Method for automatic driving of agricultural unit along tilled crop spacings in the process of drop irrigation

FIELD: agriculture.

SUBSTANCE: method involves placing ferromagnetic markers on field, said markers being preliminarily aligned with part of pipelines of general irrigation pipeline complex; placing pipelines with markers on field in alternation with standard irrigation pipelines at pitch equal to width of agricultural unit; positioning pole pieces of magnetically sensitive detectors rotating in left-hand and right-hand directions at sides of longitudinal vertical plane of tractor between front rotating wheels. Middle pole piece is formed as rod and positioned in horizontal plane transverse to and in symmetry with respect to unit path axis between axles of tractor rear wheels and tillage tools first in the course of advancement of tillage unit.

EFFECT: reduced consumption of power for driving tractor along tilled crop spacings.

2 cl, 2 dwg

 

The present invention relates to agriculture, in particular to the automatic driving agricultural machines.

There is a method of driving agricultural units in the rows of cultivated crops pre-cut in rows deep cracks (Nheritance, Lasthamlet. Handbook of industrial production technology of vegetables. M: Agropromizdat, 1986, s). The guide slits cut at planting (sowing) cultures.

The disadvantage of driving tillage machines along the guide slots, including their pre meats, is its high energy intensity and low reliability due to the collapse of walls or slyvania cracks in the periods between successive passages of aggregates with delegatename-napraviteley, especially on light soils.

Closest to the proposed method to the technical essence is a system for automatic driving of agricultural aggregates containing sealed under arable soil layer transverse to the movement of the unit ferromagnetic shadowcaster, and agricultural unit containing magnetically sensitive sensors left and right turns and steering gear (prototype A.S. 1052179).

The disadvantage of the prototype is the need for preliminary sealing ferromag the netic shadowcasting under arable layer of the soil, as well as the inability to conduct inter-row treatments.

The technical result that can be achieved using the present invention, is reduced to the preliminary alignment of the ferromagnetic shadowcasting with part of the kit irrigation pipes drip irrigation systems and the layout of the pipelines in alternation with the standard pipeline with a step equal to the width of the agricultural unit.

The technical result is achieved due to automatic driving agricultural unit in between rows of row crops to replace energy-intensive process of driving along the guide slits.

The invention consists in that to enable automatic driving agricultural unit in between rows of row crops under drip irrigation instead of energy-intensive process of driving along the guide slots and reduce damage to plants ferromagnetic shadowcaster pre-combine with part of the kit irrigation pipes drip irrigation system and mark them by any known method, labeled irrigation pipelines are laid on the field in alternation with regular irrigation pipelines with a step equal to the width of the agricultural unit. Pole is nakonechnyi magnetosensitive sensors left and right turns are placed on the sides of the longitudinal vertical plane of the tractor between the front steering wheels, and the average pole tip is fabricated in the form of a rod of a certain length and installs horizontally transversely and symmetrically directional axis of the unit between the axis of the rear wheels of the tractor and the first in the direction of the soil working elements.

Figure 1 as an example of a possible implementation of the proposed method is shown an agricultural unit for inter-row treatments with a system for automatically driving on the field of drip irrigation, type in the plan; figure 2 - schematic diagram of the steering mechanism.

Combined with ferromagnetic shadowcaster irrigation pipes 1 are stacked on the area of the field in alternation with regular irrigation pipes 2 with a step equal to the width of the capture unit. On the tractor 3 on the sides of its longitudinal vertical plane between the front swivel wheels 4 posted by pole pieces 5 and 6 are magnetically sensitive sensors 7 and 8, respectively, left and right turns; middle pole piece 9 is placed horizontally across and symmetrical directional axis of the unit before the front in the direction of the soil working elements 10. The system also includes a magnet 11, the magnetic circuit 12, the contacts 13 and 14 are magnetically sensitive sensors 7 and 8, the solenoids 15 and 16 of the steering mechanism of rotation 17, spring-loaded with about what their sides by the springs 18, the valve 19 and the generator 20.

Agricultural unit operates as follows.

In manual mode, its output on the source position in the next aisle over irrigation pipeline 1 with ferromagnetic shadowcaster. Pole pieces 5 and 6 are magnetically sensitive sensors 7 and 8 of the left and right turns take, for example, the position symmetrically with respect to the irrigation pipe 1, the average pole piece 9 is also located on this pipeline. In this position, the magnetic lines of force of the magnets 11 in the magnetic circuits 12 through the pole pieces 5, 6 and 9 are practically absent, so magnetically sensitive sensors 7 and 8 do not work, leaving the power supply circuit of the solenoids 15 and 16 through the contacts 13 and 14 open. The valve 18 between the spring 19 is in the middle (balanced) position. The unit continues its movement forward.

In case of rejection of irrigation pipe 1 from the straight line, for example, the right pole piece 6 is approaching vertically above the irrigation pipeline 1. At the same time the magnetic lines of force of the magnet 11 through the magnetic core 12 and its pole pieces 6 and 9 amplified magnetically sensitive sensor 8 is activated to close contacts 14 of the circuit of the solenoid 16. The spool 18 of the steering mechanism of rotation 17 is moved by the solenoid to the right, providing a right turn of the unit, to the which will continue until while the pole pieces 5 and 6 will not take symmetric with respect to the drip line 1 position. Similarly will be a left turn unit variance irrigation tubing 1 to the left of the line.

Thus, the proposed method allows to carry out automatic driving agricultural unit in row spacing with drip irrigation of row crops.

1. Method of automatically driving agricultural unit in between rows of row crops under drip irrigation, including laying on the field ferromagnetic shadowcasting for driving on them agricultural unit in the form of tractors and tillage of the working bodies having magnetically sensitive sensors left and right turns and the steering mechanism, wherein when laying on the pitch pipes for drip irrigation pre-combine ferromagnetic shadowcaster with part of the overall set of pipes, and the pipes with ferromagnetic signs placed on the field in alternating order with the standard pipeline and spaced between the pipelines with ferromagnetic shadowcaster equal to the width of the agricultural unit.

2. The method according to claim 1, characterized in that the pole pieces magnificus is sustained fashion sensors left and right turns are placed on two sides relative to the longitudinal vertical plane of the tractor unit between its front swivel wheels, and the average pole tip is fabricated in the form of a rod and mounted in a horizontal plane transversely and symmetrically directional axis of the unit between the axis of the rear wheels of the tractor and the first in the direction of the soil working elements.



 

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