CN107333513B - A kind of automatic weeder based on unmanned plane integration of operation - Google Patents
A kind of automatic weeder based on unmanned plane integration of operation Download PDFInfo
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- CN107333513B CN107333513B CN201710691540.2A CN201710691540A CN107333513B CN 107333513 B CN107333513 B CN 107333513B CN 201710691540 A CN201710691540 A CN 201710691540A CN 107333513 B CN107333513 B CN 107333513B
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- 230000010354 integration Effects 0.000 title claims abstract description 17
- 238000009333 weeding Methods 0.000 claims abstract description 94
- 230000007246 mechanism Effects 0.000 claims abstract description 85
- 238000005520 cutting process Methods 0.000 claims abstract description 13
- 241000196324 Embryophyta Species 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims description 21
- 244000025254 Cannabis sativa Species 0.000 claims description 12
- 239000002184 metal Substances 0.000 claims description 12
- 229910052751 metal Inorganic materials 0.000 claims description 12
- 238000007599 discharging Methods 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 description 10
- 241001465754 Metazoa Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- BVPWJMCABCPUQY-UHFFFAOYSA-N 4-amino-5-chloro-2-methoxy-N-[1-(phenylmethyl)-4-piperidinyl]benzamide Chemical compound COC1=CC(N)=C(Cl)C=C1C(=O)NC1CCN(CC=2C=CC=CC=2)CC1 BVPWJMCABCPUQY-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/42—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders
- A01D34/52—Cutting apparatus
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/42—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders
- A01D34/43—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/42—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders
- A01D34/54—Cutting-height adjustment
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/42—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders
- A01D34/56—Driving mechanisms for the cutters
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
- A01D43/077—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material with auxiliary means, e.g. fans, for transporting the mown crop
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
-
- 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
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Remote Sensing (AREA)
- Birds (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses a kind of automatic weeders based on unmanned plane integration of operation, including unmanned plane, attachment device and weeding mechanism, weeding mechanism includes processor, driving device, first navigation device, banishing device, roller blade and wheel, first navigation device is connect with processor, for setting the track route of weeding mechanism, banishing device is connect with driving device, for expelling the being close to weeding mechanism, roller blade is connect by transmission mechanism with driving device, for cutting weeds, wheel is connect with driving device, for driving weeding mechanism to walk, unmanned plane includes the first camera, second camera and the second navigation device, first camera is connect with processor, for shooting the picture below unmanned plane and being sent to processor, second camera is connect with processor, for shooting above unmanned plane Picture is simultaneously sent to processor, and the second navigation device is connect with processor, for setting the flight path of unmanned plane.
Description
Technical field
The present invention relates to weeder field, in particular to a kind of automatic weeder based on unmanned plane integration of operation.
Background technique
Existing weeder is broadly divided into dynamical type weeder and Manual-type weeding machine, and dynamical type weeder is to remove
Engine is installed on careless machine, drives cutter unit to rotate using engine, therefore, user is when pushing weeder on lawn, energy
Enough movements mowed automatically, even if weeder does not move, the engine and cutter unit are still able to maintain operating condition.Manually
Then without the power resources such as engine is dynamic, it is when pushing weeder by user, to make wheel or friction pulley on lawn for formula weeding
Upper friction and rolls, using wheel or friction pulley while the cutter unit of weeding motor spindle being driven to rotate.
But above two weeder is required to manual operation, and this outdoor study is a lot of by weather restriction, if making
Human cost can also be saved other than improving working efficiency with automated machine.
Summary of the invention
Goal of the invention: in order to overcome the disadvantage in background technique, the embodiment of the invention provides one kind to be joined based on unmanned plane
The automatic weeder for cooperating industry, the problem of can effectively solve the problem that involved in above-mentioned background technique.
Technical solution: a kind of automatic weeder based on unmanned plane integration of operation, including unmanned plane, attachment device and
Weeding mechanism, the attachment device for connecting the unmanned plane and the weeding mechanism, the weeding mechanism include processor,
Driving device, the first navigation device, banishing device, roller blade and wheel, the driving device are connected to the processor,
First navigation device is connected to the processor, for setting the track route of the weeding mechanism, the banishing device
Connect with the driving device, for expelling the being close to the weeding mechanism, the roller blade by transmission mechanism with
The driving device connection, for cutting weeds, the wheel is connect with the driving device, for driving the weeding mechanism
Walking, the unmanned plane include the first camera, second camera and the second navigation device, first camera with it is described
Processor connection, for shooting the unmanned plane lower section i.e. picture of weeding mechanism surrounding and sending it to the processor,
The second camera is connected to the processor, for shooting the picture above the unmanned plane and sending it to the place
Device is managed, second navigation device is connected to the processor, for setting the flight path of the unmanned plane.
As a kind of preferred embodiment of the invention, the weeding mechanism further includes speed regulation device, the speed regulation device and institute
Processor connection is stated, for adjusting the rotation speed of the roller blade.
As a kind of preferred embodiment of the invention, the weeding mechanism further includes protective device, and the protective device includes
Horizontally disposed two pieces of metal plates and several springs being vertically disposed between the metal plate.
As a kind of preferred embodiment of the invention, the weeding mechanism further includes lifting device, the lifting device and institute
Driving device connection is stated, for adjusting the height of the roller blade.
As a kind of preferred embodiment of the invention, the unmanned plane further includes suction device, the suction device with it is described
Driving device connection, further includes the material storing box being connected to the suction device for drawing grass cuttings.
As a kind of preferred embodiment of the invention, the weeding mechanism further includes humidity sensor, the humidity sensor
It is connected to the processor, for detecting the in-house humidity value of the weeding.
As a kind of preferred embodiment of the invention, including following work step:
A) flight path of the unmanned plane is preset in second navigation device, the unmanned plane is according to the flight
Route brings the weeding mechanism to designated place；
B) track route of the weeding mechanism is preset in first navigation device, the unmanned plane reaches the finger
After determining place, the processor exports weeding signal to the driving device, and the driving device drives the roller blade rotation
Turn and the wheel is advanced；
C) first camera, the second camera send shooting picture to the processor, the processor
Judge whether there is being appearance in the picture；
D) if so, exporting expulsion signal to the driving device, the driving device drives the banishing device to issue
Expel sound；
E) processor further judges whether the being enters the first default safety zone；
F) if so, exporting flight signal to the unmanned plane, the weeding mechanism is taken away ground by the unmanned plane；
G) processor judges whether the being leaves the second default safety zone；
H) if so, exporting falling signal, the unmanned plane and the weeding mechanism jump area face to the unmanned plane.
As a kind of preferred embodiment of the invention, the humidity sensor detects the in-house humidity value of the weeding simultaneously
Send it to the processor；
For the processor according to the humidity value to the speed regulation device output adjustment signal, the speed regulation device controls institute
State the revolving speed of roller blade.
As a kind of preferred embodiment of the invention, the processor rises or falls signal to driving device output,
The driving device drives the lifting device to rise or fall.
As a kind of preferred embodiment of the invention, if the material storing box is filled with, the processor is in the second navigation dress
The middle position for marking the dustbin nearest from current location is set, the processor exports discharging signal to the unmanned plane, described
Unmanned plane carries material storing box to the position and carries out discharging.
The present invention realizes following the utility model has the advantages that the present invention is realized by unmanned plane with the integration of operation of weeding mechanism removes automatically
The function of grass, unmanned plane has transport, hide and the function of discharging, weeding mechanism have the functions such as energy conservation, safety, multiple-effect,
According to the variation of weeding mechanism working environment, speed regulation device can change the rotation speed of roller blade, use meeting
Minimum speed is selected under conditions of it is required that；Weeding mechanism surrounding is provided with safety device, uneven or by outer on ground
Under conditions of power, spring can reduce vertical load；Suction device and material storing box can draw most of weeding mechanism cleaning
The grass cuttings left ensure that the sanitary in city；The present invention provides two safeguard measures, enter first in dangerous object and take the photograph
As the field range of head, first item safeguard measure is taken, that is, issues expulsion sound and is driven, do not influencing the weeding mechanism
Safeguard measure is taken when working efficiency, when driving invalid, takes Section 2 safeguard measure, i.e. unmanned plane is by weeding mechanism
It hangs.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.Fig. 1 is provided by the invention a kind of based on unmanned plane integration of operation
Automatic weeder structural schematic diagram；
Fig. 2 is suction device structural schematic diagram provided by the invention；
Fig. 3 is a kind of working method process of the automatic weeder based on unmanned plane integration of operation provided by the invention
Figure；
Fig. 4 is speed regulation device flow chart of work methods provided by the invention；
Fig. 5 is telescopic device structural schematic diagram provided by the invention；
Fig. 6 is unmanned plane discharge method flow chart provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one
As shown in Figure 1, a kind of automatic weeder based on unmanned plane integration of operation, including unmanned plane 1, attachment device 2
And weeding mechanism 3, the attachment device 2 are wrapped for connecting the unmanned plane 1 and the weeding mechanism 3, the weeding mechanism 3
Include processor 4, driving device 5, the first navigation device 6, banishing device 7, roller blade 8 and wheel 9, the driving device 5
It is connect with the processor 4, first navigation device 6 is connect with the processor 4, for setting the weeding mechanism 3
Track route, the banishing device 7 are connect with the driving device 5, for expelling the being close to the weeding mechanism 3, institute
It states roller blade 8 to connect by transmission mechanism with the driving device 5, for cutting weeds, the wheel 9 is filled with the driving
Set 5 connections, for driving the weeding mechanism 3 to walk, the unmanned plane 1 include the first camera 10, second camera 11 with
And second navigation device 12, first camera 10 is connect with the processor 4, for shooting below the unmanned plane 1 i.e.
The picture of 3 surrounding of weeding mechanism simultaneously sends it to the processor 4, and the second camera 11 is connect with the processor 4,
For shooting the picture of 1 top of the unmanned plane and sending it to the processor 4, second navigation device 12 with it is described
Processor 4 connects, for setting the flight path of the unmanned plane 1.
The weeding mechanism 3 further includes speed regulation device 13, and the speed regulation device 13 is connect with the processor 4, for adjusting
Save the rotation speed of the roller blade 8.
The weeding mechanism 3 further includes protective device 14, and the protective device 14 includes horizontally disposed two pieces of metal plates
15 and several springs for being vertically disposed between the metal plate 15.
The weeding mechanism 3 further includes lifting device 17, and the lifting device 17 is connect with the driving device 5, is used for
Adjust the height of the roller blade 8.
The unmanned plane 1 further includes suction device 18, and the suction device 18 is connect with the driving device 5, for inhaling
Grass cuttings are taken, further include the material storing box 19 being connected to the suction device 18.
The weeding mechanism 3 further includes humidity sensor 20, and the humidity sensor 20 is connect with the processor 4, is used
Humidity value inside the detection weeding mechanism 3.
Specifically, the unmanned plane 1 is connect by the attachment device 2 with the weeding mechanism 3, the attachment device 2
Including the iron chains shutting down plate and connecting with the shutdown plate, the unmanned plane 1 is connect with the iron chains, the shutdown plate setting
Above the weeding mechanism 3, when the weeding mechanism 3 works normally, the unmanned plane 1 enters suspend mode, is parked in institute
It states and shuts down on plate.The track route of the weeding mechanism 3, the track route, that is, weeding are preset in first navigation device 6
Route, during the weeding mechanism 3 walking, the roller blade 8 cuts the weeds in route.Most of weeders
Only has the function of weeding, without having the function of subsequent processing, being directly resulted on the lawn after clearing up so is all weeds
Clast, grass cuttings drift with the wind, influence urban environment, and while disseminating, the taste of careless liquid is being bled around.Such as Fig. 2
It is shown, it is further equipped with suction device 18 on the unmanned plane 1, cuts remaining grass cuttings for drawing the weeding mechanism 3, it is described
The grass cuttings of absorption are stored in the material storing box 19 by suction device 18, and the material storing box 19 is connect with the unmanned plane 1.It is described
The sound that can expel animal is prestored in banishing device 7, if having animal or people close to the weeding mechanism 3, the banishing device 7
The expulsion sound prestored is issued, other than the threat on ground, also from threat in the sky, if having above unmanned plane 1 winged
Bird, the banishing device 7 can also issue expulsion sound, and the roller blade 8 is the blade being set on roller, and the blade can
Disassembly, facilitates maintenance, the wheel 9 can be rotated to any direction.There are four protection dresses for 3 surrounding of the weeding mechanism setting
14 are set, the protective device 14 includes horizontally disposed two pieces of metal plates 15 and is vertically disposed between the metal plate 15
Several springs, wherein two pieces of metal plates 15 are horizontal with the upper and lower surface of the weeding mechanism 3 respectively, 3 surrounding of weeding mechanism
It is arranged fluted, the metal plate 15 can be slided up and down by the groove, and 14 one side of protective device plays balance institute
The effect of weeding mechanism 3 is stated, the spring can significantly unload the vertical load that the metal plate 15 is subject to, on the other hand,
It often will pop up handstone when weeder weeding, the metal plate 15 can play certain protective action.
First camera 10 is set to the bottom of the unmanned plane 1, can shoot the scape on 3 periphery of weeding mechanism
As providing the judgment basis whether the weeding mechanism 3 has human or animal close, the second camera 11 is set to the nothing
Man-machine 1 top can shoot the scene of 1 top of the unmanned plane, provide 1 top of unmanned plane whether have the judgement of flying bird according to
According to presetting the position of each dustbin of flight path and region of the unmanned plane 1 in second navigation device 12
It sets.
Embodiment two
As shown in figure 3, a kind of working method of the automatic weeder based on unmanned plane integration of operation, including following work
Step: a) presetting the flight path of the unmanned plane 1 in second navigation device 12, and the unmanned plane 1 flies according to described
Walking along the street line is by 3 band of weeding mechanism to designated place；
B) track route of the weeding mechanism 3 is preset in first navigation device 6, the unmanned plane 1 reaches institute
After stating designated place, the processor 4 exports weeding signal to the driving device 5, and the driving device 5 drives the roller
The rotation of blade 8 and the wheel 9 are advanced；
C) first camera 10, the second camera 11 send shooting picture to the processor 4, the place
Reason device 4 judges whether there is being appearance in the picture；
D) if so, exporting expulsion signal to the driving device 5, the driving device 5 drives the banishing device 7 to send out
Sound is expelled out；
E) processor 4 further judges whether the being enters the first default safety zone；
F) if so, exporting flight signal to the unmanned plane 1, the unmanned plane 1 is by the weeding mechanism 3 with liftoff
Face；G) processor 4 judges whether the being leaves the second default safety zone；
H) if so, exporting falling signal, the unmanned plane 1 and 3 jump area of weeding mechanism to the unmanned plane 1
Face.The humidity sensor 20 detects the humidity value inside the weeding mechanism 3 and sends it to the processor 4；
The processor 4 is according to the humidity value to the 13 output adjustment signal of speed regulation device, the speed regulation device 13
Control the revolving speed of the roller blade 8.
The processor 4 rises or falls signal to the driving device 5 output, and the driving device 5 drives the liter
Falling unit 17 rises or falls.
Specifically, in the weeding mechanism 3 to after reaching designated place, the processor 4 is exported to the driving device 5
Weeding signal, the driving device 5 drive the rotation of roller blade 8 and the wheel 9 to advance, meanwhile, the processor 4
It is exported to the driving device 5 and draws signal, the driving device 5 drives the suction device 18 to start, the suction device
18 are stored in the grass cuttings of absorption in the material storing box 19.When the weeding mechanism 3 works normally, the unmanned plane 1 is parked in
On the shutdown plate, 10 coverage of the first camera is 4 judgment basis of processor described in step c at this time for definition, fixed
The half of justice 10 coverage of the first camera described at this time is the first default safety zone；When the unmanned plane 1 is by institute
State 3 band of weeding mechanism from the ground to specified altitude assignment when, 10 coverage of the first camera is the second default peace at this time for definition
It is region-wide.According to the difference of 3 operating environment of weeding mechanism, the settable different revolving speed of roller blade 8 is conducive to save
The about energy.For example, slower revolving speed is then arranged on lawn softer or that religion is thin, on lawn harder or that religion is close, then setting is very fast
Revolving speed, the processor 4 can judge the density degree on the lawn, institute by the picture that first camera 10 is sent
It states weeding mechanism 3 and is internally provided with humidity sensor 20, for detecting the humidity value inside the weeding mechanism 3, the processing
Device 4 judges the aridity on lawn by the humidity value, and humidity value is higher, and lawn is harder.Specific speed regulating method as shown in figure 4,
Whether the processor 4 to judge lawn sparse if first passing through the picture, if so, further judging whether the humidity value is greater than
Equal to default humidity value, if so, the bucket roll blade is rotated according to pre-set velocity, if occurring in above-mentioned judgement twice primary
No, then to the 13 output adjustment signal of speed regulation device, the bucket roll blade is adjusted to the processor 4 by the speed regulation device 13
Maximum rotative speed.
As shown in figure 5, the lifting device 17 is two Electrohydraulic push rods, the Electrohydraulic push rod is same by the driving device 5
Step driving, is located at the two sides of the bucket roll blade, the chassis of the preset height of the bucket roll blade and the weeding mechanism 3
It keeps horizontal, the grass of different height can be cut out by adjusting the lifting device 17 according to the difference for the requirement that cuts the grass on a lawn
Level ground.The present invention other than can be with weeding, can also topiary clump, the processor 4 transmits according to first camera 10
The height of picture analysis bushes, to export rising signals to the driving device 5, the driving device 5 drives the liter
Falling unit 17 rises corresponding height.
Embodiment three
As shown in fig. 6, if the material storing box 19 is filled with, the processor 4 marked in second navigation device 12 from
The position of the nearest dustbin in current location, the processor 4 export discharging signal to the unmanned plane 1, and the unmanned plane 1 is taken
Band material storing box 19 to the position carries out discharging.
Specifically, judge whether the material storing box 19 is filled with the present embodiment provides two methods.First, in the material storing box
Laser range finder is arranged in 19 tops, and the laser range finder is connect with the processor 4, for measuring grass cuttings to the material storing box
The distance value at 19 tops simultaneously sends it to the processor 4, if the processor 4 judges that the distance value is equal to the storing
The height of case 19, then it represents that the material storing box 19 has been filled with；Second, adding a third camera, institute in 1 side of unmanned plane
It states third camera to connect with the processor 4, for shooting the picture in the Material collecting box for harvesting and sending it to the processing
Device 4, the processor 4 judge whether the material storing box 19 is filled with by the picture.It is prestored in second navigation device 12
The position of all dustbins in the region, if the processor 4 judges that the material storing box 19 has been filled with, the processor 4 is calculated respectively
Distance between dustbin and the unmanned plane 1, meanwhile, the processor 4 exports stop signal, institute to the driving device 5
Stating driving device 5 drives the weeding mechanism 3 and wheel 9 to stop working, and the processor 4 therefrom selects short line, then
Discharging signal is exported to the unmanned plane 1, the unmanned plane 1 carries material storing box 19 to nearest dustbin and carries out discharging.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of automatic weeder based on unmanned plane integration of operation, including unmanned plane (1), attachment device (2) and weeding
Mechanism (3), which is characterized in that the attachment device (2) is described for connecting the unmanned plane (1) and the weeding mechanism (3)
Weeding mechanism (3) includes processor (4), driving device (5), the first navigation device (6), banishing device (7), roller blade (8)
And wheel (9), the driving device (5) connect with the processor (4), first navigation device (6) and the processing
Device (4) connection, for setting the track route of the weeding mechanism (3), the banishing device (7) and the driving device (5)
Connection, for expelling the being close to the weeding mechanism (3), the roller blade (8) passes through transmission mechanism and the driving
Device (5) connection, for cutting weeds, the wheel (9) connect with the driving device (5), for driving the weeder
Structure (3) walking, the unmanned plane (1) includes suction device (18), the material storing box (19) that is connected to the suction device (18), the
One camera (10), second camera (11) and the second navigation device (12), the suction device (18) and the driving fill
Set (5) connection, for drawing grass cuttings, first camera (10) connect with the processor (4), for shoot it is described nobody
It is the picture of weeding mechanism (3) surrounding below machine (1) and sends it to the processor (4), the second camera (11)
It is connect with the processor (4), for shooting the picture above the unmanned plane (1) and sending it to the processor (4),
Second navigation device (12) connect with the processor (4), described for setting the flight path of the unmanned plane (1)
Weeding mechanism (3) further includes humidity sensor (20), and the humidity sensor (20) connect with the processor (4), for examining
The internal humidity value of the weeding mechanism (3) is surveyed, if material storing box (19) is filled with, the processor (4) is in the second navigation dress
The position that the dustbin nearest from current location is marked in (12) is set, processor (4) the Xiang Suoshu unmanned plane (1) exports discharging
Signal, the unmanned plane (1) carry material storing box (19) to the position and carry out discharging, wherein the banishing device includes following
Work step: first camera (10), the second camera (11) send shooting picture to the processor (4),
The processor (4) judges whether there is being appearance in the picture；If so, exporting expulsion letter to the driving device (5)
Number, the driving device (5) drives the banishing device (7) to issue expulsion sound；The processor (4) is further described in judgement
Whether being enters the first default safety zone；If so, exporting flight signal, the unmanned plane (1) to the unmanned plane (1)
From the ground by weeding mechanism (3) band；The processor (4) judges whether the being leaves the second default safety zone；
If so, exporting falling signal, the unmanned plane (1) and the weeding mechanism (3) landing ground to the unmanned plane (1).
2. a kind of automatic weeder based on unmanned plane integration of operation according to claim 1, it is characterised in that: described
Weeding mechanism (3) further includes speed regulation device (13), and the speed regulation device (13) connect with the processor (4), for adjusting
State the rotation speed of roller blade (8).
3. a kind of automatic weeder based on unmanned plane integration of operation according to claim 1, it is characterised in that: described
Weeding mechanism (3) further includes protective device (14), the protective device (14) include horizontally disposed two pieces of metal plates (15) with
And it is vertically disposed to several springs (16) between the metal plate (15).
4. a kind of automatic weeder based on unmanned plane integration of operation according to claim 1, it is characterised in that: described
Weeding mechanism (3) further includes lifting device (17), and the lifting device (17) connect with the driving device (5), for adjusting
The height of the roller blade (8).
5. a kind of automatic weeder based on unmanned plane integration of operation according to claim 1, it is characterised in that: described
Automatic weeder includes following work step:
A) flight path of the unmanned plane (1) is preset in second navigation device (12), the unmanned plane (1) is according to institute
Flight path is stated by weeding mechanism (3) band to designated place；
B) track route of the weeding mechanism (3) is preset in first navigation device (6), the unmanned plane (1) reaches
Behind the designated place, processor (4) the Xiang Suoshu driving device (5) exports weeding signal, driving device (5) driving
Roller blade (8) rotation and the wheel (9) are advanced.
6. a kind of automatic weeder based on unmanned plane integration of operation according to claim 2, it is characterised in that: described
Humidity sensor (20) detects the internal humidity value of the weeding mechanism (3) and sends it to the processor (4)；
The processor (4) is according to the humidity value to the speed regulation device (13) output adjustment signal, the speed regulation device
(13) revolving speed of the roller blade (8) is controlled.
7. a kind of automatic weeder based on unmanned plane integration of operation according to claim 4, it is characterised in that: described
Processor (4) Xiang Suoshu driving device (5) output rises or falls signal, and the driving device (5) drives the lifting device
(17) it rises or falls.
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| CN109168831A (en) * | 2018-08-22 | 2019-01-11 | 深圳威琳懋生物科技有限公司 | Bird-repellent robots |
| EP3647493A1 (en) * | 2018-11-02 | 2020-05-06 | Melos GmbH | Drone guided turf maintenance |
| CN109601110B (en) * | 2018-12-28 | 2020-08-25 | 温岭市第二绝缘材料厂 | Multifunctional walking type weeding machine |
| CN110493499B (en) * | 2019-08-13 | 2021-01-22 | 广西安泰特保保安服务有限公司 | Security protection monitored control system that effectual maintenance of shooting was convenient |
| CN112020981B (en) * | 2020-09-14 | 2022-04-01 | 皖西学院 | Intelligent weeding robot system based on machine vision |
| CN112455665B (en) * | 2020-11-24 | 2022-07-29 | 华南农业大学 | Paddy field balance take-off and landing unmanned aerial vehicle and fixed-point weeding recovery operation method |
| CN112544205A (en) * | 2020-12-03 | 2021-03-26 | 桂林航天工业学院 | Unmanned aerial vehicle mows and intelligent system of mowing thereof |
| CN113228920A (en) * | 2021-05-25 | 2021-08-10 | 盐城工学院 | Self-adaptive cruise flight weeder |
| CN114451082B (en) * | 2021-12-15 | 2023-05-05 | 中国农业大学 | In-line real-time mechanical weeding equipment and weeding method |
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