CN111296053A

CN111296053A - Automatic obstacle-avoiding weeding machine for orchard

Info

Publication number: CN111296053A
Application number: CN202010140855.XA
Authority: CN
Inventors: 杨雪锋; 李习勇; 彭红星; 刘勇
Original assignee: Jingmen Yishengyuan Environmental Protection Technology Co ltd
Current assignee: Jingmen Yishengyuan Environmental Protection Technology Co ltd
Priority date: 2020-03-03
Filing date: 2020-03-03
Publication date: 2020-06-19

Abstract

The invention provides an automatic obstacle-avoiding weeding machine for an orchard, which comprises: the frame assembly comprises a support frame and a shell, the shell is in an equilateral triangle shape when viewed from top, the support frame is integrally viewed as an equilateral triangle when viewed from top, and the shell is arranged on the support frame; the three walking components are sequentially arranged on three corners of an equilateral triangle of the shell; the sensing assembly comprises a distance sensing module and a gyroscope module; the rotary cutter device of the cutter component is arranged in the middle of the shell, the cutter rotating axis of the rotary cutter device is vertical to the ground, the hob device is arranged at a position close to three edges of the shell, and the cutter rotating axis of the hob device is parallel to the ground; the medicine spraying assembly is arranged on the shell; the control component plays a control role. The technical scheme of the invention effectively solves the problems of poor weeding effect and time and labor waste of manual weeding in the orchard adopting the herbicide in the prior art.

Description

Automatic obstacle-avoiding weeding machine for orchard

Technical Field

The invention relates to the technical field of medical enemators, in particular to an automatic obstacle avoidance weeding machine for an orchard.

Background

Weeding in an orchard is a relatively headache problem for growers, and too many weeds in the orchard compete for soil nutrients with fruit trees, so that the growth and development of fruits are influenced.

In the prior art, most farmers can choose to spray herbicide, but two conditions occur, namely poor weeding effect and fear of phytotoxicity to fruit trees; and a part of farmers weed manually, the method is safe and effective, but wastes time and labor, and can be used for orchards with small planting areas, and if the orchards have large areas, the weeding effect is difficult to ensure.

Disclosure of Invention

The invention mainly aims to provide an automatic obstacle avoidance weeding machine for an orchard, and aims to solve the problems that in the prior art, the weeding effect is poor when herbicides are adopted for the orchard, and time and labor are wasted when manual weeding is carried out.

In order to achieve the above object, the present invention provides an automatic obstacle-avoiding weeding machine for an orchard, comprising: the framework assembly comprises a support frame and a shell, the shell is in an equilateral triangle shape when viewed from top, the support frame is integrally viewed as an equilateral triangle when viewed from top, and the shell is arranged on the support frame; the three walking assemblies are sequentially arranged on three corners of an equilateral triangle of the shell; the sensing assembly comprises a distance sensing module and a gyroscope module, the distance sensing module is arranged on the side surface of the shell, and the gyroscope module is arranged in the shell; the rotary cutter device is arranged in the middle of the shell, the cutter rotating axis of the rotary cutter device is vertical to the ground, the rotary cutter device is arranged at a position close to the three sides of the shell, and the cutter rotating axis of the rotary cutter device is parallel to the ground; the medicine spraying assembly is arranged on the shell; the control assembly, control assembly include power module, wireless transmitter, wireless receiver, control panel and remote controller, and the control panel sprays the subassembly electricity with wireless receiver, walking subassembly, perception subassembly, cutter subassembly and medicine and is connected, and the remote controller passes through wireless transmitter and wireless receiver radio signal connection, and power module provides the power.

Furthermore, the number of the distance sensing modules is more than or equal to three, and at least one distance sensing module is arranged on the side surface of three sides of the equilateral triangle of the shell.

Further, the perception subassembly includes the guard plate, and the guard plate sets up in the trilateral side of casing to be located apart from the upside of perception module.

Furthermore, the gyroscope module comprises a first gyroscope, a second gyroscope and a third gyroscope, the three gyroscopes form an equilateral triangle after being placed, and the respective positive directions of the three gyroscopes face each corner of the equilateral triangle of the shell.

Further, the casing includes casing, lower casing, first curb plate, second curb plate and third curb plate, goes up casing and lower casing and installs the upper and lower both sides at the support frame, and first curb plate, second curb plate and third curb plate are installed at the support frame side.

Further, all be provided with the crashproof strip on first curb plate, second curb plate and the third curb plate, the crashproof strip is along curb plate transverse arrangement.

Furthermore, the traveling assembly comprises a vertical motor, a double-output-shaft motor and traveling wheels, the vertical motor is installed on the shell, the output end of the vertical motor is connected with the double-output-shaft motor, the two output ends of the double-output-shaft motor are respectively connected with the traveling wheels, the vertical motor drives the double-output-shaft motor to rotate horizontally, and the rotating axis of the double-output-shaft motor is perpendicular to the rotating axis of the vertical motor.

Further, the hobbing cutter device comprises a first driving motor and a bar-shaped hobbing cutter, the first driving motor is arranged on the shell, the first driving motor drives the bar-shaped hobbing cutter to rotate, the cutting edge of the bar-shaped hobbing cutter comprises a first cutting edge and a second cutting edge, the first cutting edge is connected with the rotation center, the second cutting edge is perpendicularly connected with the first cutting edge, and the cutting edges of the bar-shaped hobbing cutter are distributed along the circumference of the rotation shaft in an array mode.

Further, the rotary knife device comprises a second driving motor and a disc-shaped rotary knife, the second driving motor is connected with the shell, the second driving motor drives the disc-shaped rotary knife to rotate, the cutting edges of the disc-shaped rotary knife comprise third cutting edges and fourth cutting edges, the third cutting edges are distributed along the circumference of a rotating shaft of the second driving motor in an array mode, and the fourth cutting edges are perpendicularly connected with the tail end of the third cutting edges.

Further, the medicine sprays the subassembly and includes medicine storage box, force pump and shower nozzle, and medicine storage box and force pump set up the surface at the casing, and the shower nozzle is installed in the trilateral position that is close to casing equilateral triangle, and the first end and the medicine storage box of force pump link to each other, and the second end and the shower nozzle of force pump link to each other.

By applying the technical scheme of the invention, the device adopts a mode of combining herbicide weeding and electric weeding, wherein when the device is used, the walking components on three corners of the shell realize the advancing and steering of the whole device. During operation, the rotary knife assembly and the rotary knife assembly of the cutter assembly cut the ground weeds, and the pesticide spray assembly on the housing sprays pesticide to further inhibit the growth of the weeds. If the whole device encounters an obstacle in the walking process, the sensing assembly detects the obstacle and can turn to the direction by using the walking assembly, so that the obstacle is avoided and the weeding task is continued. The device combines herbicide weeding and electric weeding. The technical scheme of the invention effectively solves the problems of poor weeding effect and time and labor waste of manual weeding in the orchard adopting the herbicide in the prior art.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic overall structure diagram of an embodiment of an orchard automatic obstacle avoidance weeding machine according to the invention;

FIG. 2 shows a schematic view of the bottom structure of FIG. 1;

FIG. 3 shows a schematic view of the internal structure of FIG. 1;

fig. 4 shows a schematic diagram of the obstacle avoidance principle of the weeding machine in fig. 1.

Wherein the figures include the following reference numerals:

10. a frame assembly; 11. a support frame; 12. a housing; 121. an upper housing; 122. a lower housing; 123. a first side plate; 124. a second side plate; 125. a third side plate; 126. an anti-collision strip; 20. a walking assembly; 21. a vertical motor; 22. a motor with double output shafts; 23. a traveling wheel; 30. a sensing component; 31. a distance sensing module; 32. a gyroscope module; 33. a protection plate; 40. a cutter assembly; 41. a hob device; 411. a first drive motor; 412. a strip-shaped hob; 42. a rotary knife device; 421. a second drive motor; 422. a disc-shaped rotating knife; 50. a drug spray assembly; 51. a drug storage box; 52. a pressure pump; 53. a spray head; 61. a power supply module; 62. a wireless receiver; 63. and a control panel.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art, in the drawings, the thicknesses of layers and regions are exaggerated for clarity, and the same devices are denoted by the same reference numerals, and thus the description thereof will be omitted.

As shown in fig. 1 to 4, the orchard automatic obstacle avoidance weeding machine of the present embodiment includes: the frame assembly 10, the frame assembly 10 includes supporting arm 11 and body 12, the body 12 overlooks and is the equilateral triangle appearance, the whole overlooking of the supporting arm 11 is the equilateral triangle, the body 12 is installed on supporting arm 11; the number of the walking assemblies 20 is three, and the three walking assemblies 20 are sequentially arranged on three corners of an equilateral triangle of the shell 12; the sensing assembly 30, the sensing assembly 30 includes a distance sensing module 31 and a gyroscope module 32, the distance sensing module 31 is installed on the side of the casing 12, and the gyroscope module 32 is installed inside the casing 12; the cutting knife assembly 40 comprises a hobbing cutter device 41 and a rotary cutter device 42, the rotary cutter device 42 is installed in the middle of the shell 12, the cutter rotating axis of the rotary cutter device 42 is vertical to the ground, the hobbing cutter device 41 is arranged at a position close to three sides of the shell 12, and the cutter rotating axis of the hobbing cutter device 41 is parallel to the ground; a drug spray assembly 50, the drug spray assembly 50 being disposed on the housing 12; the control assembly comprises a power module 61, a wireless transmitter, a wireless receiver 62, a control panel 63 and a remote controller, wherein the control panel 63 is electrically connected with the wireless receiver 62, the walking assembly 20, the sensing assembly 30, the cutter assembly 40 and the medicine spraying assembly 50, the remote controller is in wireless signal connection with the wireless receiver 62 through the wireless transmitter, and the power module 61 provides power.

By applying the technical scheme of the embodiment, the device adopts a mode of combining herbicide weeding and electric weeding, wherein, when the device is used, the walking assemblies 20 on three corners of the shell 12 realize the advancing and steering of the whole device. In operation, the rotary knife assembly 42 and the rotary knife assembly 41 of the cutter assembly 40 cut the ground weeds and the pesticide spray assembly 50 on the housing 12 sprays pesticide, further inhibiting the growth of weeds. If the whole device encounters an obstacle in the walking process, the sensing component 30 detects the obstacle and uses the walking component 20 to steer, so that the obstacle is avoided and the weeding task is continued. The device combines herbicide weeding and electric weeding. The technical scheme of this embodiment has solved the orchard among the prior art effectively and has adopted that the weedicide weeding effect is not good and artifical weeding wastes time and energy the problem.

As shown in fig. 1 to 4, in the technical solution of the present embodiment, the number of the distance sensing modules 31 is greater than or equal to three, and at least one distance sensing module 31 is disposed on the three side surfaces of the equilateral triangle of the housing 12. Each side of the triangle is provided with a distance sensing module 31, so that the three sides of the triangle can detect obstacles, and the obstacles can be avoided in an all-around manner. The distance sensing module 31 may employ an infrared sensor, an ultrasonic sensor, or the like.

As shown in fig. 1 to 4, in the solution of the present embodiment, the sensing assembly 30 includes a protection plate 33, and the protection plate 33 is disposed on three side surfaces of the housing 12 and is located on an upper side of the distance sensing module 31. The guard plate 33 serves to protect the sensor.

As shown in fig. 1 to 4, in the solution of the present embodiment, the gyroscope module 32 includes a first gyroscope, a second gyroscope, and a third gyroscope, the three gyroscopes are placed to form an equilateral triangle, and the positive directions of the three gyroscopes face each corner of the equilateral triangle of the housing 12. When the whole device advances, the direction of the first default gyroscope is the positive direction, the vertex angle of the triangle corresponding to the first gyroscope is the positive direction, the working deviation angle of the first gyroscope is set, the advancing direction of the whole device can be well guaranteed, and large deviation cannot occur.

As shown in fig. 1 to 4, in the technical solution of the present embodiment, the housing 12 includes an upper housing 121, a lower housing 122, a first side plate 123, a second side plate 124 and a third side plate 125, the upper housing 121 and the lower housing 122 are installed at upper and lower sides of the supporting frame 11, and the first side plate 123, the second side plate 124 and the third side plate 125 are installed at sides of the supporting frame. It should be noted that, when the distance sensing module 31 on the first side plate 123 detects an obstacle, the entire apparatus rotates counterclockwise, and at this time, the first gyroscope also rotates counterclockwise, when the direction of the second gyroscope is adjusted to the direction of the first gyroscope, the obstacle will reach the rear of the first side plate 123, at this time, obstacle avoidance is completed, and the second gyroscope replaces the work of the first gyroscope, at this time, the positive direction corresponding to the second gyroscope becomes the forward direction, so that when other two sides encounter an obstacle, corresponding obstacle avoidance actions will be correspondingly performed, and the obstacle avoidance principle is the same as the enumerated obstacle avoidance principle.

As shown in fig. 1 to 4, in the solution of the present embodiment, the first side plate 123, the second side plate 124, and the third side plate 125 are all provided with a bumper strip 126, and the bumper strip 126 is arranged along the lateral direction of the side plates. The bumper strip 126 is arranged, so that the whole device can reduce the impact when encountering obstacles, and the whole device is protected.

As shown in fig. 1 to 4, in the technical solution of this embodiment, the traveling assembly 20 includes a vertical motor 21, a dual-output-shaft motor 22 and traveling wheels 23, the vertical motor 21 is installed on the housing 12, an output end of the vertical motor 21 is connected to the dual-output-shaft motor 22, two output ends of the dual-output-shaft motor 22 are respectively connected to the traveling wheels 23, the vertical motor 21 drives the dual-output-shaft motor 22 to rotate horizontally, and a rotation axis of the dual-output-shaft motor 22 is perpendicular to a rotation axis of the vertical motor 21. The surface of the walking wheel 23 is provided with sawteeth, so that the walking wheel has good ground holding force to adapt to the complex ground condition of an orchard.

As shown in fig. 1 to 4, in the technical solution of the present embodiment, the hob device 41 includes a first driving motor 411 and a bar hob 412, the first driving motor 411 is disposed on the housing 12, the first driving motor 411 drives the bar hob 412 to rotate, the cutting edge of the bar hob 412 includes a first cutting edge and a second cutting edge, the first cutting edge is connected to the rotation center, the second cutting edge is vertically connected to the first cutting edge, and the cutting edges of the bar hob 412 are distributed along the circumference of the rotation shaft in an array. The hob device 41 can better ensure the mowing effect through the structure. The second blade serves the actual cutting function. In addition, the three hob devices 41 form an equilateral triangle, which allows a more complete cutting of grass. The hob apparatus 41 is located at a distance from the ground to prevent the cutting edge of the hob apparatus 41 from directly colliding with the ground and causing damage.

As shown in fig. 1 to 4, in the technical solution of the present embodiment, the rotary knife device 42 includes a second driving motor 421 and a disc-shaped rotary knife 422, the second driving motor 421 is connected to the housing 12, the second driving motor 421 drives the disc-shaped rotary knife 422 to rotate, the cutting edges of the disc-shaped rotary knife 422 include third cutting edges and fourth cutting edges, the third cutting edges are distributed along the circumference of the rotating shaft of the second driving motor 421, and the fourth cutting edges are vertically connected to the ends of the third cutting edges. The fourth blade of the rotary cutter unit 42 plays an actual cutting role, and the fourth blade is parallel to the ground, so that weeds left by the corner of the rotary cutter unit 41 can be effectively cut off.

As shown in fig. 1 to 4, in the present embodiment, the medicine spraying assembly 50 includes a medicine storage box 51, a pressure pump 52 and a spraying head 53, the medicine storage box 51 and the pressure pump 52 are disposed on the surface of the housing 12, the spraying head 53 is installed near three sides of an equilateral triangle of the housing 12, a first end of the pressure pump 52 is connected to the medicine storage box 51, and a second end of the pressure pump 52 is connected to the spraying head 53.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an automatic obstacle-avoiding weeder in orchard which characterized in that includes: the medicine spraying device comprises a frame assembly (10), a walking assembly (20), a sensing assembly (30), a cutter assembly (40), a medicine spraying assembly (50) and a control assembly, wherein the frame assembly (10) comprises a support frame (11) and a shell (12), the shell (12) is in an equilateral triangle shape in a overlooking mode, the support frame (11) is in an equilateral triangle shape in a whole overlooking mode, and the shell (12) is installed on the support frame (11); the number of the walking assemblies (20) is three, and the three walking assemblies (20) are sequentially arranged at three corners of an equilateral triangle of the shell (12); the sensing assembly (30) comprises a distance sensing module (31) and a gyroscope module (32), the distance sensing module (31) is installed on the side face of the shell (12), and the gyroscope module (32) is installed inside the shell (12); the cutter assembly (40) comprises a hob device (41) and a rotary cutter device (42), the rotary cutter device (42) is installed in the middle position of the shell (12), the cutter rotating axis of the rotary cutter device (42) is perpendicular to the ground, the hob device (41) is arranged at a position close to three sides of the shell (12), and the cutter rotating axis of the hob device (41) is parallel to the ground; the drug spray assembly (50) is disposed on the housing (12); the control assembly comprises a power module (61), a wireless transmitter, a wireless receiver (62), a control panel (63) and a remote controller, wherein the control panel (63) is electrically connected with the wireless receiver (62), the walking assembly (20), the sensing assembly (30), the cutter assembly (40) and the medicine spraying assembly (50), the remote controller is connected with the wireless receiver (62) through wireless signals through the wireless transmitter, and the power module (61) provides power.

2. An orchard automatic obstacle avoidance weeding machine according to claim 1, wherein the number of the distance sensing modules (31) is three or more, and at least one distance sensing module (31) is arranged on the side of three sides of an equilateral triangle of the casing (12); the sensing assembly (30) comprises a protection plate (33), wherein the protection plate (33) is arranged on the side surface of three sides of the shell (12) and is positioned on the upper side of the distance sensing module (31); the gyroscope module (32) comprises a first gyroscope, a second gyroscope and a third gyroscope, the three gyroscopes form an equilateral triangle after being placed, and the respective positive directions of the three gyroscopes face each corner of the equilateral triangle of the shell (12); the shell (12) comprises an upper shell (121), a lower shell (122), a first side plate (123), a second side plate (124) and a third side plate (125), the upper shell (121) and the lower shell (122) are installed on the upper side and the lower side of the support frame (11), and the first side plate (123), the second side plate (124) and the third side plate (125) are installed on the side edges of the support frame; the first side plate (123), the second side plate (124) and the third side plate (125) are all provided with anti-collision strips (126), and the anti-collision strips (126) are arranged transversely along the side plates; walking subassembly (20) include vertical motor (21), dual output axle motor (22) and walking wheel (23), install of vertical motor (21) on casing (12), the output of vertical motor (21) with dual output axle motor (22) link to each other, two outputs of dual output axle motor (22) respectively with walking wheel (23) link to each other, vertical motor (21) drive dual output axle motor (22) horizontal rotation, the rotation axis of dual output axle motor (22) with the rotation axis of vertical motor (21) is perpendicular.

3. The automatic obstacle-avoiding weeding machine for orchards according to claim 1, wherein the hobbing-cutter device (41) comprises a first driving motor (411) and a strip-type hobbing cutter (412), the first driving motor (411) is arranged on the housing (12), the first driving motor (411) drives the strip-type hobbing cutter (412) to rotate, the cutting edges of the strip-type hobbing cutter (412) comprise a first cutting edge and a second cutting edge, the first cutting edge is connected with a rotation center, the second cutting edge is vertically connected with the first cutting edge, and the cutting edges of the strip-type hobbing cutter (412) are distributed along a circumferential array of a rotation shaft.

4. The automatic obstacle-avoiding weeding machine for an orchard according to claim 1, wherein the rotating knife device (42) comprises a second driving motor (421) and a disc-shaped rotating knife (422), the second driving motor (421) is connected to the housing (12), the second driving motor (421) drives the disc-shaped rotating knife (422) to rotate, the cutting edges of the disc-shaped rotating knife (422) comprise third cutting edges and fourth cutting edges, the third cutting edges are distributed along the circumferential array of the rotating shaft of the second driving motor (421), and the fourth cutting edges are perpendicularly connected to the end of the third cutting edges.

5. An orchard automatic obstacle avoidance weeding machine according to claim 1, wherein the drug spraying assembly (50) comprises a drug storage box (51), a pressure pump (52) and a spraying head (53), the drug storage box (51) and the pressure pump (52) are arranged on the surface of the casing (12), the spraying head (53) is installed at a position close to three sides of an equilateral triangle of the casing (12), a first end of the pressure pump (52) is connected with the drug storage box (51), and a second end of the pressure pump (52) is connected with the spraying head (53).