CN106941944A - A kind of gardening pruning flying robot - Google Patents
A kind of gardening pruning flying robot Download PDFInfo
- Publication number
- CN106941944A CN106941944A CN201710196935.5A CN201710196935A CN106941944A CN 106941944 A CN106941944 A CN 106941944A CN 201710196935 A CN201710196935 A CN 201710196935A CN 106941944 A CN106941944 A CN 106941944A
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- China
- Prior art keywords
- pruning
- unmanned plane
- flying robot
- rotary knife
- steering wheel
- Prior art date
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Classifications
-
- 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
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Remote Sensing (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Scissors And Nippers (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of gardening pruning flying robot, including：Unmanned plane and the pruning mechanism being arranged on unmanned plane and the power supply powered to unmanned plane and pruning mechanism, pruning mechanism include the trimming motor and control rotary knife of rotary knife and control rotary knife rotation in the angle controller both vertically as well as horizontally swung.Pruning mechanism can be moved to by unmanned plane at the arbitrary height of plant, then by controlling trimming motor rotation, and then rotary knife is driven to rotate to trim plant, it is important that, the angle of rotary knife is can adjust by angle controller, so that it trims out the plant of different appearances.Therefore relative to traditional trimming machine cuts people, not only pruning mechanism is more flexible, and need not consider the height problem of plant, the characteristics of unmanned plane is also equipped with moving flexible in addition, therefore the pruning efficiency is higher.
Description
Technical field
The present invention relates to agricultural mechanical field, more particularly to a kind of gardening pruning flying robot.
Background technology
With the development and the improvement of people's living standards of society, gardening turns into can not in the scenes such as city, scenic spot
Or scarce a line of scenery, but existing gardening plant usually requires manually to be trimmed, not only workload is big, and trimming matter
Amount is unstable, and artificial trimming in addition is difficult to ensure that the profile of a collection of plant is unified, so that general loss aesthetic feeling.
Although at present with artificial some horticultural machines people, its restricted application, such as at some can be replaced
It is not suitable for the region that robot is parked, or plant height is too high so that robot is difficult to touch, therefore its flexibility is poor.
Therefore, how to provide a kind of flexibility higher gardening pruning flying robot, be that those skilled in the art are badly in need of
The technical problem of solution.
The content of the invention
It is an object of the invention to provide a kind of gardening pruning flying robot, it can effectively solve existing horticultural machine people and fit
The problems such as with narrow range, very flexible.
In order to solve the above technical problems, the invention provides following technical scheme：
A kind of gardening pruning flying robot, including：Unmanned plane and the pruning mechanism that is arranged on the unmanned plane and
The power supply powered to the unmanned plane and the pruning mechanism, the pruning mechanism includes rotary knife and controls the rotary knife to rotate
Trimming motor and control the rotary knife in the angle controller both vertically as well as horizontally swung.
Preferably, the unmanned plane is separately positioned at three angles on the triangle chassis including triangle chassis, three
Cantilever, three be separately positioned on the cantilevered distal end propeller and control three rotor electricity of the propeller rotational respectively
Machine and the first steering wheel being disposed therein on a cantilever, first steering wheel are connected with the rotor motor on the cantilever.
Preferably, the figure also collected including camera with the link of the fixed camera and by the camera
As information is sent to the data transmission device of external display, the link is fixed on the triangle chassis, the connection
Frame is provided with the second steering wheel for controlling the camera pitching, and the triangle chassis is provided with control that the link rotates the
Three motors.
Preferably, the angle controller includes the 4th steering wheel, the 5th steering wheel, steering linkage member and swing arm, described the
Four steering wheels are fixed on the triangle tray bottom, the swing arm and the 4th steering wheel connection, the end of the swing arm and described
5th steering wheel is connected, the 5th steering wheel and steering linkage member connection, and the steering linkage member and the trimming motor connect
Connect.
Preferably, the rotary knife includes the disk of multigroup blade and the fixed blade, and the single blade is along the circle
Disk is radially arranged, and circumference of multigroup blade along the disk be uniformly distributed, the middle part of the disk and trimming electricity
Machine is connected.
Preferably, the triangle tray bottom is provided with support feet.
Preferably, the power supply is separately positioned on described including the big battery being arranged on the triangle chassis and three pieces
Baby battery on cantilever, the big battery is used to power to the pruning mechanism, and the baby battery is used to supply to the unmanned plane
Electricity.
Preferably, the propeller is two vane propellers.
Compared with prior art, above-mentioned technical proposal has advantages below：
A kind of gardening pruning flying robot provided by the present invention, including：Unmanned plane and it is arranged on repairing on unmanned plane
Shearing machine structure and the power supply powered to unmanned plane and pruning mechanism, pruning mechanism include the trimming that rotary knife and control rotary knife are rotated
Motor and control rotary knife are in the angle controller both vertically as well as horizontally swung.
Pruning mechanism can be moved at the arbitrary height of plant, then be transported by controlling trimming motor by unmanned plane
Turn, and then drive rotary knife to rotate to trim plant, it is important that the angle of rotary knife is can adjust by angle controller, so that
It trims out the plant of different appearances.Therefore relative to traditional trimming machine cuts people, not only pruning mechanism is more flexible, Er Qiewu
The height problem of plant, the characteristics of unmanned plane is also equipped with moving flexible in addition need to be considered, therefore the pruning efficiency is higher.
Brief description of the drawings
, below will be to embodiment or prior art in order to illustrate more clearly of technical scheme of the invention or of the prior art
The accompanying drawing to be used needed for description is briefly described, it should be apparent that, drawings in the following description are some of the present invention
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these
Figure obtains other accompanying drawings.
A kind of structural representation for gardening pruning flying robot that Fig. 1 is provided by a kind of embodiment of the invention
Figure；
When a kind of gardening pruning flying robot that Fig. 2 is provided by a kind of embodiment of the invention drops to ground
Structural representation；
A kind of pruning mechanism for gardening pruning flying robot that Fig. 3 is provided by a kind of embodiment of the invention
Structural representation；
A kind of structure of the rotary knife for gardening pruning flying robot that Fig. 4 is provided by a kind of embodiment of the invention
Schematic diagram.
Reference is as follows：
1 is triangle chassis, and 2 be cantilever, and 3 be rotor motor, and 4 be propeller, and 5 be baby battery, and 6 be big battery, and 7 be support
Leg, 8 be camera, and 9 be the first steering wheel, and 10 be the second steering wheel, and 11 be the 3rd steering wheel, and 12 be trimming motor, and 13 be disk, and 14 are
Blade, 15 be steering linkage member, and 16 be swing arm, and 17 be the 4th steering wheel, and 18 be the 5th steering wheel.
Embodiment
Just as described in the background section, current trimming machine cuts people's scope of application is narrower, and movement is dumb, trimming
It is less efficient.
On the basis of the studies above, the embodiments of the invention provide a kind of gardening pruning flying robot, pass through nothing
It is man-machine pruning mechanism to be moved at the arbitrary height of plant, then by controlling trimming motor rotation, and then drive rotary knife
Rotate to trim plant, it is important that the angle of rotary knife is can adjust by angle controller, so that it trims out different appearances
Plant.Therefore relative to traditional trimming machine cuts people, not only pruning mechanism is more flexible, and need not consider the height of plant
Problem, the characteristics of unmanned plane is also equipped with moving flexible in addition, therefore the pruning efficiency is higher.
In order that the above objects, features and advantages of the present invention can become apparent it is understandable, below in conjunction with the accompanying drawings to this hair
Bright embodiment is described in detail.
Detail is elaborated in the following description to fully understand the present invention.But the present invention can with it is a variety of not
It is same as other manner described here to implement, those skilled in the art can do class in the case of without prejudice to intension of the present invention
Like popularization.Therefore the present invention is not limited by following public embodiment.
It refer to Fig. 1-Fig. 4, a kind of gardening pruning flying machine that Fig. 1 is provided by a kind of embodiment of the invention
The structural representation of people；A kind of gardening pruning flying robot that Fig. 2 is provided by a kind of embodiment of the invention is landed
Structural representation at ground；A kind of gardening pruning flying machine that Fig. 3 is provided by a kind of embodiment of the invention
The structural representation of the pruning mechanism of people；A kind of gardening pruning that Fig. 4 is provided by a kind of embodiment of the invention flies
The structural representation of the rotary knife of robot.
A kind of embodiment of the present invention provides a kind of gardening pruning flying robot, including：Unmanned plane and set
The pruning mechanism on unmanned plane and the power supply powered to unmanned plane and pruning mechanism are put, pruning mechanism includes rotary knife and control
The trimming motor and control rotary knife that rotary knife processed is rotated are in the angle controller both vertically as well as horizontally swung.
In the present embodiment, pruning mechanism can be moved to by unmanned plane at the arbitrary height of plant, then passes through control
System trimming motor rotation, and then drive rotary knife to rotate to trim plant, it is important that rotary knife can adjust by angle controller
Angle so that it trims out the plant of different appearances.Therefore relative to traditional trimming machine cuts people, not only pruning mechanism is more
Flexibly, and need not consider the height problem of plant, the characteristics of unmanned plane is also equipped with moving flexible in addition, therefore the pruning efficiency compared with
It is high.
Further, unmanned plane include triangle chassis, three be separately positioned at three angles on triangle chassis cantilever, three
The individual propeller for being separately positioned on cantilevered distal end and respectively control propeller rotational three rotor motors and be disposed therein
The first steering wheel on a piece cantilever, the first steering wheel is connected with the rotor motor on the cantilever.It can wherein be controlled by the first steering wheel
The heading of unmanned plane processed.Wherein, propeller is preferably two vane propellers.
It should be noted that three rotor wing unmanned aerial vehicles and two vane propellers are preferred, or other forms nobody
Machine, the present embodiment is not limited this, is specifically depended on the circumstances.
In order to improve the trimming quality to plant, the gardening pruning flying robot that the present embodiment is provided, also including shooting
The link of head and fixing camera and the image information that camera is collected is sent to the data transfer of external display
Device, link is fixed on triangle chassis, and second steering wheel of the link provided with control camera pitching, triangle is set on chassis
There is the 3rd motor that control link is rotated.The image information gathered by camera, can be fed back trimming process in real time,
When the plant of trimming does not meet quality, in order to be adjusted in time to pruning mechanism, to ensure to trim quality.
Further, angle controller includes the 4th steering wheel, the 5th steering wheel, steering linkage member and swing arm, the 4th steering wheel
It is fixed on triangle tray bottom, swing arm and the connection of the 4th steering wheel, the end of swing arm and the connection of the 5th steering wheel, the 5th steering wheel and steering
Connector is connected, steering linkage member and trimming motor connection.Wherein the 4th steering wheel can control the swing angle of swing arm, you can band
Dynamic trimming motor is swung, and the 5th steering wheel can control steering linkage member to be rotated, and then drives trimming motor to rotate, can
With understanding, the swing and rotation of motor are trimmed by the flight path and control that control unmanned plane, you can control rotary knife
Motion path, the plant profile of needs is trimmed out with this.In addition, after completion is trimmed, rotary knife can be turned to properly
Angle, with avoid landing when with ground produce interference.
In order to avoid the branches and leaves that trim enter in unmanned plane, disturb the flight of unmanned plane, rotary knife include multigroup blade and
The disk of fixed blade, single blade is radially arranged along disk, and multigroup blade is uniformly distributed along the circumference of disk, in disk
Portion and trimming motor connection.Can be by the branches and leaves barrier trimmed below disk by disk, and then be conducive to flying for unmanned plane
OK.
Three groups of blades are wherein preferably provided with disk, naturally it is also possible to be the blade of other numbers, specifically depend on the circumstances,
The present embodiment is not limited this.
Further, triangle tray bottom is provided with support feet.Wherein two support feets can be set in the lower section on triangle chassis,
What each support feet was connected including two bows for being fixed on triangle tray bottom and with the end of two bows
Horizontal straight-bar.
Further, power supply includes the big battery being arranged on triangle chassis and three pieces are separately positioned on cantilever
Baby battery, big battery is used to power to pruning mechanism, and baby battery is used to power to unmanned plane.
It should also be noted that, herein, such as first and second or the like relational terms are used merely to one
Entity or operation make a distinction with another entity or operation, and not necessarily require or imply between these entities or operation
There is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to contain
Lid nonexcludability is included, so that process, method, article or equipment including a series of key elements not only will including those
Element, but also other key elements including being not expressly set out, or also include being this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including the key element.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (8)
1. a kind of gardening pruning flying robot, it is characterised in that including：Unmanned plane and the trimming being arranged on the unmanned plane
Mechanism and the power supply powered to the unmanned plane and the pruning mechanism, the pruning mechanism includes rotary knife and control is described
Trimming motor and control the rotary knife in the angle controller both vertically as well as horizontally swung that rotary knife is rotated.
2. gardening pruning flying robot according to claim 1, it is characterised in that the unmanned plane includes triangle bottom
Disk, three be separately positioned at three angles on the triangle chassis cantilever, three be separately positioned on the cantilevered distal end spiral shell
Revolve oar and control three rotor motors of the propeller rotational and the first rudder being disposed therein on a cantilever respectively
Machine, first steering wheel is connected with the rotor motor on the cantilever.
3. gardening pruning flying robot according to claim 2, it is characterised in that also described including camera and fixation
The link of camera and the image information for collecting the camera are sent to the data transmission device of external display,
The link is fixed on the triangle chassis, second steering wheel of the link provided with the control camera pitching,
The triangle chassis is provided with the 3rd motor for controlling the link to rotate.
4. gardening pruning flying robot according to claim 3, it is characterised in that the angle controller includes the
Four steering wheels, the 5th steering wheel, steering linkage member and swing arm, the 4th steering wheel are fixed on the triangle tray bottom, the swing arm
With the 4th steering wheel connection, the end of the swing arm and the 5th steering wheel connection, the 5th steering wheel and the steering connect
Fitting is connected, the steering linkage member and the trimming motor connection.
5. gardening pruning flying robot according to claim 4, it is characterised in that the rotary knife include multigroup blade and
The disk of the fixed blade, the single blade being radially arranged along the disk, multigroup blade is along the disk
Circumferentially it is uniformly distributed, the middle part of the disk and the trimming motor connection.
6. gardening pruning flying robot according to claim 5, it is characterised in that the triangle tray bottom is provided with branch
Spike.
7. gardening pruning flying robot according to claim 6, it is characterised in that the power supply is described including being arranged on
Big battery and three pieces of baby batteries being separately positioned on the cantilever on triangle chassis, the big battery are used to repair to described
Shearing machine structure is powered, and the baby battery is used to power to the unmanned plane.
8. gardening pruning flying robot according to claim 7, it is characterised in that the propeller is two leaf spirals
Oar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710196935.5A CN106941944B (en) | 2017-03-29 | 2017-03-29 | Horticulture trimming flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710196935.5A CN106941944B (en) | 2017-03-29 | 2017-03-29 | Horticulture trimming flying robot |
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| Publication Number | Publication Date |
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| CN106941944A true CN106941944A (en) | 2017-07-14 |
| CN106941944B CN106941944B (en) | 2020-11-13 |
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| CN201710196935.5A Active CN106941944B (en) | 2017-03-29 | 2017-03-29 | Horticulture trimming flying robot |
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| CN107683713A (en) * | 2017-08-24 | 2018-02-13 | 广东电网有限责任公司江门供电局 | A kind of chain saw of flight |
| CN107757900A (en) * | 2017-10-27 | 2018-03-06 | 合肥工业大学 | A kind of three axle aircraft of VTOL |
| CN108082477A (en) * | 2017-12-15 | 2018-05-29 | 佛山市神风航空科技有限公司 | A kind of unmanned plane for acrophyta sampling |
| CN108377781A (en) * | 2018-03-08 | 2018-08-10 | 南京太司德智能科技有限公司 | A kind of screen of trees cleaning air-robot of suspension cutter structure |
| CN108423175A (en) * | 2018-03-08 | 2018-08-21 | 南京太司德智能科技有限公司 | A kind of screen of trees cleaning air-robot of rope suspension cutter |
| CN108551907A (en) * | 2018-03-08 | 2018-09-21 | 贵州电网有限责任公司 | It is a kind of can buckling screen of trees clear up air-robot |
| CN108556067A (en) * | 2018-03-08 | 2018-09-21 | 贵州电网有限责任公司 | A kind of screen of trees cleaning air-robot |
| CN108713411A (en) * | 2018-03-08 | 2018-10-30 | 南京太司德智能科技有限公司 | A kind of screen of trees cleaning air-robot of duct structure |
| CN108811856A (en) * | 2018-05-24 | 2018-11-16 | 南京林业大学 | A kind of tree trimming device by UAV flight |
| CN109287308A (en) * | 2018-09-17 | 2019-02-01 | 南京林业大学 | One kind can flight branch pruning device |
| CN110301248A (en) * | 2019-07-30 | 2019-10-08 | 南京林业大学 | A kind of intelligent cutting system and method based on unmanned plane |
| CN110383998A (en) * | 2018-04-17 | 2019-10-29 | 浙江派尼尔科技股份有限公司 | The automatic pruner of high altitude operation |
| CN110810046A (en) * | 2019-11-22 | 2020-02-21 | 湖南中电金骏软件科技有限公司 | Plant dysmorphism molding pruning unmanned aerial vehicle |
| CN111758416A (en) * | 2020-07-22 | 2020-10-13 | 杭州瀚予科技有限公司 | Unmanned aerial vehicle is pruned to high altitude branch |
| CN112262019A (en) * | 2018-06-12 | 2021-01-22 | 古斯塔夫.克劳克有限责任公司 | Hand tool for preparing remote operation and tool for preparing remote operation |
| CN113485448A (en) * | 2021-08-16 | 2021-10-08 | 浙江大学 | Autonomous trimming type unmanned aerial vehicle for gardens and control method thereof |
| US11957085B2 (en) | 2019-05-24 | 2024-04-16 | AES Gener S.A. | Tree trimming with drone |
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| CN107585299A (en) * | 2017-08-04 | 2018-01-16 | 深圳市奈士迪技术研发有限公司 | A kind of anti-unmanned plane for hanging on tree for forest inventory investigation |
| CN107585299B (en) * | 2017-08-04 | 2020-06-09 | 李长宇 | A unmanned aerial vehicle for forest resources investigation prevents hanging in tree |
| CN107683713A (en) * | 2017-08-24 | 2018-02-13 | 广东电网有限责任公司江门供电局 | A kind of chain saw of flight |
| CN107757900A (en) * | 2017-10-27 | 2018-03-06 | 合肥工业大学 | A kind of three axle aircraft of VTOL |
| CN108082477A (en) * | 2017-12-15 | 2018-05-29 | 佛山市神风航空科技有限公司 | A kind of unmanned plane for acrophyta sampling |
| CN108551907A (en) * | 2018-03-08 | 2018-09-21 | 贵州电网有限责任公司 | It is a kind of can buckling screen of trees clear up air-robot |
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| CN108556067A (en) * | 2018-03-08 | 2018-09-21 | 贵州电网有限责任公司 | A kind of screen of trees cleaning air-robot |
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| CN108377781A (en) * | 2018-03-08 | 2018-08-10 | 南京太司德智能科技有限公司 | A kind of screen of trees cleaning air-robot of suspension cutter structure |
| CN110383998A (en) * | 2018-04-17 | 2019-10-29 | 浙江派尼尔科技股份有限公司 | The automatic pruner of high altitude operation |
| CN108811856B (en) * | 2018-05-24 | 2023-05-19 | 南京林业大学 | Tree trimming device carried by unmanned aerial vehicle |
| CN108811856A (en) * | 2018-05-24 | 2018-11-16 | 南京林业大学 | A kind of tree trimming device by UAV flight |
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| CN109287308A (en) * | 2018-09-17 | 2019-02-01 | 南京林业大学 | One kind can flight branch pruning device |
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| CN110301248A (en) * | 2019-07-30 | 2019-10-08 | 南京林业大学 | A kind of intelligent cutting system and method based on unmanned plane |
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| CN111758416A (en) * | 2020-07-22 | 2020-10-13 | 杭州瀚予科技有限公司 | Unmanned aerial vehicle is pruned to high altitude branch |
| CN113485448A (en) * | 2021-08-16 | 2021-10-08 | 浙江大学 | Autonomous trimming type unmanned aerial vehicle for gardens and control method thereof |
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