CN111133882B - Mower with omnidirectional mowing cutterhead - Google Patents
Mower with omnidirectional mowing cutterhead Download PDFInfo
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- CN111133882B CN111133882B CN202010062638.3A CN202010062638A CN111133882B CN 111133882 B CN111133882 B CN 111133882B CN 202010062638 A CN202010062638 A CN 202010062638A CN 111133882 B CN111133882 B CN 111133882B
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- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 238000005520 cutting process Methods 0.000 claims abstract description 31
- 238000003860 storage Methods 0.000 claims description 37
- 238000006243 chemical reaction Methods 0.000 claims description 31
- 230000005540 biological transmission Effects 0.000 claims description 20
- 241000196324 Embryophyta Species 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 244000025254 Cannabis sativa Species 0.000 abstract description 7
- 238000012876 topography Methods 0.000 abstract description 3
- 230000004888 barrier function Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 238000012937 correction Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 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
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- 238000009333 weeding Methods 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
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
- A01D34/86—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for use on sloping ground, e.g. on embankments or in ditches
- A01D34/863—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for use on sloping ground, e.g. on embankments or in ditches and for mowing around obstacles, e.g. posts, trees, fences or the like
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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
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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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
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
- A01D34/66—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle with two or more cutters
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses a mower with an omnidirectional mowing cutter head, which comprises a mower body, wherein a bottom mowing disc is arranged at the bottom of the mower body and is used for mowing grass on flat terrain; the two omnidirectional mowing discs are symmetrically arranged on two sides of the vehicle body, are respectively connected with the vehicle body through a rotary connecting mechanism and are used for encircling and cutting off grass nearby flat terrain or obstacles; the power device is fixedly arranged at the rear side of the vehicle body and is used for providing power for the vehicle body, the bottom mowing disc and the omnidirectional mowing disc; the control unit is connected with the power device and used for controlling the on-off of the mower; according to the invention, the bottom mowing disc is arranged at the bottom of the vehicle body, so that grass on a flat ground is mowed; two qxcomm technology mowing discs can adapt to different topography changes under rotary connection mechanism's drive, when meetting the barrier, can encircle the obstacle hoop and cut off, sweep the work blind area of current lawn mower, realized qxcomm technology mowing.
Description
Technical Field
The invention belongs to the technical field of mechanical industry, and particularly relates to a mower with an omnidirectional mowing cutter.
Background
With the rapid development of economy, the living standard is continuously improved, the pursuit of life is more from the physical level to the mental level, and the term of fun is also a key attention object of people. The work is required to be fun, the leisure is required to be fun, the small-area greening and park square is required to be large to golf courses and tourist attractions, none of the series of environment facilities is capable of showing the fun, but the use is required to be maintained, and the later maintenance of the greening area becomes a difficult problem, so that the mower is generated.
Since the advent of mower, the mower is popular and popular in the market because of the advantages of reducing the difficulty of operation and shortening the time for pressing operation. Currently, mowers used in the market are mainly backpack, hand propelled and riding type. The backpack type mower and the hand-push type mower are mainly applied to small-scale greening, and are light, portable and simple to operate; the riding mower is mainly used for greening in a large range, reduces the labor burden and improves the working efficiency.
However, in the working process of the existing mower, a plurality of working holes still exist, such as park greening with high and low relief and golf courses, the working points with complex topography are usually dead areas of machine work, and extra manpower is required for repairing due to incomplete trimming of low-lying or protruding zones; secondly, when encountering an obstacle, the cutterhead cannot be close to a dead zone which causes the periphery of the obstacle to work, if the cutterhead needs to be accurately controlled, the 'girdling' damage to the obstacle can be avoided, and the existing mower can always treat the symptoms and the root causes for the omnibearing weeding problem; meanwhile, in the current society of material life expansion, people more pursue the experience sense of use, want to acquire achievement sense from work, the operation process of the existing mower is monotonously repeated and tedious, so that the problem that the user experience sense tends to be humanized is also considered on the basis of guaranteeing the equipment performance, and the monotonous work is full of fun while the work efficiency is improved.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a mower with an omnidirectional mowing cutter head, which aims to solve the problems that the conventional mower cannot realize omnidirectional mowing, has high difficulty in cleaning and cutting weeds near obstacles, low efficiency and poor cutting effect.
In order to achieve the above purpose, the invention adopts the following technical scheme:
The invention provides a mower with an omnidirectional mowing cutter head, which comprises a mower body, a bottom mowing disc, two omnidirectional mowing discs, a rotary connecting mechanism, a power device and a control unit, wherein the mower body is provided with a plurality of mowing heads; the bottom mowing disc is arranged at the bottom of the vehicle body and is used for mowing weeds on flat terrain; the two omnidirectional mowing discs are symmetrically arranged on two sides of the vehicle body, are respectively connected with the vehicle body through a rotary connecting mechanism and are used for encircling and cutting off weeds near flat terrain or obstacles; the power device is fixedly arranged at the rear end of the vehicle body and is used for providing power for the vehicle body, the bottom mowing disc and the omnidirectional mowing disc; the control unit is connected with the power device and used for controlling the opening and closing of the mower.
Further, the system also comprises an all-terrain radar and a deviation correcting mechanism; the all-terrain radar is arranged at one side of the front end of the vehicle body, the output end of the all-terrain radar is connected with the input end of the control unit, the deviation correcting mechanism is arranged between the bottom mowing disc and the omnidirectional mowing disc, one end of the deviation correcting mechanism is connected with the bottom mowing disc, and the other end of the deviation correcting mechanism is connected with the omnidirectional mowing disc;
The deviation correcting mechanism comprises a deviation correcting motor, a screw rod, a deviation correcting support plate and a deviation correcting connecting rod; the deviation correcting motor is arranged at the upper part of the bottom mowing disc, and the input end of the deviation correcting motor is connected with the output end of the control system; the output end of the deviation correcting motor is connected with one end of a screw rod, and the other end of the screw rod is connected with a deviation correcting support plate; one end of the deviation correcting support plate is sleeved on the screw rod in a penetrating way, and the other end of the deviation correcting support plate is connected with the omnidirectional mowing disc through a deviation correcting connecting rod.
Further, the control system comprises a vehicle-mounted ECU, an A/D conversion unit, a D/A conversion unit and a tachogenerator;
The output end of the all-terrain radar is connected with the analog input end of the A/D conversion unit, the digital output end of the A/D conversion unit is connected with the digital input end of the vehicle-mounted ECU, the first output end of the vehicle-mounted ECU is connected with the digital input end of the D/A conversion unit, and the output end of the D/A conversion unit is connected with the power system of the vehicle body; the second output end of the vehicle-mounted ECU is connected with the power device; the tachogenerator is connected with the mechanical shaft of the power system of the car body through a linkage mechanism, and the voltage output end of the tachogenerator is connected with the analog input end of the A/D conversion unit.
Further, the bottom mowing disc comprises a bottom mowing disc base, a bottom cutter motor, a bottom belt transmission mechanism, a bottom mowing disc rotary blade and a plurality of bottom mowing disc rollers;
The upper end of the bottom mowing disc base is connected with the bottom of the car body, the bottom cutter motor is arranged on the bottom mowing disc base, the power supply end of the bottom cutter motor is connected with the output end of the power device, the output end of the bottom cutter motor is connected with the bottom mowing disc rotary blade through the bottom belt transmission mechanism, and the bottom mowing disc rotary blade is rotatably arranged on the bottom mowing disc base; the plurality of bottom mowing disc rollers are uniformly mounted on the bottom mowing disc base.
Further, the number of the rotary blades of the bottom mowing disc is three, and the three rotary blades of the bottom mowing disc are distributed on the base of the bottom mowing disc in an isosceles triangle; one of the rotary blades of the bottom mowing disc is arranged close to the front end of the vehicle body, and the other two rotary blades of the bottom mowing disc are arranged close to the middle of the vehicle body.
Further, the omnidirectional mowing disc comprises an omnidirectional mowing disc base, an omnidirectional cutter motor, an omnidirectional belt transmission mechanism, an omnidirectional mowing disc rotating blade and a plurality of omnidirectional mowing disc rollers;
The upper end of the omnidirectional mowing disc base is connected with the lower end of the rotary connecting mechanism, the upper end of the rotary connecting mechanism is rotationally connected with the vehicle body, and the front end of the omnidirectional mowing disc base is provided with a U-shaped opening; the omnidirectional cutting knife motor is arranged on the omnidirectional mowing disc base, the power supply end of the omnidirectional cutting knife motor is connected with the output end of the power device, the output end of the omnidirectional cutting knife motor is connected with the omnidirectional mowing disc rotating blade through the omnidirectional belt transmission mechanism, and the omnidirectional mowing disc rotating blade is rotatably arranged on the omnidirectional mowing disc base; the plurality of omnidirectional mowing disc rollers are uniformly arranged on the omnidirectional mowing disc base.
Further, the number of the omnidirectional mowing disc rotating blades is three, and the three omnidirectional mowing disc rotating blades are distributed on the omnidirectional mowing disc base in an isosceles triangle; wherein two omnidirectional mowing disc rotating blades are arranged on two sides of the U-shaped opening, and the other omnidirectional mowing disc rotating blade is arranged at the rear end of the U-shaped opening.
Further, the rotary connecting mechanism comprises a connecting rod, a movable hanging bracket and a ground spring; the upper end of the connecting rod is rotationally connected with the vehicle body through a rotating shaft, the lower end of the connecting rod is connected with one end of the movable hanging bracket, the other end of the movable hanging bracket is connected with one end of the ground spring, and the other end of the ground spring is connected with the omnidirectional mowing disc.
Further, the power device comprises a battery box and a storage battery; the battery box is fixedly arranged at the back of the seat or at the bottom of the seat of the car body, the storage battery is arranged in the battery box and is used for providing power for the car body, the bottom mowing disc and the omnidirectional mowing disc; the storage battery is connected with the control unit.
Further, the vehicle further comprises a solar power supply system, wherein the output end of the solar power supply system is connected with the storage battery, and the solar power supply system is arranged at the top of the vehicle body.
Compared with the prior art, the invention has the beneficial effects that:
The invention provides a mower with an omnidirectional mowing cutter head, which is characterized in that a bottom mowing disc is arranged at the bottom of a mower body, so that grass on a flat ground is mowed; by arranging the omnidirectional mowing discs on the two sides of the vehicle body, surrounding cutting of inclined ground or grass near obstacles is realized; the flat section is required to be according to the area size, on the basis of starting the bottom mowing disc, two omnidirectional mowing discs can be selectively started to mow, the bottom mowing disc and the omnidirectional mowing disc are simultaneously started in the undulating section of the highland, the two omnidirectional mowing discs can adapt to different terrain changes under the driving of the rotary connecting mechanism, when encountering obstacles, the two omnidirectional mowing discs can circumferentially cut off the obstacles, the working blind area of the existing mower is cleared, omnidirectional mowing is realized, and the control method is simple.
Furthermore, by arranging the all-terrain radar and the deviation correcting mechanism, the all-terrain radar can detect the terrain to be mowed, and the deviation correcting mechanism can adjust the angle of the omnidirectional mowing disc on any side according to the detection result so as to adapt to mowing operations of different terrains; when encountering an obstacle, the deviation correcting mechanism can automatically adjust the omnidirectional mowing disc to surround the obstacle to perform circumferential mowing operation according to the scanning result of the all-terrain radar on the obstacle, so that the occurrence of a working blind area of the mower is avoided, and the omnidirectional mowing operation is realized.
Further, the vehicle-mounted ECU and the tachogenerator are arranged in the control system, the tachogenerator detects the rotating speed of the vehicle body power system in real time and feeds back to the vehicle-mounted ECU, and the vehicle-mounted ECU carries out feedback adjustment on the vehicle body power system, so that the out-of-control of the vehicle speed of the mower is avoided.
Further, by arranging the three isosceles arranged rotary blades on the bottom or the omnidirectional mowing disc, the mowing range and the mowing efficiency are effectively improved, the mowing effect is good, and meanwhile, the clamping of the bottom mowing disc or the omnidirectional mowing disc is avoided.
Furthermore, by arranging the U-shaped opening on the omnidirectional mowing disc base, the surrounding mowing operation on the periphery of the obstacle is realized by utilizing the U-shaped opening, the working blind area of the mower is eliminated, the surrounding mowing operation is simple to control, and the efficiency is higher; the U-shaped opening on the omnidirectional rotary mowing disc base can be matched with the obstacle, surrounding cutting is conducted around the obstacle accurately, surrounding cutting is achieved by means of inertia of the omnidirectional mowing disc and rotation characteristics of the rotary connecting mechanism when the mower advances, and the U-shaped opening and the obstacle are matched together, so that cutting of weeds around the obstacle is completed.
Further, the omnidirectional mowing disc is connected with the vehicle body through a connecting rod and a movable hanging bracket, and is adapted to different terrains through the up-and-down rotation of a rotating shaft at the upper end of the connecting rod and the rotation of the movable hanging bracket at the lower end of the connecting rod; the ground spring forces the omnidirectional mowing disc to rebound to the working front position, so that the omnidirectional mowing disc is reset; along with the advancing of the mower, when the omnidirectional mowing disc surrounding the obstacle rotates to 180 degrees around the obstacle, the omnidirectional rotating mowing disc is cut off once around the obstacle by 360 degrees, the omnidirectional rotating mowing disc is forced to rebound to a position before working by a ground spring, and the rebound position of the mowing disc is adjusted by matching a correction mechanism in the rebound process, so that the overgreat inertia and excessive rebound are avoided, and the next normal working of the omnidirectional rotating mowing disc is ensured.
Further, the storage battery in the battery box in the drive transmission unit provides power, so that the device is more environment-friendly, and the storage battery is connected with a corresponding motor through a wire, so that the precise work of the omnidirectional rotary mowing disc is realized.
Further, the storage battery is charged by adopting a solar power supply system, and the effect of shading sun and shielding rain and saving energy is achieved above the vehicle body arranged by the solar power supply system.
The invention adopts the close coordination of the mowing disc, the driving transmission unit, the control unit and the deviation correcting unit, has definite labor division and functions independently, conforms to the development of the age while ensuring the mowing effect, is convenient for the maintenance and updating of later equipment, and has great advantages in future development prospect while sweeping the working blind area of the existing mower.
Drawings
Fig. 1 is a schematic view of the overall structure of a mower with an omni-directional mower deck according to the present invention;
FIG. 2 is a schematic view of a bottom mowing disc configuration in a mower with an omni-directional mowing disc in accordance with the present invention;
FIG. 3 is a schematic view of an all-terrain radar architecture in a lawnmower having an omni-directional mower reel according to the present invention;
Fig. 4 is a schematic structural diagram of a deviation correcting mechanism in a mower with an omnidirectional mowing disc according to the invention;
FIG. 5 is a schematic view of a movable boom and ground spring in a mower with an omni-directional mower tray according to the present invention;
FIG. 6 is a schematic view of a bottom belt drive mechanism in a mower with an omni-directional mowing reel in accordance with the present invention;
fig. 7 is a schematic view of an omni-directional mowing disc structure in a mower with an omni-directional mowing disc according to the invention;
FIG. 8 is a circuit diagram of a control system in a mower with an omni-directional mower tray according to the present invention;
fig. 9 is a block diagram of a control system in a mower with an omni-directional mowing disc according to the present invention.
The device comprises a vehicle body 1, a bottom mowing disc 2, a 3 omnidirectional mowing disc, a 4 rotary connecting mechanism, a 5 all-terrain radar, a 6 deviation rectifying mechanism, a 7 power device, an 8 control unit and a 9 operating mechanism; a bottom mowing disc base 21, a bottom cutter motor 22, a bottom belt transmission mechanism 23, a bottom mowing disc rotary blade 24 and a bottom mowing disc roller 25; the device comprises a 31-omni-directional mowing disc base, a 32-omni-directional cutter motor, a 33-omni-directional belt transmission mechanism, a 34-omni-directional mowing disc rotating blade and a 35-omni-directional mowing disc roller; 41 connecting rods, 42 movable hanging yards and 43 floor springs; the motor 61 rectifies, the lead screw 62, the support plate 63 rectifies and the connecting rod 64 rectifies; 81 vehicle-mounted ECU,82A/D conversion unit, 83D/A conversion unit, 84 tachogenerator; 91 lever, 92 button.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description.
As shown in fig. 1-9, the invention provides a mower with an omnidirectional mowing disc, which comprises a mower body 1, a bottom mowing disc 2, two omnidirectional mowing discs 3, a rotary connecting mechanism 4, an all-terrain radar 5, a deviation correcting mechanism 6, a power device 7, a control unit 8, an operating mechanism 9 and a solar power supply system.
The vehicle body 1 comprises a frame, a seat, a travelling mechanism, a power system and a storage box, wherein the seat is arranged above the frame, the travelling mechanism is arranged below the frame, the power system is arranged on the frame, the output end of the power system is connected with the input end of the travelling mechanism, the running movement of the vehicle body 1 is realized, and the input end of the power system is connected with the output end of the control unit 8; the storage box is arranged on the frame 1 and is positioned at the front end below the seat; the storage box comprises two small-capacity storage boxes and one large-capacity storage box, wherein the small-capacity storage boxes are used for small-capacity storage, and can easily realize article access in the process of using the mower by an operator; the high-capacity storage box is used for placing some unusual but indispensable articles, such as maintenance tools, replacement parts and the like, and improves the space utilization rate while not impeding the use of the mower by an operator.
The bottom mowing disc 2 is arranged at the bottom of the vehicle body 1, and the bottom mowing disc 2 is used for mowing grass on a flat ground; the two omnidirectional mowing discs 3 are symmetrically arranged on two sides of the vehicle body 1, the two omnidirectional mowing discs 3 are respectively connected with the vehicle body 1 through a rotary connecting mechanism 4, and the omnidirectional mowing discs 3 are used for encircling and cutting off inclined ground or grass near obstacles; the power device 7 is fixedly arranged at the rear side of the vehicle body 1, and the power device 7 is used for providing power for the vehicle body 1, the bottom mowing disc 2 and the omnidirectional mowing disc 3; the control unit 8 is connected with the power device 7 and used for controlling the on-off of the mower; the all-terrain radar 5 is arranged on one side of the front end of the vehicle body 1, the output end of the all-terrain radar 5 is connected with the input end of the control unit 8, the deviation rectifying mechanism 6 is arranged between the bottom mowing disc 2 and the omnidirectional mowing disc 3, one end of the deviation rectifying mechanism 6 is connected with the bottom mowing disc 2, the other end of the deviation rectifying mechanism is connected with the omnidirectional mowing disc 3, and the signal input end of the deviation rectifying mechanism 6 is connected with the output end of the control unit 8.
The bottom mowing disc 2 comprises a bottom mowing disc base 21, a bottom cutter motor 22, a bottom belt transmission mechanism 23, a bottom mowing disc rotary blade 24 and a plurality of bottom mowing disc rollers 25; the upper end of the bottom mowing disc base 21 is connected with the bottom of the car body 1, a bottom cutter motor 22 is arranged on the bottom mowing disc base 21, the power supply end of the bottom cutter motor 22 is connected with the output end of the power device 7, the output end of the bottom cutter motor 22 is connected with a bottom mowing disc rotary blade 24 through a bottom belt transmission mechanism 23, and the bottom mowing disc rotary blade 24 is rotatably arranged on the bottom mowing disc base 21; a plurality of bottom mowing disc rollers 25 are uniformly mounted on the bottom mowing disc base 21.
The number of the bottom mowing disc rotary blades 24 is three, and the three bottom mowing disc rotary blades 24 are distributed on the bottom mowing disc base 21 in an isosceles triangle shape; one of the bottom mowing disc rotating blades 24 is arranged near the front end of the vehicle body, and the other two bottom mowing disc rotating blades 24 are arranged near the middle part of the vehicle body; the rotary moment isolation belts are arranged among the three rotary blades of the bottom mowing disc, the position relations among the rotary blades of the bottom mowing disc are distributed on the bottom mowing disc in an isosceles triangle shape, so that the bottom mowing disc is guaranteed not to be blocked, and the continuous operation of the mower is realized.
The omnidirectional mowing disc 3 comprises an omnidirectional mowing disc base 31, an omnidirectional cutter motor 32, an omnidirectional belt transmission mechanism 33, a bottom mowing disc rotary blade 34 and a plurality of omnidirectional mowing disc rollers 35; the upper end of the omnidirectional mowing disc base 31 is connected with the lower end of the rotary connecting mechanism 4, the upper end of the rotary connecting mechanism 4 is rotationally connected with the vehicle body 1, and the front end of the omnidirectional mowing disc base 31 is provided with a U-shaped opening; the omnidirectional cutting knife motor 32 is arranged on the omnidirectional cutting disc base 31, the power supply end of the omnidirectional cutting knife motor 32 is connected with the output end of the power device 7, the output end of the omnidirectional cutting knife motor 32 is connected with the omnidirectional cutting disc rotating blade 34 through the omnidirectional belt transmission mechanism 33, and the omnidirectional cutting disc rotating blade 34 is rotatably arranged on the omnidirectional cutting disc base 31; a plurality of omnidirectional mower reel rollers 35 are uniformly mounted on the omnidirectional mower reel base 31.
The number of the bottom mowing disc rotating blades 34 is three, and the three omnidirectional mowing disc rotating blades 34 are distributed on the omnidirectional mowing disc base 31 in an isosceles triangle; wherein two omnidirectional mowing disc rotating blades 34 are arranged at two sides of the U-shaped opening, and the other omnidirectional mowing disc rotating blade 34 is arranged at the rear end of the U-shaped opening; the position relationship between the rotary blades of the omnidirectional mowing disc is distributed on the omnidirectional mowing disc in an isosceles triangle shape, so that the situation that the omnidirectional mowing disc is blocked is avoided, and the continuous operation of the mower is realized.
The rotary connecting mechanism 4 comprises a connecting rod 41, a movable hanging bracket 42 and a ground spring 43; the upper end of the connecting rod 41 is rotationally connected with the vehicle body 1 through a rotating shaft, the lower end of the connecting rod 41 is connected with one end of the movable hanging bracket 42, the other end of the movable hanging bracket 42 is connected with one end of the ground spring 43, and the other end of the ground spring 43 is connected with the omnidirectional mowing disc 3.
The deviation correcting mechanism 6 comprises a deviation correcting motor 61, a lead screw 62, a deviation correcting support plate 63 and a deviation correcting connecting rod 64; the deviation correcting motor 61 is arranged at the upper part of the bottom mowing disc 2, and the input end of the deviation correcting motor 61 is connected with the output end of the control system 8; the output end of the deviation rectifying motor 61 is connected with one end of a screw rod 62, and the other end of the screw rod 62 is connected with a deviation rectifying support plate 63; one end of a deviation correcting support plate 63 is sleeved on the screw rod 62 in a penetrating way, and the other end of the deviation correcting support plate is connected with the omnidirectional mowing disc 3 through a deviation correcting connecting rod 64.
The power device 7 comprises a battery box and a storage battery; the battery box is fixedly arranged at the back of the seat or at the bottom of the seat of the vehicle body 1, the storage battery is arranged in the battery box, and the storage battery is used for providing power for the vehicle body 1, the bottom mowing disc 2 and the omnidirectional mowing disc 3; the accumulator is connected to a control unit 8.
The control system 8 includes an on-vehicle ECU81, an a/D conversion unit 82, a D/a conversion unit 83, and a tachogenerator 84; the output end of the all-terrain radar 5 is connected with the analog input end of the A/D conversion unit 82, the digital output end of the A/D conversion unit 82 is connected with the digital input end of the vehicle-mounted ECU81, the first output end of the vehicle-mounted ECU81 is connected with the digital input end of the D/A conversion unit 83, and the output end of the D/A conversion unit 83 is connected with the power system of the vehicle body 1; a second output end of the vehicle-mounted ECU81 is connected with the power device 7; the tachogenerator 84 is connected with the mechanical shaft of the power system of the car body 1 through a linkage mechanism, and the voltage output end of the tachogenerator 84 is connected with the analog input end of the A/D conversion unit 82.
The operating mechanism 9 is arranged on the vehicle body 1, and the operating mechanism 9 is used for controlling the running direction of the vehicle body 1 and the opening and closing of the vehicle body 1, the bottom mowing disc 2 and the omnidirectional mowing disc 3; the operating mechanism 9 comprises two operating levers 91 and three control buttons 92, wherein the two operating levers 91 are respectively and rotatably arranged on two sides of the vehicle body 1, and the lower ends of the operating levers 91 are connected with the travelling mechanism of the vehicle body 1 and are used for controlling the running direction of the vehicle body 1; the first control button and the second control button are both arranged on an operating rod at the left side of the vehicle body, the first control button is used for controlling the opening and closing of the bottom mowing disc, and the second control button is used for controlling the opening and closing of the omnidirectional mowing disc at the left side of the vehicle body; the third control button is arranged on the operating rod on the right side of the vehicle body and is used for controlling the on-off of the omnidirectional mowing disc on the right side of the vehicle body.
The solar power supply system is arranged at the top of the vehicle body 1, and the output end of the solar power supply system is connected with the storage battery; the storage battery is charged by adopting the solar power supply system, and the effect of shading sun and shielding rain and saving energy is realized above the vehicle body arranged by the solar power supply system.
According to the mower with the omnidirectional mowing cutterhead, the bottom mowing disc is arranged at the bottom of the mower body, so that weeds on a flat ground are mowed; through arranging omnidirectional mowing discs on two sides of the vehicle body, surrounding cutting of inclined ground or weeds near obstacles is realized; the flat section is required to be according to the area size, on the basis of starting the bottom mowing disc, two omnidirectional mowing discs can be selectively started to mow, the bottom mowing disc and the omnidirectional mowing disc are simultaneously started in the undulating section of the highland, the two omnidirectional mowing discs can adapt to different terrain changes under the driving of the rotary connecting mechanism, when encountering obstacles, the two omnidirectional mowing discs can circumferentially cut off the obstacles, the working blind area of the existing mower is cleared, omnidirectional mowing is realized, and the control method is simple.
According to the invention, a pair of omnidirectional mowing discs with a deviation correcting mechanism and an all-terrain radar matched with the omnidirectional mowing discs are arranged on two sides of a vehicle body; the running direction of the vehicle body is controlled through the operating rod, and simultaneously the bottom mowing disc and the two omnidirectional mowing discs are controlled to be started and shut down by matching with the control buttons on the operating rod; two control buttons are arranged on the right operating rod and respectively control the bottom mowing disc and the right omnidirectional mowing disc, and one control button is arranged on the left operating rod and controls the left omnidirectional mowing disc; the all-terrain radar and the deviation rectifying mechanical device are started along with the starting of the omnidirectional mowing disc on any side.
The flat section is required to select whether to start two omnidirectional mowing discs or not on the basis of starting the bottom mowing disc according to the size of the area; the bottom mowing disc and the two omnidirectional mowing discs are started simultaneously in the high-low fluctuation section so as to adapt to different terrain changes for better operation; when an obstacle is encountered, the omnidirectional mowing disc close to the obstacle side is preferentially started, the angle of the omnidirectional mowing disc is adjusted through the deviation correcting mechanism by scanning and judging of all-terrain radars, and surrounding operation is carried out by utilizing the modeling advantage of the U-shaped opening on the base of the omnidirectional mowing disc so as to sweep the working blind area of the existing mower.
In the invention, the bottom mowing disc and the two omnidirectional mowing discs are jointly responsible for large-area operation of an open flat area; simultaneously, the two omnidirectional mowing discs adapt to different terrains through the up-and-down rotation of the rotating shaft at the upper end of the connecting rod and the rotation of the movable hanging bracket at the lower end of the connecting rod; when encountering an obstacle, the all-terrain radar accurately collects road condition information, detects the position information of the obstacle in real time, sends the analyzed and processed action information to the deviation correcting mechanism, controls the corresponding side deviation correcting motor to adjust the position of the omnidirectional mowing disc, enables the U-shaped opening on the base of the omnidirectional mowing disc to be more accurately adapted to the position and the size of the obstacle so as to surround the obstacle, and completes the cutting of weeds around the obstacle through the running of the mower and the rotation matching of the omnidirectional mowing disc; when the mower moves to the omnidirectional mowing disc to get around the obstacle by 180 degrees, 360-degree mowing around the obstacle is completed, the omnidirectional mowing disc is forced to rebound to a position before working by the ground spring, meanwhile, the correction mechanism ensures that the mowing disc does not rebound excessively, and the next normal working of the equipment is ensured.
All-terrain radar is installed on the front support rod of the mower body, when the front meets an obstacle, two omnidirectional mowing discs are started, meanwhile, the all-terrain radar is started, at the moment, the all-terrain radar emits laser beams to scan the terrain in front of the mower, and real-time information is transmitted to the control unit. The control unit comprises a plurality of relays, a battery control panel, a vehicle-mounted ECU and an image processing engine, controls the charging and discharging processes of the mower, and realizes the cooperation of the laser radar and the deviation rectifying mechanism.
The power device comprises a battery box and a high-capacity storage battery, is environment-friendly, and realizes road condition scanning of all-terrain radars; the power device drives the bottom cutter motor, the bottom cutter motor drives the bottom belt transmission mechanism to rotate, and the bottom mowing disc rotating blade is driven to rotate by rotating the belt connecting bottom shaft sleeve; driving two omnidirectional cutter motors to drive an omnidirectional belt transmission mechanism to rotate, and driving an omnidirectional mowing disc rotating blade to rotate through the rotation of a belt connecting lateral shaft sleeve; and driving the deviation correcting motors at two sides, and driving the lead screw by the deviation correcting motors to drive the deviation correcting support plate, so that the precise work of the omnidirectional rotary mowing disc is realized. The high-capacity storage battery can be charged by wiring, and can also be powered by a solar power supply system; the realization of solar power supply system power supply needs to install the canopy additional in mower arm-chair top, can sunshade and shelter from rain, installs solar power system in the canopy top simultaneously, is connected with the battery, responds the call of national energy saving and emission reduction, reaches photovoltaic power generation's purpose.
According to the mower with the omnidirectional mowing cutterhead, the mower body adopts the multi-wheeled drivable mowing vehicle, the bottom mowing discs are arranged at the bottom of the mower body, and the two omnidirectional mowing discs are symmetrically arranged at the left side and the right side of the front part of the mower body; an all-terrain radar is arranged on one side of the bottom mowing disc; the omnidirectional mowing disc is connected with the vehicle body through a rotary connecting mechanism and is provided with an operating rod, a seat back and a high-capacity storage battery box and a storage battery below.
When the working terrain is flat, an operator can start the bottom mowing disc through controlling a first button on the operating lever, and respectively start two omnidirectional mowing discs through a second control button and a third control button; at the moment, the all-terrain radar is started along with the omnidirectional mowing discs, and the three mowing discs are matched at the same time to finish the operation.
When the working topography fluctuates, the omnidirectional mowing disc adjusts the heights and the inclination angles of the omnidirectional mowing discs at the two sides through the up-and-down rotation of the rotating shaft at the upper end of the connecting rod and the horizontal rotation of the movable hanging code at the lower end of the omnidirectional mowing disc; the bottom mowing disc roller and the omnidirectional mowing disc roller are assisted to adapt to the change of the terrain, so that the mowing disc is more attached to the ground, and the active adaptation to most terrains is realized.
When encountering an obstacle, the all-terrain radar device started together with the omnidirectional mowing discs on two sides scans the terrain condition of a section of range in front of the mower in real time, judges through the scanning information of the all-terrain radar by the control unit, sends action information to the deviation rectifying mechanism close to one side of the obstacle, further controls the deviation rectifying motor to rotate positively or reversely to drive the screw rod to rotate, converts the rotating speed and torque into force and displacement output, drives one end of the deviation rectifying support plate to move inwards or outwards, and enables the omnidirectional mowing disc to deflect leftwards or rightwards to adjust the position, so that the U-shaped opening on the omnidirectional mowing disc more accurately surrounds the obstacle, and surrounds and cuts out the obstacle.
According to the invention, the influence of the all-terrain radar installation position on the scanning range of the all-terrain radar is realized, the scanning area of the all-terrain radar arranged on the left side of the mower is properly rotated to the right, and the specific rotation angle is adjusted according to the selected all-terrain radar scanning range and the actual value of the width of the mower body so as to realize the maximization of the front scanning range of the mower; and a plurality of all-terrain radars can be additionally arranged to control the mower to travel, so that the manpower is thoroughly liberated, and the purpose of unmanned driving is achieved.
The surrounding cutting of the mower is realized by means of the combination of inertia of an omnidirectional mowing disc, movable hanging codes and rotatable characteristics of a ground spring during the running of the mower, so that the 360-degree weed around an obstacle is cut; the omnidirectional mowing disc is matched with the advancing rotation of the mower; when the omnidirectional mowing disc gets around the obstacle by 180 degrees, 360-degree cutting around the obstacle is completed, the omnidirectional mowing disc is forced to rebound to the working position by the ground spring at the moment, and the correction motor drives the correction support plate in the rebound process by the correction mechanism, so that the rebound position of the mowing disc is matched and adjusted, the excessive inertia and excessive rebound are avoided, and the next normal work of the omnidirectional rotary mowing disc is ensured.
The movable hanging code has the main functions of realizing the rotation of the vertical plane of the omnidirectional mowing disc, the ground spring has the main functions of realizing the rotation of the horizontal plane of the omnidirectional mowing disc, the cross sections of the two devices are welded, and the axes of the ground spring are connected by adopting a shaft, so that the combination of the two devices is realized, and the omnidirectional rotation is realized functionally.
The power device drives the bottom cutter motor, the bottom cutter motor drives the bottom belt transmission mechanism to rotate, and the bottom mowing disc rotating blade is driven to rotate by rotating the belt connecting bottom shaft sleeve; driving two omnidirectional cutter motors to drive an omnidirectional belt transmission mechanism to rotate, and driving an omnidirectional mowing disc rotating blade to rotate through the rotation of a belt connecting lateral shaft sleeve; and driving the deviation correcting motors at two sides, and driving the lead screw by the deviation correcting motors to drive the deviation correcting support plate, so that the precise work of the omnidirectional rotary mowing disc is realized.
The system control unit comprises a series of relays, a battery control board, a vehicle-mounted ECU and an image processing engine, wherein in a normal running state, the storage battery feeds back the state of the relay to the battery control board, when the battery control board determines that the system control unit is safe, a permission starting signal is sent to the vehicle-mounted ECU, and a discharge loop of the storage battery is electrified by adopting a relay coil, so that the relay is attracted; in fig. 8, a switch a controls a left car body driving motor, a switch b controls a right car body driving motor, a switch c controls a bottom cutter motor, a switch d controls a left cutter motor, a switch e controls a right cutter motor, an on-board ECU receives an opening signal after the switch is connected, and the on-board ECU respectively energizes corresponding relay coils according to the system state, the relay is attracted, a circuit is connected, a battery flows to the motor, and the corresponding motor starts to work. The vehicle-mounted ECU analyzes the all-terrain radar image information processed by the image processing engine, analyzes the position of the deviation rectifying mechanism according to the processed information, converts the position information into a motor working signal and transmits the motor working signal to the deviation rectifying motor, converts the optical signal into an electric signal, and controls the deviation rectifying motor to realize forward and reverse rotation according to the obstacle.
When the storage battery reaches a low-power state or a dangerous situation occurs, the storage battery feeds back a signal to the battery control board, a discharge loop of the storage battery is disconnected, the system stops working, and meanwhile, the control board sends a signal to the vehicle-mounted ECU, and a corresponding indicator lamp is lightened; in the charging state, the charging pile is connected with a vehicle charging interface, the charging control board determines the battery state to judge whether charging is allowed or not, the normally open of a discharging main loop switch after charging is allowed is confirmed, the storage battery is not discharged, the vehicle-mounted ECU receives a signal of the battery control board, and no operation is executed; after the storage battery is fully charged, the battery control board automatically disconnects the charging loop so as to avoid overcharge and ensure the safety of the battery.
The preset starting time of the omnidirectional radar is 10s earlier than that of the bottom mowing disc or the omnidirectional mowing disc, an analog output end of the omnidirectional radar is connected with the A/D conversion unit, a power supply end is connected with the storage battery through a lead, a digital output port of the A/D conversion unit is connected with a digital input port of the vehicle-mounted ECU, a digital output port of the vehicle-mounted ECU is connected with a digital input port of the D/A conversion unit, a digital output port of the D/A conversion unit is connected with a retainer input port, the retainer output port is connected with the servo motor, the direct-current speed measuring generator is connected with a rotating shaft of the servo motor through a linkage mechanism, and a voltage output end of the speed measuring generator is connected with an analog input port of the A/D conversion unit; detecting continuous analog quantity of an external environment through an all-terrain radar, converting the detected continuous analog quantity into a discrete digital signal which can be identified by a vehicle-mounted ECU through an A/D conversion unit, processing the discrete digital signal through the vehicle-mounted ECU, sending a control instruction by the vehicle-mounted ECU, and converting the control instruction into continuous analog quantity, such as control voltage and current signals through a D/A conversion unit and a retainer, so as to control start, stop and speed regulation of a servo motor; in the feedback link, the direct current tachogenerator converts the detected speed signal into a voltage signal by detecting the rotating speed of the servo motor, the voltage signal is an analog quantity, at the moment, the analog quantity is converted into a discrete digital quantity by an A/D conversion unit, the difference is made between negative feedback and positive given input, and the result of the difference is input into the ECU, so that the stability of the system can be improved by the negative feedback link, the runaway phenomenon of the servo motor is prevented, and the control precision is improved.
Considering the actual demands of operators, three storage boxes are arranged in front of the seat, wherein the storage boxes at two sides are used for storing objects with small capacity, and the objects can be easily accessed in the process that the operators use the mower; the middle storage box is used for storing articles with large capacity, and can be used for placing some articles which are not commonly used but are indispensable, such as maintenance tools, replacement parts and the like, so that the space utilization rate is improved while the mower is not prevented from being used by an operator.
The above is only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by this, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (5)
1. The mower with the omnidirectional mowing cutterhead is characterized by comprising a mower body (1), a bottom mowing disc (2), two omnidirectional mowing discs (3), a rotary connecting mechanism (4), a power device (7) and a control unit (8); the bottom mowing disc (2) is arranged at the bottom of the vehicle body (1), and the bottom mowing disc (2) is used for mowing weeds on flat terrain; the two omnidirectional mowing discs (3) are symmetrically arranged on two sides of the vehicle body (1), the two omnidirectional mowing discs (3) are respectively connected with the vehicle body (1) through a rotary connecting mechanism (4), and the omnidirectional mowing discs (3) are used for encircling and cutting off weeds near flat terrains or obstacles; the power device (7) is fixedly arranged at the rear end of the vehicle body (1), and the power device (7) is used for providing power for the vehicle body (1), the bottom mowing disc (2) and the omnidirectional mowing disc (3); the control unit (8) is connected with the power device (7) and used for controlling the opening and closing of the mower;
The system also comprises an all-terrain radar (5) and a deviation correcting mechanism (6); the all-terrain radar (5) is arranged on one side of the front end of the vehicle body (1), the output end of the all-terrain radar (5) is connected with the input end of the control unit (8), the deviation correcting mechanism (6) is arranged between the bottom mowing disc (2) and the omnidirectional mowing disc (3), one end of the deviation correcting mechanism (6) is connected with the bottom mowing disc (2), and the other end of the deviation correcting mechanism is connected with the omnidirectional mowing disc (3);
The deviation correcting mechanism (6) comprises a deviation correcting motor (61), a screw rod (62), a deviation correcting support plate (63) and a deviation correcting connecting rod (64); the deviation correcting motor (61) is arranged at the upper part of the bottom mowing disc (2), and the input end of the deviation correcting motor (61) is connected with the output end of the control unit (8); the output end of the deviation correcting motor (61) is connected with one end of a screw rod (62), and the other end of the screw rod (62) is connected with a deviation correcting support plate (63); one end of the deviation correcting support plate (63) is sleeved on the lead screw (62) in a penetrating way, and the other end of the deviation correcting support plate is connected with the omnidirectional mowing disc (3) through a deviation correcting connecting rod (64);
the control unit (8) comprises a vehicle-mounted ECU (81), an A/D conversion unit (82), a D/A conversion unit (83) and a tachogenerator (84);
The output end of the all-terrain radar (5) is connected with the analog input end of the A/D conversion unit (82), the digital output end of the A/D conversion unit (82) is connected with the digital input end of the vehicle-mounted ECU (81), the first output end of the vehicle-mounted ECU (81) is connected with the digital input end of the D/A conversion unit (83), and the output end of the D/A conversion unit (83) is connected with the power system of the vehicle body (1); a second output end of the vehicle-mounted ECU (81) is connected with the power device (7); the tachogenerator (84) is connected with a mechanical shaft of a power system of the vehicle body (1) through a linkage mechanism, and the voltage output end of the tachogenerator (84) is connected with the analog input end of the A/D conversion unit (82);
The bottom mowing disc (2) comprises a bottom mowing disc base (21), a bottom cutter motor (22), a bottom belt transmission mechanism (23), a bottom mowing disc rotary blade (24) and a plurality of bottom mowing disc rollers (25);
The upper end of the bottom mowing disc base (21) is connected with the bottom of the vehicle body (1), a bottom cutter motor (22) is arranged on the bottom mowing disc base (21), the power supply end of the bottom cutter motor (22) is connected with the output end of the power device (7), the output end of the bottom cutter motor (22) is connected with a bottom mowing disc rotating blade (24) through a bottom belt transmission mechanism (23), and the bottom mowing disc rotating blade (24) is rotatably arranged on the bottom mowing disc base (21); a plurality of bottom mowing disc rollers (25) are uniformly arranged on the bottom mowing disc base (21);
the omnidirectional mowing disc (3) comprises an omnidirectional mowing disc base (31), an omnidirectional cutter motor (32), an omnidirectional belt transmission mechanism (33), an omnidirectional mowing disc rotary blade (34) and a plurality of omnidirectional mowing disc rollers (35);
The upper end of the omnidirectional mowing disc base (31) is connected with the lower end of the rotary connecting mechanism (4), the upper end of the rotary connecting mechanism (4) is rotationally connected with the vehicle body (1), and the front end of the omnidirectional mowing disc base (31) is provided with a U-shaped opening; the omnidirectional cutting knife motor (32) is arranged on the omnidirectional cutting disc base (31), the power supply end of the omnidirectional cutting knife motor (32) is connected with the output end of the power device (7), the output end of the omnidirectional cutting knife motor (32) is connected with the omnidirectional cutting disc rotating blade (34) through the omnidirectional belt transmission mechanism (33), and the omnidirectional cutting disc rotating blade (34) is rotatably arranged on the omnidirectional cutting disc base (31); the plurality of omnidirectional mowing disc rollers (35) are uniformly arranged on the omnidirectional mowing disc base (31);
The rotary connecting mechanism (4) comprises a connecting rod (41), a movable hanging bracket (42) and a ground spring (43); the upper end of connecting rod (41) is connected with automobile body (1) rotation through the pivot, and the lower extreme of connecting rod (41) is connected with the one end of movable hanging flower (42), and the other end of movable hanging flower (42) is connected with the one end of ground spring (43), and the other end of ground spring (43) is connected with omnidirectional mowing dish (3).
2. A mower with an omni-directional mower deck as claimed in claim 1 wherein the number of bottom mower tray rotating blades (24) is three, the three bottom mower tray rotating blades (24) being distributed on the bottom mower tray base (21) in an isosceles triangle; one of the rotary blades (24) of the bottom mowing disc is arranged near the front end of the vehicle body, and the other two rotary blades (24) of the bottom mowing disc are arranged near the middle part of the vehicle body.
3. A mower with an omni-directional mower deck as claimed in claim 1 wherein the number of omni-directional mower deck rotating blades (34) is three, the three omni-directional mower deck rotating blades (34) being distributed on the omni-directional mower deck base (31) in an isosceles triangle; wherein two omnidirectional mowing disc rotating blades (34) are arranged on two sides of the U-shaped opening, and the other omnidirectional mowing disc rotating blade (34) is arranged at the rear end of the U-shaped opening.
4. A mower with an omnidirectional mower deck as recited in claim 1, characterized in that the power means (7) comprises a battery box and a battery; the battery box is fixedly arranged at the back of the seat or at the bottom of the seat of the vehicle body (1), the storage battery is arranged in the battery box, and the storage battery is used for providing power for the vehicle body (1), the bottom mowing disc (2) and the omnidirectional mowing disc (3); the accumulator is connected with a control unit (8).
5. A mower with an omnidirectional mower deck as recited in claim 4, further comprising a solar powered system, the output of the solar powered system being connected to a battery, the solar powered system being disposed on top of the vehicle body (1).
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| CN111837588B (en) * | 2020-08-07 | 2021-10-26 | 格力博(江苏)股份有限公司 | Mowing vehicle system, cutting knife rotating speed setting method and mowing vehicle system management method |
| CN112602389B (en) * | 2020-12-25 | 2022-03-15 | 扬州大学 | Portable weeding equipment for agriculture and weeding method |
| CN113016326B (en) * | 2021-03-08 | 2022-06-07 | 中国农业科学院果树研究所 | Robot-type sweeping mower |
| EP4082319A1 (en) * | 2021-04-27 | 2022-11-02 | Husqvarna Ab | A robotic lawnmower cutting deck with an angle adjustment arrangement, and a robotic lawnmower comprising such a cutting deck |
| CN113508678B (en) * | 2021-08-09 | 2022-11-04 | 安徽农业大学 | Use profile modeling weeding device of unmanned aerial vehicle as adaptation slope topography and weeds height of carrier |
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