Unmanned intelligent integrated bale chopping, uniform scattering and returning machine for saline-alkali soil

Abstract

The invention provides a saline-alkali soil unmanned intelligent integrated straw bale chopping and uniform scattering returning machine which comprises a straw bale picking device used for automatically picking up straw bales in a field; the efficient chopping device is used for efficiently chopping the bales into fine particles; the uniform spreading device is used for uniformly spreading the chopped forage on the surface of the saline-alkali soil; the rack system is used for supporting and connecting all the devices and is provided with a suspension device to be connected with power equipment such as a tractor; the intelligent control system is used for automatically adjusting operation parameters according to the soil condition of the saline-alkali land to realize accurate operation; and the unmanned driving system is used for realizing fully automatic driving of the machine and reducing manual intervention. The bale pick-up device comprises a front pick-up mechanism capable of automatically picking up bales in a field; and the conveying mechanism is used for conveying the picked bales to the chopping device. The efficient chopping device comprises a high-rotating-speed motor for providing strong power; due to the multi-blade design, it is ensured that the bales can be efficiently cut up.

Description

Technical Field

[0001] The invention relates to a straw bale chopping and returning machine to the field, in particular to an unmanned intelligent integrated straw bale chopping and evenly spreading machine for returning straw bales to the field in saline-alkali land, belonging to the technical field of agricultural machinery. Background Art

[0002] Improvement of saline-alkali land is an important strategic measure to improve the ecological environment, enhance my country's comprehensive agricultural production capacity, and ensure national food security. The basic characteristics of saline-alkali land are high salinity, high pH value, low fertility (mainly low organic matter), poor soil structure, poor drainage, low vegetation cover, seasonal changes in salinity, uneven spatial distribution of salinity, low soil fertility, large soil temperature changes, and low soil microbial activity. Compared with other organic fertilizers, returning straw to the field has many advantages in saline-alkali land improvement, such as no salt, effective improvement of soil physical properties, regulation of soil chemical properties, promotion of soil biological activity, increase in crop yield and quality, environmental friendliness and sustainability. These advantages make returning straw to the field one of the important technical measures for saline-alkali land improvement, with broad application prospects and important practical significance. The present invention aims to provide an unmanned driving system for an intelligent integrated straw bale chopping and uniform spreading machine for saline-alkali land, which realizes efficient chopping and uniform spreading of straw bales through innovative mechanical design and intelligent control, improves soil structure, reduces soil salinity, and improves the agricultural utilization value of saline-alkali land.

[0003] The defects of the existing technology are: the improvement of saline-alkali land is currently seriously restricted by the lack of local plant-based organic fertilizer resources and the inability to keep up with the mechanization level of returning straw to the fields from other places, resulting in a situation where on the one hand, the surplus of straw in agricultural areas affects farming, and on the other hand, the improvement of saline-alkali land requires straw and mechanical operation is difficult. Most of the existing straw bale processing equipment has a single function, such as picking up, baling, and chopping straw bales, etc., and has the following shortcomings: single function, unable to complete the chopping and evenly spreading of straw bales back to the fields in an integrated manner. Low operating efficiency, requiring multiple operations to complete the processing of straw bales. Low degree of intelligence, unable to automatically adjust operating parameters according to the actual situation of saline-alkali land. The effect of improving the soil structure of saline-alkali land is limited, and the soil salinity cannot be effectively reduced. Unmanned driving cannot be achieved, and manual operation is required, which increases labor intensity and cost. With the continuous development of unmanned driving technology, its application prospects in the agricultural field are broad. Summary of the invention

[0004] The purpose of the present invention is to provide an unmanned intelligent integrated straw bale chopping and scattering machine unmanned driving system for saline-alkali land, which realizes efficient and intelligent straw bale processing and soil improvement through the following innovations.

[0005] The technical problem to be solved by the present invention is achieved through the following technical solution: the field returning machine comprises: (1) A bale picking device for automatically picking up bales in the field; (2) an efficient chopping device for efficiently chopping the bale into fine particles; (3) a uniform spreading device for spreading the chopped grass uniformly on the surface of the saline-alkali land; (4) The frame system is used to support and connect various devices and is equipped with a suspension device to connect to tractors and other power equipment; (5) Intelligent control system, which is used to automatically adjust the operation parameters according to the soil conditions of saline-alkali land to achieve precise operation; (6) Unmanned driving system, which is used to achieve fully automatic driving of the machine and reduce human intervention.

[0006] The bale picking device comprises: (1) The front picking mechanism can automatically pick up the bales in the field; (2) A conveying mechanism for conveying the picked bales to the chopping device.

[0007] The high-efficiency shredding device comprises: (1) High speed motor provides powerful power; (2) Multi-blade design ensures that the bales can be chopped efficiently; (3) The optimized chopping chamber structure reduces the clogging of grass during the chopping process.

[0008] 4. The system according to claim 1, characterized in that the uniform spreading device comprises: (1) Spreading mechanism, which ensures that the chopped grass can be evenly spread on the surface of the saline-alkali land through wind power and mechanical vibration; (2) Spreading amount adjustment mechanism, which automatically adjusts the spreading amount according to soil salinity and humidity.

[0009] The intelligent control system comprises: (1) Sensor system, including soil salinity sensor, humidity sensor, position sensor, etc., to monitor the soil condition of saline-alkali land and the operating status of the machine in real time; (2) The microcomputer controller automatically adjusts parameters such as bale picking speed, chopping speed, and spreading amount based on information fed back by the sensor to achieve precise operation; (3) Remote monitoring and management module: The machine’s operating data is transmitted to the remote monitoring center through the wireless communication module, so that the operator can monitor and remotely control the machine’s operating status in real time.

[0010] The unmanned driving system comprises: (1) High-precision positioning system, integrating GNSS, IMU, and visual SLAM technologies to achieve centimeter-level positioning, ensuring accurate navigation of the machine in saline-alkali land; (2) Environmental perception system, equipped with multiple lidars, cameras, and ultrasonic sensors, to perceive the surrounding environment in real time and identify obstacles and terrain changes; (3) Path planning system, which automatically plans the optimal path based on high-precision maps and real-time environmental data to ensure that the machine completes the task efficiently and safely; (4) Automatic control system, integrating advanced automatic driving algorithms to achieve automatic driving, automatic obstacle avoidance, automatic operation and other functions of the machine, reducing human intervention; (5) Remote takeover system: operators can take over the machine through the remote driving system to ensure operation safety.

[0011] Due to the adoption of the above technical scheme, the advantages and positive effects of the present invention are: 1. Integrated design: It integrates the functions of picking up, chopping and evenly spreading the grass bales back to the field, completes the operation at one time, and improves the operation efficiency; 2. Intelligent control system: It is equipped with advanced sensors and microcomputer controllers, and can realize unmanned driving and automatically adjust the operation parameters according to the soil salinity, humidity and other parameters of the saline-alkali land to achieve precise operation; 3. Efficient chopping device: It adopts a high-speed and multi-blade design to ensure that the grass bales can be efficiently chopped, and the chopping length can be adjusted to improve the soil improvement effect; 4. Uniform spreading device: The unique spreading mechanism is designed to ensure that the chopped grass can be evenly spread on the surface of the saline-alkali land, and the spreading amount can be adjusted to improve the soil structure; 5. Unmanned driving system: It integrates high-precision positioning, environmental perception, path planning and automatic control technology to realize fully automatic driving of the machine, reduce manual intervention, and improve operation accuracy and efficiency; 6. Strong adaptability: It is suitable for different types of saline-alkali land, is not limited by terrain and soil conditions, and has a wide range of promotion and application value. DETAILED DESCRIPTION

[0012] 1. Integrated design 1. Bale picking device: The front-mounted bale picking device can automatically pick up bales in the field, reducing manual intervention; 2. Chopping device: high speed and multi-blade design ensure that the bales can be chopped efficiently, and the chopped grass has uniform particle size and is suitable for returning to the field; 3. Even spreading device: The uniquely designed spreading mechanism ensures that the chopped grass can be evenly spread on the surface of the saline-alkali land through wind power and mechanical vibration; 4. Frame system: It is welded with high-strength steel to ensure the stability and durability of the machine, and is equipped with a suspension device to connect with tractors and other power equipment.

[0013] (II) Intelligent control system 1. Sensor system: equipped with soil salinity sensor, humidity sensor, position sensor, etc. to monitor the soil condition of saline-alkali land and the operating status of the machine in real time; 2. Microcomputer controller: According to the information fed back by the sensor, it automatically adjusts the parameters such as bale picking speed, chopping speed, spreading amount, etc. to achieve precise operation; 3. Remote monitoring and management: Through the wireless communication module, the machine's operating data is transmitted to the remote monitoring center, and the operator can monitor and remotely control the machine's operating status in real time.

[0014] (III) High-efficiency shredding device 1. High speed motor: provides powerful power to ensure that the bales can be chopped efficiently; 2. Multi-blade design: Multiple sharp blades can quickly chop the bale into fine particles to improve the soil improvement effect; 3.Chopping chamber design: The optimized chopping chamber structure reduces the blockage of grass during the chopping process and improves the chopping efficiency.

[0015] (IV) Uniform spreading device 1. Spreading mechanism: The uniquely designed spreading mechanism ensures that the chopped grass can be evenly spread on the surface of the saline-alkali land through wind power and mechanical vibration; 2. Spreading amount adjustment: Automatically adjust the spreading amount according to soil salinity and humidity to ensure soil improvement effect; 3. Wide spreading range: The spreading mechanism is reasonably designed with a wide spreading range, which can cover a large area of ​​saline-alkali land.

[0016] 5. Unmanned driving system 1. High-precision positioning system: Integrates GNSS, IMU, visual SLAM and other technologies to achieve centimeter-level positioning, ensuring accurate navigation of the machine in saline-alkali land; 2. Environmental perception system: equipped with multiple lidars, cameras and ultrasonic sensors to perceive the surrounding environment in real time and identify obstacles and terrain changes; 3. Path planning system: Based on high-precision maps and real-time environmental data, it automatically plans the optimal path to ensure that the machine completes the work efficiently and safely; 4. Automatic control system: Integrate advanced automatic driving algorithms to realize automatic driving, automatic obstacle avoidance, automatic operation and other functions of the machine, reducing manual intervention; 5. Remote takeover system: In an emergency, the operator can take over the machine through the remote driving system to ensure operational safety.

[0017] (VI) Strong adaptability 1. Terrain adaptability: The reasonably designed suspension device and traveling mechanism can adapt to saline-alkali land of different terrains and ensure the stable operation of the machine; 2. Adaptability to soil conditions: The intelligent control system can automatically adjust operating parameters according to soil salinity and humidity, and is suitable for different types of saline-alkali land.

Claims

1. An intelligent integrated straw bale chopping and scattering unmanned driving system for saline-alkali land, characterized in that: The system comprises: (1) A bale picking device for automatically picking up bales in the field; (2) an efficient chopping device for efficiently chopping the bale into fine particles; (3) a uniform spreading device for spreading the chopped grass uniformly on the surface of the saline-alkali land; (4) The frame system is used to support and connect various devices and is equipped with a suspension device to connect to tractors and other power equipment; (5) Intelligent control system, which is used to automatically adjust the operation parameters according to the soil conditions of saline-alkali land to achieve precise operation; (6) Unmanned driving system, which is used to achieve fully automatic driving of the machine and reduce human intervention.

2. The system according to claim 1, characterized in that The bale picking device comprises: (1) The front picking mechanism can automatically pick up the bales in the field; (2) A conveying mechanism for conveying the picked bales to the chopping device.

3. The system according to claim 1, characterized in that The high-efficiency shredding device comprises: (1) High speed motor provides powerful power; (2) Multi-blade design ensures that the bales can be chopped efficiently; (3) The optimized chopping chamber structure reduces the clogging of grass during the chopping process.

4. The system according to claim 1, characterized in that The uniform spreading device comprises: (1) Spreading mechanism, which ensures that the chopped grass can be evenly spread on the surface of the saline-alkali land through wind power and mechanical vibration; (2) Spreading amount adjustment mechanism, which automatically adjusts the spreading amount according to soil salinity and humidity.

5. The system according to claim 1, characterized in that The intelligent control system comprises: (1) Sensor system, including soil salinity sensor, humidity sensor, position sensor, etc., to monitor the soil condition of saline-alkali land and the operating status of the machine in real time; (2) The microcomputer controller automatically adjusts parameters such as bale picking speed, chopping speed, and spreading amount based on information fed back by the sensor to achieve precise operation; (3) Remote monitoring and management module: The machine’s operating data is transmitted to the remote monitoring center through the wireless communication module, so that the operator can monitor and remotely control the machine’s operating status in real time.

6. The system according to claim 1, characterized in that The unmanned driving system comprises: (1) High-precision positioning system, integrating GNSS, IMU, and visual SLAM technologies to achieve centimeter-level positioning, ensuring accurate navigation of the machine in saline-alkali land; (2) Environmental perception system, equipped with multiple lidars, cameras, and ultrasonic sensors, to perceive the surrounding environment in real time and identify obstacles and terrain changes; (3) Path planning system, which automatically plans the optimal path based on high-precision maps and real-time environmental data to ensure that the machine completes the task efficiently and safely; (4) Automatic control system, integrating advanced automatic driving algorithms to achieve automatic driving, automatic obstacle avoidance, automatic operation and other functions of the machine, reducing human intervention; (5) Remote takeover system: operators can take over the machine through the remote driving system to ensure operation safety.