solar energy utilization devices attached to it). The track includes a smooth connection with a road crossing at a large angle. At the connection, the wheel-rail chassis device includes a system for switching to road wheel sets for travel. First, construct the longest possible track base to create a track platform support area with the largest possible coverage area. Then, fix a platform (e.g., using a photovoltaic maintenance robot) to the track base, and fix solar energy utilization devices to the platform, without restricting the elevation angle of the solar energy devices. Construct (including constructing several parallel track-based solar energy systems). Solar energy utilization devices include photovoltaic modules, photothermal energy conversion elements, and algae production devices; relevant existing technologies can be referenced for information on solar energy utilization devices and their installation.

[0034] At least in part (e.g., at least one every 50 or 300 meters in the north-south direction) of the solar energy system's track base, a power transmission line connected to the power grid or a water supply main pipe connected to a water source is installed, and correspondingly, a number of quick-connect electrical sockets for movable automatic electrical connection devices connected to the power transmission line or a number of quick-connect pipe sockets for movable automatic pipe connection devices connected to the water supply main pipe are evenly distributed along the track base.

[0035] 4) A wheel-rail chassis device that runs across the solar energy utilization device on the track, the wheel-rail chassis device including a chassis carrying functional components and two or more wheel sets on each side of the chassis that are rolledly connected to the track; the wheel-rail chassis device includes wheel-rail chassis photovoltaic operation and maintenance robots, wheel-rail chassis vehicles and wheel-rail chassis agricultural machinery; The functional components of the wheel-rail chassis agricultural machinery include a working module bus extending to the left or right, and working modules mechanically or by means of umbilical cables connected to the bus, which also supplies power or water to the working modules; the working modules perform tasks including land leveling and field operations. This includes the use of mobile cranes and land leveling machinery on farmland.

[0036] The operating width of wheel-rail chassis agricultural machinery is unlimited (e.g., equal to or half the distance between two adjacent rows of tracks on the north and south sides, or 40 meters apart). At least some of the wheel-rail chassis agricultural machinery is equipped with electrical double-prong machines compatible with the electrical sockets, or with pipe double-prong machines compatible with the pipe sockets. This ensures uninterrupted power supply and / or water supply and pumping for the wheel-rail chassis agricultural machinery while it travels on the track, and distributes the power to each working module. The track base and its load, as well as the weight of the track load, are transferred to the ground through the track and foundation piles.

[0037] 5) Optionally, the solar energy system may be added between adjacent solar energy systems in the north and south; or the tracked solar energy system may be moved to the next fallow farmland.

[0038] This invention provides a method for transforming barren grassland into digital facility farmland, including photovoltaic power stations, comprising retaining topsoil or topsoil with high carbon content during land leveling, characterized by the following steps: 1) Re-divide farmland plots and roads, including farm roads, determine the basic construction project of the solar energy system with track, determine the land leveling plan, and the land leveling plan includes east-west field ridges parallel to the solar energy system and other north-south field ridges; 2) Implement land leveling projects, including topsoil retention measures and protective transplantation of plants to be relocated, including shrubs; projects involving water conservancy and biogas should be merged into one project; 3) While leveling the land, implement the foundation construction project (e.g., using engineering machinery powered by power batteries, umbilical cable power lines and movable electrical connection interfaces), including constructing several sets of foundation pile groups that are parallel to each other and arranged in an east-west direction. Each set of foundation pile groups includes two rows of parallel foundation piles, and each set of foundation piles is equipped with a row of the solar energy system. The spacing between the two foundation piles in each group (e.g., 2.5 meters) is also called the installation width. The installation width is usually no less than the maximum north-south dimension of the solar energy utilization device under working conditions. The east-west spacing (front and back spacing) of the foundation piles depends on the components (e.g., half of the 3.5-meter width of a 3*1132mm component, which is 1.75 meters). Foundation piles include spiral cement piles and sleeper piles.

[0039] 4) Includes a photovoltaic operation and maintenance robot, on which several interconnected track bases are fixedly connected. Each track base is an integral steel structure, including a set of two parallel tracks and assembly accessories. The length of the track base is unlimited (e.g., multiples of 3.5 meters, mainly to facilitate the overall relocation of the solar energy utilization devices attached to it). The ends of the tracks include a smooth connection with a road crossing at a large angle. At the connection, the wheel-rail chassis device includes a system for switching to road wheel sets for travel. First, construct the longest possible track base to create a track platform support area with the largest possible coverage area. Then, fix a platform (e.g., using a photovoltaic maintenance robot) to the track base, and fix solar energy utilization devices to the platform, without restricting the elevation angle of the solar energy devices. Construct (including constructing several parallel track-based solar energy systems). Solar energy utilization devices include photovoltaic modules, photothermal energy conversion elements, and algae production devices; relevant existing technologies can be referenced for information on solar energy utilization devices and their installation.

[0040] At least in part (e.g., at least one every 50 or 300 meters in the north-south direction) of the solar energy system's track base, a power transmission line connected to the power grid or a water supply main pipe connected to a water source is installed, and correspondingly, a number of quick-connect electrical sockets for movable automatic electrical connection devices connected to the power transmission line or a number of quick-connect pipe sockets for movable automatic pipe connection devices connected to the water supply main pipe are evenly distributed along the track base.

[0041] 5) A wheel-rail chassis device that runs across the solar energy utilization device on the track, the wheel-rail chassis device including a chassis carrying functional components and two or more wheel sets on each side of the chassis that are rolledly connected to the track; the wheel-rail chassis device includes wheel-rail chassis photovoltaic operation and maintenance robots, wheel-rail chassis vehicles and wheel-rail chassis agricultural machinery; The functional components of the wheel-rail chassis agricultural machinery include a working module bus extending to the left or right, and working modules mechanically or by means of umbilical cables connected to the bus, which also supplies power or water to the working modules; the working modules perform tasks including land leveling and field operations. This includes the use of mobile cranes and land leveling machinery on farmland.

[0042] The operating width of wheel-rail chassis agricultural machinery is unlimited (e.g., equal to or half the distance between two adjacent rows of tracks on the north and south sides, or 40 meters apart). At least some of the wheel-rail chassis agricultural machinery is equipped with electrical double-prong machines compatible with the electrical sockets, or with pipe double-prong machines compatible with the pipe sockets. This ensures uninterrupted power supply and / or water supply and pumping for the wheel-rail chassis agricultural machinery while it travels on the track, and distributes the power to each working module. The track base and its load, as well as the weight of the track load, are transferred to the ground through the track and foundation piles.

[0043] 6) Optionally, additional solar energy systems may be deployed between adjacent solar energy systems in the north and south; or the land leveling project, seeding, transplanting, replanting, and well drilling and water network construction project may continue to be implemented. Beneficial effects

[0044] 1) The beneficial effects of the crop rotation photovoltaic power generation of the present invention: Taking 168.68 million mu of crop land in the three provinces of Jiangsu, Zhejiang and Anhui in the Yangtze River Delta, with a rotation of 1 year for power generation every 3 years of cultivation and an average annual photovoltaic power generation of 200,000 (666*226*0.94*1.14*1.24) kWh per mu, the annual power generation is 8,314 billion (16628 / (3+1)*200,000) kWh, which is 4.4 times the total electricity consumption of 1,886.5 billion kWh in Jiangsu, Zhejiang and Anhui in 2024. Here, 666㎡ is the rounded-up area of ​​1 mu (1 hectare), which is 1 / 15 of the total area; 226 (W / ㎡) is the power generation capacity; 0.94 is the area fill rate of the installed components (e.g., 2382 / 2500*1132 / 1147 rounded up); 1.14 refers to the annual power generation of 1.14 kWh per watt in the Yangtze River Delta region (compared to 1.6 kWh in western China); and 1.24 is the 24% increase in power generation when using altitude angle tracking.

[0045] Using only 22% of the available fallow farmland, it is possible to deploy photovoltaic power generation capacity exceeding twice the current electricity consumption in three eastern provinces of China. This is a technological achievement that those skilled in the art have long desired but have not yet attained.

[0046] 2) Beneficial effects of the digitalized facility farm of the present invention: The ability to order organically grown produce using natural farming methods and to have full access to information is a perennial challenge. Traceability of the soil, water, related materials (such as pesticides, fertilizers, herbicides, and hormones), and the attributes of facility farming techniques used in the planting, processing, storage, and transportation of consumer agricultural products requires digitalized farmland and agricultural machinery. The digitalized facility farm of the present invention, along with the operating modules connected via bus mechanical connections or umbilical cables through agricultural machinery, constitutes such facility farmland and specialized equipment.

[0047] Definition: Electrified farmland refers to farmland equipped with: 1) a tracked solar energy system (e.g., a photovoltaic system), 2) agricultural machinery with a single load weight of ≥1 ton and a track platform as a spatial positioning basis, and 3) a movable connection interface and supply capacity that can provide ≥30 kilowatts of power and ≥0.3 m³ / s of water.

[0048] Many existing agricultural machines, including internal combustion engine-driven harvesters and rice transplanters, can be modified into operational modules connected by the bus or umbilical cable without any creative effort. However, the unexpected technological effect is that using the tracked solar energy system of the present invention and wheel-rail chassis agricultural machinery that runs across the solar energy utilization device on the track can directly transform existing farmland into digital facility farmland. This renovation process will save a significant amount of money, including a saving of 5067 (915+2152+2000) yuan per mu. Of this, 915 (667 / 50*2 / 1.75*60) represents the savings in foundation pile and construction costs; 2152 (667 / 50*89.6*1.8) represents the savings in track base and installation costs per mu; 667 / 50 = 13.34 meters refers to the track length per mu when the two rows of solar energy systems are spaced 50 meters apart from each other; and 2000 yuan per mu represents the estimated savings in comprehensive costs, including connecting the power grid to the site and the land occupied by the tracks.

[0049] When the wheel-rail chassis agricultural machinery crosses the solar energy utilization device and covers the component on the track, assuming each coverage lasts an average of 6 seconds and 200 coverages per year totaling 20 minutes, it accounts for 3.8 out of 100,000 of the 8,760 hours in a year. Only about 26 to 36 of these coverages, totaling 2.6 to 3.6 minutes, cause shading effects, which are negligible.

[0050] 3) The beneficial effects of a track-based solar power system for digitalized facility farmland. Compared to the cost of a conventional ground-mounted photovoltaic power station at 1.8 yuan / watt, with an annual power generation investment ratio of 1.14 kWh / 1.8 yuan over 25 years (equivalent to 0.633 kWh / yuan), the track construction cost of the track-based solar power system of this invention is 161.28 yuan / meter, including two 11.2 kg / meter tracks at 4 yuan / kg (89.6 yuan), and structural accessories and construction of the track base at 0.8 * 89.6 yuan (approximately 71.68 yuan). This 1-meter length includes 550 watts of modules, and its annual power generation investment ratio over 25 years is 1.14 * 0.24 / (161.28 / 550 + 0.006) ≈ 0.915 (kWh / yuan), which is higher than the 0.633 kWh / yuan mentioned above without altitude angle tracking. In the formula, 0.006 is the rounded-down value of the robot purchase cost of 500,000 yuan allocated to 172.8, which is 86.4 (MW). The cost per watt is 500,000 / (172.8 / 2*1000000≈0.0058.

[0051] The ownership cost of a dedicated photovoltaic operation and maintenance robot with a height angle tracking capability over a 25-year lifespan is 1.2 million yuan, including 500,000 yuan for purchase, 500,000 yuan for maintenance, and 200,000 yuan for electricity (e.g., electricity cost of 0.35 yuan / kWh for a power output of 2.6 kW, totaling 199,290 yuan for 25*365*24*2.6*0.35). The robot takes an average of 1 second to track the height angle of 100 watts of modules and performs height angle tracking once every 20 days. One robot can serve 20*24*60*60*100, which is 172.8 MW. If the area of ​​the modules served is halved, the robot cost per watt of module is approximately 1.2 million / (1728 million / 2) ≈ 0.014 yuan / watt.

[0052] Without the aforementioned track, photovoltaic maintenance robots using wheeled or tracked chassis, taking elevation angle tracking as an example, would not only require significant land use for robot passageways on the north and south sides of the photovoltaic power station within farmland, but also increase the robot's operational dimension from one to three dimensions. This would increase costs, slow down operation, and significantly increase the difficulty of autonomous driving, clearly making it inferior to the robot solution using the track platform of this invention. The track platform creates conditions for the automated installation, dismantling, and relocation (e.g., relocation in rotational farmland) of track-based solar energy systems using photovoltaic maintenance robots.

[0053] 4) Beneficial effects of specialized wheel-rail chassis agricultural machinery for digitalized facility farmland. During the development of farmland rotation photovoltaic power generation, the inventors of this application realized that tracks originally used for photovoltaic maintenance robots are perfectly suitable for operating ton-class heavy-duty wheel-rail chassis vehicles and ton-class heavy-duty wheel-rail chassis agricultural machinery that cross the aforementioned solar energy utilization devices. This allows existing farmland within a 50-meter radius north and south of the power generation system to directly become digitalized facility farmland (hereinafter referred to as digitalized facility farmland) cultivated using wheel-rail chassis agricultural machinery—an unexpected effect. Digitalized facility farmland is also expected to obtain negative carbon farmland and organic farmland certifications in the shortest possible time.

[0054] Here's a brief digression: If food security is a concern and there's a desire to increase planting area, this could be achieved by developing China's 5.9 billion mu of grassland and several hundred million mu of desert and Gobi wasteland, including converting 2.4 billion mu of that into irrigated farmland. Of this, 1.2 billion mu could be planted with castor beans, producing 200 million tons of castor oil annually—a high-grade aviation fuel. Land previously used for castor beans can be used for other crops, thus this 1.2 billion mu could be rotated with another 1.2 billion mu. Of this additional 1.2 billion mu, 600 million mu could be planted with corn, producing 400 million tons annually, and this could be rotated with another 600 million mu. Of this additional 600 million mu, 300 million mu could be planted with soybeans, producing 28 million tons of soybean oil annually, and this could be rotated with another 300 million mu. Of this additional 300 million mu, 100 million mu could be planted with northern rice, producing 56 million tons annually—enough to supply 700 million consumers with an average of 80 jin per person—and this could be rotated with another 200 million mu planted with potatoes, peanuts, etc. This 2.4 billion mu, because it only grows one crop per year, does not require rotation. The rainfall is achieved by using sustainable rain enhancement to reach 1,000 mm of rainfall during the planting season (for related technologies, see Chinese Patent Application 2023108922548, Water Management Area, Method and Special Equipment).

[0055] The 2.4 billion mu of farmland will produce 1.6 billion tons of biogas-compatible raw materials annually, generating 300 billion m³ of biomass methane (which can replace 600 million tons of standard coal and reduce carbon dioxide emissions by 1.56 billion tons), and capturing 560 million tons of carbon per year, with biogas sludge providing 1 billion tons of carbon sequestration per year. Assuming adjacent photovoltaic systems with rails spaced 100 meters apart, 60 million mu of photovoltaic modules could be deployed within these 2.4 billion mu, generating 14 trillion kilowatt-hours of electricity, equivalent to 4.06 billion tons of coal-fired power. The 2.4 billion mu figure can be increased as appropriate.

[0056] This invention utilizes the track of the aforementioned solar-powered system as the operating platform for wheel-rail chassis agricultural machinery, providing power to digitalized facility farmland, which is the foundation of agricultural machinery digitalization. Assuming an upgrade cost of 600 yuan per meter for the photovoltaic system's power lines, water supply mains, uninterrupted power supply, and water pumping facilities, and considering an agricultural robot operating width of 50 meters, the total investment per mu (unit of land area) for digitalized facility farmland is 600*667 / (50*2), totaling 4,000 yuan. In this formula, 2 refers to two operating widths of 50 meters, one in the north and one in the south. Considering that a 2.5-meter-wide photovoltaic system with a 2*50-meter operating width allows for 40 years of cultivation followed by 1 year of power generation, if this is insufficient, the aforementioned solar-powered system can be added at any time, but uninterrupted power and water supply facilities are not required.

[0057] In many places, only one crop is grown per year, eliminating the need for farmland fallow, which allows for the use of permanently installed tracked solar power systems.

[0058] This invention utilizes a wheel-rail chassis agricultural machinery with an uninterrupted power supply device, which can reduce or eliminate the need for power batteries, thereby lowering the weight and cost of the equipment and increasing its range to a near-unlimited level. Furthermore, the pipeline socket allows for uninterrupted water supply and pumping for the wheel-rail chassis agricultural machinery traveling on the track, a feature that modern agricultural machinery requires but does not yet possess.

[0059] Digitalized agricultural facilities bring numerous beneficial technological effects: Using the digital agricultural machinery of this invention, the cost of farming is reduced from approximately 1000 yuan per mu (unit of land area) for a complete two-season operation (plowing, harrowing, transplanting, sowing, seedling raising, fertilizing, watering, harvesting, threshing, straw bundling, leveling, and soil testing) to 140 yuan per mu. The robots running on tracks are insensitive to flooded farmland, resulting in an average annual benefit of 10 yuan from potential emergency harvesting and planting during floods; 200 yuan from reducing the need for trucks and heavy equipment on farmland, energy conservation and emission reduction through electricity replacing fossil fuels, and autonomous driving; 100 yuan from efficient irrigation saving water and increasing yields; and increased aeration through water control. The following benefits are generated: 10 yuan from reducing methane production and emissions; 50 yuan from physical weeding reducing herbicide use and promoting biogas slurry reducing chemical fertilizers and pesticides; 40 yuan from the ability to readily accept biogas slurry, increasing soil carbon content by 100 kg / mu; 60 yuan from receiving customized organic agricultural products; 20 yuan from agricultural digital transformation including convenient traceability; 10 yuan from reducing mechanized farming roads and stations; and 40 yuan from utilizing rail-mounted vehicles for logistics. The total annual cost reduction and profit per mu is 1400 yuan (excluding future benefits from new technologies, including community-based planting), resulting in a good return on investment.

[0060] The equipment for digitalized facility farmland is purchased by a professional outsourcing company responsible for cultivation. The digitalized facility farmland equipment of this invention, employing a crossbeam and its suspended operating modules, exhibits significantly better stability than ordinary diesel engine-driven agricultural machinery (such as rice transplanters). The flatness error of the ground leveled using the crossbeam-suspended fine land leveling module can be controlled within 5 millimeters.

[0061] Agricultural machinery traveling on tracks can more easily achieve automatic driving, precise positioning, and path determination, ensuring safe and reliable operation. Modular operation modules offer greater adaptability, facilitating extreme water conservation and faster adoption of various new agricultural technologies. Using traveling cranes makes it easier to expand the operating width of agricultural machinery, including up to 500 meters.

[0062] The use of a movable connection interface allows for power extraction while in motion; its strong insulation enables the use of high-voltage electricity, which helps increase power supply capacity. The use of a water main pipe allows drainage to be carried out more than ten kilometers away.

[0063] The digital facility farmland and method equipment of this invention solves several of the above-mentioned technical problems that are urgent technical problems in the field but have remained unsolved for a long time.

[0064] The beneficial effects of this invention also include the ability to quickly drain water from designated plots to locations several kilometers away via a leveled water supply pipeline. Irrigation using this invention can achieve a water utilization rate of over 95%, which is highly effective in addressing potential crop yield reductions due to drought during the hottest days of summer in the Yangtze River Delta region. Compared to internal combustion engines that burn oil (with a thermal efficiency of less than 40%, heavy weight, difficult speed regulation, and significant carbon emissions), the grid-powered motor boasts a 90% efficiency, is lightweight, easy to regulate, and effectively reduces carbon emissions, potentially decreasing methane production and emissions from farmland. Attached Figure Description The following explanation, in conjunction with the accompanying drawings, provides further details.

[0065] Figure 1 and Figure 2 These are side and rear views of a photovoltaic system with a track, respectively. Figure 3 This is a partial structural diagram of a single-wheel-rail chassis agricultural machine. Figure 4 This is a schematic diagram of an electric harvester in operation; Figure 5 This is a partial structural diagram of an agricultural machine with a dual-wheel-rail chassis. Figure 6 This is a scene diagram showing the automatic installation of a track base on foundation piles; Figure 7 It is a top view of a digitally digitized facility farmland; Figure 8 This is a top view of a reclaimed and digitally constructed agricultural facility.

[0066] In the diagram: 1. Foundation pile; 2. Track; 3. Crossbar; 4. Frame; 5. Component; 6. Chassis; 7. Functional component; 8. Wheelset; 9. Earth; 10. Power transmission line; 11. Water main; 12. Electrical socket; 13. Pipe socket. 14. Crops; 15. Wheelset connectors; 16. Crossarm beams; 17. A-frame beams; 18. Main transmission components; 19. Sub-transmission components; 20. Harvesters; 21. Irrigation modules; 22. Solenoid valves; 23. Water pipes; 24. Crane booms; 25. Cables; 26. Electrical double-plug machinery; 27. Crossarm beam vertical shaft rotating pair; 28. Cantilever poles; 29. ​​Umbilical cables; 30. Wheel-rail chassis vehicles; 31. Mechanical arms; 32. Track bases; 33. Tracked cranes; 34. Screw lifting components; 35. Wheels; 36. Excavators; 37. Bulldozers; 40. Power transmission lines; 41. Pile drivers; 42. Wheel-rail chassis agricultural machinery; 44. Sandstorm origin areas; 45-47. Contour lines; 48. Vehicle tilting machines; 50. Independently traveling cranes; 51. Connecting conveyor belts; 52. Auxiliary tracks; 55. Highways; 56. Through holes; 57. Working modules; 58. Top plates; 59. Long holes; 60. Vertical plates; 61. Electric locking tongues. Detailed Implementation

[0067] Figures 1-4Example 1 illustrates the manufacture of a track-based photovoltaic system, comprising two rows of parallel foundation piles 1 and one or more track bases fixedly connected to the foundation piles. Each track base includes a set of two parallel tracks 2 and assembly accessories including crossbars 3 connecting the two tracks. The length of the track base is determined by the size of the solar panels, and the design considers that during relocation of the solar system, the track base can be moved directly, with minimal or no movement to the platform components on the track base.

[0068] For example, on a 10-meter-wide, north-south oriented plot of farmland comprising four adjacent fallow plots, the photovoltaic power station uses modules measuring 2382mm x 1132mm. The installation width is 2.382 meters, rounded down to 2.5 meters (or 2.4 meters). The spacing of the parallel foundation piles is then 2.5 meters, the same as the installation width. A total of 5 rows of foundation piles are laid. In contrast, if the foundation pile spacing is 2 meters, less than the installation width, 8 rows of foundation piles are required. The advantages of having the foundation pile spacing the same as the installation width include: minimizing the number of foundation piles, being more friendly to land and agricultural machinery, saving costs, and being suitable for using tracks as a driving platform.

[0069] A platform 4 is fixedly connected to the track base, and photovoltaic modules 5, which are used to utilize solar energy, are fixedly connected to the platform. Thus, the solar energy utilization devices are indirectly connected to the foundation via the platform, forming a section of a track-mounted photovoltaic unit. Adjacent solar energy units are interconnected at the boundary, forming an east-west oriented track-mounted photovoltaic system.

[0070] A wheel-rail chassis device spanning component 5 runs on the track. The wheel-rail chassis device includes a chassis 6, functional components 7 on the chassis, and two or more wheel sets 8 on each side of the chassis that are rolled along the track. A space is left between the wheel sets on both sides of the same wheel-rail chassis to allow solar energy utilization devices to pass through. Figure 1 The area is defined by a rounded rectangle with a dashed line. The wheel-rail chassis equipment in Example 1 has four wheel sets; each wheel set includes one or more wheels; each wheel includes a driving wheel and a driven wheel. The weight of the track base and its load, as well as the track load, is entirely transferred to the ground through the track and foundation piles.

[0071] Power transmission lines 10 connected to the power supply and water supply mains 11 connected to the water source are installed on the track base. Several quick-connect electrical sockets 12 for movable automatic electrical connection devices connected to the power transmission lines and several quick-connect pipeline sockets 13 for movable automatic pipeline connection devices connected to the water supply mains are evenly distributed along the track base. These electrical sockets and pipeline sockets provide uninterrupted power, water supply, or water pumping to the moving wheel-rail chassis agricultural machinery and distribute the power to each operating module.

[0072] Crops are planted in the farmland on both sides of the track. In the Northern Hemisphere, as the solar altitude angle increases, crops also enter their vigorous growth period, requiring adjustments to the status of solar energy utilization devices, such as modules, to avoid shading. Figure 1The radian angle of the mid-ray is the angle of the tropics.

[0073] When the photovoltaic module has dimensions of 2382mm*1132mm, the vertical distance from the bottom of the chassis to the farmland includes approximately 2384sin(55°)≈1,952.8mm. There is a wheel assembly connector 15 of approximately two meters between the chassis and the wheel assembly.

[0074] Figures 1-4 Example 2 provides a wheel-rail chassis agricultural machine, comprising a wheel-rail chassis, several operating modules connected to the operating module bus, a dual-mount machine, and a control system. The wheel-rail chassis traverses a tracked solar energy system's solar energy utilization device assembly 5 on a track 2 within farmland. The wheel-rail chassis includes a chassis 6 and two wheel sets 8 on each side of the chassis, which are rotatably connected to the track. A space is provided between the wheel sets on both sides of the same wheel-rail chassis to allow the solar energy utilization device to pass through. Figure 1 The rectangle with rounded corners is shown in the dashed box.

[0075] The operating module bus in Example 2 is a crossbeam bus, including a crossbeam 16 extending to both sides from a wheel-rail chassis. The length of the crossbeam includes 2.5 meters in the middle on the wheel-rail chassis and 10 meters on each side, totaling 22.5 meters. A herringbone beam 17 is installed on the crossbeam for reinforcement. The crossbeam is made of carbon fiber material for weight reduction and corrosion resistance.

[0076] The crossarm beam bus includes several mechanical connection interfaces and an umbilical cable bus. The main conveyor 18 on the crossarm beam connects to the sub-conveyors 19 on one or more work modules, forming a material conveying assembly.

[0077] The mechanical connection interface includes a set of bolts on the top of the working module, which are fastened to a set of bolt holes on the crossarm beam to enable the hoisting of the working module. The mechanical connection interface is interchangeable and can achieve an operating accuracy error of ≤5 mm along the crossarm beam.

[0078] The heavier work modules include bulldozers for land leveling, harvesters 20, and tillage tractors, which travel on the ground. The work modules transmit electricity, electrical signals, and water, fertilizer, and pesticides via umbilical cables; and are connected to the main transmission devices on the crossarm beam via sub-transmission devices.

[0079] The umbilical cable delivery includes transmission through umbilical cable connection interfaces, which include high-voltage quick-connect interfaces (e.g., power socket plugs), low-voltage quick-connect interfaces (e.g., USB socket plugs), and pipeline quick-connect interfaces (e.g., fire hydrant hose connection interfaces). Each operating module can independently complete its set agronomic operations. For example, irrigation module 21 uses its built-in artificial vision system, utilizing artificial vision and artificial intelligence to determine the watering location and volume, and controls the water flow from water pipe 23 via solenoid valve 22 to achieve precise irrigation of crops. Further details regarding the operating modules can be found in existing technologies.

[0080] The crossarm beam 16 is supported by a wheel-rail chassis on the track and a crane boom 24 on a tracked electric harvester operating in the farmland. The crane boom is suspended from the crossarm beam 16 by cables 25.

[0081] The dual-plug machinery includes a pipeline dual-plug machinery and an electrical dual-plug machinery 26. Each of the pipeline or electrical dual-plug machinery includes a first plug robotic arm and a second plug robotic arm. These robotic arms continuously switch between plugging into a pipeline socket 13 connected to a water source and an electrical socket 12 connected to a power source, mounted on a track-mounted solar energy system base. This enables uninterrupted water or power supply to the moving wheel-rail chassis agricultural machinery and distributes it to each operating module. The pipeline dual-plug machinery and related content include existing technologies such as the two types of movable automatic connection devices referenced in 2019106221462.

[0082] To solve the problem of wheel-rail chassis agricultural machinery encountering rod-shaped obstacles in the field, Figure 1 , 3 In the embodiments related to point 4, a one-dimensional revolute joint—the transverse beam vertical axis revolute joint 27 (represented by a rectangle with a diagonal line)—is used, constrained by the upper surface of the chassis of the wheel-rail chassis device and the bottom surface of the transverse beam, respectively. This gives the transverse beam an additional degree of freedom to rotate about a vertical axis, including for avoiding obstacles in the field. The rotation of the transverse beam relative to the chassis includes a reference tank turret as the drive mechanism.

[0083] Figure 1 , 2 Examples 3 are given in 4 and 5, which describe the manufacture of a wheel-rail chassis agricultural machine, comprising two ( Figure 5 Draw a wheel-rail chassis standing on track 2, several working modules harvester 20, double-insertion machinery and control system.

[0084] The solar energy utilization device component 5 of the tracked solar energy system, which spans farmland 9, operates on track 2; the wheel-rail chassis includes a chassis 6 and two wheel sets 8 on each side of the chassis that are tactilely connected to the track.

[0085] The work module bus is a crossbeam bus, consisting of a crossbeam 16 supported by two wheel-rail chassis. The crossbeam length includes 2.5 meters on each of the two wheel-rail chassis and a 40-meter section spanning the two chassis, totaling 45 meters. A herringbone beam 17 is installed on the crossbeam for reinforcement. The work module harvester is connected to the work module bus via an umbilical cable 29 supported by a boom 28, transmitting power and electrical signals. It also connects to the main transmission device 18 on the crossbeam via a sub-transmission device 19.

[0086] In one possible design, Figure 3 The harvester in the design avoids the foundation piles in the farmland (the parts of the harvester shown by the dotted circle shrink upwards at the foundation piles), which can retain the foundation piles in the farmland without affecting the field operation of agricultural machinery and reduce the construction of repeated pile driving and pulling.

[0087] The wheel-rail chassis vehicle 30 is used to transport materials, including harvested grain. The wheel-rail chassis vehicle 30 includes a chassis that carries a functional component bucket and two or more wheel sets 8 on each side of the chassis that are rotatably connected to the track 2; the wheel-rail chassis vehicle runs on the track over the solar energy utilization device.

[0088] The crossarm beam is used in conjunction with the crane boom 24 on the traveling crane for operation in farmland, sharing the load. The crane boom is connected to the crossarm beam via cable 25.

[0089] The dual-plug machinery includes a pipeline dual-plug machinery and an electrical dual-plug machinery 26. By continuously switching between the pipeline socket 13 connected to the water source and the electrical socket 12 connected to the power source, which are installed on the track base of the solar system with rails, the machinery can achieve uninterrupted water or power supply to the moving wheel-rail chassis agricultural machinery.

[0090] Example 3 also includes a transverse beam vertical axis rotation pair 27 constrained by the upper surface of the chassis of the wheel-rail chassis device and the bottom surface of the transverse beam.

[0091] Example 3 uses two wheel-rail chassis load crossbeams, which is more stable than Example 2 which uses a single wheel-rail chassis.

[0092] Figure 1 , 6 Example 4 describes the manufacture of a wheel-rail chassis-based solar energy system operation and maintenance robot, comprising a wheel-rail chassis, a robotic arm 31, and a robot control system. The wheel-rail chassis traverses farmland 9, where the solar energy utilization device components 5 of the tracked solar energy system run on track 2. The wheel-rail chassis includes a chassis 6, two wheel sets 8 on each side of the chassis that are rotatably connected to the track, and two liftable road wheels on each side of the chassis. Several track bases 32 are mounted on the chassis, and a tracked crane 33 is configured. Both the tracked crane and the robot chassis are equipped with robotic arms 31. The track 2 extends into the road and connects smoothly with it; the liftable road wheels include a screw lifting component 34 and a wheel 35. The road wheelset has two stable states: retracted and extended. When the road wheelset is in the retracted state, it does not affect the operation of the wheel-rail chassis device; when the road wheelset is in the extended state, it is rolled and connected to the road, ensuring that all wheelsets 8 do not contact the road surface and that the wheel-rail chassis device can travel on the road.

[0093] Working principle of Example 4: After the foundation pile engineering is completed, with the help of a laser detection system including a laser emitter and a laser-detecting artificial vision system, a tracked crane enters the site and positions itself. First, the crane arm 24 lifts the first track base onto foundation pile 1. The tracked crane and the robotic arms on the robot together position and fix the track base onto the foundation pile. Then, the robot drives onto the newly installed track base, and the control system instructs the lead screw lifting component to retract the wheels. The laser emitter and laser-detecting artificial vision system can refer to existing technology. Then, the tracked crane lifts a track base from the robot, moves it forward to its position, and lowers the track base. The tracked crane and the robotic arms on the robot together position and fix the track base onto the foundation pile. Once the wheel-rail chassis on the robot is used up, the tracked crane lifts subsequent track bases brought by other vehicles onto the robot, and the above steps are repeated until the track base installation is complete.

[0094] The installation of mounting platforms and solar energy utilization devices is easier without the need for crawler cranes. There are many practical examples of power line installation. The installation of water mains, pipe sockets, and electrical sockets can also be accomplished using existing technologies.

[0095] Figure 7 Example 5 is given, which includes the temporary installation of a tracked photovoltaic system on fallow farmland. It is assumed that the crops on the farmland are about to be harvested all at once, the leveling of the farmland involves the protection of some of the arable land, and excavators 36 and bulldozers 37 will be used.

[0096] First, complete the construction of the power line 40 to the site. Determine the track location for the tracked photovoltaic system. Use excavators and bulldozers to remove the topsoil from both low-lying and high-lying areas and pile it on farmland that does not require leveling. Then, transport the soil from the high-lying areas to the low-lying areas to complete the land leveling. Finally, return the topsoil to the leveled farmland. Water conservancy and biogas projects will be implemented in conjunction with the land leveling project (details not provided here). Other methods can also be used for leveling land while retaining topsoil. Refer to existing technologies for relevant information.

[0097] Guided by a laser level, 41 pile drivers were used to drive foundation piles on the leveled farmland. An extended track base was then laid on the foundation piles. A platform was then installed, power transmission lines and water pipes were laid, electrical sockets and conduit sockets were arranged, and components were installed to achieve power supply and network connectivity.

[0098] Use the wheel-rail chassis agricultural machinery 42 as soon as possible to take over the farmland for fine leveling and cultivation. The transmission device on the excavator 36 is connected to the transmission device 18 on the crossbeam 16 of the wheel-rail chassis agricultural machinery 42.

[0099] Figure 8 Example 6 is given, in which a troop of desert grassland transformation robots (configured as needed) including wheel-rail chassis agricultural machinery arrives at the dust storm source site 44 to be transformed. Figure 8 Different contour lines represent different elevations. For example, double contour line 45 indicates the target elevation where no ground work is needed; double dashed contour line 46 indicates an area that needs to be lowered by 1 meter; and thin double dashed contour line 47 indicates an area that needs to be raised by 1 meter. The actual contour lines include a 0.5-meter elevation difference, which can be published in real-time using drones. Farmland not used for rice cultivation has slightly lower requirements for flatness. Variations in elevation are permissible between paddy fields enclosed by ridges.

[0100] First, transport the construction machinery, including excavators 36, bulldozers 37, wheel-rail chassis vehicles 30, pile drivers 41, wheel-rail chassis agricultural machinery 42, vehicle dumpers 48, independent traveling cranes 50, mountain photovoltaic systems, chargers, and generators, to the site. Among them, the excavators and bulldozers include those powered by internal combustion engines or power batteries.

[0101] Determine the track locations for several tracked photovoltaic systems, topsoil preservation plots, and plots for the protective transplantation of vegetation, including shrubs (refer to existing technologies for details); projects involving water conservancy and biogas should be merged. Simultaneously construct mountain photovoltaic systems for power generation.

[0102] The prepared foundation is piled with a pile driver 41 to drive foundation piles 1. A track base 32 is laid on the foundation piles and the track is extended. A platform is then installed, and power transmission lines and water supply pipes are laid. Electrical sockets and conduit sockets are installed, and components are installed to achieve power supply and network connectivity. The wheel-rail chassis agricultural machinery 42 is then placed on track 2. This includes using an independent traveling crane 50 to lift the work module bus to supply power to the electric bulldozer, expanding the working range to both sides of track 2 (e.g., 500 meters on each side), and advancing the land leveling project, including removing topsoil and piling it in a designated area. And plant sand-resistant shrubs wherever possible. Earthwork includes using an excavator to transport the material to the main conveyor device 18 of the material conveying assembly on the crossbeam 16 of the wheel-rail chassis agricultural machinery, and then transferring it to the wheel-rail chassis agricultural machinery on the adjacent plot via the connecting conveyor belt 51. Alternatively, the material can be transported by wheel-rail chassis vehicles 30 and dumped by a vehicle dumper to the main conveyor device of the material conveying assembly of the local wheel-rail chassis agricultural machinery, then delivered to low-lying areas and leveled by bulldozers. Or, the material can be transported by wheel-rail chassis vehicles to more distant locations. This also includes laying an auxiliary track 52 to provide a new track platform for the return of wheel-rail chassis vehicles.

[0103] Land that has undergone initial leveling can be planted, either by creating furrows and ridges to reach the required elevation, or by further leveling before planting.

[0104] In one possible design, Embodiment 6 further includes first leveling and transforming a portion of land that is close to the target height and of suitable size (e.g., ≥1 hectare), sowing seeds on the leveled and transformed land, then continuing to level and transform strip plots of land suitable for sowing, and then sowing or transplanting seeds on the newly leveled and transformed land as needed.

[0105] The beneficial effects of this design include: early sowing can seize the farming season and reduce the irrigated area. For example, 5% of a 15,000-mu plot can be sown with drought-resistant shrubs in one day to make effective use of rainwater during the rainy season. Then, 90% of the sowing and transplanting of 1 million mu can be completed in 70 days. Finally, the basic leveling of the plot can be completed in 10 months (including several months of frozen soil period), and the coverage of the sandstorm source area by drought-resistant shrubs can be completed several months ahead of schedule.

[0106] Using a traveling crane provides greater stability to wheel-rail chassis agricultural machinery, distributes the load, and allows for the suspension of umbilical cable buses, increasing the operating range of the tillage equipment and extending the conveying distance of the conveying device.

[0107] Then install photovoltaic modules; the supply of modules may be much slower than the supply of foundation piles, track bases, and platforms, but the modules are crucial for providing on-site power. Large modules installed on the 300-meter track base alone provide 150MW of photovoltaic power. Where conditions permit, energy storage devices should be activated or built on-site (1000 units per 1000 kW * 3 hours * 1000 units, requiring a 100MW / 300MW energy storage system). The benefits include increasing the working hours of electric construction machinery from 1500 hours per year to over 6000 hours, and a fourfold difference in project duration (extending the working time of the equipment via power lines can also be considered). Assuming one bulldozer levels an average of 80 acres of land in 24 hours, 28,000 acres can be leveled in 350 days. One thousand units can complete the transformation of 28 million mu and build a large number of photovoltaic power stations in one year. Assuming that the photovoltaic systems adjacent to each other in the north and south are spaced 1 kilometer apart, the area of ​​the shrubs in the aforementioned 10 million mu, including the area of ​​photovoltaic power stations, is approximately: 10 million * 2.5 / 1000 = 25,000 mu, with an annual power generation of 25,000 * 200,000 = 5 billion kWh.

[0108] The drought-resistant shrubs, when mature, yield 30 kg of machine-made charcoal per acre per year, totaling 300,000 tons, replacing 200,000 tons of coal and reducing carbon dioxide emissions by 520,000 tons. An even greater contribution is the elimination of sandstorms.

[0109] In one possible design, Example 6 adds a tracked photovoltaic system to the transformed land (e.g., the solar energy systems that were originally adjacent to each other on the north and south sides and separated by 1000 meters are now replaced by a tracked photovoltaic system in the middle), and continues to carry out land leveling works (e.g., the area that was originally only leveled to near the horizontal level is now leveled in its entirety), sowing and transplanting seedlings, constructing road 55, and drilling wells to construct a water network.

[0110] Figure 1 Embodiment 7 is provided, wherein the mechanical connection interface of the crossarm beam includes two rows of vertical through holes 56 evenly distributed parallel to the centerline of the crossarm beam 16 and its length direction. The top plate 58 of the working module 57 contains several vertical through holes 59 that mate with the through holes 56; both the through holes 56 and the long holes 59 are partially cut. The through holes 56 and the long holes 59 are fastened with bolts to achieve a quick-connect connection between the crossarm beam 16 and the working module 57. The use of long holes provides a certain degree of translational freedom of the working module along the centerline within a certain range. Embodiment 7 provides a technical solution for quick-connect suspending of the working module on the crossarm beam.

[0111] Figure 1 Example 8 is given, which describes the manufacture of a photovoltaic operation and maintenance robot that travels on the track of a photovoltaic system with a track in farmland.

[0112] The photovoltaic operation and maintenance robot includes a wheel-rail chassis, which includes a chassis 6, a power battery and a robot control system. Each side of the chassis includes two or more wheel sets 8 that are rolled and connected to the track. Several robotic arms 31 are connected to the chassis.

[0113] The chassis bottom surface contains two photovoltaic module racks arranged side by side. Each rack includes vertical plates 60 that are close to both ends of the photovoltaic module and one or more electric locking tongues 61 arranged on each vertical plate. The electric locking tongues have a surface that matches the frame of the photovoltaic module and can support the photovoltaic module. The electric locking tongues have two stable states: extended and retracted. When the electric locking tongues are retracted, they are not connected to the photovoltaic module. When the electric locking tongues are extended, they maintain the photovoltaic module they support.

[0114] The photovoltaic maintenance robot is used for transporting, installing, connecting, and disassembling track bases, platforms, and modules, as well as cleaning and adjusting the modules' status, including their elevation angle. Adjusting the module's status helps to minimize the shading effect between crops and the modules.

Claims

1. A solar energy system with a track, characterized in that... The system includes a track base fixedly connected to a foundation, the track base comprising two parallel tracks and assembly accessories; solar energy utilization devices are directly or indirectly fixedly connected to the track base, but the height angle variation of the solar energy devices is not restricted; a wheel-rail chassis device runs on the track, crossing the solar energy utilization devices, the wheel-rail chassis device including wheel-rail chassis photovoltaic operation and maintenance robots, wheel-rail chassis vehicles, and wheel-rail chassis agricultural machinery; the wheel-rail chassis device includes a chassis carrying functional components and two or more wheel sets on each side of the chassis that are tactilely connected to the track; The functional components of wheel-rail chassis agricultural machinery include a working module bus extending to the left or right, and working modules mechanically connected or connected by umbilical cables through the bus.

2. The track-guided solar energy system according to claim 1, characterized in that... The track base is equipped with a water supply main pipe connected to a water source, and a number of quick-connect sockets for the pipeline connected to the water supply main pipe are evenly distributed along the platform. At least some of the wheel-rail chassis devices are equipped with double-plug mechanical pipes. Alternatively, the track base is equipped with a power supply line connected to a power source, and a number of electrical quick-connect sockets for the power supply line are evenly distributed along the platform. At least some of the wheel-rail chassis devices are equipped with electrical double-plug mechanical pipes.

3. A solar energy system with a track, characterized in that... Installed on farmland under rotation; The track-mounted solar system includes a track base fixedly connected to the foundation, and the track base includes two parallel tracks and assembly accessories; Solar energy utilization devices are directly or indirectly fixedly connected to the track base, but the height angle of the solar energy devices is not restricted; a wheel-rail chassis device runs on the track, passing over the solar energy utilization devices. The wheel-rail chassis device includes a wheel-rail chassis photovoltaic operation and maintenance robot, a wheel-rail chassis vehicle, and a wheel-rail chassis agricultural machinery; the wheel-rail chassis device includes a chassis carrying functional components and two or more wheel sets on each side of the chassis that are rolled and connected to the track; the functional components of the wheel-rail chassis agricultural machinery include a working module bus extending to the left or right, and working modules mechanically connected or connected by umbilical cables through the bus.

4. A wheel-rail chassis agricultural machinery, characterized in that... It includes a wheel-rail chassis, several work modules connected to the work module bus, and a control system. The wheel-rail chassis includes a chassis and two or more wheel sets on each side of the chassis that are rolledly connected to the track. The solar energy utilization devices of the wheel-rail chassis agricultural machinery traverse farmland on the track of the tracked solar energy system; The work module bus includes an umbilical cable bus or a crossbeam bus; the umbilical cable bus includes power cables or conduits and their connection interfaces; the crossbeam bus includes several mechanical connection interfaces, the main transmission device of the umbilical cable bus or material transfer assembly. The lighter work modules are suspended on the crossarm beam bus; the heavier work modules travel on the ground. The operation module transmits power, electrical signals, and water and fertilizer via an umbilical cable; the operation module is used to implement related agronomic practices; the operation module bus is loaded by the wheel-rail chassis, or by the wheel-rail chassis and the traveling crane.

5. The agricultural machinery according to claim 4, characterized in that... The track-mounted solar energy system includes a frame, a water supply main pipe connected to a water source or a power transmission line connected to a power source, and several quick-connect sockets for the pipeline connected to the water supply main pipe or the electrical quick-connect sockets for the power transmission line are evenly distributed along the frame; the wheel-rail chassis of the agricultural machinery is equipped with a double-plug pipeline mechanism or a double-plug electrical mechanism.

6. A photovoltaic operation and maintenance robot, characterized in that... It includes a wheel-rail chassis, which comprises a chassis, a power battery, and a robot control system. Each side of the chassis includes two or more wheel sets that are rolled and connected to the track. The chassis is connected to several robotic arms. The photovoltaic operation and maintenance robot travels on the track of a photovoltaic system with a track in farmland.

7. The photovoltaic operation and maintenance robot according to claim 6, characterized in that... The chassis bottom surface contains two photovoltaic module racks arranged side by side. Each rack includes vertical plates that are close to both ends of the photovoltaic module and one or more electric locking tongues arranged on the vertical plates. The electric locking tongues have a surface that matches the frame of the photovoltaic module and can support the photovoltaic module. The electric locking tongues have two stable states: extended and retracted. When the electric locking tongues are retracted, they are not connected to the photovoltaic module. When the electric locking tongues are extended, they maintain the photovoltaic module they support.

8. A wheel-rail chassis vehicle, characterized in that... It includes a wheel-rail chassis, a truck bed, and a control system; the wheel-rail chassis includes a chassis and two or more wheel sets on each side of the chassis that are rolledly connected to the track, and the wheel-rail chassis crosses the track of a solar energy system with a track in farmland where the solar energy utilization devices operate.

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