CN112470683A - Weeding vehicle based on big dipper high accuracy location technique - Google Patents
Weeding vehicle based on big dipper high accuracy location technique Download PDFInfo
- Publication number
- CN112470683A CN112470683A CN202011335549.8A CN202011335549A CN112470683A CN 112470683 A CN112470683 A CN 112470683A CN 202011335549 A CN202011335549 A CN 202011335549A CN 112470683 A CN112470683 A CN 112470683A
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- Prior art keywords
- weeding
- weeding vehicle
- vehicle body
- precision positioning
- vehicle based
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
- A01D43/063—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a container carried by the mower; Containers therefor
-
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses a weeding vehicle based on the Beidou high-precision positioning technology, which comprises a weeding vehicle body, wherein a plurality of groups of electric driving wheels which are uniformly distributed are symmetrically arranged on the lower side wall of the weeding vehicle body, a fixing block is fixedly arranged at the tail end of the weeding vehicle body, vertical plates are symmetrically arranged on one side, away from the weeding vehicle body, of the fixing block, side protection plates are symmetrically arranged at one ends, close to the vertical plates, of the lower side wall of the weeding vehicle body, the tail ends of the side protection plates are fixedly connected with the vertical plates, the side protection plates are positioned between the electric driving wheels, and a driving motor is fixedly arranged at one end, away from. The automatic weed collecting device can automatically collect the cut weeds without manual collection during weeding, improves weeding efficiency, reduces labor intensity of workers, saves labor cost, and can automatically switch to a manual mode for weeding according to different use occasions.
Description
Technical Field
The invention relates to the technical field of weeding equipment, in particular to a weeding vehicle based on a Beidou high-precision positioning technology.
Background
In order to keep the beautiful lawn, a great amount of manpower and material resources are required to be invested to trim the lawn every year, so that the weeding vehicles are pursued by more and more people, and the existing weeding vehicles can be divided into manual weeding vehicles and full-automatic weeding vehicles according to different use modes.
In the time of in-service use, no matter manual formula weeding car or full-automatic weeding car do not mostly possess corresponding weeds and collect the function, after weeding, still need the manual collection of staff to cut the weeds, in addition, to manual formula weeding car, when revising the great lawn of scale, staff's burden is great, and full-automatic weeding car, the structure is comparatively complicated, overhaul cost is high, when laying down to small-scale lawn, use cost is higher, consequently need design a weeding car based on big dipper high accuracy location technique and solve these problems.
Disclosure of Invention
The invention aims to overcome the defects that the prior art does not have a grass collecting function, is low in weeding efficiency and large in labor capacity of workers, and accordingly provides a weeding vehicle based on the Beidou high-precision positioning technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
a weeding vehicle based on Beidou high-precision positioning technology comprises a weeding vehicle body, wherein a plurality of groups of evenly distributed electric driving wheels are symmetrically arranged on the lower side wall of the weeding vehicle body, a fixed block is fixedly arranged at the tail end of the weeding vehicle body, vertical plates are symmetrically arranged on one side of the fixed block, which is far away from the weeding vehicle body, side protection plates are symmetrically arranged at one ends, close to the vertical plates, of the lower side wall of the weeding vehicle body, the tail ends of the side protection plates are fixedly connected with the vertical plates, the side protection plates are positioned between the electric driving wheels, a driving motor is fixedly arranged at one end, far away from the vertical plates, of the outer side wall of one of the side protection plates, an output shaft of the driving motor penetrates through the side protection plate and is fixedly connected with a weeding shaft inwards, matched bearings are arranged at the connection, two be provided with the receiving hopper between the riser, riser lower extreme threaded connection has the fastening bolt that corresponds, every fastening bolt all runs through corresponding riser and receiving hopper, the receiving hopper inner wall is provided with the lock nut with fastening bolt threaded connection, be provided with conveyer between receiving hopper and the weeding axle, conveyer is connected through multiunit evenly distributed's transfer roller transmission with the side guard plate, this internal treater, power and the high accuracy orientation module of being provided with of weeding car, and the one end that the fixed block was kept away from to the lateral wall on the weeding car body is provided with receiving antenna.
Preferably, a receiving plate is fixedly arranged at one end of the receiving hopper close to the conveying device, and the side wall of the receiving plate is polished smoothly.
Preferably, the outer surface of each side protection plate is provided with a layer of anti-corrosion plating layer with uniform thickness.
Preferably, the side wall is provided with the support frame that matches under the receiving hopper, support frame and riser fixed connection, the support frame adopts stainless steel material to make and forms.
Preferably, the support frames are arranged in a U shape, and a plurality of groups of uniformly distributed connecting beams are fixedly arranged between the support frames.
Preferably, the high-precision positioning module is a Beidou high-precision RTK positioning module.
Preferably, the processor is a 89C51 series single chip microcomputer.
Preferably, the side guards have a thickness of between three fifths and four fifths of the thickness of the riser.
The invention has the beneficial effects that: through the matching use of the receiving hopper, the weeding shaft and the conveying device, the cut weeds are automatically collected when in weeding without manual collection, the labor intensity of workers is reduced while the weeding efficiency is improved, the labor cost is saved, the receiving hopper can be conveniently disassembled through the matching use of the fastening bolt and the locking nut for replacement or maintenance, the supporting stability of the receiving hopper is improved through the arrangement of the supporting frame, the receiving hopper is prevented from inclining along with the accumulation of the weeds, the connection stability between the receiving hopper and the conveying device is improved through the arrangement of the supporting frame, the cut weeds are prevented from spilling on the ground when passing through a gap between the conveying device and the receiving hopper, in addition, the manual weeding mode can be selected and switched according to the use requirements, for common weeder, can use manpower sparingly, for full-automatic weeding robot, with low costs, easy operation, the while is convenient for overhaul again.
Drawings
FIG. 1 is a schematic structural diagram of a weeding vehicle based on the Beidou high-precision positioning technology, which is provided by the invention;
FIG. 2 is a schematic diagram of a structure of the front matching of a receiving hopper, a conveying device and a weeding shaft of the weeding vehicle based on the Beidou high-precision positioning technology, which is provided by the invention;
FIG. 3 is a schematic structural diagram of the front side of a support frame of the weeding vehicle based on the Beidou high-precision positioning technology, which is provided by the invention;
FIG. 4 is a schematic connection diagram of electrical components of the weeding vehicle based on the Beidou high-precision positioning technology, which is provided by the invention;
fig. 5 is a schematic diagram of a manual weeding structure of the weeding vehicle based on the Beidou high-precision positioning technology.
In the figure: 1 weeding car body, 2 electric drive wheels, 3 side guard plates, 4 weeding axles, 5 fixed blocks, 6 risers, 7 collecting hoppers, 8 fastening bolts, 9 support frames, 10 conveyer, 11 bearing plates, 12 processors, 13 power supplies, 14 high-precision positioning modules, 15 receiving antennas, 16 driving motors, 17 conveying rollers and 18 connecting beams.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Embodiment 1, refer to fig. 1-4, a weeding vehicle based on big dipper high accuracy positioning technology comprises a weeding vehicle body 1, a plurality of groups of evenly distributed electric driving wheels 2 are symmetrically arranged on the lower side wall of the weeding vehicle body 1, a weeding vehicle driving module matched with the electric driving wheels 2 is arranged in the weeding vehicle body 1, a fixing block 5 is fixedly arranged at the end of the weeding vehicle body 1, a vertical plate 6 is symmetrically arranged on one side of the fixing block 5 away from the weeding vehicle body 1, side protection plates 3 are symmetrically arranged on one end of the lower side wall of the weeding vehicle body 1 close to the vertical plate 6, an anti-corrosion coating layer with even thickness is arranged on the outer surface of each side protection plate 3, the side protection plates 3 start important supporting and connecting action, the anti-corrosion capability of the side protection plates 3 is improved due to the arrangement of the anti-corrosion coating layer, the thickness of the side protection plates, the tail ends of the side protection plates 3 are fixedly connected with the vertical plates 6, the side protection plates 3 are positioned between the electric driving wheels 2, one end, far away from the vertical plates 6, of the outer side wall of one side protection plate 3 is fixedly provided with a driving motor 16, an output shaft of the driving motor 16 penetrates through the side protection plate 3 inwards to be fixedly connected with a weeding shaft 4, a plurality of groups of weeding knives which are uniformly distributed are arranged on the weeding shaft 4, matched bearings are arranged at the connecting parts of the side protection plate 3 and the output shaft of the driving motor 16, one end, far away from the output shaft of the driving motor 16, of the weeding shaft 4 is rotatably connected with the side wall of the other side protection plate 3, a material collecting hopper 7 is arranged between the two vertical plates 6, the cutting weeds are automatically collected when the weeds are removed through the material collecting hopper 7 and the weeding shaft 4 in cooperation with the, the labor cost is saved;
the lower end of the vertical plate 6 is in threaded connection with the corresponding fastening bolt 8, each fastening bolt 8 penetrates through the corresponding vertical plate 6 and the receiving hopper 7, the inner wall of the receiving hopper 7 is provided with a locking nut in threaded connection with the fastening bolt 8, the receiving hopper 7 can be conveniently disassembled for replacement or maintenance through the matching use of the fastening bolt 8 and the locking nut, the lower side wall of the receiving hopper 7 is provided with a matched supporting frame 9, the supporting frame 9 is fixedly connected with the vertical plate 6, the supporting frame 9 is made of stainless steel materials, the supporting frame 9 is arranged in a U shape, a plurality of groups of uniformly distributed connecting beams 18 are fixedly arranged between the supporting frames 9, the supporting stability of the receiving hopper 7 is improved through the arrangement of the supporting frame 9, the receiving hopper 7 is prevented from inclining along with the accumulation of weeds, and a conveying device 10 is arranged between the receiving hopper 7 and the weeding shaft 4, the receiving plate 11 is fixedly arranged at one end of the receiving hopper 7 close to the conveying device 10, the side wall of the receiving plate 11 is polished smoothly, the receiving plate 11 is arranged between the receiving hopper 7 and the conveying device 10, the connection stability between the receiving hopper 7 and the conveying device 10 is improved, cut weeds are prevented from being scattered on the ground when passing through a gap between the conveying device 10 and the receiving hopper 7, the conveying device 10 is in transmission connection with the side protection plate 3 through a plurality of groups of uniformly distributed conveying rollers 17, a processor 12, a power supply 13 and a high-precision positioning module 14 are arranged in the weeding vehicle body 1, the high-precision positioning module 14 is a Beidou high-precision RTK positioning module, the processor 12 is a 89C51 series single chip microcomputer, a receiving antenna 15 is arranged at one end of the side wall of the weeding vehicle body 1 far away from the fixing block 5, the receiving antenna 15 is used for receiving a control signal of a remote controller and transmitting the control signal to the processor 12, and then sent out by the processor 12, which belongs to the well-established prior art, and the specific working principle of the invention is not described in detail.
In the invention, when weeding, the driving motor 16 drives the weeding shaft 4 to rotate, the weeding shaft 4 brings the cut weeds into the conveying device 10, and the conveying device 10 conveys the weeds into the receiving hopper 7 through the receiving plate, so that the functions of weeding and grass collection are integrated, the weeding efficiency is greatly improved, and the high-precision positioning module 14 in the weeding vehicle body 1 can position the weeding vehicle body 1 constantly, thereby realizing the omnibearing weeding of the lawn.
the lower end of the vertical plate 6 is in threaded connection with the corresponding fastening bolt 8, each fastening bolt 8 penetrates through the corresponding vertical plate 6 and the receiving hopper 7, the inner wall of the receiving hopper 7 is provided with a locking nut in threaded connection with the fastening bolt 8, the receiving hopper 7 can be conveniently disassembled for replacement or maintenance through the matching use of the fastening bolt 8 and the locking nut, the lower side wall of the receiving hopper 7 is provided with a matched supporting frame 9, the supporting frame 9 is fixedly connected with the vertical plate 6, the supporting frame 9 is made of stainless steel materials, the supporting frame 9 is arranged in a U shape, a plurality of groups of uniformly distributed connecting beams 18 are fixedly arranged between the supporting frames 9, the supporting stability of the receiving hopper 7 is improved through the arrangement of the supporting frame 9, the receiving hopper 7 is prevented from inclining along with the accumulation of weeds, and a conveying device 10 is arranged between the receiving hopper 7 and the weeding shaft 4, the receiving plate 11 is fixedly arranged at one end of the receiving hopper 7 close to the conveying device 10, the side wall of the receiving plate 11 is polished smoothly, the receiving plate 11 is arranged between the receiving hopper 7 and the conveying device 10, the connection stability between the receiving hopper 7 and the conveying device 10 is improved, cut weeds are prevented from being scattered on the ground when passing through a gap between the conveying device 10 and the receiving hopper 7, the conveying device 10 is in transmission connection with the side protection plate 3 through a plurality of groups of uniformly distributed conveying rollers 17, a processor 12, a power supply 13 and a high-precision positioning module 14 are arranged in the weeding vehicle body 1, the high-precision positioning module 14 is a Beidou high-precision RTK positioning module, the processor 12 is a 89C51 series single chip microcomputer, a receiving antenna 15 is arranged at one end of the side wall of the weeding vehicle body 1 far away from the fixing block 5, the receiving antenna 15 is used for receiving a control signal of a remote controller and transmitting the control signal to the processor 12, the weeding vehicle is sent out through the processor 12, the weeding vehicle belongs to the mature prior art, the detailed working principle of the weeding vehicle is not described in detail in the invention, a hand-push handle is arranged at one end, far away from the receiving antenna 15, of the side wall of the weeding vehicle body 1, the hand-push handle can be switched into a manual mode according to different use occasions, and a worker manually operates the weeding vehicle body 1 to move, so that the weeding purpose is achieved.
In the weeding vehicle, when weeding, a worker manually operates and pushes the hand push handle to operate the movement direction of the weeding vehicle body 1, the driving motor 16 drives the weeding shaft 4 to rotate, the weeding shaft 4 brings the cut weeds into the conveying device 10, and the conveying device 10 conveys the weeds into the receiving hopper 7 through the receiving plate 11, so that the functions of weeding and grass collecting are integrated, the weeding efficiency is greatly improved, and the omnibearing weeding of a lawn is realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The weeding vehicle based on the Beidou high-precision positioning technology comprises a weeding vehicle body (1), wherein a plurality of groups of electric driving wheels (2) which are uniformly distributed are symmetrically arranged on the side wall of the weeding vehicle body (1), and is characterized in that a fixed block (5) is fixedly arranged at the tail end of the weeding vehicle body (1), a vertical plate (6) is symmetrically arranged on one side of the fixed block (5) far away from the weeding vehicle body (1), a side protection plate (3) is symmetrically arranged at one end of the side wall of the weeding vehicle body (1) close to the vertical plate (6), the tail end of the side protection plate (3) is fixedly connected with the vertical plate (6), the side protection plate (3) is positioned between the electric driving wheels (2), one end of the outer side wall of the side protection plate (3) far away from the vertical plate (6) is fixedly provided with a driving motor (16), and an output shaft of the driving motor (16) inwards penetrates through, and side guard plate (3) and driving motor (16) output shaft junction are provided with the bearing of matching, weeding axle (4) keep away from the one end of driving motor (16) output shaft and another side guard plate (3) lateral wall and rotate to be connected, two be provided with between riser (6) receiving hopper (7), threaded connection has corresponding fastening bolt (8) under riser (6), every fastening bolt (8) all run through corresponding riser (6) and receiving hopper (7), receiving hopper (7) inner wall is provided with the lock nut with fastening bolt (8) threaded connection, be provided with conveyer (10) between receiving hopper (7) and weeding axle (4), conveyer (10) are connected through transfer roller (17) transmission of multiunit evenly distributed with side guard plate (3), be provided with treater (12) in weeding car body (1), The weeding vehicle comprises a power supply (13) and a high-precision positioning module (14), and a receiving antenna (15) is arranged at one end, far away from a fixed block (5), of the side wall of the weeding vehicle body (1).
2. The weeding vehicle based on the Beidou high-precision positioning technology as claimed in claim 1, wherein a receiving plate (11) is fixedly arranged at one end of the receiving hopper (7) close to the conveying device (10), and the side wall of the receiving plate (11) is polished smoothly.
3. The weeding vehicle based on the Beidou high-precision positioning technology as claimed in claim 1, wherein an anti-corrosion coating with uniform thickness is arranged on the outer surface of each side protection plate (3).
4. The weeding vehicle based on the Beidou high-precision positioning technology according to claim 1, wherein the lower side wall of the material receiving hopper (7) is provided with a matched support frame (9), the support frame (9) is fixedly connected with a vertical plate (6), and the support frame (9) is made of stainless steel materials.
5. The weeding vehicle based on the Beidou high-precision positioning technology according to claim 4, wherein the support frames (9) are arranged in a U shape, and a plurality of groups of uniformly distributed connecting beams (18) are fixedly arranged between the support frames (9).
6. The weeding vehicle based on the Beidou high-precision positioning technology according to claim 1, wherein the high-precision positioning module (14) is a Beidou high-precision RTK positioning module.
7. The weeding vehicle based on the Beidou high-precision positioning technology as claimed in claim 1, wherein the processor (12) is a 89C51 series single chip microcomputer.
8. The weeding vehicle based on the Beidou high-precision positioning technology as claimed in claim 1, wherein the thickness of the side protection plate (3) is between three fifths and four fifths of the thickness of the vertical plate (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011335549.8A CN112470683A (en) | 2020-11-25 | 2020-11-25 | Weeding vehicle based on big dipper high accuracy location technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011335549.8A CN112470683A (en) | 2020-11-25 | 2020-11-25 | Weeding vehicle based on big dipper high accuracy location technique |
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| Publication Number | Publication Date |
|---|---|
| CN112470683A true CN112470683A (en) | 2021-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011335549.8A Pending CN112470683A (en) | 2020-11-25 | 2020-11-25 | Weeding vehicle based on big dipper high accuracy location technique |
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| CN (1) | CN112470683A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1645178A1 (en) * | 2004-10-06 | 2006-04-12 | CLAAS Selbstfahrende Erntemaschinen GmbH | Transfer assistance system |
| CN102960113A (en) * | 2012-12-03 | 2013-03-13 | 张思凡 | Remote-controlled grass mower |
| CN106982554A (en) * | 2017-05-17 | 2017-07-28 | 郑州北斗七星通讯科技有限公司 | A kind of weed killing waggon based on Big Dipper high-precision location technique |
| CN209089780U (en) * | 2018-10-28 | 2019-07-12 | 国网陕西省电力公司检修公司 | Substation's weed-eradicating robot |
| CN111955142A (en) * | 2020-07-17 | 2020-11-20 | 华中农业大学 | Automatic landscape mowing method and device |
-
2020
- 2020-11-25 CN CN202011335549.8A patent/CN112470683A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1645178A1 (en) * | 2004-10-06 | 2006-04-12 | CLAAS Selbstfahrende Erntemaschinen GmbH | Transfer assistance system |
| CN102960113A (en) * | 2012-12-03 | 2013-03-13 | 张思凡 | Remote-controlled grass mower |
| CN106982554A (en) * | 2017-05-17 | 2017-07-28 | 郑州北斗七星通讯科技有限公司 | A kind of weed killing waggon based on Big Dipper high-precision location technique |
| CN209089780U (en) * | 2018-10-28 | 2019-07-12 | 国网陕西省电力公司检修公司 | Substation's weed-eradicating robot |
| CN111955142A (en) * | 2020-07-17 | 2020-11-20 | 华中农业大学 | Automatic landscape mowing method and device |
Non-Patent Citations (1)
| Title |
|---|
| 程祥之，许林云等: "《园林机械》", 31 May 2000, 东南大学出版社 * |
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Application publication date: 20210312 |