CN114830855A - Intelligent weeding robot for mountainous standardized orchard - Google Patents
Intelligent weeding robot for mountainous standardized orchard Download PDFInfo
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- CN114830855A CN114830855A CN202210540189.8A CN202210540189A CN114830855A CN 114830855 A CN114830855 A CN 114830855A CN 202210540189 A CN202210540189 A CN 202210540189A CN 114830855 A CN114830855 A CN 114830855A
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- 238000009333 weeding Methods 0.000 title claims abstract description 48
- 239000002420 orchard Substances 0.000 title claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000001681 protective effect Effects 0.000 claims description 30
- 238000003860 storage Methods 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 3
- 241000196324 Embryophyta Species 0.000 abstract description 15
- 235000013399 edible fruits Nutrition 0.000 abstract description 11
- 230000033001 locomotion Effects 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000003971 tillage Methods 0.000 abstract description 2
- 244000025254 Cannabis sativa Species 0.000 description 14
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/08—Other machines specially adapted for working soil on which crops are growing with rotating tools such as weeding machines
- A01B39/085—Other machines specially adapted for working soil on which crops are growing with rotating tools such as weeding machines the rotating tools being actively driven
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/16—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines
- A01B39/163—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines comprising rotating tools
- A01B39/166—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines comprising rotating tools actively driven
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
- A01B39/22—Tools; Mounting tools
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
- A01B39/24—Undercarriages
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/28—Other machines specially adapted for working soil on which crops are growing with special additional arrangements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
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- 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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
- A01D75/187—Removing foreign objects
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses an intelligent weeding robot for a mountainous region standardized orchard, which comprises a tracked vehicle, a control system, a mowing device and an inter-plant telescopic mowing device, wherein a chassis of the robot adopts a tracked chassis motion carrier, and the robot has good trafficability in complex environments such as mountainous regions and the like; the fruit tree in the orchard can be identified by adopting the technology of detecting the fruit trees by the camera, so that accurate operation is realized; through using laser radar, can realize constructing the orchard map in real time to realize the automatic walking of orchard intelligence weeding robot. Meanwhile, the mowing mechanism further adopts a deep-ploughing type mowing device under the combination of the advantages of the traditional rotary tillage type weeding machine, so that the roots of weeds can be effectively mowed, and the weed removal rate is effectively improved; the inter-plant telescopic mowing device adopts screw rod transmission, left-right stretching of the mowing device is achieved, and accurate weeding among plants is further achieved.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to an intelligent weeding robot for a mountainous standardized orchard.
Background
Weeds growing in crop fields can be prevented and removed in time by manually or mechanically ploughing the weeds. The weeding work can not only prevent and remove weeds, but also provide good growth conditions for crops. During the whole growth process of crops, multiple times of weeding can be carried out according to needs, and weeding needs to be carried out by removing early, small and thorough weeds in a time-saving mode so as not to cause late-stage disease.
The existing orchard weeding work is mainly carried out manually, the number of obstacles in the cause and effect orchard is large, and the traditional weeding machine is not suitable for weed ploughing and weeding work, so that an intelligent robot special for orchard mowing is absent in the market at present.
Disclosure of Invention
In view of the above, the invention provides an intelligent mountain land standardized orchard weeding robot, which has the following specific technical scheme:
an intelligent weeding robot for a mountainous region standardized orchard comprises:
the crawler comprises a crawler body, wherein a crawler cavity is arranged in the crawler body, and a crawler mechanism for driving the crawler body to walk is mounted on the crawler;
the control system comprises a storage battery, a control box, a laser radar and a camera, wherein the storage battery and the control box are positioned in a cavity of the tracked vehicle, and the storage battery is used for supplying power to all electrical components of the intelligent orchard weeding robot; a controller for controlling the intelligent orchard weeding robot to implement various actions is arranged in the control box; the laser radar and the camera are both arranged at the top of the vehicle body and are in control connection with the controller;
the mowing devices are arranged and are respectively positioned on the left side and the right side of the rear end of the vehicle body; the mowing device comprises a rotary cutting blade, a protective cover, a transmission shaft protective shell, a transmission shaft, a rotary cutting motor, a motor base, a sliding table, a direct current motor, a fixed plate and a first screw rod, wherein the fixed plate is fixed at the rear end of the vehicle body, and the direct current motor is fixed in a motor mounting hole in the fixed plate; an output shaft extending downwards from the direct current motor is in transmission connection with the first screw rod; the sliding table is sleeved on the first screw rod through a threaded hole formed in the sliding table, and meanwhile, one side, away from the fixed plate, of the sliding table is fixedly connected with the motor base; the rotary cutting motor is fixed on the upper part of the motor base, a rotating shaft extending downwards of the rotary cutting motor penetrates through the motor base and is connected with the transmission shaft, and the rotary cutting blade is fixed at the bottom of the transmission shaft; the outer ring of the transmission shaft is provided with the transmission shaft protective shell, and the transmission shaft protective shell is fixed at the bottom of the motor base; the protective cover is arranged at the bottom of the transmission shaft protective shell, the rotary cutting blade is positioned in the protective cover, and the bottom tool point part of the blade is exposed out of the bottom of the protective cover; the rotary cutting blade is a deep ploughing blade;
the inter-trunk telescopic mowing device comprises a sliding rail, two inter-trunk direct current motors, two second screw rods, two sliding rods and two sets of mowing devices, wherein the sliding rail is fixed to the top of the vehicle body through supporting legs; the axis direction of the slide rail is vertical to the connecting line of the front and back directions of the vehicle body, and two ends of the slide rail extend out of the left side and the right side of the vehicle body; the two inter-plant direct current motors are fixed below the middle position of the slide rail, and output shafts of the two corresponding motors are parallel to the slide rail, but the extending directions of the two corresponding motors are opposite; the two motor output shafts are in one-to-one corresponding transmission connection with the two second screw rods; the sliding rod is L-shaped, a threaded hole is formed in an upper cross rod of the sliding rod, and one end, far away from the output shaft of the motor, of the second screw rod is screwed into the threaded hole corresponding to the upper cross rod; the bottom of the sliding rail is provided with a rail, the top surface of the upper cross rod is provided with a plurality of rollers, and the rollers are matched and arranged in the rail in a rolling manner; the outer side wall of the lower vertical rod of the second screw rod, which is far away from one side of the vehicle body, is fixedly connected with the corresponding fixing plate on the mowing device.
In order to solve the problems of the traditional mowing method, the chassis of the intelligent weeding robot for the mountainous standardized orchard adopts a crawler-type chassis motion carrier, and has good trafficability in complex environments such as mountainous regions; the fruit tree in the orchard can be identified by adopting the technology of detecting the fruit trees by the camera, so that accurate operation is realized; through using laser radar, can realize constructing the orchard map in real time to realize the automatic walking of orchard intelligence weeding robot.
The weeding robot can walk automatically by matching the camera with the laser radar, and can complete obstacle avoidance, autonomous operation and indirect operation. The combination of camera and laser radar can effectively improve the accuracy of mowing and the intellectuality of robot walking.
Meanwhile, the mowing mechanism disclosed by the invention further adopts a deep-ploughing type mowing device under the combination of the advantages of the traditional rotary tillage type weeding machine, the deep-ploughing type mowing device can realize the up-and-down movement of the mowing device by using the screw rod transmission mechanism, can be adjusted in different mowing environments, and avoids the excessive damage to the rotary cutting blade, and meanwhile, the mowing device adopts the deep-ploughing type blade, so that the root of weeds can be effectively cut off, and the weed removal rate is effectively improved. Furthermore, in order to adapt to the orchard environment, the inter-plant telescopic mowing device also adopts screw rod transmission to realize the left-right telescopic movement of the mowing device so as to realize accurate inter-plant weeding.
Preferably, the crawler mechanism comprises a gear box, a crawler motor, a crawler and a driving wheel, wherein the gear box, the crawler motor, the crawler and the driving wheel are respectively provided with two sets, and the whole crawler mechanism is respectively arranged at the left side and the right side of the vehicle body; the crawler motor is fixed in the crawler cavity, and a rotating shaft of the crawler motor is in transmission connection with the gear box which is also arranged on the corresponding side in the crawler cavity; the front and rear positions of the left side and the right side of the tracked vehicle are respectively provided with the driving wheel and the driven wheel, and the tracked belt is sleeved on the outer sides of the driven wheel and the driving wheel corresponding to the same side of the vehicle body and meshed with the driving wheel and the driven wheel; the driving wheel is in transmission connection with the gear box on the corresponding side.
Preferably, the controller in the control box comprises a Myrio controller and a Jetson Nano controller, a voltage reduction module is further arranged in the control box, the Myrio controller is electrically connected with the Jetson Nano controller, and the voltage reduction module is electrically connected with the Myrio controller and the Jetson Nano controller respectively; the Jetson Nano controller is in control connection with the laser radar and the camera; the Myrio controller is in control connection with motors in the crawler mechanism, the mowing device and the inter-plant telescopic mowing device.
Preferably, the Myrio controller is capable of remote manipulation via Bluetooth.
Preferably, the laser radar is installed at a middle position of the top of the vehicle body.
Preferably, the number of the cameras is two, the two cameras are respectively arranged on the left side and the right side of the front end of the top of the vehicle body and are arranged at an angle of 45 degrees with the central axis of the vehicle body.
Preferably, the shield is detachably mounted to the bottom of the transmission shaft protective housing.
The intelligent weeding robot for the mountain standardized orchard has the beneficial effects that: this intelligent weeding robot in orchard can be through laser radar real-time construction orchard map, surveys the fruit tree through two cameras and has had information, through Jetson Nano controller and myriio controller communication, and weeding device and the row weeding device carries out automatic weeding operation between the control trunk. The whole operation process has the characteristics of intelligence, high efficiency and the like, the labor force can be greatly reduced, the mowing efficiency is improved, and the mowing cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1-2 are schematic diagrams of the overall structure of the present invention.
Fig. 3 is a schematic structural view of the intelligent orchard weeding robot with the roof removed.
Fig. 4 is a front view of the grass cutting device of the present invention.
Fig. 5 is a top view of the grass cutting device of the present invention.
Fig. 6 is a sectional view taken along the line a-a in fig. 5.
Fig. 7 is a perspective view of the grass cutting device of the present invention.
Fig. 8 is a perspective view of the inter-plant retractable mowing device of the present invention.
Fig. 9 is a schematic view of the telescopic mowing apparatus according to the present invention (with one mowing apparatus removed).
FIG. 10 is a schematic cross-sectional view of a rail in the inter-plant retractable mower.
FIG. 11 is a schematic view of a slide bar of the inter-row retractable mower.
Fig. 12 is a schematic structural view of a motor base in the present invention.
Fig. 13 is a schematic position diagram of the slide table in the present invention.
In the figure: 1-tracked vehicle, 2-control system, 3-mowing device, 4-inter-plant telescopic mowing device, 5-vehicle body, 6-tracked vehicle cavity, 7-gear box, 8-tracked vehicle motor, 9-track, 10-drive wheel, 11-driven wheel, 12-storage battery, 13-control box, 14-laser radar, 15-camera, 16-rotary cutting blade, 17-shield, 18-transmission shaft protective shell, 19-transmission shaft, 20-rotary cutting motor, 21-motor base, 22-sliding table, 23-direct current motor, 24-fixed plate, 25-first screw rod, 26-sliding rail, 27-inter-plant direct current motor, 28-second screw rod, 29-sliding rod, 30-rail, 31-roller.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example (b):
as shown in fig. 1 to 3, the present invention provides an intelligent weeding robot for hillside standardized orchards, including: the system comprises a crawler 1, a control system 2, a mowing device 3 and an inter-plant telescopic mowing device 4. The direction indicated by the arrow in fig. 1 is the forward traveling direction of the intelligent weeding robot.
Wherein the content of the first and second substances,
the tracked vehicle 1 comprises a vehicle body 5, a tracked vehicle cavity 6 is arranged inside the vehicle body 5, and a tracked mechanism for driving the vehicle body 5 to walk is mounted on the tracked vehicle 1.
Further, the crawler mechanism comprises a gear box 7, a crawler motor 8, a crawler 9 and a driving wheel 10, wherein the gear box 7, the crawler motor 8, the crawler 9 and the driving wheel 10 are respectively provided with two sets, and the whole crawler mechanism is respectively arranged at the left side and the right side of the vehicle body 5; the crawler motor 8 is fixed in the crawler cavity 6 through bolts, and a rotating shaft of the crawler motor is in transmission connection with a gear box 7 which is also arranged on the corresponding side in the crawler cavity 6; a driving wheel 10 and a driven wheel 11 are respectively arranged at the front and back positions of the left side and the right side of the tracked vehicle 1, and a track 9 is sleeved on the outer sides of the corresponding driven wheel 11 and the driving wheel 10 at the same side of the vehicle body 5 and meshed with the driving wheel 10 and the driven wheel 11; the driving wheel 10 is in transmission connection with the gear box 7 on the corresponding side. When the robot works, the rotating shaft of the motor 8 of the crawler rotates to drive the gear box 7 to rotate, and the gear box 7 drives the driving wheel 10 to rotate, so that the robot is controlled to walk.
According to the crawler-type chassis motion carrier, the crawler-type chassis motion carrier is adopted by the chassis, so that the crawler-type chassis motion carrier can have good trafficability in complex environments such as mountainous regions.
The control system 2 comprises a storage battery 12, a control box 13, a laser radar 14 and a camera 15, the storage battery 12 and the control box 13 are positioned in the cavity 6 of the tracked vehicle, and the storage battery 12 is used for supplying power to all electrical components of the intelligent orchard weeding robot; a controller for controlling the intelligent orchard weeding robot to implement various actions is arranged in the control box 13; laser radar 14 and camera 15 all install in automobile body 5 top, and all carry out control connection with the controller.
Further, the controller in the control box 13 comprises a Myrio controller and a Jetson Nano controller, a voltage reduction module is further arranged in the control box 13, the Myrio controller is electrically connected with the Jetson Nano controller, and the voltage reduction module is electrically connected with the Myrio controller and the Jetson Nano controller respectively; the Jetson Nano controller is in control connection with the laser radar 14 and the camera 15; the Myrio controller is in control connection with corresponding motors in the crawler mechanism, the mowing device 3 and the inter-plant telescopic mowing device 4. Meanwhile, the Myrio controller can also be remotely controlled through Bluetooth.
In the embodiment of the invention, the laser radar 14 is installed at the middle position of the top of the vehicle body 5, so that the orchard map can be constructed in real time and accurately. The two cameras 15 are respectively arranged at the left side and the right side of the front end of the top of the vehicle body 5 and are arranged at an angle of 45 degrees with the central axis of the vehicle body 5. By adopting the double-camera technology, the fruit trees in the orchard can be effectively identified, so that accurate operation is realized. In addition, the weeding robot can automatically walk by adopting the camera 15 and the laser radar 14 to complete obstacle avoidance, autonomous operation and indirect operation.
The mowing devices 3 are arranged in two sets and are respectively positioned at the left side and the right side of the rear end of the vehicle body 5. As shown in fig. 4-7 and 12-13, the grass cutting device 3 includes a rotary cutting blade 16, a protective cover 17, a transmission shaft protective cover 18, a transmission shaft 19, a rotary cutting motor 20, a motor base 21, a sliding table 22, a dc motor 23, a fixing plate 24, and a first lead screw 25, wherein the fixing plate 24 is fixed at the rear end of the vehicle body 5 by bolts, and the dc motor 23 is fixed in a motor mounting hole on the fixing plate 24; an output shaft extending downwards from the direct current motor 23 is in transmission connection with a first screw rod 25; the sliding table 22 is sleeved on the first screw rod 25 through a threaded hole formed in the sliding table 22, and meanwhile, one side of the sliding table 22, which is far away from the fixing plate 24, is fixedly connected with the motor base 21; the rotary cutting motor 20 is fixed on the upper part of the motor base 21, a rotating shaft extending downwards from the rotary cutting motor 20 penetrates through the motor base 21 and is connected with the transmission shaft 19, and the rotary cutting blade 16 is fixed at the bottom of the transmission shaft 19; a transmission shaft protective shell 18 is arranged on the outer ring of the transmission shaft 19, and the transmission shaft protective shell 18 is fixed at the bottom of the motor base 21 through bolts; a protective cover 17 is further arranged at the bottom of the transmission shaft protective shell 18 through bolts, and the protective cover 17 can also be detachably arranged at the bottom of the transmission shaft protective shell 18 in other forms; the rotary cutting blade 16 is positioned in the protective cover 17, the bottom blade tip part of the blade is exposed out of the bottom of the protective cover 17, and the rotary cutting blade 16 is a deep ploughing blade.
As shown in fig. 8-11, the inter-plant telescopic mowing device 4 comprises a sliding rail 26, two inter-plant direct current motors 27, two second screw rods 28, two sliding rods 29 and two sets of mowing devices 3, wherein the sliding rail 26 is fixed on the top of the vehicle body 5 through supporting legs and corresponding bolts, i.e. a certain distance is designed between the sliding rail 26 and the top surface of the vehicle body 5, so as to leave installation spaces for the inter-plant direct current motors 27, the second screw rods 28 and the sliding rods 29; the axial direction of the slide rail 26 is vertical to the connecting line of the front and back directions of the vehicle body 5, and two ends of the slide rail 26 extend out of the left side and the right side of the vehicle body 5; the two inter-plant direct current motors 27 are fixed below the middle position of the slide rail 26, and the output shafts of the two corresponding motors are parallel to the slide rail 26, but the extending directions are opposite to each other; the output shafts of the two motors are in one-to-one corresponding transmission connection with the two second screw rods 28; the sliding rod 29 is L-shaped, a threaded hole is formed in the cross rod at the upper part of the sliding rod 29, and one end, far away from the output shaft of the motor, of the second screw rod 28 is screwed into the threaded hole corresponding to the cross rod at the upper part; a rail 30 is arranged at the bottom of the slide rail 26, a plurality of rollers 31 (three rollers in the embodiment) are arranged on the top surface of the upper cross bar, and the rollers 31 are adapted to be arranged in the rail 30 in a rolling manner; the outer side wall of the lower vertical rod of the second screw 28, which is far away from the side of the vehicle body 5, is fixedly connected with the corresponding fixing plate 24 on the mowing device 3.
In order to adapt to the orchard environment, the inter-plant telescopic mowing device 4 adopts screw rod transmission, so that the left-right telescopic movement of the mowing device 3 is realized, and accurate inter-plant weeding is realized.
The four mowing devices 3 are all provided with the deep ploughing type blades, so that the weeding effect can be effectively improved. And the deep ploughing type mowing device 3 can realize the vertical movement of the mowing device 3 by using the screw rod transmission mechanism, can be adjusted in different mowing environments, and avoids the overlarge damage to the rotary cutting blade 16.
Taking orchard weeding work and golf course mowing work as examples, the specific working process of the mountain standardized orchard intelligent weeding robot is as follows:
1. weeding in the orchard:
after the intelligent orchard weeding robot is started, the Jetson Nano controller starts the laser radar 14 to perform map construction, and after the map construction is completed, the Myrio controller starts the motor 8 of the tracked vehicle to control the robot to walk. When the robot starts to walk, the grass cutting device 3 positioned at the rear side of the robot body 5 is started, the Myrio controller controls the corresponding direct current motor 23 to rotate, the sliding table 22 descends, when the rotary cutting blade 16 penetrates into the ground by 1mm, the Myrio controller starts the rotary cutting motor 20 to rotate, the rotary cutting blade 16 starts to cut weeds, in order to prevent the weeds, soil blocks and the like from being drawn into the transmission shaft 19, the peripheral transmission shaft protective shell 18 can effectively protect the transmission shaft 19, and when deeper grass cutting work is needed, the protective cover 17 can be removed, so that the rotary cutting blade 16 can cut the roots of the weeds.
When the camera 15 of the robot identifies a fruit tree on the left side or the right side, the camera 15 starts to measure the distance from the identified fruit tree, when the robot continues to drive to identify a fruit tree on the 2 nd side, the distance information between the two fruit trees is transmitted to the Jetson Nano controller, the Jetson Nano controller transmits the robot walking stop information to the Myrio controller through communication, the Myrio controller controls the robot to stop walking, then the Myrio controller controls the inter-plant direct current motor 27 to start, the inter-plant telescopic mowing device 4 extends out through the screw rod mechanism, the mowing device 3 on the left side or the right side of the robot starts, the robot moves backwards, weeds between the two fruit trees identified by the camera 15 are cut, the inter-plant mowing process is the same as the first section, and when the distance between the robot plants reaches the distance between the two trees, the mowing robot continues to move, and the process is repeated.
2. The mowing work of the golf course comprises the following steps:
because the grass cutting in the golf course does not need to be eradicated and has no obstacle, the grass cutting work is carried out by remote control, the Myrio controller can carry out remote control through Bluetooth, under the working environment, the inter-plant telescopic grass cutting device 4 on the left side and the right side extends to the limit position, the sliding table 22 of the grass cutting device 3 in the inter-plant telescopic grass cutting device 4 is moved downwards, the rotary cutting blade 16 is enabled to be 1-5 mm away from the ground, the two grass cutting devices 3 on the rear side of the robot body 5 are similar, and after the four grass cutting devices 3 are all started to the proper positions, the rotary cutting motor 20 is manually started to start the rotary cutting blade 16, so that the remote control grass cutting work can be started.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides a standardized orchard intelligence weeding robot in mountain region which characterized in that includes:
the crawler comprises a crawler body, wherein a crawler cavity is arranged in the crawler body, and a crawler mechanism for driving the crawler body to walk is mounted on the crawler;
the control system comprises a storage battery, a control box, a laser radar and a camera, wherein the storage battery and the control box are positioned in a cavity of the tracked vehicle, and the storage battery is used for supplying power to all electrical components of the intelligent orchard weeding robot; a controller for controlling the intelligent orchard weeding robot to implement various actions is arranged in the control box; the laser radar and the camera are both arranged at the top of the vehicle body and are in control connection with the controller;
the mowing devices are arranged and are respectively positioned on the left side and the right side of the rear end of the vehicle body; the mowing device comprises a rotary cutting blade, a protective cover, a transmission shaft protective shell, a transmission shaft, a rotary cutting motor, a motor base, a sliding table, a direct current motor, a fixed plate and a first screw rod, wherein the fixed plate is fixed at the rear end of the vehicle body, and the direct current motor is fixed in a motor mounting hole in the fixed plate; an output shaft extending downwards from the direct current motor is in transmission connection with the first screw rod; the sliding table is sleeved on the first screw rod through a threaded hole formed in the sliding table, and meanwhile, one side, away from the fixed plate, of the sliding table is fixedly connected with the motor base; the rotary cutting motor is fixed on the upper part of the motor base, a rotating shaft extending downwards of the rotary cutting motor penetrates through the motor base and is connected with the transmission shaft, and the rotary cutting blade is fixed at the bottom of the transmission shaft; the outer ring of the transmission shaft is provided with the transmission shaft protective shell, and the transmission shaft protective shell is fixed at the bottom of the motor base; the protective cover is arranged at the bottom of the transmission shaft protective shell, the rotary cutting blade is positioned in the protective cover, and the bottom tool point part of the blade is exposed out of the bottom of the protective cover; the rotary cutting blade is a deep ploughing blade;
the inter-trunk telescopic mowing device comprises a sliding rail, two inter-trunk direct current motors, two second screw rods, two sliding rods and two sets of mowing devices, wherein the sliding rail is fixed to the top of the vehicle body through supporting legs; the axis direction of the slide rail is vertical to the connecting line of the front and back directions of the vehicle body, and two ends of the slide rail extend out of the left side and the right side of the vehicle body; the two inter-plant direct current motors are fixed below the middle position of the slide rail, and output shafts of the two corresponding motors are parallel to the slide rail, but the extending directions of the two corresponding motors are opposite; the two motor output shafts are in one-to-one corresponding transmission connection with the two second screw rods; the sliding rod is L-shaped, a threaded hole is formed in an upper cross rod of the sliding rod, and one end, far away from the output shaft of the motor, of the second screw rod is screwed into the threaded hole corresponding to the upper cross rod; the bottom of the sliding rail is provided with a rail, the top surface of the upper cross rod is provided with a plurality of rollers, and the rollers are matched and arranged in the rail in a rolling manner; the outer side wall of the lower vertical rod of the second screw rod, which is far away from one side of the vehicle body, is fixedly connected with the corresponding fixing plate on the mowing device.
2. The intelligent hillside standardized orchard weeding robot according to claim 1, wherein the crawler mechanism comprises a gear box, a crawler motor, a crawler and a driving wheel, the gear box, the crawler motor, the crawler and the driving wheel are provided with two sets, and the gear box, the crawler motor, the crawler and the driving wheel are integrally arranged on the left side and the right side of the vehicle body; the crawler motor is fixed in the crawler cavity, and a rotating shaft of the crawler motor is in transmission connection with the gear box which is also arranged on the corresponding side in the crawler cavity; the front and rear positions of the left side and the right side of the tracked vehicle are respectively provided with the driving wheel and the driven wheel, and the tracked belt is sleeved on the outer sides of the driven wheel and the driving wheel corresponding to the same side of the vehicle body and meshed with the driving wheel and the driven wheel; the driving wheel is in transmission connection with the gear box on the corresponding side.
3. The intelligent weeding robot for hilly standardized orchards according to claim 1 or 2, wherein the controller in the control box comprises a Myrio controller and a Jetson Nano controller, a voltage reduction module is further arranged in the control box, the Myrio controller is electrically connected with the Jetson Nano controller, and the voltage reduction module is electrically connected with the Myrio controller and the Jetson Nano controller respectively; the Jetson Nano controller is in control connection with the laser radar and the camera; the Myrio controller is in control connection with motors in the crawler mechanism, the mowing device and the inter-plant telescopic mowing device.
4. The mountain land standardized orchard intelligent weeding robot as claimed in claim 3, wherein the Myrio controller can be remotely controlled through Bluetooth.
5. The intelligent hillside standardized orchard weeding robot according to claim 1, wherein the laser radar is mounted in the middle of the top of the vehicle body.
6. The intelligent hillside standardized orchard weeding robot as claimed in claim 1 or 5, wherein two cameras are arranged on the left side and the right side of the front end of the top of the vehicle body respectively and are arranged at an angle of 45 degrees with the central axis of the vehicle body.
7. The mountain land standardized orchard intelligent weeding robot as claimed in claim 1, wherein the shield is detachably mounted at the bottom of the transmission shaft protection shell.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210540189.8A CN114830855A (en) | 2022-05-17 | 2022-05-17 | Intelligent weeding robot for mountainous standardized orchard |
| LU503171A LU503171B1 (en) | 2022-05-17 | 2022-11-16 | Terrain self-adaption unmanned weeding robot for hillside orchard |
| PCT/CN2022/132191 WO2023221430A1 (en) | 2022-05-17 | 2022-11-16 | Adaptive terrain unmanned weeding robot for orchard in mountainous region |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210540189.8A CN114830855A (en) | 2022-05-17 | 2022-05-17 | Intelligent weeding robot for mountainous standardized orchard |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114830855A true CN114830855A (en) | 2022-08-02 |
Family
ID=82569816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210540189.8A Pending CN114830855A (en) | 2022-05-17 | 2022-05-17 | Intelligent weeding robot for mountainous standardized orchard |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN114830855A (en) |
| LU (1) | LU503171B1 (en) |
| WO (1) | WO2023221430A1 (en) |
Cited By (3)
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| CN115500143A (en) * | 2022-11-02 | 2022-12-23 | 无锡君创飞卫星科技有限公司 | Mower control method and device with laser radar |
| CN116982439A (en) * | 2023-09-27 | 2023-11-03 | 山西农业大学 | Multifunctional unmanned cultivation tank device |
| WO2023221430A1 (en) * | 2022-05-17 | 2023-11-23 | 重庆文理学院 | Adaptive terrain unmanned weeding robot for orchard in mountainous region |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2023221430A1 (en) | 2023-11-23 |
| LU503171B1 (en) | 2023-11-30 |
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