CN113747017A

CN113747017A - Unmanned horseshoe harvester based on visual navigation

Info

Publication number: CN113747017A
Application number: CN202111033218.3A
Authority: CN
Inventors: 丁爽; 万彬
Original assignee: Wuhu Xuanda Intelligent Technology Co Ltd
Current assignee: Wuhu Xuanda Intelligent Technology Co Ltd
Priority date: 2021-09-03
Filing date: 2021-09-03
Publication date: 2021-12-03

Abstract

The invention discloses an unmanned water chestnut harvester based on visual navigation, which relates to the technical field of water chestnut harvesting and comprises a navigation mechanism, a remote measurement component and a microcontroller, wherein the navigation mechanism comprises a base and a tractor, the top of the base is fixedly provided with a shell and an adjusting component, one side of the shell is provided with the remote measurement component and the microcontroller, and the base is arranged at the top end of the tractor; the driving mechanism comprises a first driving shaft connected with the output end of the tractor and a transmission assembly driven by the first driving shaft; the screening mechanism is arranged at the tail of the tractor and comprises a support frame with a frame type structure and a tire for supporting the support frame to move, the support frame is used for supporting the transmission assembly and the screening assembly, and the screening assembly is connected with the transmission assembly. According to the invention, the microcontroller is arranged, the position coordinate and the speed information of the tractor are obtained through the automatic navigator arranged by the microcontroller, the tractor walks according to the set path and observes images of cultivated crops in real time through the remote measuring camera and the monitoring camera, and the navigation precision is improved.

Description

Unmanned horseshoe harvester based on visual navigation

Technical Field

The invention belongs to the technical field of water chestnut harvesting, and particularly relates to an unmanned water chestnut harvesting machine based on visual navigation.

Background

The position and the role of the automation control technology in the modern agriculture are more and more emphasized by people. Agricultural automation can greatly improve labor productivity and labor comfort, and the agricultural production is a necessary choice to develop towards high-efficiency and high-precision mechanization and automation. Agricultural machinery visual navigation is the important technology of agricultural machine automation, and agricultural machinery often faces multiple different service conditions in the use, and the image scope, position and the angle that need gather are often inequality, designs a set of navigation that is suitable for agricultural production's needs, and navigation needs obtain accurate information, and the navigation precision needs can satisfy the agricultural production demand.

The horseshoe harvester in the prior art is short of unmanned visual navigation driving technology, multiple persons are required to pick the horseshoe, the labor efficiency is low, the workload is large and heavy, the harvesting cost of planting farmers is increased indirectly, and the like.

Disclosure of Invention

The invention aims to provide an unmanned water chestnut harvester based on visual navigation, which solves the problems that the existing unmanned visual navigation driving technology is lacked, multiple persons are needed for picking for multiple days, the labor efficiency is low, the workload is large and heavy, and the harvesting cost of planting farmers is indirectly increased.

In order to solve the technical problems, the invention is realized by the following technical scheme: the invention relates to an unmanned horseshoe harvester based on visual navigation, which comprises:

the navigation mechanism comprises a base and a tractor, wherein the top of the base is fixedly provided with a shell and an adjusting assembly, one side of the shell is provided with a telemetering assembly and a microcontroller, and the base is arranged at the top end of the tractor;

the driving mechanism comprises a first driving shaft connected with the output end of the tractor and a transmission assembly driven by the first driving shaft;

the screening mechanism is arranged at the tail of the tractor and comprises a support frame with a frame type structure and a tire for supporting the support frame to move, the support frame is used for supporting the transmission assembly and the screening assembly, and the screening assembly is connected with the transmission assembly.

Further, the adjusting component comprises a first motor and a second motor, an output end is arranged on one side of the first motor, the first motor is installed at the top end of the base, the output end is connected with the shell, and the second motor is installed inside the shell.

Further, the telemetering assembly comprises a telemetering camera and a monitoring camera, the internet of things module and the electronic velocimeter are installed on the telemetering camera and the monitoring camera, the telemetering camera and the monitoring camera are installed at two ends of the shell, and output ends are arranged on two sides of the second motor and are connected with one side of the telemetering camera and one side of the monitoring camera respectively.

Further, first motor, second motor, thing networking module and electron tachymeter all are connected with microcontroller, microcontroller installs speech output device and storage module.

Furthermore, an electric control system for controlling operation is arranged in the tractor, and the microcontroller is connected with the electric control system.

Further, the transmission assembly comprises a second driving shaft and a transmission gear set, the first driving shaft, the second driving shaft and the transmission gear set are all installed on the supporting frame, and a gear box with a protection function is installed outside the transmission gear set.

Further, second drive shaft one end and first belt pulley connection, first belt pulley passes through driving belt and is connected with the second belt pulley, the second belt pulley is installed in support frame one side, belt guard and bearing are installed to second drive shaft one end.

Further, the screening subassembly includes chain and broken soil spade, chain one side has set firmly a plurality of screening poles, broken soil spade installs in the support frame front end, the bin is installed to screening pole tail end direction, bin internally mounted has weighing transducer, microcontroller is connected with weighing transducer.

Further, the soil breaking shovel is obliquely arranged, a gap with a certain width is formed in the surface of the soil breaking shovel, and the width of the soil breaking shovel is smaller than the distance between the two tires.

The invention has the following beneficial effects:

1. according to the invention, the microcontroller is arranged, the position coordinate and the speed information of the tractor are obtained through the automatic navigator and the reference station arranged on the microcontroller, the tractor walks according to the set path and stores cultivated crop images in real time, and the navigation precision can be improved.

2. According to the invention, through arranging the remote measuring camera and the monitoring camera, the worker processes the stored crop image information through the remote measuring camera and the monitoring camera and makes corresponding posture adjustment, so that the operation safety is improved.

3. According to the invention, the screening rods and the storage box are arranged, the spacing between the screening rods is adjustable and mainly depends on the requirement of a worker on the size of the fruit, the weight sensor arranged in the storage box sends the weight information of the fruit to the microcontroller, and the worker is prompted when the storage box has no space.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of a first-view external overall structure of an unmanned horseshoe harvester based on visual navigation according to the present invention;

FIG. 2 is a second perspective external global view of an unmanned hoof harvester based on visual navigation of the present invention;

FIG. 3 is a schematic diagram of an external side view structure of an unmanned horseshoe harvester based on visual navigation according to the present invention;

FIG. 4 is a schematic diagram of the external overall structure of a driving mechanism and a screening mechanism in the unmanned water chestnut harvester based on visual navigation according to the invention;

FIG. 5 is a schematic top view of a driving mechanism and a screening mechanism of the unmanned water chestnut harvester based on visual navigation according to the present invention;

FIG. 6 is a schematic diagram of a partially enlarged structure at A in FIG. 2 of the unmanned horse-shoe harvester based on visual navigation according to the present invention;

fig. 7 is a schematic diagram of a part of an enlarged structure at a position B in fig. 4 of the unmanned horseshoe harvester based on visual navigation.

In the drawings, the components represented by the respective reference numerals are listed below:

100. a navigation mechanism; 101. a first motor; 102. a base; 103. a housing; 104. telemetering a camera; 105. a surveillance camera; 106. a tractor; 107. a second motor; 200. a drive mechanism; 201. a first drive shaft; 202. a second drive shaft; 203. a drive gear set; 204. a first pulley; 205. a second pulley; 206. a belt guard; 207. a gear box; 208. a bearing; 300. a screening mechanism; 301. a support frame; 302. a chain; 303. a screening pole; 304. breaking the soil and shoveling; 305. a storage tank; 306. a tire.

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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "middle", "outer", "inner", "lower", "around", and the like, indicate orientations or positional relationships, are used merely to facilitate the description of the present invention and to simplify the description, and do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be taken as limiting the present invention.

Referring to fig. 1-7, the present invention is an unmanned hoof harvester based on visual navigation, comprising:

the navigation mechanism 100 comprises a base 102 and a tractor 106, wherein the top of the base 102 is fixedly provided with a shell 103 and an adjusting component, one side of the shell 103 is provided with a telemetering component and a microcontroller, and the base 102 is arranged at the top end of the tractor 106;

a drive mechanism 200 including a first drive shaft 201 connected to the output of the tractor 106 and a transmission assembly driven by the first drive shaft 201;

the screening mechanism 300 is mounted at the tail of the tractor 106 and comprises a support frame 301 in a frame structure and a tire 306 for supporting the support frame 301 to move, wherein the support frame 301 is used for supporting a transmission component and a screening component, and the screening component is connected with the transmission component.

During the use, the image information in the navigation area is obtained to the telemetering subassembly, visual sensor installs respectively at tractor 106 foremost frame, on the frame of left and right sides, visual sensor who installs in tractor 106 left and right sides frame sets up back to back, set up automatic navigator and reference station through microcontroller and obtain tractor 106's position coordinate and speed information, tractor 106 walks and stores farming crops image according to the route of setting for in real time, handle the crops image information of storing and make corresponding posture adjustment, can improve the precision of navigation, tractor 106 starts drive transmission subassembly and screening subassembly and carries out the fruit and gather simultaneously.

In order to adjust the measurement range and the measurement angle of the telemetry assembly, the adjustment assembly comprises a first motor 101 and a second motor 107, an output end is arranged on one side of the first motor 101, the first motor 101 is mounted at the top end of the base 102, the output end is connected with the housing 103, the second motor 107 is mounted inside the housing 103, the first motor 101 can control the measurement angle of the telemetry assembly in the horizontal direction, and the second motor 107 controls the vertical angle of the telemetry assembly.

Telemetering measurement subassembly includes telemetering measurement camera 104 and surveillance camera 105, thing networking module and electron tachymeter are all installed to telemetering measurement camera 104 and surveillance camera 105, telemetering measurement camera 104 and surveillance camera 105 are installed in shell 103 both ends, second motor 107 both sides all are equipped with the output and are connected with telemetering measurement camera 104 and surveillance camera 105 one side respectively, thing networking module is used for staff remote control, the vehicle speed is measured to the electron tachymeter, constantly correct.

First motor 101, second motor 107, thing networking module and electron tachymeter all are connected with microcontroller, and speech output device and storage module are installed to microcontroller, and when tractor 106 speed or angle take place unusually, speech output device sends the police dispatch newspaper to the staff through thing networking module, and the suggestion is shut down or is rectified, and storage module constantly stores the vehicle information of marcing, increases the device security.

In order to control the tractor 106 to operate through visual navigation, an electronic control system for controlling the operation is arranged in the tractor 106, and the microcontroller is connected with the electronic control system.

The transmission assembly comprises a second driving shaft 202 and a transmission gear set 203, the first driving shaft 201, the second driving shaft 202 and the transmission gear set 203 are all mounted on the supporting frame 301, a gear box 207 with a protection function is mounted outside the transmission gear set 203, and when the tractor 106 runs, an output shaft of the tractor drives the first driving shaft 201 and drives the second driving shaft 202 to run through the transmission gear set 203.

One end of the second driving shaft 202 is connected with the first belt pulley 204, the first belt pulley 204 is connected with the second belt pulley 205 through a transmission belt, the second belt pulley 205 is installed on one side of the supporting frame 301, one end of the second driving shaft 202 is provided with a belt shield 206 and a bearing 208, and the belt shield 206 and the bearing 208 are used for protecting the device and ensuring the stability of the device, so as to prevent soil from entering.

Screening subassembly includes chain 302 and broken soil shovel 304, chain 302 one side has set firmly a plurality of screening poles 303, broken soil shovel 304 is installed in support frame 301 front end, bin 305 is installed to screening pole 303 tail end direction, bin 305 internally mounted has weight sensor, microcontroller and weight sensor are connected, screening pole 303 interval is adjustable, mainly depend on the staff to the fruit size requirement, weight sensor sends fruit weight information to microcontroller, suggestion staff when bin 305 does not have the space.

In order to facilitate fruit harvesting, the soil breaking shovel 304 is obliquely arranged, a gap with a certain width is formed in the surface of the soil breaking shovel 304, and the width of the soil breaking shovel 304 is smaller than the distance between the two tires 306.

The working principle of the invention is as follows:

referring to fig. 1-7, the present invention is an unmanned hoof harvester based on visual navigation, and the using method thereof is as follows: when the remote-measuring assembly is used, the image information of a navigation area is acquired by the remote-measuring assembly, the vision sensors are respectively installed on the foremost rack and the racks on the left side and the right side of the tractor 106, the vision sensors installed on the racks on the left side and the right side of the tractor 106 are arranged in a reverse manner, the automatic navigator and the reference station are arranged by the microcontroller to acquire the position coordinate and the speed information of the tractor 106, the tractor 106 walks according to a set path and stores cultivated crop images in real time, a worker processes the stored crop image information through the remote-measuring camera 104 and the monitoring camera 105 and makes corresponding posture adjustment, the navigation precision can be improved, when the tractor 106 runs, the output shaft of the tractor drives the first driving shaft 201 and drives the second driving shaft 202 to run through the transmission gear set 203, at the moment, the first belt pulley 204 drives the second belt pulley 205 to run the chain 302 through a belt, the fruit gets into bin 305 through the operation of screening pole 303, and the built-in weight sensor of bin 305 sends fruit weight information to microcontroller, and the suggestion staff when bin 305 does not have the space, equipment possess good mobility and flexibility security, can improve the precision of navigation positioning and reduce the human consumption simultaneously, have improved work efficiency greatly.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides an unmanned hoof harvester based on visual navigation which characterized in that: comprises that

The navigation mechanism (100) comprises a base (102) and a tractor (106), wherein the top of the base (102) is fixedly provided with a shell (103) and an adjusting component, one side of the shell (103) is provided with a telemetering component and a microcontroller, and the base (102) is installed at the top end of the tractor (106);

a drive mechanism (200) comprising a first drive shaft (201) connected to the output of the tractor (106) and a transmission assembly driven by the first drive shaft (201);

the screening mechanism (300) is arranged at the tail of the tractor (106) and comprises a support frame (301) with a frame structure and a tire (306) for supporting the support frame (301) to move, the support frame (301) is used for supporting a transmission assembly and a screening assembly, and the screening assembly is connected with the transmission assembly.

2. The unmanned hoof harvester based on visual navigation of claim 1, wherein: the adjusting component comprises a first motor (101) and a second motor (107), an output end is arranged on one side of the first motor (101), the first motor (101) is installed at the top end of the base (102), the output end is connected with the shell (103), and the second motor (107) is installed inside the shell (103).

3. The unmanned hoof harvester based on visual navigation of claim 2, wherein: telemetering measurement subassembly includes telemetering measurement camera (104) and surveillance camera (105), thing networking module and electron tachymeter are all installed to telemetering measurement camera (104) and surveillance camera (105), install in shell (103) both ends telemetering measurement camera (104) and surveillance camera (105), second motor (107) both sides all are equipped with the output and are connected with telemetering measurement camera (104) and surveillance camera (105) one side respectively.

4. A visual navigation based unmanned horseshoe harvester according to claim 3, characterized in that: first motor (101), second motor (107), thing networking module and electron tachymeter all are connected with microcontroller, microcontroller installs speech output device and storage module.

5. A visual navigation based unmanned horseshoe harvester according to claim 4, characterized in that: an electric control system for controlling operation is arranged in the tractor (106), and the microcontroller is connected with the electric control system.

6. The unmanned hoof harvester based on visual navigation of claim 1, wherein: the transmission assembly comprises a second driving shaft (202) and a transmission gear set (203), the first driving shaft (201), the second driving shaft (202) and the transmission gear set (203) are all installed on the supporting frame (301), and a gear box (207) with a protection function is installed outside the transmission gear set (203).

7. A visual navigation based unmanned horseshoe harvester according to claim 6, characterized in that: second drive shaft (202) one end is connected with first belt pulley (204), first belt pulley (204) are connected with second belt pulley (205) through driving belt, second belt pulley (205) are installed in support frame (301) one side, belt guard (206) and bearing (208) are installed to second drive shaft (202) one end.

8. The unmanned hoof harvester based on visual navigation of claim 1, wherein: screening subassembly includes chain (302) and broken soil shovel (304), chain (302) one side has set firmly a plurality of screening poles (303), broken soil shovel (304) are installed in support frame (301) front end, bin (305) are installed to screening pole (303) tail end direction, bin (305) internally mounted has weighing transducer, microcontroller is connected with weighing transducer.

9. The unmanned hoof harvester based on visual navigation of claim 8, wherein: the soil breaking shovel (304) is obliquely arranged, a gap with a certain width is formed in the surface of the soil breaking shovel (304), and the width of the soil breaking shovel (304) is smaller than the distance between the two tires (306).