CN109566138A - A kind of intelligence greening pruner robot - Google Patents
A kind of intelligence greening pruner robot Download PDFInfo
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- CN109566138A CN109566138A CN201811478161.6A CN201811478161A CN109566138A CN 109566138 A CN109566138 A CN 109566138A CN 201811478161 A CN201811478161 A CN 201811478161A CN 109566138 A CN109566138 A CN 109566138A
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- 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
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
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- Forests & Forestry (AREA)
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Abstract
The invention discloses a kind of intelligent greening pruner robots, including body and the control module connecting with the body, sensing system, driving mechanism and pruning mechanism；The control module includes sensor module, and the drive module and pruning mechanism control module that connect with the sensor module；The sensing system is connect with the sensor module, including obstacle avoidance sensor and alignment sensor；The driving mechanism is connect with the drive module, including walking mechanism and aviation mechanism；The pruning mechanism is connect with the trimming control module, including the first pruning mechanism and the second pruning mechanism, intelligent greening pruner robot of the invention can trim lawn by the first pruning mechanism, short bushes are trimmed by the second pruning mechanism, the first pruning mechanism combination aviation mechanism can trim higher vegetation, its is vdiverse in function, and performance safety is reliable, can satisfy the different demands of greening pruner.
Description
Technical field
The present invention relates to civilian outdoor mobile robot technology field more particularly to a kind of intelligent greening pruner robots.
Background technique
Requirement with people to living environment is increased, and the green percentage in city also steps up.In urban afforestation maintenance, plant
The trimming of quilt is a highly important job, not only contributes to the growth of vegetation itself, and helps to increase vegetation
Ornamental value.Currently, occur much semi-automatic trimmers and intelligent grass-removing robot for turf-mown on the market,
But semi-automatic trimmer and intelligence intelligent greening pruner robot is generally trimmed just for the lawn on ground, and shrub
The trimming of clump relies primarily on manpower completion, needs to consume a large amount of time and labor, efficiency is very low.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of intelligent greening pruner robot, performance safety can
It leans on, can be used for cutting the grass on a lawn, short bushes and higher vegetation, help mitigate labour's burden.
In order to solve the above-mentioned technical problems, the present invention provides a kind of intelligent greening pruner robots, including body, control
Module, sensing system, driving mechanism and pruning mechanism；
The control module is mounted on the internal body, and the control module includes sensor module, and with it is described
The drive module and pruning mechanism control module of sensor module connection；
The sensing system is mounted on the body, and the sensing system includes obstacle avoidance sensor and orientation sensing
Device, the sensing system are connect with the sensor module, for the information of monitoring to be sent to the sensor module；
The driving mechanism includes the walking mechanism being mounted on the body and aviation mechanism, the drive module difference
It is connect with the walking mechanism and aviation mechanism, to control the movement rail of the walking mechanism and aviation mechanism according to monitoring information
Mark；
The pruning mechanism includes the first pruning mechanism and the second pruning mechanism being mounted on the body, and described first
Pruning mechanism includes the first trimming motor and the first cutter, and first cutter is set to the organism bottom and repairs described first
It cuts and is rotated under the driving of motor；
Second pruning mechanism includes telescopic arm, steering mechanism, the second trimming motor and the second cutter, the telescopic arm
One end fixed with the body, the other end is connect with the steering mechanism, it is described second trimming motor and the second cutter with
The steering mechanism is fixed；
The trimming control module is connect with first pruning mechanism and the second pruning mechanism respectively.
As an improvement of the above scheme, second cutter includes cutting blade and ledger-plate, the cutting blade and ledger-plate
The side of overlapping, the cutting blade and ledger-plate is equipped with sawtooth, and the ledger-plate is fixed with the steering mechanism, and described second
Trimming motor is connect to drive the cutting blade to rotate with the cutting blade.
As an improvement of the above scheme, the body is fixed with the first linking arm, and the end of first linking arm is equipped with
Third driving motor and the blower connecting with the third driving motor, the blower can be rotated around first linking arm.
As an improvement of the above scheme, the aviation mechanism includes engine and rotor assemblies, and the engine is set to institute
State internal body, the rotor assemblies include fuselage propeller, tail propeller and the second linking arm, second linking arm with
The body connection, the tail propeller are set to one end of second linking arm, the fuselage propeller and tail spiral
Paddle is connected with the engine by shaft, and the engine is connect with described with the drive module.
As an improvement of the above scheme, the aviation mechanism includes speed changer, the speed changer and the engine and drive
The connection of dynamic model block.
As an improvement of the above scheme, the fuselage propeller is set to surrounding at the top of the body, and the telescopic arm can be stretched
Contracting is set to the middle position of the body.
As an improvement of the above scheme, the obstacle avoidance sensor includes the first supersonic sensing on front side of the body
Device, the first infrared sensor, the first temperature sensor, pyroelectric infrared sensor and the first contact sensor are set to the machine
The second ultrasonic sensor, the second infrared sensor, second temperature sensor, pyroelectric infrared sensor and second on the left of body
Contact sensor, and third ultrasonic sensor, third infrared sensor, third temperature sensing set on the right side of machine body
Device, pyroelectric infrared sensor and third contact sensor.
As an improvement of the above scheme, the alignment sensor is connected with video camera, and the video camera will be for that will collect
Image be sent to alignment sensor.
It as an improvement of the above scheme, further include communication agency for being wirelessly connected with remote control equipment, institute
It states communication agency to connect with control module, the control module sends intelligence greening to remote control equipment by communication agency and repairs
The status information of robot is cut, remote control equipment issues control to control module by communication agency according to status information and refers to
It enables.
As an improvement of the above scheme, the control instruction includes target location coordinate, and the control module is according to target
Position coordinates control intelligent greening pruner robot and reach target position.
The invention has the following beneficial effects:
The invention discloses a kind of intelligent greening pruner robots, including body and the control mould connecting with the body
Block, sensing system, driving mechanism and pruning mechanism；The control module includes sensor module, and with the sensor
The drive module and pruning mechanism control module of module connection；The sensing system is connect with the sensor module, including
Obstacle avoidance sensor and alignment sensor；The driving mechanism is connect with the drive module, including walking mechanism and aviation mechanism；
The pruning mechanism is connect with the trimming control module, including the first pruning mechanism and the second pruning mechanism, intelligence of the invention
Energy greening pruner robot can trim lawn by the first pruning mechanism, by the second pruning mechanism to short filling
The wooden Cong Jinhang trimming, the first pruning mechanism combination aviation mechanism can trim higher vegetation, vdiverse in function,
Performance safety is reliable, can satisfy the different demands of greening pruner, significantly mitigation labour's burden.
Detailed description of the invention
Fig. 1 is the block schematic diagram of intelligent greening pruner robot of the invention；
Fig. 2 is the structural schematic diagram of intelligent greening pruner robot of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.
As shown in Figure 1, the present invention provides an a kind of embodiment of intelligent greening pruner robot, including body 1, control
Module 2, sensing system 3, driving mechanism 4 and pruning mechanism 5；The control module 2 is mounted on inside the body 1, described
Control module 2 includes sensor module 21, and the drive module 22 and pruning mechanism control that connect with the sensor module 21
Molding block 23；The sensing system 3 is mounted on the body 1, and the sensing system 3 includes obstacle avoidance sensor 31 and determines
Level sensor 32, the sensing system 3 are connect with the sensor module 21, for the information of monitoring to be sent to the biography
Sensor module 21；The driving mechanism 4 includes the walking mechanism and aviation mechanism being mounted on the body 1, the driving mould
Block 22 is connect with the walking mechanism 41 and aviation mechanism 42 respectively, to control the walking mechanism 41 according to monitoring information and fly
The motion profile of row mechanism 42；The pruning mechanism 5 includes that the first pruning mechanism 5A and second being mounted on the body 1 is repaired
Shearing machine structure 5B, the first pruning mechanism 5A include the first trimming motor and the first cutter, and first cutter is set to the machine
It is rotated under 1 bottom of body and the driving for trimming motor described first；With reference to Fig. 2, the second pruning mechanism 5B includes telescopic arm
51, motor 53 and the second cutter 54 are trimmed by steering mechanism 52, second, and one end of the telescopic arm 51 and the body 1 are fixed,
The other end is connect with the steering mechanism 52, and the second trimming motor 53 and the second cutter 54 are consolidated with the steering mechanism 52
It is fixed；The trimming control module 2 is connect with the first pruning mechanism 5A and the second pruning mechanism 5B respectively.
The present embodiment by sensing system 3 obtain external information, while sensor module 21 by the information received into
Row analysis processing, carries out autonomous path planning, and feed back to drive module 22, pruning mechanism control module 23, drive module 22
It controls driving mechanism 4 respectively with pruning mechanism control module 23 and pruning mechanism 5 executes corresponding actions: the control row of drive module 22
Walk mechanism 41 drive body 1 walk on lawn, first trimming 1 bottom of motor driven body the first cutter realize to lawn into
Row trimming operation；It drives body 1 to walk on lawn by walking mechanism 41 simultaneously, the height of the second cutter 54 is adjusted by telescopic arm 51
Degree is adjusted the angle of the second cutter 54 by steering mechanism 52, is realized under the driving of the second trimming motor 53 to short bushes
Trimming operation；In addition, driving the flight of body 1 to certain altitude, the first trimming by aviation mechanism 42 higher vegetation
First cutter of 1 bottom of motor driven body realizes trimming operation.
First cutter and it is described first trimming motor output axis connection, first cutter with output shaft rotation
And it rotates.First cutter is preferably the circular beater plate with sawtooth.The first trimming motor and the pruning mechanism control
Module 23 connect, pruning mechanism control module 23 control first trimming electric motor starting, first trimming electric motor starting when, can pass through
Output shaft drives the work of the first cutter, and the first cutter is made to execute trimming movement.Second cutter 54 and the second trimming electricity
The output axis connection of machine 53, second cutter 54 are rotated with the rotation of output shaft, the steering mechanism 52, telescopic arm 51 and
Second trimming motor 53 is connect with the pruning mechanism control module 23 respectively, and the trimming control module 2 is according to sensor system
Information control telescopic arm 51 lifting of 3 monitoring of system controls the steering mechanism 52 and rotates the second cutter 54 extremely to corresponding position
Respective angles, and control the second trimming motor 53 and start, when the second trimming motor 53 starts, second can be driven by output shaft
Cutter 54 works, and the second cutter 54 is made to execute trimming movement.Second cutter 54 includes cutting blade and ledger-plate, the moving knife
Piece and ledger-plate overlap, and the side of the cutting blade and ledger-plate is equipped with sawtooth, and the length of the sawtooth is not less than 5mm, described
Ledger-plate and the steering mechanism 52 are fixed, and the second trimming motor 53 is connect to drive the cutting blade with the cutting blade
The sawtooth of rotation, the cutting blade and ledger-plate is mutually sheared, and realizes the trimming to shrub etc..Since pruning mechanism 5 is executing
When trimming work, the branches and leaves after trimming are easy to fall in 1 surface of body, influence the sensitivity of sensor, even result in intelligent greening
Trimming machine cuts people's operational failure, brings security risk.Therefore, the present embodiment is also fixed with the first linking arm on the body 1,
The blower that the end of first linking arm is equipped with third driving motor and connect with the third driving motor, the blower can
It is rotated around first linking arm, for blowing off the sundries such as branches and leaves on body 1, guarantees that greening pruner robot normally makees
Industry.
The running gear includes deflecting roller and driving wheel, and the driving being correspondingly arranged with the deflecting roller and driving wheel
Motor, the deflecting roller and driving wheel are mounted on the lower section of body 1, and the inside of the body 1 is arranged in the driving motor, and
It is connect with drive module 22, driving motor is driven module 22 and controls and drive deflecting roller and driving wheel to rotate, and realizes intelligence
The traveling of greening pruner robot.
The aviation mechanism 42 includes engine and rotor assemblies, and the engine is set to inside the body 1, the rotation
Wing component includes fuselage propeller, the tail propeller set on 1 tail portion of body for being symmetrically set in 1 top of body, with
And second linking arm, second linking arm are connect with the body 1, the tail propeller is set to second linking arm
One end, the fuselage propeller and tail propeller are connected with the engine by shaft, the engine and described and institute
State the connection of drive module 22.The embodiment of the present invention aviation mechanism 42 further includes speed changer, the speed changer and the engine
And drive module 22 connects.Specifically, the speed changer is connect with the shaft of fuselage propeller and tail propeller, the tail
The shaft of propeller is set in second linking arm, and the driving force that the engine generates is transmitted to fuselage spiral through speed changer
The shaft of paddle and the shaft of tail propeller simultaneously drive shaft to be rotated, and realize the rotation of fuselage propeller and tail propeller
Turn.Meanwhile drive module 22 control engine output power to control the revolving speed of fuselage propeller and tail propeller with
Control the state of flight of intelligent greening pruner robot.To avoid the second pruning mechanism 5B and the aviation mechanism 42 relevant
It relates to, fuselage propeller described in the present embodiment is set as four, is respectively symmetrically set to the 1 top surrounding of body, the telescopic arm 51
The scalable middle position for being set to the body 1.
Obstacle avoidance sensor 31 described in the present embodiment includes the first ultrasonic sensor for being set to 1 front side of body, first
Infrared sensor, the first temperature sensor, pyroelectric infrared sensor and the first contact sensor are set to 1 left side of body
The second ultrasonic sensor, the second infrared sensor, second temperature sensor, pyroelectric infrared sensor and second contact pass
Sensor, and third ultrasonic sensor, third infrared sensor, third temperature sensor, heat set on 1 right side of body
Release electric infrared sensor and third contact sensor.Significant reflection can be generated by encountering impurity or interface due to ultrasonic wave, be formed
Echo, Doppler effect can be generated by encountering mobiles, and ultrasonic sensor is high with frequency, wavelength is short, diffraction phenomenon is few,
Good directionality and ray can be become the features such as direction propagation, therefore, ultrasonic sensor can be used for measuring intelligent greening
Trimming machine cuts people is at work at a distance from barrier.But ultrasonic sensor cannot be detected reliably and is less than positioned at its front
Obstacle in 30cm distance areas, this region are referred to as blind area, it is therefore desirable to the barrier of short distance is measured in conjunction with infrared sensor
Hinder.The infrared waves that infrared sensor issues belong to shortwave, can carry out non-cpntact measurement in short distance.In addition, supersonic sensing
For device using being also influenced by temperature, therefore, it is necessary to mounting temperature sensors to measure operating temperature, carry out temperature collection data, with full
Accurately distance calculates foot.Pyroelectric infrared sensor is to enable intelligent greening pruner robot when executing trimming task
Ensure the safety of the human body or animal close to it.Variation for temperature, pyroelectric infrared sensor can be captured accurately.In this way,
When there is object proximity, sensor can collect rapidly information, these information can be applied after installing early warning mechanism.It connects
The installation of touching sensor and is passed through to consider that information can be collected rapidly after intelligent greening pruner robot and object collide
Interruption system makes machine stop working, and improves its security performance.
The alignment sensor 32 is connected with video camera, and the video camera is used to for acquired image to be sent to positioning and pass
Sensor 32.The intelligent greening pruner robot of the present embodiment further includes the communication for being wirelessly connected with remote control equipment
Mechanism 6, the communication agency 6 are connect with control module 2, and the control module 2 is sent out by communication agency 6 to remote control equipment
The status information of intelligent greening pruner robot is sent, remote control equipment passes through communication agency 6 to control mould according to status information
Block 2 issues control instruction.Communication device allows users to for realizing the communication of user and intelligent greening pruner robot to intelligence
Energy greening pruner robot is remotely controlled.Intelligent greening pruner robot can send itself position to user by communication device
Coordinate, the information such as working condition are set, user can issue control instruction to control module 2 by communication device.Specifically, communication dress
Setting can be using 3G module, wifi or radio etc..The control instruction includes the control module 2 according to target location coordinate
It controls intelligent greening pruner robot and reaches target position.User can check intelligent greening pruner robot by communication device
Position, while user can input target location coordinate to communication device, and target location coordinate be sent to control by communication device
Molding block 2, control module 2 keep intelligence green according to the motion profile that target location coordinate controls aviation mechanism 42 or walking mechanism 41
Change trimming machine cuts people and reaches target position.User can also input trimming instruction to communication device to control the first pruning mechanism 5A
And second pruning mechanism 5B carry out cutting work.User can be realized by communication device to intelligent greening pruner machine as a result,
People's remotely checking and remotely controlling.
During the work time, the driving motor of the control starting walking mechanism 41 of drive module 22 in control module 2, driving
Motor driven deflecting roller and driving wheel rotation make intelligent greening pruner robot advance, meanwhile, video camera is by acquired image
It is sent to alignment sensor 32, when reaching target position, remote control equipment passes through logical according to the status information of target position
Believe that mechanism 6 issues control instruction to control module 2, i.e., Pruning model is selected according to the plant situation of target position: when needs pair
When lawn is trimmed, the driving motor of the control starting walking mechanism 41 of drive module 22, driving motor drives deflecting roller and drive
Wheel rotation makes intelligent greening pruner robot advance, meanwhile, the starting of pruning mechanism control module 23 first trimming motor, first
It trims motor and drives the rotation of the first cutter, the first cutter trims the lawn of working region；When needs are to shorter shrub
When being trimmed, or needing to trim the side of bushes, the driving electricity of the control starting walking mechanism 41 of drive module 22
Machine, engine driving deflecting roller and driving wheel rotation make intelligent greening pruner robot advance, meanwhile, pruning mechanism control module
23 control telescopic arm 51 liftings to proper height, control steering mechanism 52 rotates to proper angle, and starts the second trimming motor
53, the second trimming motor 53 drives the rotation of the second cutter 54, and the second cutter 54 trims shrub shorter in working region,
In addition, pruning mechanism control module 23 start third driving motor, the 4th driving motor drive blower rotation, and the blower around
The first linking arm rotation, the sundries on body 1 is blown off；When needing to trim higher shrub, drive module
The engine of 22 control starting aviation mechanisms 42, engine driving fuselage propeller and tail propeller make intelligent greening pruner machine
Device people advances, and the flight position for the intelligent greening pruner robot that drive module 22 is monitored according to positioning device adjusts each rotor
The rotation speed and heading of the engine of component, so that 1 smooth flight of body, meanwhile, pruning mechanism control module 23 opens
Dynamic first trimming motor, the first trimming motor drive the rotation of the first cutter, the first cutter to shrub higher in working region into
Row trimming.
The intelligent greening pruner robot of the present embodiment, the first pruning mechanism 5A can repair lawn on lawn
It cuts, the second pruning mechanism 5B can be by adjusting telescopic arm 51 and steering mechanism 52, using the second cutter 54 to short bushes
It is trimmed, in addition, control module 2 can control the movement of aviation mechanism 42 for the position that the second pruning mechanism 5B is not achieved
It to corresponding position, is trimmed by the first pruning mechanism 5A or the second pruning mechanism 5B, the need of various working can be met simultaneously
It asks.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of intelligence greening pruner robot, which is characterized in that including body, control module, sensing system, driving mechanism
And pruning mechanism；
The control module is mounted on the internal body, and the control module includes sensor module, and with the sensing
The drive module and pruning mechanism control module of device module connection；
The sensing system is mounted on the body, and the sensing system includes obstacle avoidance sensor and alignment sensor,
The sensing system is connect with the sensor module, for the information of monitoring to be sent to the sensor module；
The driving mechanism includes the walking mechanism being mounted on the body and aviation mechanism, the drive module respectively with institute
It states walking mechanism to connect with aviation mechanism, to control the motion profile of the walking mechanism and aviation mechanism according to monitoring information；
The pruning mechanism includes the first pruning mechanism and the second pruning mechanism being mounted on the body, first trimming
Mechanism includes the first trimming motor and the first cutter, and first cutter is set to the organism bottom and in the first trimming electricity
It is rotated under the driving of machine；
Second pruning mechanism includes telescopic arm, steering mechanism, the second trimming motor and the second cutter, and the one of the telescopic arm
End is fixed with the body, and the other end is connect with the steering mechanism, described second trim motor and the second cutter with it is described
Steering mechanism is fixed；
The trimming control module is connect with first pruning mechanism and the second pruning mechanism respectively.
2. intelligence greening pruner robot as described in claim 1, which is characterized in that second cutter include cutting blade and
Ledger-plate, the cutting blade and ledger-plate overlap, and the side of the cutting blade and ledger-plate is equipped with sawtooth, the ledger-plate with
The steering mechanism is fixed, and the second trimming motor is connect to drive the cutting blade to rotate with the cutting blade.
3. intelligence greening pruner robot as described in claim 1, which is characterized in that the body is fixed with the first connection
Arm, the blower that the end of first linking arm is equipped with third driving motor and connect with the third driving motor, the wind
Machine can be rotated around first linking arm.
4. intelligence greening pruner robot as described in claim 1, which is characterized in that the aviation mechanism include engine and
Rotor assemblies, the engine are set to the internal body, and the rotor assemblies include fuselage propeller, tail propeller and the
Two linking arms, second linking arm are connect with the body, and the tail propeller is set to one end of second linking arm,
The fuselage propeller and tail propeller are connected with the engine by shaft, the engine and the described and driving
Module connection.
5. intelligence greening pruner robot as claimed in claim 4, which is characterized in that the aviation mechanism includes speed changer,
The speed changer is connect with the engine and drive module.
6. intelligence greening pruner robot as described in claim 1, which is characterized in that the fuselage propeller is set to the machine
Surrounding at the top of body, the scalable middle position for being set to the body of the telescopic arm.
7. intelligence greening pruner robot as described in claim 1, which is characterized in that the obstacle avoidance sensor includes being set to institute
State the first ultrasonic sensor on front side of body, the first infrared sensor, the first temperature sensor, pyroelectric infrared sensor and
First contact sensor, the second ultrasonic sensor, the second infrared sensor, second temperature set on the left side of machine body sense
Device, pyroelectric infrared sensor and the second contact sensor, and set on the right side of machine body third ultrasonic sensor,
Three infrared sensors, third temperature sensor, pyroelectric infrared sensor and third contact sensor.
8. intelligence greening pruner robot as described in claim 1, which is characterized in that the alignment sensor is connected with camera shooting
Machine, the video camera are used to acquired image being sent to alignment sensor.
9. intelligence greening pruner robot as described in claim 1, which is characterized in that further include being used for and remote control equipment
The communication agency being wirelessly connected, the communication agency are connect with control module, the control module by communication agency to
Remote control equipment sends the status information of intelligent greening pruner robot, and remote control equipment passes through communication according to status information
Mechanism issues control instruction to control module.
10. intelligence greening pruner robot as described in claim 1, which is characterized in that the control instruction includes target position
Coordinate is set, the control module controls intelligent greening pruner robot according to target location coordinate and reaches target position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811478161.6A CN109566138A (en) | 2018-12-05 | 2018-12-05 | A kind of intelligence greening pruner robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811478161.6A CN109566138A (en) | 2018-12-05 | 2018-12-05 | A kind of intelligence greening pruner robot |
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| Publication Number | Publication Date |
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| CN109566138A true CN109566138A (en) | 2019-04-05 |
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ID=65926299
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811478161.6A Pending CN109566138A (en) | 2018-12-05 | 2018-12-05 | A kind of intelligence greening pruner robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220394931A1 (en) * | 2021-02-05 | 2022-12-15 | M Line System Co., Ltd. | Unmanned aerial vehicle |
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| CN104303864A (en) * | 2014-11-06 | 2015-01-28 | 徐凌新 | Highway greening pruning device and sweeper |
| CN205003832U (en) * | 2015-09-28 | 2016-01-27 | 陈小波 | Regional intelligent security system based on many rotor crafts |
| CN206547363U (en) * | 2017-01-20 | 2017-10-13 | 苏州宝时得电动工具有限公司 | Grass-removing robot |
| CN108207377A (en) * | 2018-01-22 | 2018-06-29 | 张伟 | Trimming machine cuts people and trimming machine cuts people control method and device |
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- 2018-12-05 CN CN201811478161.6A patent/CN109566138A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202507253U (en) * | 2012-03-29 | 2012-10-31 | 陈政 | Improved multifunctional picking and trimming tool |
| CN104303864A (en) * | 2014-11-06 | 2015-01-28 | 徐凌新 | Highway greening pruning device and sweeper |
| CN205003832U (en) * | 2015-09-28 | 2016-01-27 | 陈小波 | Regional intelligent security system based on many rotor crafts |
| CN206547363U (en) * | 2017-01-20 | 2017-10-13 | 苏州宝时得电动工具有限公司 | Grass-removing robot |
| CN108207377A (en) * | 2018-01-22 | 2018-06-29 | 张伟 | Trimming machine cuts people and trimming machine cuts people control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20220394931A1 (en) * | 2021-02-05 | 2022-12-15 | M Line System Co., Ltd. | Unmanned aerial vehicle |
| US11825783B2 (en) * | 2021-02-05 | 2023-11-28 | M Line System Co., Ltd. | Unmanned aerial vehicle |
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Application publication date: 20190405 |