CN214708786U

CN214708786U - Multifunctional orchard mowing robot

Info

Publication number: CN214708786U
Application number: CN202120301704.8U
Authority: CN
Inventors: 李小敏; 谌文�; 朱立学
Original assignee: Zhongkai University of Agriculture and Engineering
Current assignee: Zhongkai University of Agriculture and Engineering
Priority date: 2021-02-03
Filing date: 2021-02-03
Publication date: 2021-11-16
Anticipated expiration: 2031-02-03

Abstract

The utility model discloses a multifunctional orchard mowing robot, which comprises a frame, wherein the bottom of the frame is provided with a driving wheel mechanism for driving the frame to move, the frame is provided with a collecting device, a mowing device, a spraying device and a control system, the control system comprises a singlechip, a vision detection device and a sensing device, the singlechip is connected with the driving wheel mechanism, the vision detection device and the sensing device feed back detected signals to the singlechip, the singlechip is used for driving the driving wheel mechanism to move, the function integration level of the robot is high, the driving wheel mechanism is driven by the singlechip, when mowing, the image acquisition can be carried out on the environment to be operated by the vision detection device, the sensing device can be a self emitting source to detect the object in the front plane range, and the information of the front road condition and the obstacle condition can be collected and transmitted to the singlechip, the single chip microcomputer analyzes and controls the driving wheel mechanism to avoid obstacles, and the moving is flexible and convenient, and the automation degree is high.

Description

Multifunctional orchard mowing robot

Technical Field

The utility model belongs to the equipment field of mowing, concretely relates to multi-functional orchard robot of mowing.

Background

Due to the strong timeliness and labor intensity of mowing, mechanization is a necessary measure for improving mowing quality and efficiency, and various series of mowers used in production can finish mowing and subsequent work in one step. When the orchard grassland is used for mowing simply, the recovery is laborious, and a large amount of manpower and material resources are required to be consumed. Moreover, grasses in the orchard are mainly herbaceous plants such as fescue, precooked grass, ryegrass, agrostis, bermuda grass, zoysia and the like, when various operations are performed on the orchard grassland, different functional requirements are often met, and the operations can only be performed by workers manually or by single-function machines, so that the operations cannot be performed efficiently, and meanwhile, the automation degree of the machine operations is not enough. If the functions of required operation items are concentrated on one robot body, the automation of the operation of the robot is realized, the management work of the orchard lawn is simplified, the manpower is saved, and the working efficiency is improved.

SUMMERY OF THE UTILITY MODEL

The utility model provides a multi-functional orchard robot of mowing to the problem that above-mentioned prior art exists.

In order to achieve the purpose, the utility model adopts the following technical measures:

the utility model provides a multi-functional orchard robot of mowing, includes the frame, the bottom of frame is equipped with the drive wheel mechanism that is used for driving its removal, install collection device, grass cutting device, sprinkler and control system in the frame, control system includes singlechip, visual detection device and sensing device, the singlechip is connected drive wheel mechanism, visual detection device and sensing device will detect signal feedback extremely the singlechip, the singlechip is used for the drive wheel mechanism removes.

Preferably, the collecting device comprises a collecting tank, a spiral shaft is installed in the collecting tank, the collecting tank is communicated with the collecting tank through a conveying pipeline, a feeding mechanism is arranged at the feeding end of the conveying pipeline, and the mowing device is arranged on one side of a notch of the collecting tank.

Preferably, the bottom of the notch of the collecting groove is provided with a relieving tooth, and the relieving tooth and the collecting groove are integrally formed.

Preferably, two ends of the spiral shaft are mounted on the collecting tank through bearings, and one end of the spiral shaft is connected with a belt transmission mechanism for driving the spiral shaft to rotate.

Preferably, the feeding mechanism comprises two mutually matched propeller impellers, the propeller impellers are hinged to the conveying pipeline, and the propeller impellers are connected with a stepping motor.

Preferably, the spraying device comprises a water tank, a water pump and a water pipe are connected with a spray head, the spray head is installed on a rotary support, and the rotary support is used for adjusting the spraying direction and angle of the spray head.

Preferably, the rotating support comprises a bottom plate, a first steering engine is installed on the bottom plate, a driving shaft of the first steering engine is connected with a base, a second steering engine is installed on the base, the base is hinged to an installation frame, the second steering engine is used for driving the installation frame to rotate, a spray head installation seat is hinged to the installation frame, and the spray head installation seat is driven by a third steering engine.

Preferably, the vision detection device comprises a steering engine mounting seat, a fourth steering engine is mounted on the steering engine mounting seat and connected with a camera mounting support, the camera mounting support is hinged to a camera mounting table, the camera mounting table is driven by a fifth steering engine, and a camera is mounted on the camera mounting table.

Preferably, sensing device includes two sets of ultrasonic sensor and two sets of infrared ray sensor, infrared ray sensor passes through the connection of Arduino singlechip the singlechip.

Preferably, the driving wheel mechanism comprises a driving wheel, and the driving wheel is connected with a direct current motor.

The beneficial effects of utility model reside in that:

compared with the prior art, the utility model discloses a multi-functional orchard robot that mows's function integrated level is high, drive wheel mechanism is driven by the singlechip, when mowing, can carry out image acquisition to being about to the operation environment through visual detection device, sensing device can self be the emission source, detect the object of the planar range in the place ahead, can collect the information of the place ahead road conditions and the barrier condition and reach the singlechip, singlechip analysis and control drive wheel mechanism keep away the barrier, it is nimble convenient to remove, degree of automation is high, the material resources of using manpower sparingly, reduce people's intensity of labour.

Drawings

Fig. 1 is a first structural diagram of a multifunctional orchard mowing robot of the utility model;

fig. 2 is a second structural diagram of the multifunctional orchard mowing robot of the utility model;

fig. 3 is a structural diagram of a collecting device of the multifunctional orchard mowing robot of the utility model;

fig. 4 is the utility model discloses a collection device's of multi-functional orchard robot mower schematic diagram of structural principle

Fig. 5 is a schematic connection diagram of a single chip microcomputer of the multifunctional orchard mowing robot of the utility model;

fig. 6 is a structural diagram of a spraying device of the multifunctional orchard mowing robot of the utility model;

fig. 7 is the utility model relates to a multi-functional orchard robot mower's visual detection device's structure chart.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1-7, a multi-functional orchard robot that mows, includes frame 1, the bottom of frame 1 is equipped with the drive wheel mechanism 3 that is used for driving its removal, install collection device 4, grass cutting device 2, sprinkler 5 and control system on the frame 1, control system includes singlechip 6, visual detection device 7 and sensing device 8, singlechip 6 serial ports connection drive wheel mechanism 3, collection device 4, grass cutting device 2, sprinkler 5, visual detection device 7 and sensing device 8 with the signal feedback that detects to singlechip 6, singlechip 6 is used for driving drive wheel mechanism 3 removes. In more detail, the mowing device 2 includes a mowing blade 21 and a second stepping motor 22 connected to and driving the mowing blade 21 to rotate. The mowing device 2 can be connected with a lifting mechanism for driving the mowing device to lift, such as a hydraulic cylinder, an air cylinder, a linear module or an electric push rod.

The collecting device 4 comprises a collecting tank 41, a screw shaft 42 is installed in the collecting tank 41, two ends of the screw shaft 42 are installed in the collecting tank 41 through bearings, one end of the screw shaft 42 is connected with a belt transmission mechanism 46 for driving the screw shaft to rotate, one side, right opposite to the notch, of the collecting tank 41 is communicated with a collecting tank 44 through a conveying pipeline 43, a feeding mechanism is arranged at the feeding end of the conveying pipeline 43, and the mowing device 2 is arranged on one side of the notch of the collecting tank 41. When mowing, the mowing device 2 mows at the front side of the collecting tank 41, the collecting tank 41 moves forward under the driving of the driving wheel mechanism 3, cut grass can be pushed and collected at one side of the groove opening, the screw shaft 42 rotates, the grass can be brought into the collecting tank 41, and the grass is driven by the feeding mechanism to enter the conveying pipeline 43 and enter the collecting tank 41 from the conveying pipeline 43.

More in detail, feeding mechanism includes two impeller 91 of mutually supporting, two impeller 91 all articulates pipeline 43, impeller 91 is connected with step motor 92, step motor 92 passes through the step motor driver and connects singlechip 6. The stepping motor 92 is used for driving the propeller blades 91 to rotate, and the two propeller blades 91 rotate in opposite directions, so that the grass entering the collecting tank 41 is squeezed into the conveying pipeline 43 from between the two propeller blades 91.

In order to better push and collect the cut grass on one side of the notch, the notch bottom of the collecting groove 41 is provided with a relieving tooth 45, and the relieving tooth 45 and the collecting groove 41 are integrally formed.

In order to enable the mowing robot to spray water on fruit trees while mowing and expand the spraying range, the spraying device 5 comprises a water tank 51, a water pump 52 and a water pipe 54 are connected with a spray head 53, the spray head 53 is installed on a rotary support 55, the rotary support 55 comprises a bottom plate 551, a first steering engine 552 is installed on the bottom plate 551, a driving shaft of the first steering engine 552 is connected with a base 553, the first steering engine 552 can drive the base 553 to rotate horizontally, a second steering engine 554 is installed on the base 553, the base 553 is hinged with a mounting frame 555, the second steering engine 554 is used for driving the mounting frame 555 to rotate, a spray head mounting seat 556 is hinged on the mounting frame 555, the spray head mounting seat 556 is driven by a third steering engine 557, and the rotary support 55 is used for adjusting the spraying direction and the spraying angle of the spray head 53.

The vision detection device 7 is used for obtaining image signals of an operation environment, the vision detection device 7 comprises a steering engine mounting seat 71, a fourth steering engine 72 is mounted on the steering engine mounting seat 71, the fourth steering engine 72 is connected with a camera mounting support 73, the fourth steering engine 72 is used for driving the camera mounting support 73 to horizontally rotate, the rotation angle is 0-360 degrees, the camera mounting support 73 is hinged with a camera mounting table 74, the camera mounting table 74 is driven by a fifth steering engine 75 to vertically rotate, a camera 76 is mounted on the camera mounting table 74, and the camera direction and the angle of the camera 76 can be adjusted through the fourth steering engine 72 and the fifth steering engine 75.

More in detail, sensing device 8 includes two sets of ultrasonic sensor 81 and two sets of infrared sensor 82, and two sets of ultrasonic sensor 81 and two sets of infrared sensor 82 set up respectively the both sides of frame 1, infrared sensor 82 connects through Arduino singlechip 83 singlechip 6, ultrasonic sensor 81 connects singlechip 6.

The driving wheel mechanism 3 comprises four driving wheels 31, the four driving wheels 31 are respectively installed on two sides of the rack 1, the driving wheels 31 are connected with direct current motors 32, and the direct current motors 32 are connected with the single chip microcomputer 6 through relays.

In more detail, in this embodiment, the single chip microcomputer 6 is preferably an STM32F103 single chip microcomputer; the stepper motor 92 is preferably a 28BYJ-48 stepper motor; camera 76 is sent 4B mainboard serial communication through the raspberry and is connected

singlechip

6, 6 serial communication of singlechip have GPS module and bluetooth module, 6 accessible bluetooth module communication of singlechip remove the end, buzzer and electric quantity detection module (EDPF-EM) can also be connected to Arduino singlechip 83.

To sum up, the utility model discloses a multi-functional orchard robot of mowing's function integrated level is high, and drive wheel mechanism is driven by the singlechip, when mowing, can carry out image acquisition to being about to the operation environment through visual detection device, and sensing device can self be the emission source, detects the object of the planar range in the place ahead, can collect the information of the place ahead road conditions and the barrier condition and reach the singlechip, and singlechip analysis and control drive wheel mechanism keep away the barrier, and it is nimble convenient to remove, and degree of automation is high, and the material resources of using manpower sparingly reduce people's intensity of labour.

The foregoing is a more detailed description of the invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments disclosed herein. To those skilled in the art to which the utility model belongs, a plurality of simple deductions or replacements can be made without departing from the concept of the utility model, and all the deductions or replacements should be regarded as belonging to the protection scope of the utility model.

Claims

1. The utility model provides a multi-functional orchard robot of mowing, includes frame (1), the bottom of frame (1) is equipped with drive wheel mechanism (3) that is used for driving its removal, a serial communication port, install collection device (4), grass cutting device (2), sprinkler (5) and control system in frame (1), control system includes singlechip (6), visual detection device (7) and sensing device (8), singlechip (6) are connected drive wheel mechanism (3), visual detection device (7) and sensing device (8) with the signal feedback that detects extremely singlechip (6), singlechip (6) are used for the drive wheel mechanism (3) remove.

2. A multifunctional orchard mowing robot according to claim 1, characterized in that the collecting device (4) comprises a collecting trough (41), a screw shaft (42) is mounted in the collecting trough (41), the collecting trough (41) is communicated with a collecting tank (44) through a conveying pipeline (43), a feeding mechanism is arranged at the feeding end of the conveying pipeline (43), and the mowing device (2) is arranged on one side of the notch of the collecting trough (41).

3. A multi-functional orchard mowing robot according to claim 2, characterized in that a tooth (45) is provided at the bottom of the slot of the collecting trough (41), said tooth (45) being formed integrally with the collecting trough (41).

4. A multi-functional orchard mowing robot according to claim 2, wherein both ends of the screw shaft (42) are mounted on the collecting groove (41) through bearings, and one end of the screw shaft (42) is connected with a belt transmission mechanism (46) for driving the screw shaft to rotate.

5. A multi-functional orchard mowing robot according to claim 2, wherein the feeding mechanism comprises two cooperating propeller blades (91), both propeller blades (91) are hinged to the conveying pipe (43), and a stepping motor (92) is connected to the propeller blades (91).

6. A versatile orchard mowing robot according to claim 1, characterised in that the spraying device (5) comprises a water tank (51), a water pump (52) and a water pipe (54) are connected with a spray head (53), the spray head (53) is mounted on a rotating bracket (55), and the rotating bracket (55) is used to adjust the spraying direction and angle of the spray head (53).

7. A multifunctional orchard mowing robot according to claim 6, wherein the rotating bracket (55) comprises a bottom plate (551), a first steering engine (552) is mounted on the bottom plate (551), a driving shaft of the first steering engine (552) is connected with a base (553), a second steering engine (554) is mounted on the base (553), the base (553) is hinged to a mounting frame (555), the second steering engine (554) is used for driving the mounting frame (555) to rotate, a spray head mounting seat (556) is hinged to the mounting frame (555), and the spray head mounting seat (556) is driven by a third steering engine (557).

8. The multifunctional orchard mowing robot according to claim 1, wherein the vision detection device (7) comprises a steering engine mounting seat (71), a fourth steering engine (72) is mounted on the steering engine mounting seat (71), the fourth steering engine (72) is connected with a camera mounting bracket (73), the camera mounting bracket (73) is hinged to a camera mounting table (74), the camera mounting table (74) is driven by a fifth steering engine (75), and a camera (76) is mounted on the camera mounting table (74).

9. A versatile orchard mowing robot according to claim 1, characterized in that said sensing means (8) comprise two sets of ultrasonic sensors (81) and two sets of infrared sensors (82), said infrared sensors (82) being connected to said monolithic computer (6) through an Arduino monolithic computer (83).

10. A versatile orchard mowing robot according to claim 1, characterised in that the driving wheel mechanism (3) comprises a driving wheel (31), and that a direct current motor (32) is connected to the driving wheel (31).