TR201407381A2 - Solar powered three-axis mobile agricultural automation - Google Patents
Solar powered three-axis mobile agricultural automation Download PDFInfo
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- TR201407381A2 TR201407381A2 TR2014/07381A TR201407381A TR201407381A2 TR 201407381 A2 TR201407381 A2 TR 201407381A2 TR 2014/07381 A TR2014/07381 A TR 2014/07381A TR 201407381 A TR201407381 A TR 201407381A TR 201407381 A2 TR201407381 A2 TR 201407381A2
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- solar energy
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- 238000003973 irrigation Methods 0.000 claims abstract description 28
- 230000002262 irrigation Effects 0.000 claims abstract description 28
- 238000005507 spraying Methods 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 10
- 239000002689 soil Substances 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 5
- 238000001816 cooling Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 2
- 239000004575 stone Substances 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000003384 imaging method Methods 0.000 abstract description 3
- 238000004458 analytical method Methods 0.000 abstract description 2
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 239000000047 product Substances 0.000 description 8
- 238000012546 transfer Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 235000013399 edible fruits Nutrition 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 239000006227 byproduct Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000013138 pruning Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 240000007817 Olea europaea Species 0.000 description 1
- 244000046052 Phaseolus vulgaris Species 0.000 description 1
- 235000010627 Phaseolus vulgaris Nutrition 0.000 description 1
- 238000012356 Product development Methods 0.000 description 1
- 241000030366 Scorpidinae Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003031 feeding effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
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- 230000036962 time dependent Effects 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G27/00—Self-acting watering devices, e.g. for flower-pots
- A01G27/003—Controls for self-acting watering devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C21/00—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways
- B66C21/02—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways with cable-ways supported on framework swingably connected to groundengaging elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Soil Sciences (AREA)
- Water Supply & Treatment (AREA)
- Agricultural Machines (AREA)
- Soil Working Implements (AREA)
- Catching Or Destruction (AREA)
- Photovoltaic Devices (AREA)
- Wind Motors (AREA)
Abstract
Bu buluş, ana enerji kaynağı güneş enerjisi olan, takviyede; rüzgar, şebeke, ve jeneratör desteğiyle süreklilik kazanan, program dahilinde damlama, yağmurlama sulama, ilaçlama, toprak altı nem kontrolü ve termal yaprak nem analizi, makro görüntüleme, sis oluşturma, silkeleme, toplama, görüntüleme, aydınlatma, güvenlik işlemlerinin yanı sıra zeminde hareket eden elektrikli traktör ile sürme ve enerji besleme faaliyetini gerçekleştiren üç eksen hareketli solar enerji kaynaklı tarım otomasyonu ile ilgilidir.The present invention relates to solar energy; wind, network, and generator support, continuity, drip, sprinkler irrigation, spraying, subsoil moisture control and thermal leaf moisture analysis, macro imaging, fog formation, shaking, collecting, imaging, lighting, security operations, as well as moving on the ground It is concerned with three-axis mobile solar energy-driven agricultural automation, which performs the driving and energy supply of the electric tractor.
Description
Teknik Alan Bu bulus, ana enerji kaynagEgünes enerjisi olan, takviyede; rüzgar, sebeke, ve jeneratör destegiyle süreklilik kazanan, program dahilinde damlama, yagmurlama sulama, ilaçlama, toprak aItEhem kontrolü ve termal yaprak nem analizi, makro görüntüleme, sis olusturma, silkeleme, toplama, görüntüleme, aydIatma, güvenlik islemlerinin yanlis& zeminde hareket eden elektrikli traktör ile sürme ve enerji besleme faaliyetini gerçeklestiren üç eksen hareketli solar enerji kaynaklEiiarIi otomasyonu ile ilgilidir. Technical Area This invention is in reinforcement, the main energy source of which is solar energy; wind, grid, and drip irrigation, sprinkler irrigation within the program, which gains continuity with the generator support, spraying, soil control and thermal leaf moisture analysis, macro imaging, fog creating, shaking, collecting, viewing, lighting, security operations performing the driving and energy feeding activities with the electric tractor moving on the ground. It is about the automation of three-axis moving solar energy sources.
Bulusla Ilgili Teknigin Bilinen Durumu (Önceki Teknik) Tari insanlar. hayatta kalmak için 9., yem, lif ve gerekli yakiEisaglayan, insanllgil en eski ve hala en önemli ekonomik faaliyettir. Dünya nüfusunun gün geçtikçe artmasEile birlikte 9. ve biyoenerji için artan talepleri karsilâmak için tarlsal üretimin de artmasü gerekmektedir. SILEliEiioprak, su ve isgücü kaynaklarülikkate allEtlIg'JlEtla, verimlilik için insan gücünden daha çok makine ile tarIia önem verilmektedir. State of the Art of the Invention (Prior Art) Tari people. 9. for survival, feed, fiber, and essential fuel, human resources It is the oldest and still the most important economic activity. The world population is increasing day by day 9. and increased agricultural production to meet the increasing demands for bioenergy required. SILEliEioprak, water and labor resources ülikkate allEtlIg'JlElla, human for efficiency Agriculture is given more importance with machinery than power.
Robotik ve otomasyon özellikle gelecek yilDarda, toplum yasam kalitesini arttlîiinak amaclýla tarIisaI üretim ihtiyaçlarIEkarsiiâmada önemli rol oynayacaktß Günümüzde son y|]]}arda robotlar tarIiasaI verimliliginin artElEhasIa, sanayi üretiminde ve ürünlerin maliyetini azaltmada temel rol oynamlîstlB Özellikle GPS ve vizyon-temelli öz-güdümlü traktörler ve biçerdöverler tarida otomasyon piyasaslda yer almaya baslamigtlü Daha yak zamanlarda, çiftçiler budama, seyreltme ve hasat, çim biçme, ilaçlama, ot ve çlEiariiIhaslZi gibi islemleri otomatik makineler kullanarak veya otonom sistemler ile denemeye baslamSlardiEi Örnegin, meyve üretim sektöründe, meyvelerin dallardan toplanmasüisleminde robotik platformlar. kullanHIhasEisçilerin merdiven kullanarak toplamasi oranla iki kat daha verim allfitligiîgörülmüstür. Sensorler ve kontrol sistemlerindeki gelismeler, optimum kaynak ve zararllîlhastalilîl yönetimine olanak saglamaktadlEi Otomasyon sistemleri tarl ürünlerinin yetistirilmesi, baknüie hasatERonusunda büyük avantajlar saglayan sistemlerdir. Robotics and automation, especially in the next year, will increase the quality of society's life. It would play an important role in meeting agricultural production needs. y|]]}Consequently, robots have increased their agricultural efficiency, in particular, in industrial production and in the production of products. played a key role in reducing the cost of tractors and combines have started to take place in the automation market More More recently, farmers have been pruning, thinning and harvesting, mowing, spraying, weeding and pruning. to try operations such as using automatic machines or autonomous systems. baslamSlardiEi For example, in the fruit production sector, in the process of collecting the fruits from the branches. robotic platforms. useHIhasEis twice as much as workers pick up using ladders more efficiency was observed. Advances in sensors and control systems It enables resource and pest and disease management. Automation systems field They are systems that provide great advantages in the cultivation of products and the harvesting of beans.
Zor çallgtna kosullarÇlazaIan enerji kaynaklarDve temiz enerjiye duyulan ihtiyaç; tarnsal alanda teknolojinin gelisimini ve kullanlIDhlîlandlEinlStE Mevcut çallgh'ialarda otomasyon sistemlerinin hareket edebilir olmasü enerji depolama, elektrikli traktörlerin kullanlÇl taslýlEEihalatlarI hareketi ve agaç silkeleme sistemi, vb. çesitli gelismeler mevcuttur. Ilgili alanda diger çalglnalar; toprak ve ürün isleme makineleri ile sulama sistemleri olarak öne çllîlnaktadlEI Bu çerçevede sabit ve hareketli sulama sistemleri mobil isleme makineleri ve robotlar yapHB'ilgtlE] Uygulamalar. ortak özelligi zemin temaslßistemler olup kontrollü kollar yardllýla is görmeleridir. Dezavantajlarlîl zeminde tahribata neden olmalarIE Her türlü arazide kullanllâmamakla birlikte hakli ve servisleri uzmanlllagerektirmektedir. YaygIasan tarIisal otomasyon; genellikle klasik tarl araçlarIEl programlama ve çallgtlünaya yönelik gelistirilmektedir. Tipik bir örnegi sulama sayllâbilmektedir. Ürün türüne göre seçilen sistemler; yagmurlama, damlama ve vahsi sulama olarak lelEfIlandlElllßîaktadB Yagmurlama sisteminde çallgrna zamanßu basülclîkontrol edilirken damla sulamada depo su seviyesi ve sulama zamanli] kontrol edilmektedir. Uygulamalar. topraga dösenen borularla gerçeklestirilmesinin malzeme ömrü, borularI korunmasÇl alanda makine kullanIiIIZl engellemesi açüârian olumsuz yanlarlîlvardlü Son yll]brda yayglEIasan tarl hareket yetenekli sulama sistemleri kullanilâa da zemin tahribatÇlhareketli hortum, garaj ve montaj problemlerinin önlenememistir. Günes enerjili pompa ve sulama sistemleri yaygIassa da günes enerjili traktör yayg Iasmamlgldurumdadlîl ait bulusta; bir çoklu sensor sistemi üç boyutlu olarak yaygI topragI yans[t]na, toprak iletkenlik ve toprak özelliklerini ölçmektedir. Sistem, bir traktörün XY eksen ölçümleri için kullanilân bir sensor mili, - Z eksen ölçümleri için hidrolik prob içeren bir yapIdE Optik sensorler ve toprak elektriksel iletkenlik sensörleri içerir. Sonda uygulamak için yerlestirme kuweti ölçen bir sensoru ve toprak lelaklüa sensoru içerir. Sensorlerin bu kombinasyonlari] sistemi kalibre etmek için bir alan ya da alan içinde toprak özelliklerini karakterize etmek için kullaniEIE Teknigin bilinen durumunda yer alan US4612996 A NumaraIEbatent dokümanlEUa, bir mahsul alania bir platform, olusturan raylar üzerinde hareket eden ve otomatik olarak görevleri gerçeklestiren bir robot traktör tarif edilmektedir. Traktör uzatllâbilir ayaklarEl üzerinde dik ikili tekerlekleri desteklemektedir. Traktör tarafIdan desteklenen bir döner yatak tasIia islemi için uygulanmlgtß dokümanIa bulus, bir tarIi traktörü olup, traktörü kontrol eden bir elektronik kontrol birimini ve kontrol sistemi içermektedir. Kontrol sistemi, traktörün çallgna fonksiyonlarElle baglantlIJIlsensorun çok saylElia gerçek zamanlElsinyallerini almak üzere düzenlenmektedir. Difficult operating conditionsDecreased energy resourcesDand the need for clean energy; the development of technology in the agricultural field and its use mobility of automation systems, energy storage, electric tractors Handy stone haulage movement and tree shaking system, etc. various developments available. Other works in the related field; irrigation with soil and crop processing machines çllîlnaktadlEI stand out as systems of fixed and mobile irrigation systems in this framework. Build embroidery machines and robotsHB'ilgtlE] Apps. The common feature is ground contact systems and it can work with the help of controlled arms. is what they see. Disadvantages Although it cannot be used, it requires rights and services with expertise. widespread agricultural automation; mainly for classic field toolsIel programming and operating is being developed. A typical example is irrigation. Selected by product type systems; lelEfIlandlElllßîaktadB Sprinkler as sprinkler, drip and wild irrigation While the operating time is controlled in the drip irrigation system, the tank water level and irrigation time] is controlled. Apps. with pipes laid in the ground material life of the realization, the use of the machine in the area to protect the pipes negative sideslîlvardlü Although capable irrigation systems can be used, ground destructionCable hose, garage and installation problems are unavoidable. Although solar pumps and irrigation systems are widespread, solar powered tractor in the invention; a multi-sensor system reflects the common earth in three dimensions, the earth It measures conductivity and soil properties. The system is for XY axis measurements of a tractor. a used sensor shaft, - in a structure with hydraulic probe for Z-axis measurements. sensors and earth electrical conductivity sensors. Insertion to apply probe it includes a force-measuring sensor and a soil laccula sensor. These combinations of sensors] to characterize soil properties within an area or area to calibrate the system useEIE US4612996 A Number IEbatent documents in the state of the art, a platform, which moves on rails forming a crop field and is automatically A robot tractor performing tasks is described. Tractor extendable legsHand It supports upright double wheels on it. A rotary powered by a tractor applied for bed relocation The documented invention is a farm tractor with an electronic control device that controls the tractor. unit and control system. Control system, operating functions of the tractorManual A large number of linkedJIlsensors are arranged to receive real-time handsets from Elia.
Kontrol sistemi aynlîamanda kontrollü çallglna bilesenlerinin bir çok çlKlgl kontrol sinyalleri için düzenlenmistir. Kontrol sistemi internet üzerinden girisin gerçeklestirilmesiyle önceden tan Ianan komutlar. gerçeklestirilmesine olanak saglamaktadlB Yine bilinen teknikte EP2622955 A1 numaralEbatent dokümana ait bulusta; traktör kontrol cihazEtaraflîidan kontrol edilir ve makinenin çalElna parametresini ayarlamak için, harici güç aItIa çallSIlElllân aktüatör sahiptir. Araca bagllîlbir sensor, aracI dikey, Ileri ya da yana dogru yönünü belirler ve araç ile ürün arasIaki mesafeyi saptar. Kontrol cihazßensor sinyalleri ile alanII çesitli topografik bölgeleri arasIa zirai amaçIEtopografik bölgeleri belirlemek Için kullanllîhaktadlEI AIlEbn patentlerin ortak özelligi zemin temasIElsistemIer olup kontrollü kollar yardIiMa is görmeleridir. Dezavantajlarüzeminde tahribata neden olmalarIIEl Her türlü arazide kullanllâmamakla birlikte bak! ve servisleri uzmanlllZl gerektirmektedir. In the control system separation, many multi-purpose control signals of the controlled operating components arranged for. The control system is pre-configured by the realization of the entrance via the internet. tanned commands. enables the realization of Again in the known art, in the invention of the document numbered EP2622955 A1; tractor It is controlled by the controller and to set the operating parameter of the machine, It has external power AITIa bullSilElllân actuator. A sensor connected to the vehicle can make the vehicle vertical, forward or determines the lateral direction and determines the distance between the vehicle and the product. Control devicesensor between the various topographic regions of the area II with the agricultural purposeItopographic regions The right to use to determine The common feature of AIlEbn patents is ground contact systems and controlled arms. help is their job. Disadvantages Although it cannot be used in the field, look! and its services require expertise.
YaygIasan tarnsal otomasyon; genellikle klasik tarn araçlarIIZI programlama ve çallgtünaya yönelik gelistirilmektedir. Tipik bir örnegi sulama sayllâbilmektedir. Ürün türüne göre seçilen sistemler; yagmurlama, damlama ve vahsi sulama olarak sIthndlEllBraktadlE Yagmurlama sisteminde çallglna zamanl3u baletleontrol edilirken damla sulamada depo su seviyesi ve sulama zamanEkontrol edilmektedir. Uygulamalar. topraga dösenen borularla gerçeklestirilmesinin malzeme ömrü, borular. korunmaslZl alanda makine kullanlIEl engellemesi adlar-an olumsuz yanlarElvardlE Son ylmarda yayglEIasan tarIi hareket yetenekli sulama sistemleri kullanllga da zemin tahribatlÇIhareketIi hortum, garaj ve montaj problemlerinin önlenememistir. Günes enerjili pompa ve sulama sistemleri yaygIassa da günes enerjili traktör yayg Iasmamlgldurumdadlîl Yukari belirtilen teknigin bilinen durumunda yer alan tüm bu dokümanlar göz önüne alIi[gl1`itla, bulus konusu tarIi faaliyetleri için kullanHBiak üzere üç eksen hareketli solar enerji kaynaklEllarU otomasyonu gibi bir sitemden bahsedilmemistir. Widespread cultural automation; usually classic modern tools programming and It is developed for play. A typical example is irrigation. By product type selected systems; sIthndlEllBraktadlE as sprinkling, drip and wild irrigation In the sprinkler system, the time of operation is controlled by the ballet, while in the drip irrigation, the tank water level and irrigation time are controlled. Apps. with pipes laid in the ground material life of realization, pipes. machine use in unprotected area negative aspects capable irrigation systems can also be used with ground-destructive moving hose, garage and installation problems are unavoidable. Although solar pumps and irrigation systems are widespread, solar powered tractor Considering all these documents in the state of the art mentioned above alIi[gl1`itla, three axes movable solar to be used for agricultural activities, which is the subject of the invention There is no mention of a system such as energy sources automation.
Bulusun Kßla Açtlilamasüie AmaçlarEI Üç eksen hareketli solar enerji kaynakllîltarn otomasyonunun gelistirilmesindeki amaç; programlanabilir tarIisal faaliyetler, uzaktan kontrol ve yönetim sisteminin kullanilârak verimli ürün üretilmesi ve düsük maliyetli enerji kaynagElluIlanHârak tasarruf saglanmasIE Bulusun gelistirilmesindeki bir diger amaç, topragI deforme olmadan Islenebilmesine imkan vermesi ve ürün gelisim takibinin güncel olarak yapllâbilmesidir. Purposes of the Invention In the development of three-axis motion solar energy source automation aim; programmable agricultural activities, using remote control and management system Efficient product production and low-cost energy resource savings. Another purpose in the development of the invention is that the soil can be worked without deformation. It is the ability to provide an opportunity and to make up-to-date product development follow-up.
Bulusu Açllayan Sekillerin TanlBilarEl Bu bulusla gelistirilen üç eksen hareketli solar enerji kaynaklEtarIi otomasyonunun daha iyi açiklanabilmesi için halelanan sekiller asaglâb açlklanmaktadB Sekil 1 - Üç eksen hareketli solar enerji kaynaklEliarIi otomasyon sistemini olusturan Sekil 2 - Kasa içerdeyken kasa panel konumunun görünüsü Sekil 3 - Kasa tüneldeyken depo konumunun görünüsü Sekil 4 - Kasa dlgrlyken kasa panel konumunun görünüsü Sekil 5 - Basükslßgaç sallama cihazlElI görünüsü Sekil 6 - Damla sulama deposunun perspektif görünüsü Bulusu Olusturan UnsurlarIII/KIEIIEiIar[Parçalar Tanmilarlîl Bu bulusla gerçeklestirilen üç eksen hareketli solar enerji kaynakIEltari otomasyonunun daha iyi açllZlanabiImesi için haziEllanan sekillerde yer alan parçalar-k-ilar-unsurlar ayrüyrlîl numaralandlEllB1lSlolup her bir numaranlElaçlElamasljsag- verilmektedir. Üç eksen hareketli solar enerji kaynakIEliarIi otomasyonunun Tasmirek X eksenli hareket platformu Döner baslllZl Gerdirmeli halatlar Köprü halatlarEI Kontrol elemanlar!] Paralel halat Toprak altljiiem sensoru . Rüzgar enerji sistemi . Günes pili panelleri . Elektrikli traktör . Hareketli tasma hattEl . Su pompasEl . BalebIEliiava tankEl . Su deposu . Güç kaynagEI 18. Kontrol panosu 19. Damla sulama deposu . DC gezer köprü motoru 21. Hareketli platform gövde 22. Robot kol 23. Kontrollü geçis kaplîlîl 24. Sogutma ünitesi . Basliçlßallama cihazEl 26. Sallama cihazlîiliistonu Bulusun AyrItÜDçiRlamasEl Üç eksen hareketli solar enerji kaynaklEtarIi otomasyonunda (1), belirlenmis alanda konumlanmlî dört adet tasls-Llaîdiregin (2) üst klîmlEUa bulunan gerdirmeli halatlara (5) yerlestirilmis birbirine paralel halat çifti (8) bulunmaktadlEl Gerdirmeli halatI (5) hareketi direkteki (2) kasnak merkezine baglEDC gezer köprü motor (20) sistemiyle gerçeklesir. The Gods of Figures Explaining the Invention Three-axis moving solar energy source automation developed with this invention In order to explain it better, the figures are explained as aglâb. Figure 1 - Three axis moving solar energy sources, forming the automation system Figure 2 - View of the safe panel position when the safe is inside Figure 3 - View of the warehouse location with the vault in the tunnel Figure 4 - View of the chassis panel position when the chassis is loaded Figure 5 - Appearance with squashwaste shaker Figure 6 - Perspective view of the drip irrigation tank Elements of the InventionIII/KIEIIEiIs[Parts Descriptions Three axis moving solar energy source realized with this invention The parts-t-elements in the shapes prepared for better opening are separated. numberedlEllB1lSlolup- each number is given. Automation of three-axis moving solar energy source leash X-axis motion platform rotary basslZl tension ropes Bridge ropesEI Control guys!] parallel rope Soil underlayment sensor . wind energy system . solar cell panels . electric tractor . Movable leash lineHand . water pumpHand . BalebIEliiava tankEl . Water tank . power supply 18. Control board 19. Drip irrigation tank . DC overhead bridge motor 21. Movable platform body 22. Robot arm 23. Controlled transition coupling 24. Cooling unit . Mainshaking deviceHand 26. Resin with shaking device Distinguishing the Invention In the automation of three-axis moving solar energy sources (1), in a designated area four tasls-Llaîdiregin (2) positioned on the tension ropes (5) with the upper air conditioner There is a pair of parallel ropes (8) placed in place, the movement of the Hand Tension rope (5) It is realized with the EDC traveling bridge motor (20) system connected to the pulley center on the pole (2).
Gerdirmeli halatlar (5), x eksenli hareket platformunu (3) x ekseni boyunca hareket ettirir. Tension ropes (5) move the x-axis motion platform (3) along the x-axis.
Köprü halatlar (6) üstüne yerlestirilmis, altta avare üstte tespitli olan kars-lîiblatform (21), halat (6) hareketiyle (z) yönünde hareket edebilir. Bu platform (21) aynüamanda hareketli tasma hattIa (13) yer alan avare teker vasißslýla veri, slîÜ/e hava transferini saglar. Bu gövde (21) iki basta bulunan platformdaki (3) kasnaklarI baglEbldugu gezer köprü motor tahrikiyle (20) hareket eder. Kars-liiblatform (21) placed on the bridge ropes (6) and fixed at the top, idler at the bottom, the rope (6) can move in the (z) direction with its movement. This platform (21) is mobile at the same time. By means of the idle wheel located on the overflow line (13), the data provides air transfer to the liquid. This The body (21) connects the pulleys on the platform (3), which is located on the two heads, to which the overhead bridge motor It moves with its drive (20).
Gövde platformu (21) dört halata (5, 8) sekiz temas noktaslýla denge kararliIlglIlEaglar. The body platform (21) connects to the four ropes (5, 8) with eight contact points for stability stability.
Gövdede (21) bulunan yatakllîllört kolonun düsey (y) eksen hareketiyle 360 derece dönebilen döner baslilZl (4), direkleri (2) lazer ölçümlemeyle referans al-n noktalarda konumlar. It can rotate 360 degrees with the vertical (y) axis movement of the four bearing columns in the body (21). The rotary head (4) positions the masts (2) at the reference points by laser measurement.
Baslfgll (4) yan klîmlEtla fonksiyonel aparatlar ve alt klêtnlEUa noktasal olarak komutlari] gerçeklestirmek üzere robot kol (22) bulunur. Heading (4) functional apparatus with side-clipped and sub-client-point commands] There is a robot arm (22) to perform it.
Otomasyon sisteminde (1); veri, enerji, su ve baslöçllîhava tasla hattE(13) gerdirmeli halata (5) baglülnakarayla akordeon seklinde hareket eder. TasIia hattü13) gezer köprüde de benzer sekilde çallglü Hareketli gövde (21) köprü halatlarE(6) üzerinden geçerek döner basligb (4) ulaslE Her noktaya göre konumlanabilen döner baslüîl (4) robot kol (22) yardIilýla bulundugu alanda tarlsal faaliyetleri gerçeklestirir. In the automation system (1); data, energy, water and compressed air it moves like an accordion with the rope (5) connected to the hook. Tasliia line13) on the traveling bridge similarly with bush Movable body (21) turns by passing over bridge ropesE (6) basligb (4) reachlE Rotary head (4) robot arm that can be positioned according to any point (22) It carries out agricultural activities in the area it is in, with the help of it.
Sistemin (1) eneiji yönetiminde enerji: taslýlîüliirekler (2) ve depo üniteleri (16) üstüne konumlandlEllIhlg günes pili panellerinden (11), rüzgar enerji sistemlerinden (10) varsa takviye durumunda sebekeden dogrudan veya dolaylßlarak elde edilir. Energy in the energy management of the system (1): on top of the stoned units (2) and storage units (16) from solar cell panels (11), wind energy systems (10) if any In the case of supplementation, it is obtained directly or indirectly from the network.
Kontrol panosu (18) çerçevesinde elektrikli traktör (12) kullanüâcaksa enerji dogrudan traktöre (12) yönlendirilir. Derin kuyu, su transferi ve diger faaliyetler devre dlSIZblEiklüB Örnegin ilaçlama yapilâcaksa stok enerji (silZlSIlElllBüSl hava) ilaç ve su tanklEa (16) verilerek transfer baletEbaglanE Diger zamanlarda enerji, derin su çlKlarma ve depolama, hava sllZlStlElna, sulama, akülerde depolama, diger ünitelerin beslenmesinde ve elektrikli traktörün (12) enerji akü guruplarIa kullanimi Kontrol panosu (18), tarIi alanII (tarla, bahçe) ve ekilecek bitkinin türüne göre tarIisal faaliyetleri zaman, leiakIiEl nem enerji gibi temel veriler dogrultusunda, sensor geri beslemesiyle komuta dönüstürerek ilgili üniteleri faaliyete geçirir. Sisteme (1) dogrudan ve uzaktan veri girmek, otomatik veya elle kumanda etmek mümkündür. If the electric tractor (12) is to be used within the frame of the control panel (18), the energy is directly it is directed to the tractor (12). Deep well, water transfer and other activities are disabled For example, if spraying is to be done, stock energy (sillSIlElllBüSl air) is given to the pesticide and water tanks (16). transfer balletEconnection Other times, energy, deep water removal and storage, air sllZlStlElna is used for irrigation, storage in batteries, feeding of other units and electric tractor (12) use with energy battery groups Control panel (18), agricultural areaII (field, garden) and agricultural activities, in line with basic data such as time, moisture, energy, sensor back It activates the relevant units by converting it into a command with its feed. into the system (1) directly and It is possible to enter data remotely, and to control automatically or manually.
Sulama isleminde; toprakaltüiem sensörleri (9), nem ve Mlçümler. Verilere göre damla ve yagmurlama sulama komutu kontrol panosundan (18) seçilir. Damla sulamada; döner baslitha (4) bulunan su, robot koldaki (22) bosaltma aparatElJasltâslýla belirlenen alanda bulunan konik damla sulama depolari (19) bosaltlIiEl Yagmur sulamada; çoklu damla seklinde veya balelçlEliiava karlSlElilljlnikronize nemlendirme yapilIiîl Su pompasII (14) ak[l1]:l enerji yöntemiyle istenilen aç. ve zamanda çallginasßaglanlîl SlîEilaçlama isleminde belirli konum ve türdeki ilaçlar ve su dozaj kontrolüyle su transfer hattlüh (13) verilir. Daha sonra baleçlEiliava verilmek suretiyle mikronize basllEtan robot kol (22) yardIils-Lla üstten ve yandan ilaç uygulanlB Robot kol (22), kamera ve renk sensorleri gibi kontrol elemanlarEI(7) yardIilýla programa önceden tanlanmlgl meyve ve Ürünlerin toplanmaslßaglar. Kol (22) üzerindeki toplama basllgiEÜirün türüne göre degistirilir. Baleçlßallama cihazII (25) agaca iki yarIi ay seklinde kilitlenir ve baleçlEhava tankian (15) gelen baleçllJ'iava ile zlîlyönde çallgbn sallama cihazlZbistonu (26) ucundaki aglBlllZl vasißslßa silkeleme yapar. Bu islem ile zeytin gibi dalIda küçük taneler halinde bulunan ürünlerin toplanmaslßaglar. In the irrigation process; subsoil temperature sensors (9), humidity and measurements. drop by data and the sprinkler irrigation command is selected from the control panel (18). In drip irrigation; rotary The water in the baslitha (4) is poured into the area determined by the discharge apparatus on the robot arm (22). The conical drip irrigation tanks (19) are emptied in rain irrigation; multiple drops in the form of balelyEliiava karlSlElilljl with micronized humidification Water pump II (14) ak[l1]:l open desired by energy method. and in time Çallginasßaglanlîl Water transfer with a certain location and type of drugs and water dosage control in the slîe spraying process hattlüh (13) is given. Afterwards, the micronized Etan robot arm is given to the bale Eiliava. (22) Yardls-Lla can be applied from the top and the side. Control elements such as robot arm (22), camera and color sensors can be assisted by EI(7) The program allows the collection of pre-defined fruits and Products. on the arm (22) The collection title changes according to the type of product. BaleshakerII (25) two half moons to the tree It is locked in the shape and plays with baleçllJ'iava from baleçlEhava tanks (15) in zlîly direction. The aglBlllZl on the end of the shaking devicelZbible (26) shakes the patient. Olive with this name It allows the collection of products that are in the form of small grains in branches such as
Otomasyon sisteminin (1) uygulama alani. etrafßevrilidir. Klasik kapElharicinde sistem (1) kontrolünde dlShrElElgl üç adli hareketli kontrollü geçis kaplîlî(23) ile yaplIiEl Sistemin (1) yanlarüiçüîl kasa seklinde olup ön ve arka paneller kapE(23) islevi yapar. Birinci adIida ön panel çllZlgEkapatan kapEblup, kasa dolduktan sonra tünele girer ve bu ad! bekleme durumundaki kapükonumudur (Sekil 2). Ikinci adIida, kapalEldepo islevi yapan kapEl yüzeylerin izolasyon ve tünelin sogutma özelligi nedeniyle sogutma ünitesi (24) islevini de görür (Sekil 3). Üçüncü adIida kasa rayda hareket ederek dlghrlýb çllîhr ve arka kapak kapEl islevi yapar (Sekil 4). Dlgarln içeri içeriden dlgrljjieçis kontrollü olarak saglanlEl Elektrikli traktör (12), üç eksen gezer enerji transfer hattlîiUan beslenerek her alanda traktör faaliyetlerini yerinden ve uzaktan gerçeklestirir. Kullanüân panel enerjisi oldukça tatmin edici güçlere daha ekonomik ulasmaylîsaglar. Transfer hattIan (13) beslenen su ve hava, traktörde depolanlpl ve tas-bilir. Sistem (1) daha ki& taslýlîüjirekler (2) kullanllârak meyve bahçelerinde kolay kullanl saglar. Ayrlîla depo enerji aküleriyle manuel olarak dlgl kullanIi faaliyetlerini de gerçeklestirir. Field of application of the automation system (1). it is circumscribed. Classic door system except hand (1) Controlled by dlShrElElgl three forensic movable controlled transition coupling(23) of the structured System (1) It is in the form of an inner frame, and the front and rear panels act as a door(23). in first name front panel çllZlgEclosed doorEblup enters the tunnel after the safe is full, and that's the name! wait is the hood position (Figure 2). In the second name, the closed hand The cooling unit (24) can also function due to the isolation of the surfaces and the cooling feature of the tunnel. sees (Figure 3). In the third name, the case moves on the rail, dlghrlýb çllîhr and the back cover is closed. does the function (Figure 4). Dlgarln is provided with control of entry and exit from the inside. The electric tractor (12) is fed by three axes mobile energy transfer lines in all areas. The tractor performs its activities locally and remotely. The panel energy used is quite they provide more economical access to satisfactory forces. The water fed to the transfer lines (13) and the air can be stored and conveyed in the tractor. System (1) using smaller spinners (2) provides easy use in orchards. Manually dlgl with separate storage energy batteries It also performs its user activities.
Sistemin (1) uygun genis arazi ve ekili ürünler için kullanIiIa depolar (16, 19) sabit olup, direkler (2) alt. konulan elektro motor hareket mekanizmasüla (27) düsük hlîtla (3m/saat) kademeli (solucan) hareketiyle çaIEma bölgesini degistirebilir. Sistemdeki gerdirmeli halatlar (5) hareket kolayl[gll3aglar. Bu durum tek modülle daha verimli çallStnayEl Sistem üstünde bulunan gaz, ses, görüntü, aydlElatma uyarlîJErI sahip (7) kontrol elemanlarEU) uygun programlama ile güvenlik islevi için de kullanllâbilir. Harekete ve @E duyarllîlalgllâylîllâr alana izinsiz girislerde robot kol (22) ile baleçlElsu püskürtme, alarm çalma gibi uygulamalarla yabani hayvan, kus ve izinsiz girislerde caydlümtki saglar. The system (1) has fixed warehouses (16, 19) used for suitable large land and cultivated crops. and the poles (2) are lower. Electro-motor movement mechanism (27) placed at low speed It can change the working area with its (3m/hour) gradual (worm) movement. in the system tension ropes (5) make it easy to move. This situation works more efficiently with a single module. (7) control with gas, sound, image, lighting adaptors on the system elementsEU) can also be used for the security function with appropriate programming. Action and @E In case of unauthorized entry into the sensitive area, with the robot arm (22), balecelEl water spraying, alarm It provides caydlümtki for wild animals, birds and unauthorized entries with applications such as stealing.
Park, tarl alanIZlJahçe gibi bir çok alana uygulanabilen üç eksen hareketli solar eneiji kaynakIEtarIi otomasyonu (1) sayesinde, tek enerji paneli ile çok yönlü entegre kullan m saglanmakta, günes enerjili traktör uygulamasi l ile düsük maliyetli ve temiz enerji kullanilmaktad r. Sistem (1) yerinden veya uzaktan kumanda ile kontrol kolayl gi l saglamaktad I. Three axes movable solar energy that can be applied to many areas such as park, field areaIZlJahçe Versatile integrated use with a single energy panel, thanks to the source type automation (1) low-cost and clean energy is provided with the solar-powered tractor application. is being used. The system (1) is easy to control from the ground or with the remote control. provided I.
Sistem (1) ayn-zamanda sulamada çesitlilik, zamandan bagFmsâ uygulama, zemini tahrip etmeyen yaprak ve toprak altü sensoru (9) kullanmnüile verimli ürün üretimini kolaylastlmaktad I. System (1) at the same time diversity in irrigation, time-dependent application, ground Efficient product production with the use of non-destructive leaf and underground sensor (9) facilitated I.
Sistemin (1) otomatik olarak uzaktan kontrolü ile ilaçlama, agaçlarüsarsma ve ürün toplama islemleri çalisan olmaksâîi gerçeklestirilebilmekte ve insan gücünden tasarruf saglanmaktadl. Spraying, shaking trees and cropping with automatic remote control of the system (1) collection operations can be carried out if there are employees and it saves manpower. provided
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| TR2014/07381A TR201407381A2 (en) | 2014-06-25 | 2014-06-25 | Solar powered three-axis mobile agricultural automation |
| PCT/TR2015/000168 WO2015199629A1 (en) | 2014-06-25 | 2015-04-22 | Solar powered three-axis mobile agricultural automation |
| EP15725437.6A EP3038797A1 (en) | 2014-06-25 | 2015-04-22 | Solar powered three-axis mobile agricultural automation |
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| US1017578A (en) * | 1910-07-25 | 1912-02-13 | William Perry Mcmillan | Irrigating apparatus. |
| US1502997A (en) * | 1922-12-23 | 1924-07-29 | Marrian Harry Herber Blakemore | Aerial transporter |
| US2024374A (en) * | 1935-06-14 | 1935-12-17 | Moody E Langebrake | Overhead irrigation system |
| FR2518869A1 (en) * | 1981-12-29 | 1983-07-01 | Kerteszeti Egyetem | Grape vine and fruit tree cultivating equipment - has cultivating or harvesting tool on connecting unit between travelling units on transverse tracks |
| US4612996A (en) | 1983-08-08 | 1986-09-23 | Kimberly Hills, Ltd. | Robotic agricultural system with tractor supported on tracks |
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| US9457473B2 (en) * | 2012-06-20 | 2016-10-04 | Irobot Corporation | Suspended robot systems and methods for using same |
| CN103625300A (en) * | 2013-11-14 | 2014-03-12 | 江苏大学 | Hybrid power tractor |
-
2014
- 2014-06-25 TR TR2014/07381A patent/TR201407381A2/en unknown
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2015
- 2015-04-22 EP EP15725437.6A patent/EP3038797A1/en not_active Withdrawn
- 2015-04-22 WO PCT/TR2015/000168 patent/WO2015199629A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| EP3038797A1 (en) | 2016-07-06 |
| WO2015199629A1 (en) | 2015-12-30 |
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