CN115362773A

CN115362773A - Hilly agricultural robot device and method

Info

Publication number: CN115362773A
Application number: CN202210939760.3A
Authority: CN
Inventors: 张梅; 马伟; 杨其长; 王秀
Original assignee: Chengdu Vocational College of Agricultural Science and Technology; Institute of Urban Agriculture of Chinese Academy of Agricultural Sciences
Current assignee: Chengdu Vocational College of Agricultural Science and Technology; Institute of Urban Agriculture of Chinese Academy of Agricultural Sciences
Priority date: 2022-08-05
Filing date: 2022-08-05
Publication date: 2022-11-22

Abstract

The utility model relates to an agricultural robot technical field especially relates to a hills agricultural robot device, including base, running gear, cleaning device, scanning system and accommodate device. The walking device is arranged at the bottom of the base to drive the robot to walk. Cleaning device sets up on the base, and cleaning device is arm and cutting device, including four degrees of freedom, and cutting device is installed to the front end of arm, and cutting device is used for cleaing away the branch. The scanning system is used for scanning the external terrain to acquire the laser point cloud information of the external terrain. The accommodating device is installed on the base and used for accommodating fertilizers and fruits and vegetables. The laser point cloud cleaning device further comprises a control system, wherein laser point cloud information is transmitted to the control system, and the control system controls the cleaning device to work. Through the effect of cleaning device and scanning system, get rid of the branch that hinders walking on the walking route, the rear wheel is half round of structure, can hinder more effectively, adapts to the environment in hilly area, more favourable hilly area agricultural work's expansion.

Description

Hilly agricultural robot device and method

Technical Field

The disclosure relates to the technical field of agricultural robots, in particular to a hilly agricultural robot device and a hilly agricultural robot method.

Background

The area of hilly and mountainous areas in China is wide, and planting crops are various, wherein fruits and vegetables mainly comprise hilly farmland crops such as oranges, kiwi fruits, hot peppers and tomatoes. However, the mechanized agricultural operation in hilly and mountainous areas is still limited due to the following factors. Some severe working environments exist in agricultural operation in hilly and mountainous areas, for example, trees are grown under the feet of hilly areas, crops are usually on the tops of mountains, and large-scale machinery is difficult to go up the mountains.

In recent years, under the promotion of remote communication technology, microelectronic technology, automatic control technology, sensor technology and the like, the robot technology is rapidly transferred from the traditional industrial field to the innovative agricultural field, and the agricultural robot provides an effective solution for reducing the labor intensity and improving the agricultural production efficiency.

Disclosure of Invention

In order to solve the technical problem, the present disclosure provides a hilly agricultural robot apparatus and a method.

The present disclosure provides a hilly agricultural robot device, comprising a base, a walking device, a cleaning device, a scanning system and a containing device;

the walking device is arranged at the bottom of the base to drive the robot to walk;

the cleaning device is arranged on the base and comprises a mechanical arm and a cutting device, the four degrees of freedom are arranged, the cutting device is arranged at the front end of the mechanical arm, and the cutting device is used for cleaning branches on a walking route;

the scanning system is used for scanning the external terrain to acquire laser point cloud information of the external terrain;

the accommodating device is arranged on the base and used for accommodating fertilizers and fruits and vegetables;

the laser point cloud cleaning device further comprises a control system, wherein laser point cloud information is transmitted to the control system, and the control system controls the cleaning device to work.

Optionally, the scanning device further comprises a driving motor, a rotating shaft of the driving motor is connected with one end of a lead screw, and the other end of the lead screw is in threaded connection with the scanning system, so that the scanning system can move up and down.

Optionally, the height of the scanning system is 52cm to 56cm.

Optionally, the width of the receptacle is 0.78m, the length of the receptacle is 1.15m, and the height of the receptacle is 1.15m.

Optionally, the receiving means is removably attached to the base.

Optionally, the walking device comprises a front wheel and a rear wheel, and the rear wheel is of a half-wheel structure and symmetrically arranged on two sides of the base.

Optionally, the rear wheel is of a fan-shaped configuration.

Optionally, the detection angle of the scanning system is 16 °.

Optionally, the acquisition speed of the laser point cloud information is 16 times/second to 18 times/second.

A method according to the above-mentioned hill agricultural robot arrangement, comprising the steps of:

s1: setting the height of a scanning system under the feet of the mountain and starting the robot;

s2: in the walking process, cleaning branches on the walking route through a cleaning device;

s3: after the destination is reached, the accommodating device is detached.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

the utility model provides a hilly agricultural robot device, including base, running gear, cleaning device, scanning system and accommodate device. The walking device is arranged at the bottom of the base to drive the robot to walk. Cleaning device sets up on the base, and cleaning device is arm and cutting device, including four degrees of freedom, the front end installation cutting device of arm, and cutting device is used for cleaing away the branch on the walking route. The scanning system is used for scanning the external terrain to acquire the laser point cloud information of the external terrain. The accommodating device is installed on the base and used for accommodating fertilizers and fruits and vegetables. The laser point cloud cleaning device further comprises a control system, the laser point cloud information is transmitted to the control system, and the control system controls the cleaning device to work. Through the effect of cleaning device and scanning system, this openly can get rid of the branch that hinders walking on the walking route, and the rear wheel is half round of structure, can hinder more effectively, adapts to the environment in hilly area, more favourable hilly area agricultural work's expansion.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the embodiments or technical solutions in the prior art description will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is an overall structure diagram of a hill agricultural robot device according to an embodiment of the present disclosure.

Wherein, 1, a base; 2. a traveling device; 21. a front wheel; 22. a rear wheel; 3. a cleaning device; 4. a scanning system; 5. an accommodation device.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

The present disclosure provides a hilly agricultural robot device, including base 1, running gear 2, cleaning device 3, scanning system 4 and accommodate device 5.

As shown in fig. 1, a walking device 2 is disposed at the bottom of a base 1 to drive the robot to walk. The traveling speed of the robot is preferably 1.2m/s, but the traveling speed is not limited to 1.2m/s and fluctuates within a range of about 1.2 m/s.

Specifically, the running gear 2 includes a front wheel 21 and a rear wheel 22, and the rear wheel 22 is a half-wheel structure and symmetrically installed on both sides of the base 1. After the semi-wheel type structure is adopted, the angle matching of the plurality of groups of rear wheels 22 can adapt to continuous gully obstacle surmounting and can walk in rainy days. Particularly, a plurality of half wheels are adopted to form connection, so that the device has strong obstacle crossing capability for various gullies. In the embodiment, the number of the rear wheels 22 may be multiple sets, and the angles of the multiple sets of half wheels are matched, so that the device can adapt to continuous gully obstacle surmounting, and can also walk in rainy days.

It is envisioned that the rear wheel 22 is a fan-shaped structure. The circle center of the fan-shaped structure is provided with a rear wheel axle. The arc of the fan-shaped structure may be determined according to the height it needs to cross in an obstacle-surmounting environment. The greater the arc of the fan-shaped structure, the greater the height that can be flipped.

Cleaning device 3 sets up on base 1, and cleaning device 3 includes arm and cutting device, sets up four degrees of freedom, and the front end installation cutting device of arm, cutting device are used for cleaing away the branch on the walking route. Specifically, cleaning device 3 sets up the front side at the robot, and the tip of arm sets up cutting device, and the motion of arm drives cutting device's motion to the branch in cutting robot the place ahead prevents that the robot from being hindered walking and work by the branch. The cleaning device 3 comprises two specifications, one of which is a torque of 45N and a length of 42cm, which parameter is matched to a walking speed of 1.2 m/s. Another is that the moment is 82N and the length is 28cm, and this parameter is matched to a walking speed of 0.82 m/s.

The scanning system 4 is used for scanning the external topography to obtain laser point cloud information of the external topography. The laser point cloud information is a collection of scan points. The laser radar system scans the ground to obtain three-dimensional coordinates of ground reflection points, and each ground reflection point is distributed in a three-dimensional space in a point form according to the three-dimensional coordinates and is called as a scanning point.

In addition, the embodiment also comprises a control system, the laser point cloud information is transmitted to the control system, and the control system controls the cleaning device 3 and the walking device 2 to work. And the control system filters and denoises the scanned point cloud information, generates a grid map at the current moment, and controls the movement of the cleaning device 3 to clean branches when judging that the obstacles such as branches are encountered along the way. In this embodiment, the controller is further connected with the signal receiver for collecting big dipper satellite signal to confirm the orbit of traveling through the controller, then the controller is the walking direction of controlling running gear 2 again, and then reach the destination.

The accommodating device 5 is installed on the base 1, and the accommodating device 5 is used for accommodating fertilizers and fruits and vegetables. When going up a mountain, the accommodating device 5 can be loaded with fertilizers, fertilizers and the like. When going downhill, the accommodating device 5 can be loaded with hilly farmland crops such as oranges, kiwifruits, peppers, tomatoes and the like.

In particular, the housing means 5 are removably attached to the base 1. This is provided for the purpose of unloading the container 5 without unloading, and after the robot has reached the destination, the loaded container 5 can be unloaded and the empty container 5 can be replaced. In the process of going up and down the hill, different articles such as chemical fertilizer, hilly farmland crops and the like can be transported respectively. For the detachable connection, the receiving means 5 can be bolted or snapped to the base 1.

In this embodiment, the scanning device further comprises a driving motor, a rotating shaft of the driving motor is connected with one end of a lead screw, and the other end of the lead screw is in threaded connection with the scanning system 4, so that the scanning system 4 can move up and down. The up and down movement of the scanning system 4 can be varied

Further, the height of the scanning system 4 is 52cm to 56cm.

In the present embodiment, the width of the accommodating device 5 is 0.78m, the length of the accommodating device 5 is 1.15m, and the height of the accommodating device 5 is 1.15m. Repeated tests show that other parameters of the accommodating device 5 are not suitable, the trafficability characteristic is poor, the slope climbing capability is poor, and the accommodating device 5 with the parameters can climb a slope of more than 48 degrees through tests.

In the present embodiment, the detection angle of the scanning system 4 is 16 °. The scanning system 4 can scan the scanning space, and the detection angle is 16 degrees, so that the scannable space can be expanded.

Specifically, the acquisition speed of the laser point cloud information is 16 times/second to 18 times/second.

A method according to the hilly agricultural robot apparatus described above, comprising the steps of:

s1: setting the height of the scanning system 4 under the feet of the mountain and starting the robot;

s2: in the walking process, the cleaning device 3 is used for cleaning branches on the walking route;

s3: after the destination is reached, the accommodating device 5 is removed.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The previous description is only for the purpose of describing particular embodiments of the present disclosure, so as to enable those skilled in the art to understand or implement the present disclosure. 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 disclosure. Thus, the present disclosure 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

1. A hilly agricultural robot device is characterized by comprising a base (1), a walking device (2), a cleaning device (3), a scanning system (4) and a containing device (5);

the walking device (2) is arranged at the bottom of the base (1) to drive the robot to walk;

the cleaning device (3) is arranged on the base (1), the cleaning device (3) is a mechanical arm and a cutting device, the cleaning device comprises four degrees of freedom, the cutting device is arranged at the front end of the mechanical arm, and the cutting device is used for cleaning branches on a walking route;

the scanning system (4) is used for scanning the external terrain to acquire laser point cloud information of the external terrain;

the accommodating device (5) is arranged on the base (1), and the accommodating device (5) is used for accommodating fertilizers and fruits and vegetables;

the laser point cloud cleaning device further comprises a control system, the laser point cloud information is transmitted to the control system, and the control system controls the cleaning device (3) and the walking device (2) to work.

2. The hilly agricultural robot device according to claim 1, further comprising a driving motor, the rotating shaft of which is connected with one end of a lead screw, the other end of which is in threaded connection with the scanning system (4) to move the scanning system (4) up and down.

3. The hilly agricultural robot apparatus according to claim 1, characterized in that the scanning system (4) has a height of 52-56 cm.

4. The hilly agricultural robot apparatus according to claim 1, characterized in that the width of the containment device (5) is 0.78m, the length of the containment device (5) is 1.15m, and the height of the containment device (5) is 1.15m.

5. The hilly agricultural robot device according to claim 1, characterized in that the receiving means (5) is detachably connected to the base (1).

6. The hilly agricultural robot device according to claim 1, characterized in that the walking means (2) comprises a front wheel (21) and a rear wheel (22), the rear wheel (22) being of a half-wheel construction, symmetrically mounted on both sides of the base (1).

7. The hilly agricultural robot device according to claim 6, characterized in that the rear wheel (22) is of a fan-shaped construction.

8. The hilly agricultural robot apparatus according to claim 1, characterized in that the detection angle of the scanning system (4) is 16 °.

9. The hilly agricultural robot device according to claim 1, wherein the speed of acquiring the laser point cloud information is 16 to 18 times/second.

10. A method of a hill agricultural robot apparatus according to claims 1-9, characterized by the following steps:

s1: setting the height of the scanning system (4) under the feet of the mountain, and starting the robot;

s2: in the walking process, the cleaning device (3) is used for cleaning branches on the walking route;

s3: after the destination is reached, the accommodating device (5) is detached.