CN111201847B - 一种除草避障机器人 - Google Patents
一种除草避障机器人 Download PDFInfo
- Publication number
- CN111201847B CN111201847B CN202010029578.5A CN202010029578A CN111201847B CN 111201847 B CN111201847 B CN 111201847B CN 202010029578 A CN202010029578 A CN 202010029578A CN 111201847 B CN111201847 B CN 111201847B
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- Prior art keywords
- cutter head
- weeding
- obstacle avoidance
- steering
- adjusting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000009333 weeding Methods 0.000 title claims abstract description 144
- 230000007246 mechanism Effects 0.000 claims abstract description 150
- 238000009434 installation Methods 0.000 claims description 2
- 235000013399 edible fruits Nutrition 0.000 abstract description 35
- 241000196324 Embryophyta Species 0.000 abstract description 29
- 239000002420 orchard Substances 0.000 abstract description 25
- 230000006378 damage Effects 0.000 abstract description 13
- 244000025254 Cannabis sativa Species 0.000 abstract description 3
- 239000011295 pitch Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
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- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002363 herbicidal effect Effects 0.000 description 1
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- 230000035515 penetration Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/16—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines
- A01B39/163—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines comprising rotating tools
- A01B39/166—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines comprising rotating tools actively driven
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
- A01B39/22—Tools; Mounting tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
- A01B39/26—Arrangements for protecting plants, e.g. fenders
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010029578.5A CN111201847B (zh) | 2020-01-10 | 2020-01-10 | 一种除草避障机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010029578.5A CN111201847B (zh) | 2020-01-10 | 2020-01-10 | 一种除草避障机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111201847A CN111201847A (zh) | 2020-05-29 |
CN111201847B true CN111201847B (zh) | 2021-07-30 |
Family
ID=70783404
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010029578.5A Expired - Fee Related CN111201847B (zh) | 2020-01-10 | 2020-01-10 | 一种除草避障机器人 |
Country Status (1)
Country | Link |
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CN (1) | CN111201847B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
LU501317B1 (en) * | 2021-12-17 | 2023-06-26 | Univ Chongqing Arts & Sciences | Intelligent weeding robot for orchards |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112544137B (zh) * | 2020-11-30 | 2023-02-21 | 沈阳农业大学 | 一种啮合式水田除草机 |
CN115136783B (zh) * | 2021-03-08 | 2023-07-21 | 中国农业科学院果树研究所 | 一种含有避障转轮的三刀架割草机 |
CN113016764B (zh) * | 2021-03-30 | 2022-10-14 | 聊城市彩烁农业科技有限公司 | 一种适用于不同直径的树木根部周围除草装置 |
CN113207414A (zh) * | 2021-04-29 | 2021-08-06 | 四川犍小茉科技有限公司 | 除草机器人 |
CN113647210A (zh) * | 2021-08-16 | 2021-11-16 | 陈海增 | 葡萄放藤除草一体机 |
CN113892333A (zh) * | 2021-09-29 | 2022-01-07 | 农业农村部南京农业机械化研究所 | 一种除草机器人 |
CN114223339B (zh) * | 2021-12-14 | 2023-10-20 | 华南农业大学 | 用于水田多功能作业的机器人底盘及农业机器人 |
CN114946382B (zh) * | 2022-04-19 | 2023-03-21 | 安徽农业大学 | 一种农作物行间和株间中耕除草设备 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN203968671U (zh) * | 2014-03-19 | 2014-12-03 | 南京森林警察学院 | 液压悬臂式防火割灌机 |
CN204443099U (zh) * | 2015-01-15 | 2015-07-08 | 杭州菲沃机器人科技有限公司 | 用于手推式割草机的扶手折叠机构 |
CN204506991U (zh) * | 2015-03-09 | 2015-07-29 | 武汉科技大学 | 一种具有全转向和实时四驱功能的电动车 |
CN104982142B (zh) * | 2015-07-18 | 2017-08-25 | 怀远县路达公路养护有限公司 | 前置式路肩割草机 |
CN205249800U (zh) * | 2015-12-28 | 2016-05-25 | 苏州百士动力工贸有限公司 | 转盘式折叠推车把手 |
JP6710145B2 (ja) * | 2016-10-31 | 2020-06-17 | 本田技研工業株式会社 | 自律走行車両 |
CN206835561U (zh) * | 2017-03-09 | 2018-01-05 | 河北农业大学 | 一种果园除草装置 |
CN206713412U (zh) * | 2017-04-18 | 2017-12-08 | 新疆农垦科学院 | 果园避障割草机 |
CN207590872U (zh) * | 2017-05-25 | 2018-07-10 | 长安大学 | 一种多功能智能轮椅 |
CN108124584A (zh) * | 2018-02-08 | 2018-06-08 | 北京时代沃林科技发展有限公司 | 一种新型避让式割草机 |
CN209330614U (zh) * | 2018-12-26 | 2019-09-03 | 北京时代沃林科技发展有限公司 | 一种新型避障式果园割草机 |
-
2020
- 2020-01-10 CN CN202010029578.5A patent/CN111201847B/zh not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
LU501317B1 (en) * | 2021-12-17 | 2023-06-26 | Univ Chongqing Arts & Sciences | Intelligent weeding robot for orchards |
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Publication number | Publication date |
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CN111201847A (zh) | 2020-05-29 |
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CB03 | Change of inventor or designer information |
Inventor after: Dong Changbin Inventor after: Liu Yongping Inventor after: Jia Yaowen Inventor after: He Jiaxin Inventor after: Wei Yongqiao Inventor after: Li Dawei Inventor before: Liu Yongping Inventor before: Jia Yaowen Inventor before: He Jiaxin Inventor before: Wei Yongqiao Inventor before: Dong Changbin Inventor before: Li Dawei |
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Granted publication date: 20210730 |
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