CN114793821B

CN114793821B - Full-flow desert tree planting robot

Info

Publication number: CN114793821B
Application number: CN202210572100.6A
Authority: CN
Inventors: 邹志康; 张植浩; 陈世豪; 梁舒媛; 张紫文; 杨辰
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-05-24
Filing date: 2022-05-24
Publication date: 2023-05-09
Anticipated expiration: 2042-05-24
Also published as: CN114793821A

Abstract

The full-process desert tree planting robot comprises a movable chassis, a planting mechanism, a soil-digging and watering mechanism, a tree seedling sorting mechanism, a positive seedling receiving groove, a positive seedling barrel and a water tank, wherein the movable chassis is used as the chassis of the robot, the planting mechanism is used for planting tree seedlings into a tree pit, a part capable of watering is arranged on the soil-digging and watering mechanism and used for digging the pit and providing water, the vertical position of the tree seedling sorting mechanism is higher than that of the planting mechanism and used for sorting planted tree seedlings, the positive seedling receiving groove is opposite to the bottom of the tree seedling sorting mechanism, the vertical position of the positive seedling receiving groove is positioned between the planting mechanism and the tree seedling sorting mechanism and can move, the vertical position of the positive seedling barrel is positioned between the planting mechanism and the positive seedling receiving groove, and the water tank can be used as a water source for providing water for the soil-digging and watering mechanism; by integrating a plurality of steps of tree planting onto one device, the cost and time are greatly saved, the planting efficiency is improved, and six-bearing clamping filling and seedling supporting can be realized.

Description

Full-flow desert tree planting robot

Technical Field

The invention relates to the technical field of robots, in particular to a full-flow desert tree planting robot.

Background

The tree planting apparatus existing in the market at present has the characteristic of regionalization, is applicable to the tree planting apparatus of different scenes and is various, but some ubiquitous problems are: semi-automatic tree planting is mainly performed, and the whole process of tree planting cannot be performed (the whole process of tree planting is not integrated and concentrated on a certain tree planting device). While not only are the relevant tree planting instruments/robot species scarce for tree planting equipment suitable for use in deserts, there are other problems with respect to tree planting equipment suitable for use in other terrains: the survival rate of planting is low, and the planting efficiency is low.

Disclosure of Invention

In view of the above, the invention aims to provide a full-flow desert tree planting robot, which solves the problems of low survival rate and low tree planting efficiency of desert tree planting through arranging a reasonable mechanical structure and a corresponding working flow, can greatly lighten the workload of tree planting personnel and is beneficial to promoting the prevention and the treatment of soil desertification.

In order to solve at least one technical problem, the technical scheme provided by the invention is that,

the utility model provides a full flow desert tree planting robot, which comprises a mobile chassis, be provided with track and power supply, as the chassis of robot, plant the mechanism, set up on the mobile chassis, be used for implanting the sapling in the tree hole, the mechanism of watering digs, set up on the mobile chassis, be provided with the part that can water on it, be used for digging the hole and providing moisture, the sapling letter sorting mechanism sets up on the mobile chassis, and vertical position is higher than planting the mechanism, be used for planting the sapling and arrange in order, the seedling connects the groove, set up on the mobile chassis, just to sapling letter sorting mechanism bottom, and its vertical position is located between planting mechanism and the sapling letter sorting mechanism, and can move about, the seedling barrel sets up on the mobile chassis, its vertical position is located between planting mechanism and the seedling connects the groove, the water tank sets up on the mobile chassis, can provide moisture as the water source to digging the mechanism of watering.

One embodiment of the invention is that a support frame is arranged above the mobile chassis.

The planting mechanism comprises a lifting driving structure and a supporting base, wherein the lifting driving structure is respectively connected with the supporting frame and the supporting base and can drive the supporting base to move up and down, the supporting base is a circular plate body with a hole in the center, a gear motor is arranged on the plate edge, and strip-shaped through holes are formed in the plate body at equal intervals in the radial direction around the hole in the center.

The further implementation mode of the invention is that the number of the strip-shaped through holes on the supporting base is 2-6 groups.

The upper surface of the supporting base is respectively provided with an ultrathin large bearing and a fixed ring, a cover plate and a hexagonal star cam, wherein the centers of the fixed ring, the cover plate and the hexagonal star cam are provided with holes, the inner diameters of the holes in the centers of the fixed ring, the cover plate and the hexagonal star cam are not smaller than the inner diameter of the holes in the center of the supporting base, and the ultrathin large bearing is coaxially arranged around the opening in the center of the supporting base; the outer edge of the hexagonal star cam is provided with a gear, the center of the gear is provided with a hole in a sleeved mode on the ultrathin large bearing, so that the hexagonal star cam can rotate around the ultrathin large bearing, the hexagonal star cam is also provided with a hole in a regular hexagonal star shape, the hole coaxially surrounds the center of the hole, and a gear groove on the outer edge of the hexagonal star cam is connected with the output end of the gear motor on the plate edge of the support base; the fixed ring and the cover plate are sequentially pressed above the hexagonal cam from top to bottom, so that the hexagonal cam is prevented from falling off from the supporting base.

According to the invention, the sliding blocks and the soil pushing blocks are sequentially arranged below the supporting base from top to bottom, wherein the number of the sliding blocks is in one-to-one correspondence with the number of the strip-shaped through holes on the supporting base, and the sliding blocks are provided with the protrusions, and the protrusions correspondingly penetrate through the strip-shaped through holes and are clamped into the regular hexagonal star-shaped holes on the hexagonal star-shaped cam, so that the sliding blocks can reciprocate along the strip-shaped through holes when the hexagonal star-shaped cam rotates; the bulldozing block corresponds fixed setting in the sliding block below, and when the distance between adjacent sliding block motion was minimum, the soil pushing block can misplace and constitute the coaxial round hole that the diameter was less than the support base center department trompil.

The invention further provides a soil-digging and watering mechanism which is arranged on a supporting frame and comprises a sliding track, a water injector and a soil-digging drill rod, wherein the soil-digging drill rod is provided with a downward drill bit with continuous arc-shaped convex teeth, and a liquid flow passage is arranged in the soil-digging drill rod and extends to the tip of the drill bit; the water injector is arranged above the soil-digging drill rod, a shaft rod is arranged in the shell of the water injector through a bearing sleeve, a water outlet joint connected below the shaft rod is connected into a liquid flow passage of the soil-digging drill rod, a water guide hole is formed in the shaft rod, a transmission joint above the shaft rod is connected with a planetary gear motor, so that the soil-digging drill rod can be driven to rotate, and a water inlet joint capable of being connected with a water source is arranged on the water injector shell, so that the water source can be injected through the tip of the soil-digging drill rod under the condition of not obstructing the rotation of the soil-digging drill rod; the water injector, the soil digging drill rod and the planetary gear motor are all arranged on the sliding track and can move up and down along the sliding track through motor driving.

The seedling sorting mechanism comprises a storage Miao Dou and a sorting grooved wheel fixed on a rotating shaft, wherein at least part of the seedling storage hopper is a chute body, the bottom of the seedling storage hopper is a strip-shaped opening, the sorting grooved wheel is fixed on the rotating shaft below the seedling storage hopper, and the rotating shaft is driven by a motor and can drive the sorting grooved wheel to synchronously rotate.

The invention further provides a seedling receiving groove which is arranged below the sorting grooved wheel, is driven by a motor and a supporting rod arranged on a supporting frame, can be switched between a horizontal state and a vertical state, receives seedlings falling from the sorting grooved wheel in the horizontal state, and sends the seedlings into a seedling receiving cylinder in the vertical state.

The invention further provides a seedling correcting barrel which is vertically arranged above the supporting base, is opposite to the center of the supporting base, has the same inner diameter as that of an opening at the center of the supporting base, is vertically provided with a slot in the direction of the barrel opposite to the seedling correcting slot, can allow the seedling correcting slot to extend into the seedling correcting barrel and keep a vertical state, and is also provided with a push rod stepping motor on the side surface of the seedling correcting barrel, wherein the push rod stepping motor can reciprocate towards the seedling correcting barrel.

The invention has the technical effects that:

1. multiple steps of tree planting are integrated on one device, so that cost and time are greatly saved, planting efficiency is improved, six-bearing clamping filling and seedling supporting can be realized, sand and soil drilled by a drill bit can be basically refilled into a sand pit, and meanwhile, tree seedlings can be pushed to a central position.

2. The auger type drill bit is provided with small holes, so that watering can be realized during pit digging, and the problem that sand pit collapses after pit digging caused by loose sand soil is avoided.

3. Sapling sorting mechanism simple structure, sorting efficiency is high, and installs the push rod step motor of certain flexible frequency on vertical track, through the round trip movement of push rod certain frequency, can guarantee that the sapling can discrete formula whereabouts, lighten the harm that the sapling directly falls and bring, also can guarantee that the sapling can throw in to the sand pit central point more accurately.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an overall structure of a tree planting robot according to the present invention;

FIG. 2 is an exploded view of the support base and its associated components of the planting mechanism of the present disclosure;

FIG. 3 is a schematic view of the structure of the planting mechanism according to the present invention after the support base is moved up to secure the ring and cover plate;

FIG. 4 is a schematic view of the structure of the planting mechanism of the present invention with the retaining ring, cover plate and hex cam removed from the support base;

FIG. 5 is a front view of a hexagram cam of the present invention;

FIG. 6 is a schematic view showing a combined construction of a slider and a bulldozer block according to the present invention;

FIG. 7 is a schematic view of the construction of the soil pushing block of the present invention;

FIG. 8 is a schematic view of the structure of the planting mechanism of the present invention with the bottom bulldozer blade of the support bed being dislocated and closed;

FIG. 9 is a schematic view of the structure of the planting mechanism of the present invention with the bottom soil pushing block of the support base open;

FIG. 10 is a schematic view of the construction of the soil-digging and watering mechanism of the present invention;

FIG. 11 is a cross-sectional view of the water injector of the present invention;

FIG. 12 is a schematic view of the structure of the sapling sorting mechanism of the present invention;

FIG. 13 is a schematic view showing the internal structure of a seedling storage hopper in the seedling sorting mechanism of the invention;

FIG. 14 is a schematic view of the structure of the mobile chassis of the present invention;

FIG. 15 is an internal cross-sectional view of the positive seedling cartridge of the present invention;

FIG. 16 is a control schematic diagram of a singlechip according to the invention;

in the figure, the device comprises a 1-planting mechanism, a 2-soil-digging and watering mechanism, a 3-sapling sorting mechanism, a 4-positive seedling receiving groove, a 5-positive seedling barrel, a 6-moving chassis, a 7-water tank, a 101-fixed ring, a 102-cover plate, a 103-hexagonal cam, a 104-ultrathin large bearing, a 105-supporting base, a 106-sliding block, a 107-soil-pushing block, a 201-sliding track, a 202-injector, a 203-soil-digging drill rod, a 2021-water inlet joint, a 2022-water guide hole, a 2023-transmission joint, a 2024-water outlet joint, a 301-sorting sheave and a 501-stepping push rod motor.

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.

Examples:

referring to fig. 1, the full-flow desert tree planting robot provided by the invention is characterized in that a supporting frame is arranged above a movable chassis 6, and the movable chassis comprises a crawler belt and a power source which are used as the chassis of the robot, so that the robot can conveniently and normally act under the sand condition.

The planting mechanism 1 is arranged on the movable chassis 6 and is used for planting saplings into tree pits, and mainly comprises a lifting driving structure and a supporting base 105, wherein the lifting driving structure is connected with a supporting frame, and the supporting base 105 can be driven by a motor arranged on the lifting driving structure to move in the vertical direction so as to adjust and obtain a proper tree planting position.

Referring to fig. 2, the supporting base 105 is a circular plate body with an opening in the center, a speed reducing motor is arranged at the plate edge, strip-shaped through holes are radially and equally arranged around the central opening of the plate body, the number of the strip-shaped through holes is 2-6 groups, and it can be seen that the main function of the strip-shaped through holes is to provide a movement space for the protruding part of the sliding block 106, limit the movement of the sliding block 106, and further control the movement of the soil pushing block 107;

referring to fig. 8 and 9, it can be seen that the movement mode of the bulldozer block 107 circulates between the formation of the dislocation circle and the opening, and performs the bulldozer compaction of the sapling in the middle of the bulldozer block 107, so that at least more than 2 groups of bulldozer blocks 107 are required to implement the bulldozer compaction function, in this embodiment, the number of the strip-shaped through holes is 6, that is, after the sapling is planted in the planting pit, 6 groups of bulldozer blocks 107 are used for pushing the surrounding soil to the sapling compaction, and the purpose is also to meet the movement requirement of the hexagram cam 103.

Referring to fig. 2 to 5, the upper surface of the supporting base 105 is respectively provided with an ultra-thin large bearing 104, a fixing ring 101, a cover plate 102 and a hexagonal cam 103, wherein the centers of the fixing ring 101, the cover plate 102 and the hexagonal cam 103 are provided with holes, the inner diameter of the central holes of the supporting base 105 is not smaller than that of the central holes of the supporting base 105, the supporting base 105 is of a fixed structure, when tree planting is performed, seedlings are thrown through the central holes of the supporting base 105, and the seedlings can be smoothly planted into the tree planting pits through the supporting base 105;

the ultra-thin large bearing 104 is coaxially arranged around the opening in the center of the supporting base 105 and can be used as a rotating fulcrum of the hexagonal cam 103, the outer edge of the hexagonal cam 103 is provided with a gear, and the center of the gear is sleeved on the ultra-thin large bearing 104, so that the hexagonal cam 103 can rotate around the ultra-thin large bearing 104, a gear groove in the outer edge of the hexagonal cam 103 is connected with the output end of a gear motor on the plate edge of the supporting base 105, and the gear motor on the plate edge of the supporting base 105 can drive the hexagonal cam 103 to coaxially rotate around the supporting base 105;

the fixing ring 101 and the cover plate 102 are sequentially pressed above the hexagonal cam 103 from top to bottom, so that the hexagonal cam 103 is prevented from falling off from the supporting base 105, meanwhile, the hexagonal cam 103 can be allowed to rotate, the hexagonal cam 103 is further provided with a regular hexagonal star-shaped opening coaxially surrounding the central opening, and it is easy to understand that the regular hexagonal star-shaped opening correspondingly rotates when the hexagonal cam 103 rotates.

Referring to fig. 3, fig. 4, and fig. 6, a sliding block 106 and a bulldozer block 107 are sequentially disposed below the supporting base 105 from top to bottom, wherein the number of the sliding blocks 106 is in one-to-one correspondence with the number of strip-shaped through holes on the supporting base 105, and protrusions are disposed on the sliding blocks 106, and correspondingly pass through the strip-shaped through holes and are blocked in the positive hexagonal star-shaped holes on the hexagonal cam 103, as the hexagonal cam 103 can move around a shaft under the drive of a gear motor on the plate side of the supporting base 105, when the hexagonal cam 103 rotates, the sliding blocks 106 are blocked on the hexagonal cam 103 and in the strip-shaped through holes of the supporting base 105, the trend of circumferential rotation of the sliding blocks 106 along the gaps of the positive hexagonal holes is counteracted by the strip-shaped through holes of the supporting base 105, and meanwhile, as the positive hexagonal is regarded as the intersection point between six groups of the same angles, when the sliding blocks 106 are driven by the positive hexagonal holes, no trend exists in the circumferential motion, and therefore, the hexagonal cam 103 drives the sliding blocks 106 to move along the radial direction, and the sliding blocks 106 are driven by the positive hexagonal holes to move along the radial direction, and the sliding blocks 107 are synchronously disposed along the radial direction;

referring to fig. 7, the soil pushing blocks 107 have an arc section, and when the plurality of groups of soil pushing blocks 107 move radially centripetally, the soil pushing blocks 107 can form a circular structure, when the distance between the adjacent sliding blocks 106 moves to the minimum, the soil pushing blocks 107 in this embodiment can be dislocated to form a coaxial circular hole with a diameter smaller than that of the opening at the center of the supporting base 105, after a certain action frequency is set, the soil pushing blocks 107 can allow seedlings to fall into the tree planting soil pits when being opened, and then the plurality of groups of soil pushing blocks 107 move radially centripetally can gather the soil around the tree planting soil pits to the middle of the tree planting soil pits, thereby compacting the planted seedlings.

Referring to fig. 10 and 11, the soil-boring and watering mechanism 2 is also arranged on the support frame, and is provided with a member capable of watering, and is used for boring pits and providing water, and comprises a sliding rail 201, a water injector 202 and a soil-boring drill rod 203, wherein the soil-boring drill rod 203 is provided with a downward drill bit with continuous arc-shaped convex teeth, so that the tree-boring pit is conveniently and rotatably drilled, and a liquid flow passage is arranged inside the drill bit and extends to a drill bit tip (not shown in the figure) to allow the liquid-boring operation to be carried out;

the water injector 202 is arranged above the soil digging drill rod 203, a shaft rod is arranged in the shell of the water injector 202 through a bearing sleeve, a water outlet joint 2024 connected below the shaft rod is connected into a liquid flow channel of the soil digging drill rod 203, a water guide hole 2022 is arranged on the shaft rod, a transmission joint 2023 above the shaft rod is connected with a planetary gear motor so as to drive the soil digging drill rod 203 to rotate, a water inlet joint 2021 connected with a water source is arranged on the shell of the water injector 202, the shell of the water injector 202 is arranged on the inner shaft rod through the bearing sleeve, the inner shaft rod can be driven by the planetary gear motor to provide soil digging power for the soil digging drill rod 203, the water inlet joint 2021 on the shell is not influenced by the planetary gear motor, stable water supply is realized, and water can enter the rotating drill rod 203 through the water guide hole 2022, so that the water source can be injected through the tip of the soil digging drill rod 203 under the condition that the rotation of the soil digging drill rod 203 is not hindered, the water injection operation can be performed after the soil digging drill rod 203 digs out of a tree planting pit, the soil condition in the tree planting pit can be ensured, the collapse and the tree planting effect is avoided; meanwhile, the water injector 202, the soil-digging drill pipe 203 and the planetary gear motor are all disposed on the sliding rail 201, and can be moved up and down along the sliding rail 201 by motor driving, and the motor driving the movement is known in the art, and the specific structure and composition thereof are not particularly limited herein.

The water tank 7 also sets up on the mobile chassis 6, can be as the water source to the mechanism 2 that waters that digs earth, if adopt the design that has the injection pump etc. that integrate, belong to the conventional design in this field, do not make in detail here, because robot mainly used desert lack of water environment, the water tank 7 from taking can effectively satisfy the water demand of robot, it is more convenient for external water source.

Referring to fig. 12 and 13, the vertical position of the sapling sorting mechanism 3 is higher than that of the planting mechanism 1, the sapling sorting mechanism 3 comprises a storage Miao Dou and a sorting grooved wheel 301 fixed on a rotating shaft, at least one part of the storage hopper is a chute body, the bottom of the storage hopper is provided with a strip-shaped opening, the sorting grooved wheel 301 is fixed on the rotating shaft below the storage hopper, a rotating shaft is driven by a motor and can drive the sorting grooved wheel 301 to synchronously rotate, the sorting grooved wheel 301 is of a circular structure with a plurality of groups of gaps, saplings matched with the size of the opening at the bottom are placed in an overlapping mode in the storage Miao Dou in a non-planting state, and the saplings cannot fall under the condition that the saplings are supported by the circular edges of the sorting grooved wheel in the opening of the storage hopper, when the saplings need to be planted, the sorting grooved wheel 301 can rotate to the corresponding saplings at the gaps, the saplings fall into the gaps, the sorting grooved wheel 301 can continue to rotate, the saplings in the storage hopper are supported by the grooved wheel 301, the saplings in turn, and the saplings in the gaps of the sorting grooved wheel 301 can be stopped, and the saplings in the sorting grooved wheel 301 can be thrown under the sorting mechanism 3, and the condition, and the sapling can be planted under the rotating shaft under the condition 4.

Referring to fig. 1, the positive seedling receiving slot 4 provided on the movable chassis 6 is disposed below the sorting sheave 301 and is opposite to the seedling throwing position of the sorting sheave 301, the vertical position thereof is located between the planting mechanism 1 and the seedling sorting mechanism 3, and is driven by a motor and a support rod provided on a support frame, so that the vertical state and the horizontal state can be switched, and the specific motor and support rod arrangement mode belongs to the prior art, any structural design in the art that enables the positive seedling receiving slot 4 to be switched between the horizontal state and the vertical state can be applied to the invention, and no special limitation is made herein, therefore, the positive seedling receiving slot 4 in the horizontal state can receive seedlings falling from the sorting sheave 301, when the seedlings are driven by the motor and the support rod to change the postures, the seedlings are sent into the subsequent positive seedling barrel 5 in the vertical state, and the change frequency of the postures can be correspondingly set according to the planting frequency.

The vertical position of the positive seedling receiving groove 4 is located between the planting mechanism 1 and the positive seedling receiving groove 4, see fig. 1, the specific position of the positive seedling receiving groove 5 is located above the supporting base 105 in the planting mechanism 1, the inner diameter of the positive seedling receiving groove is opposite to the central opening of the supporting base 105, the positive seedling receiving groove is the same as the inner diameter of an opening in the center of the supporting base 105, a slot is vertically formed in the direction of the cylinder body opposite to the positive seedling receiving groove 4, the positive seedling receiving groove 4 can be allowed to extend into the positive seedling cylinder 5 and keep a vertical state, and when the posture of the positive seedling receiving groove 4 bearing a tree seedling changes into the vertical state, the tree seedling is partially extended into the positive seedling cylinder 5, so that the tree seedling falls from the positive seedling receiving groove 4 and vertically falls down along the positive seedling cylinder 5 to pass through the planting mechanism 1;

referring to fig. 15, a push rod stepping motor 501 capable of reciprocating the push rod of the positive seedling barrel 5 is further arranged on the side surface of the positive seedling barrel 5, when the positive seedling receiving groove 4 vertically inputs seedlings into the positive seedling barrel 5 through a support rod, a driving motor and the like, the push rod stepping motor 501 also simultaneously reciprocates the push rod of the positive seedling receiving groove, the push rod is directed to the inner wall of the positive seedling barrel 5 opposite to the push rod stepping motor 501, the movement range can be set according to the average width of the seedlings, so that the falling state of the seedlings can be switched between the mode that the seedlings are clamped by the push rod and the inner wall on the opposite side and the seedlings fall freely, finally, the seedlings are in a discrete mode, the damage caused by the direct falling of the seedlings is reduced, and the seedlings can be ensured to be accurately put into the center of the tree planting pits.

In addition, in one embodiment of the present invention, the planting mechanism 1, the soil-digging and watering mechanism 2, the sapling sorting mechanism 3, the sapling receiving slot 4, the sapling barrel 5, the moving chassis 6, the pump body, the driving mechanism and the like all involved in the water tank 7 can be cooperatively controlled by arranging a single-chip microcomputer on the moving chassis 6.

In control, a common singlechip control system in the field is adopted, for example, the singlechip adopts level control relay on-off to control on-off of a 24V power supply to a direct current gear motor, so as to control the switch of a drill bit, and the singlechip leads out two signal wires (direction signals and pulse signals) to be shared by all stepping motor drivers.

In the control of the driving motor, a direction signal wire led out by the singlechip is directly connected with a motor driver to control the direction of the motor, and the PWM signal is converted into an analog voltage signal of 0.6V-4.3V and transmitted to the driver to control the rotating speed of the driving motor.

On the path, the singlechip acquires longitude and latitude (global coordinates) from the remote positioning module through UART communication, and performs global path planning by traversing each node needing tree planting through adopting an optimization ant colony algorithm in combination with the manually set tree planting range.

Specifically, the remote positioning module can be a dual-frequency GPS satellite positioning module, is integrally arranged on the robot, can receive signals of GPS, BDS, GLONASS, GALILEO four frequency bands, has the precision of preferably within 1 meter in dual-frequency positioning, and sends data such as elevation, speed, longitude and latitude (global coordinates), accurate time and the like of the robot to the singlechip through UART communication.

Meanwhile, a gyroscope module, such as an ICM20602 gyroscope module, can be integrally arranged on the tree planting robot, can return to a pitch angle, a course angle and a rolling angle, and is combined with a PID algorithm to perform differential control on driving wheels in a mobile chassis so as to realize the functions of straight running, accurate turning, accurate speed control and the like of the robot.

In addition, can also integrate and set up the ultrasonic sensor that contains transmitter and receiver on the tree planting robot, ultrasonic sensor sets up at the direction of motion end of robot, and the singlechip can be according to the frequency that sets up in advance to the transmitter transmission pulse, and the transmitter will send ultrasonic signal, and when the receiver received ultrasonic signal, the receiver will output a pulse to the singlechip, through the time difference of record from the transmission pulse to the receipt pulse, combines the sound velocity to judge and calculate whether there is the barrier in the direction of motion of robot.

As can be seen in conjunction with fig. 16, the control, communication manner and optimization ant colony algorithm used by the singlechip for each motor, pump body, driving mechanism and positioning mechanism belong to the prior art, any prior art in the art capable of realizing the required functions in the present invention can be applied in the present invention, and specific setting manners are not repeated here.

Therefore, the desert tree planting robot of the invention has the following specific working principles:

the robot is controlled by the singlechip, obtains longitude and latitude (global coordinates) through UART communication, combines manually-set tree planting ranges, traverses each node needing tree planting by adopting an optimization ant colony algorithm, plans a tree planting path, when the robot runs to a point on the tree planting path, drives power sources such as a corresponding planetary gear motor and the like by the singlechip firstly, so that a soil digging drill rod 203 in a soil digging and watering mechanism 2 digs out a needed tree planting pit, and controls a water pump in a water tank 7 to inject water into the soil digging drill rod 203 to moisten the tree planting pit, thereby avoiding pit collapse after pit digging caused by loose sand;

after the tree planting pit is dug, the robot moves to the position where the tree planting mechanism 1 is right opposite to the tree planting pit, the single chip microcomputer controls the motor to drive the rotating shaft below the seedling storage hopper to rotate, so that the upper sorting grooved pulley 301 lowers the tree seedlings into the tree planting pit according to the tree planting frequency, the single chip microcomputer correspondingly controls and drives the supporting rods connected with the tree planting groove 4, the tree seedlings placed in the tree planting pit are vertically thrown into the tree planting cylinder 5 by the tree planting groove 4, the tree seedlings are discretely separated and fall down in the tree planting cylinder 5, at the moment, the sliding block 106 and the bulldozing block 107 are in an open state, according to the set frequency, the single chip microcomputer controls the lifting driving mechanism in the tree planting mechanism 1 to drive the relevant components on the supporting base 105 to perform the working position in the tree planting pit, after the tree seedlings fall into the tree planting pit completely for a certain time, namely, the speed reducing motor on the plate edge of the supporting base 105 is controlled by the single chip microcomputer to drive the hexagonal star cam 103 to rotate, finally, the pushing block 107 is driven to be misplaced and compact the tree seedlings in the tree planting pit, and the tree planting pit is ensured to be located at the center of the tree planting pit.

After the sapling compaction, the lifting driving mechanism drives the supporting base 105 to reset upwards, the sapling at the next position is planted, the whole process can be controlled by the singlechip according to planting requirements, and the intelligent and integrated tree planting is truly realized.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and should not be construed as limiting the present invention.

The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present invention disclosed in the embodiments of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A full-flow desert tree planting robot is characterized by comprising,

the mobile chassis (6) is provided with a crawler belt and a power source, and is used as a chassis of the robot, and a supporting frame is arranged above the mobile chassis (6);

the planting mechanism (1) is arranged on the movable chassis (6) and used for planting saplings into tree pits, wherein the planting mechanism (1) comprises a lifting driving structure and a supporting base (105), the lifting driving structure is respectively connected with the supporting frame and the supporting base (105) and can drive the supporting base (105) to move up and down, the supporting base (105) is a circular plate body with an opening at the center, a reducing motor is arranged at the plate edge, strip-shaped through holes are formed in the plate body at equal intervals in the radial direction around the opening at the center, and the number of the strip-shaped through holes in the supporting base (105) is 2-6 groups;

the upper surface of the supporting base (105) is respectively provided with an ultra-thin large bearing (104) and a fixed ring (101) with holes in the center, a cover plate (102) and a hexagonal star cam (103), wherein the inner diameter of the holes in the center of the fixed ring (101), the cover plate (102) and the hexagonal star cam (103) is not smaller than the inner diameter of the holes in the center of the supporting base (105), and the ultra-thin large bearing (104) is coaxially arranged around the opening in the center of the supporting base (105); the outer edge of the hexagonal star cam (103) is provided with a gear, and a central opening is sleeved on the ultrathin large bearing (104), so that the hexagonal star cam (103) can rotate around the ultrathin large bearing (104), the hexagonal star cam (103) is also provided with a positive hexagonal star-shaped opening coaxially surrounding the central opening, and a gear groove at the outer edge of the hexagonal star cam (103) is connected with the output end of the gear motor at the plate edge of the supporting base (105); the fixed ring (101) and the cover plate (102) are sequentially pressed above the hexagonal cam (103) from top to bottom to prevent the hexagonal cam (103) from falling off from the supporting base (105);

the lower part of the supporting base (105) is sequentially provided with sliding blocks (106) and bulldozing blocks (107) from top to bottom, wherein the number of the sliding blocks (106) corresponds to the number of strip-shaped through holes in the supporting base (105) one by one, the sliding blocks (106) are provided with bulges, and the bulges correspondingly penetrate through the strip-shaped through holes and are clamped into regular hexagonal star-shaped holes in the hexagonal star-shaped cam (103), so that the sliding blocks (106) can reciprocate along the strip-shaped through holes when the hexagonal star-shaped cam (103) rotates; the soil pushing blocks (107) are correspondingly and fixedly arranged below the sliding blocks (106), and when the distance between the adjacent sliding blocks (106) is minimum, the soil pushing blocks (107) can be staggered to form a coaxial round hole with the diameter smaller than that of the hole formed in the center of the supporting base (105);

the soil digging and watering mechanism (2) is arranged on the movable chassis (6), and is provided with a part capable of watering for digging pits and providing water;

the sapling sorting mechanism (3) is arranged on the movable chassis (6) and is higher than the planting mechanism (1) in vertical position and is used for sorting the planted saplings;

the positive seedling receiving groove (4) is arranged on the movable chassis (6) and is opposite to the bottom of the sapling sorting mechanism (3), and the vertical position of the positive seedling receiving groove is positioned between the planting mechanism (1) and the sapling sorting mechanism (3) and can move;

the seedling correcting cylinder (5) is arranged on the movable chassis (6) and the vertical position of the seedling correcting cylinder is positioned between the planting mechanism (1) and the seedling correcting receiving groove (4);

the water tank (7) is arranged on the movable chassis (6) and can be used as a water source to provide water for the soil digging and watering mechanism (2).

2. The full-flow desert tree planting robot of claim 1 and further comprising: the soil-digging and watering mechanism (2) is arranged on the supporting frame and comprises a sliding track (201), a water injector (202) and a soil-digging drill rod (203), wherein the soil-digging drill rod (203) is provided with a downward drill bit with continuous arc-shaped convex teeth, and a liquid flow passage is arranged in the soil-digging drill rod and extends to the tip of the drill bit; the water injector (202) is arranged above the soil-excavating drill rod (203), a shaft rod is arranged in the shell of the water injector (202) through a bearing sleeve, a water outlet joint (2024) connected below the shaft rod is connected into a liquid flow channel of the soil-excavating drill rod (203), a water guide hole (2022) is formed in the shaft rod, a transmission joint (2023) above the shaft rod is connected with a planetary gear motor, so that the soil-excavating drill rod (203) can be driven to rotate, a water inlet joint (2021) capable of being connected with a water source is arranged on the shell of the water injector (202), and the water source can be injected through the tip of the soil-excavating drill rod (203) under the condition that the rotation of the soil-excavating drill rod (203) is not hindered; the water injector (202), the soil digging drill rod (203) and the planetary gear motor are arranged on the sliding track (201) and can move up and down along the sliding track (201) as a whole through motor driving.

3. The full-flow desert tree planting robot of claim 1 and further comprising: the sapling sorting mechanism (3) comprises a storage Miao Dou and a sorting grooved wheel (301) fixed on a rotating shaft, at least part of the seedling storage hopper is a chute body, the bottom of the seedling storage hopper is a strip-shaped opening, the sorting grooved wheel (301) is fixed on the rotating shaft below the seedling storage hopper, and the rotating shaft is driven by a motor and can drive the sorting grooved wheel (301) to synchronously rotate.

4. A full-flow desert tree planting robot according to claim 3 and wherein: the positive seedling receiving groove (4) is arranged below the sorting grooved wheel (301), is driven by a motor and a supporting rod arranged on the supporting frame, can be switched between a horizontal state and a vertical state, receives seedlings falling from the sorting grooved wheel (301) in the horizontal state, and sends the seedlings into the positive seedling barrel (5) in the vertical state.

5. The full-flow desert tree planting robot of claim 4 and further comprising: the seedling-straightening barrel (5) is vertically arranged above the supporting base (105), is right opposite to the center of the supporting base (105), has the same inner diameter as that of an opening in the center of the supporting base (105), is vertically provided with a slot in the direction of the barrel right opposite to the seedling-straightening slot (4), can allow the seedling-straightening slot (4) to extend into the seedling-straightening barrel (5) and keep a vertical state, and is also provided with a push rod stepping motor (501) capable of conducting push rod reciprocating motion to the seedling-straightening barrel (5) on the side surface of the seedling-straightening barrel (5).