CN216034741U - Automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards - Google Patents
Automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards Download PDFInfo
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- CN216034741U CN216034741U CN202122630948.3U CN202122630948U CN216034741U CN 216034741 U CN216034741 U CN 216034741U CN 202122630948 U CN202122630948 U CN 202122630948U CN 216034741 U CN216034741 U CN 216034741U
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Abstract
The utility model provides an automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards, and relates to the field of intelligent transportation of hilly and mountainous orchards. The automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards comprises a crawler-type chassis, an automatic basket unloading device and an automatic navigation system. The automatic basket unloading device comprises a carriage for loading the fruit basket, a lifting bracket, an electromagnet, a spring and rollers, wherein the fruit basket automatically slides down; the automatic navigation system comprises a 3D laser radar for acquiring three-dimensional point cloud data of an orchard environment, an industrial personal computer for processing navigation data and receiving control instructions, an STM32 control panel for receiving instructions of the industrial personal computer, operating a motor, an inertia measurement unit for acquiring speed and displacement information of a transport vehicle, and a Wi-Fi module for establishing communication with a remote control end. The utility model discloses a combine together crawler-type chassis, automatic basket device and the automatic navigation of unloading, can be automatic, high-efficient, accurate transport the assigned position with the fruit basket, improve the automation and the intelligent level of hills mountain orchard transportation.
Description
Technical Field
The utility model relates to an automatic unmanned transport vechicle of basket that unloads in hills mountain orchard, concretely relates to hills mountain orchard transportation is automatic and intelligent field.
Background
Fruits are indispensable important components in human diet, and the orchard industry becomes the main economic source of fruit growers at present, but most orchards in China are distributed in hilly mountains, and due to the limitation of topography and landform, the existing machines have the problems of difficulty in entering and exiting, poor operation performance and stability and the like, and particularly, in the post-harvest fruit transportation link, the labor and time are wasted mainly due to manual work. With the shift of orchard industry planting patterns and the increasing year by year of labor costs, the demand for orchard transportation machinery increases. The automatic basket unloading unmanned transport vehicle is adopted to finish the transport in the fruit orchard, so that the mechanization level, the automation level and the intelligentization level can be improved, and the labor cost input and the damage to fruits in the transport link can be reduced.
Chinese patent CN 209226029U discloses a hillside orchard transporter, which comprises a guide rail, a guide rail pillar, a rack, a motorized device, a driven device, a control box, a civil GPS, a variable speed motor, a storage battery, a speed sensor, a loading bucket, a connecting rod, a telescopic fence and a bolt. The motorized device and the two driven devices have the same structure and are connected to the guide rail, the top of the motorized device is fixed with a control box, the side surface of the motorized device is provided with a variable speed motor and a storage battery, and the front end of the control box is provided with a speed sensor. The orchard transporting device can complete orchard transporting work, but the track laying cost is high, and the coping risk capability is poor.
In view of the above, there is a need for an automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards, which uses an automatic basket unloading unmanned transport vehicle combining a crawler-type chassis, an automatic basket unloading device and an automatic navigation system to transport fruit baskets in the orchards. And at present, the automatic basket unloading unmanned transport vehicle applied to the orchard is not used in hilly and mountainous regions, so that the research on the automatic basket unloading unmanned transport vehicle for the orchard in hilly and mountainous regions has important significance for improving the transport efficiency of the picked fruits and reducing the labor demand.
Disclosure of Invention
The utility model provides an automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards, aiming at the problems of large labor demand, low working efficiency and the like during transportation of the hilly and mountainous orchards.
This patent is realized through following technical scheme: an automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards comprises a crawler-type chassis (1), a lifting mechanism (2) and an automatic navigation system (3). The method is characterized in that: the crawler-type chassis (1) comprises a chassis (101) and a carriage (102); the carriage (102) is arranged at the upper part of the chassis (101), the carriage (102) is driven by the chassis (101) to move, the upper part of the carriage (102) is provided with an opening for loading fruit baskets, and the front part of the carriage (102) is arranged by a sliding chute and can be opened for unloading the fruit baskets; the lifting mechanism (2) is arranged in the carriage (102), and the electromagnet (204) in the lifting mechanism (2) is powered on or off, so that the compression degree of the spring (203) can be controlled, and the height of the rear end of the lifting support (201) can be adjusted; when the rear end of the lifting bracket (201) is lifted by the elastic force of the spring (203), the fruit basket can be unloaded to a designated position along the inclination angle; the automatic navigation system (3) acquires three-dimensional point cloud information of the orchard environment in real time through the 3D laser radar (302); the industrial personal computer (305) completes three-dimensional orchard map building, two-dimensional grid map building, positioning of the crawler-type chassis (1) in the orchard, global path planning and local path planning of the crawler-type chassis (1); the STM32 control board (301) completes the control of the inertia measurement unit (304) and the motor, receives the instruction of the industrial personal computer (305), and operates the motor, uploads the speed, the angular velocity and the data of the inertia measurement unit (304); the Wi-Fi module (303) completes wireless communication with the remote control end; the inertia measurement unit (304) acquires the attitude, speed and displacement information of the crawler chassis (1); and finally, realizing the automatic navigation function of the crawler-type chassis (1) in the orchard.
The carriage (102) is arranged at the upper part of the chassis (101), the carriage (102) is driven by the chassis (101) to move, the upper part of the carriage (102) is provided with an opening for loading fruit baskets, and the front part of the carriage (102) is arranged by a sliding chute and can be opened for unloading the fruit baskets; a lifting support (201) is installed on a carriage (102) of the crawler-type chassis (1), and after the electromagnet (204) is powered off, the rear end of the lifting support (201) can be lifted under the action of a spring (203) to form an inclined plane; the roller (202) is arranged on the lifting support (201), the roller (202) can rotate around the central axis of the roller, and when the fruit basket moves downwards along the slope, the motion friction force is reduced; the 3D laser radar (302) is installed right in front of the crawler-type chassis (1) and used for acquiring three-dimensional point cloud of the orchard environment; the industrial personal computer (305) is arranged on the left side of the rear end of the crawler-type chassis (1) and is used for processing navigation data and receiving control instructions to complete three-dimensional orchard construction, two-dimensional grid map creation, orchard positioning of the crawler-type chassis (1), global path planning and local path planning of the crawler-type chassis (1); an STM32 control board (301) is arranged on the left side of the front end of the crawler-type chassis (1), controls an inertia measurement unit (304) and a motor, receives an instruction of an industrial personal computer (305), and operates the motor, uploads speed, angular velocity and data of the inertia measurement unit (304); the Wi-Fi module (303) is arranged on the right side of the front end of the crawler chassis (1) to complete wireless communication with the remote control end; the inertia measurement unit (304) is installed on the right side of the rear end of the crawler-type chassis (1) to complete acquisition of attitude, speed and displacement information of the crawler-type chassis (1).
Preferably, an opening is formed above a carriage (102) of the crawler-type chassis (1), and the front part of the carriage (102) can be opened, so that fruit baskets can be conveniently placed in the carriage and can conveniently slide out along the lifting bracket.
Preferably, the lifting bracket (201) changes the compression state of the spring (203) to control the height of the rear end of the lifting bracket (201) through the power-on and power-off of the electromagnet (204), so that the lifting bracket (201) is kept horizontal or a 30-degree inclined plane is formed, and fruit baskets are conveyed to move along the lifting bracket (201).
Preferably, a roller (202) is arranged in the middle of the lifting support (201), the roller (202) can rotate around the center of the roller, resistance of the fruit basket when the fruit basket descends along the lifting support (201) is reduced, and the material is industrial plastic.
Preferably, the 3D laser radar (302) is installed right in front of the crawler-type chassis (1) and used for acquiring the three-dimensional point cloud of the orchard environment.
Preferably, the industrial personal computer (305) is located on the left side of the rear end of the crawler-type chassis (1) and is used for conducting navigation data processing and control instruction receiving, and drawing building of a three-dimensional orchard, creation of a two-dimensional grid map, positioning of the crawler-type chassis (1) in the orchard, global path planning and local path planning of the crawler-type chassis (1) are completed.
Preferably, the STM32 control panel (301) is installed on the left side of the front end of the crawler-type chassis (1), controls the inertial measurement unit (304) and the motor, receives an instruction of the industrial personal computer (305), and operates the motor, uploads speed, angular velocity and data of the inertial measurement unit (304).
Preferably, the Wi-Fi module (303) is installed on the right side of the front end of the crawler chassis (1) to complete wireless communication with a remote control end.
Preferably, the inertia measurement unit (304) is installed on the right side of the rear end of the crawler-type chassis (1) to complete acquisition of attitude, speed and displacement information of the crawler-type chassis (1).
Drawings
The patent is further described with reference to the drawings and the embodiments.
FIG. 1 is an automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards;
FIG. 2 is a schematic structural view of the tracked chassis (1);
FIG. 3 is a schematic structural diagram of the automatic basket unloading device (2);
fig. 4 is a schematic configuration diagram of the automatic navigation system (3).
The following are the component numbers in the figures:
the automatic basket unloading device comprises a crawler-type chassis (1), an automatic basket unloading device (2), an automatic navigation system (3), a chassis (101), a carriage (102), a lifting support (201), rollers (202), an electromagnet (204), a spring (203), a 3D laser radar (302), an industrial personal computer (305), an STM32 control panel (301), an inertia measurement unit (304) and a Wi-Fi module (303).
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.
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.
As shown in the figure, the automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards comprises a crawler-type chassis (1), a lifting mechanism (2) and an automatic navigation system (3). The crawler-type chassis (1) comprises a chassis (101) and a carriage (102) which is not sealed at the upper part and can be opened at the front part; the lifting mechanism (2) comprises a lifting support (201), a roller (202), an electromagnet (204) and a spring (203); the automatic navigation system (3) comprises a 3D laser radar (302), an industrial personal computer (305), an STM32 control panel (301), an inertial measurement unit (304) and a Wi-Fi module (303); the compartment (102) is arranged at the upper part of the chassis (101), the compartment (102) is driven by the chassis (101) to move, the upper part of the compartment (102) is provided with an opening for loading fruit baskets, and the front part of the compartment (102) can be opened for unloading the fruit baskets; a lifting support (201) is arranged on a carriage (102) of the crawler-type chassis (1), the lifting support (201) is arranged in parallel relative to the bottom surface of the carriage (102), has a supporting function, and has a guiding function when the rear end is lifted; the rear end of the lifting support (201) is connected with the electromagnet (204) and the spring (203), and the degree of compression of the spring (203) is changed through the on-off of the electromagnet (204), so that the lifted height of the rear end of the lifting support (201) is changed, namely whether the lifting support (201) forms a slope or not is changed; the lifting bracket (201) is provided with a roller (202), and the roller (202) rotates to help the fruit basket move downwards along the lifting bracket (201); the 3D laser radar (302) is installed right in front of the crawler-type chassis (1) and used for acquiring three-dimensional point cloud of the orchard environment; the industrial personal computer (305) is arranged on the left side of the rear end of the crawler-type chassis (1) and is used for processing navigation data and receiving control instructions to complete three-dimensional orchard construction, two-dimensional grid map creation, orchard positioning of the crawler-type chassis (1), global path planning and local path planning of the crawler-type chassis (1); an STM32 control board (301) is arranged on the left side of the front end of the crawler-type chassis (1), controls an inertia measurement unit (304) and a motor, receives an instruction of an industrial personal computer (305), and operates the motor, uploads speed, angular velocity and data of the inertia measurement unit (304); the Wi-Fi module (303) is arranged on the right side of the front end of the crawler chassis (1) to complete wireless communication with the remote control end; the inertia measurement unit (304) is installed on the right side of the rear end of the crawler-type chassis (1) to complete acquisition of attitude, speed and displacement information of the crawler-type chassis (1).
The specific working process is as follows:
when the automatic navigation device works, a 3D laser radar (302) acquires three-dimensional point cloud information of an orchard environment in real time, an industrial personal computer (305) completes three-dimensional orchard map building, a two-dimensional grid map is built, a crawler-type chassis (1) is positioned in the orchard, global path planning and local path planning are carried out on the crawler-type chassis (1), an STM32 control panel (301) completes control over an inertia measurement unit (304) and a motor and receives an instruction of the industrial personal computer (305), the motor is operated to upload speed, angular velocity and data of the inertia measurement unit (304), a Wi-Fi module (303) completes wireless communication with a remote control end, the inertia measurement unit (304) completes attitude and speed and displacement information acquisition of the crawler-type chassis (1), the automatic navigation function of the crawler-type chassis (1) in the orchard is finally realized, and when the crawler-type chassis (1) reaches a specified basket unloading position, the crawler-type chassis (1) stops moving, the electromagnet (204) is powered off, the rear end of the lifting support (201) is lifted, the fruit basket slides down to the designated basket unloading position along the lifting support (201), and the fruit basket transportation operation is sequentially carried out.
An opening is formed in the upper portion of a carriage (102) of the crawler-type chassis (1), the front portion of the carriage (102) can be opened, and fruit baskets can be conveniently placed into the carriage and can slide out of the carriage along the lifting support (201).
The lifting support (201) changes the compression state of the spring (203) to control the height of the rear end of the lifting support through the power-on and power-off of the electromagnet (204), so that the lifting support (201) is kept horizontal or a 30-degree inclined plane is formed, and fruit baskets are conveyed to move along the lifting support (201).
The middle of the lifting support (201) is provided with the roller (202), the roller (202) can rotate around the center of the roller, so that the resistance of the fruit basket when the fruit basket descends along the lifting support (201) is reduced, and the material is industrial plastic.
The 3D laser radar (302) is installed right in front of the crawler-type chassis (1) and used for acquiring the three-dimensional point cloud of the orchard environment.
The industrial personal computer (305) is positioned on the left side of the rear end of the crawler-type chassis (1) and is used for processing navigation data and receiving control instructions, and completing three-dimensional orchard construction, two-dimensional grid map creation, orchard positioning of the crawler-type chassis (1), global path planning and local path planning of the crawler-type chassis (1).
The STM32 control panel (301) is installed on the left side of the front end of the crawler-type chassis (1), controls an inertia measuring unit (304) and a motor, receives an instruction of an industrial personal computer (305), and operates the motor, uploads speed, angular velocity and data of the inertia measuring unit (304).
The Wi-Fi module (303) is installed on the right side of the front end of the crawler-type chassis (1) to complete wireless communication with the remote control end.
The inertia measurement unit (304) is installed on the right side of the rear end of the crawler-type chassis (1) to complete acquisition of attitude, speed and displacement information of the crawler-type chassis (1).
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the utility model.
Claims (8)
1. The utility model provides an automatic unmanned transport vechicle of basket that unloads in hills mountain orchard, its characterized in that, automatic unmanned transport vechicle of basket that unloads in hills mountain orchard comprises crawler-type chassis, automatic basket device and automatic navigation triplex, wherein: the automatic basket unloading device and the automatic navigation system are integrated on the crawler-type chassis; the crawler-type chassis comprises a chassis and a carriage; the carriage is arranged on the upper part of the chassis, the chassis drives the carriage to move, the upper part of the carriage is provided with an opening for loading fruit baskets, and the front part of the carriage is arranged through a chute and can be opened for unloading the fruit baskets; the automatic basket unloading device comprises a lifting bracket, a roller, an electromagnet and a spring; the front end of the lifting bracket is arranged on the carriage walls on the two sides of the carriage, and the rear end of the lifting bracket is connected with the electromagnet and the spring and is used for supporting and guiding the fruit basket; the electromagnets and the springs are installed on two sides of the rear end of the lifting support in pairs, and the height of the rear end of the lifting support is changed through the compression degree of the springs; the automatic navigation system comprises a 3D laser radar, an industrial personal computer, an STM32 control panel, an inertia measurement unit and a Wi-Fi module; the 3D laser radar is installed right in front of the crawler-type chassis and used for acquiring the three-dimensional point cloud of the orchard environment; the industrial personal computer is arranged on the left side of the rear end of the crawler-type chassis and is used for processing navigation data and receiving control instructions to complete three-dimensional orchard construction, two-dimensional grid map construction, orchard positioning of the crawler-type chassis, global path planning and local path planning of the crawler-type chassis; the STM32 control board is arranged on the left side of the front end of the crawler-type chassis to complete the control of the inertia measurement unit and the motor, receive the instruction of the industrial personal computer, operate the motor, and upload the speed, the angular velocity and the data of the inertia measurement unit; the Wi-Fi module is arranged on the right side of the front end of the crawler chassis and is used for completing wireless communication with the remote control end; the inertia measurement unit is arranged on the right side of the rear end of the crawler-type chassis to complete acquisition of attitude, speed and displacement information of the transport vehicle.
2. The automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards, according to claim 1, is characterized in that: an opening is formed above the carriage of the crawler-type chassis, and the front part of the carriage can be opened to finish the loading and unloading of the fruit basket.
3. The automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards, according to claim 1, is characterized in that: the lifting support is arranged in parallel with the bottom surface of the carriage, and after the electromagnet is powered off, the spring drives the rear end of the lifting support to rotate around the front end to form a 30-degree inclined plane to guide the fruit basket to automatically slide downwards.
4. The automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards, according to claim 1, is characterized in that: the idler wheels arranged on the lifting support are made of engineering plastics and can rotate around the middle shaft, and the effect basket can smoothly move downwards after the rear end of the lifting support is lifted.
5. The automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards, according to claim 1, is characterized in that: the 3D laser radar is installed right ahead of the crawler-type chassis, and three-dimensional point cloud information of hilly and mountain orchards is acquired in real time.
6. The automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards, according to claim 1, is characterized in that: the industrial personal computer is arranged on the left side of the rear end of the crawler-type chassis and is responsible for receiving control instructions and completing main data processing tasks, and directly controls the laser radar and the Wi-Fi module; the STM32 control board is arranged on the left side of the front end of the crawler-type chassis to complete the control of the inertia measurement unit and the motor, receive the instruction of the industrial personal computer, operate the motor, and upload the speed, the angular velocity and the data of the inertia measurement unit; the Wi-Fi module is arranged on the right side of the front end of the crawler chassis and is used for completing wireless communication with the remote control end; the inertia measurement unit is arranged on the right side of the rear end of the crawler-type chassis to complete acquisition of attitude, speed and displacement information of the transport vehicle; and finally, realizing the automatic navigation function of the crawler-type chassis in the orchard.
7. The automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards, according to claim 1, is characterized in that: the fruit tree crowns of the orchard are mutually crossed, the bottom space is limited, and the size length multiplied by the width multiplied by the height of the transport vehicle is 1500mm multiplied by 1000 mm.
8. The automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards, according to claim 1, is characterized in that: based on a robot operating system, the automatic navigation and obstacle avoidance of the automatic basket unloading unmanned transport vehicle in hilly and mountain orchards are realized by adopting a three-dimensional laser SLAM algorithm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122630948.3U CN216034741U (en) | 2021-10-30 | 2021-10-30 | Automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards |
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| CN202122630948.3U CN216034741U (en) | 2021-10-30 | 2021-10-30 | Automatic basket unloading unmanned transport vehicle for hilly and mountainous orchards |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114524234A (en) * | 2022-03-28 | 2022-05-24 | 山东农业大学 | Multi-dimensional grid efficient transportation working method and device for hilly orchard cable rail vehicle |
| CN115362773A (en) * | 2022-08-05 | 2022-11-22 | 中国农业科学院都市农业研究所 | Hilly agricultural robot device and method |
-
2021
- 2021-10-30 CN CN202122630948.3U patent/CN216034741U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114524234A (en) * | 2022-03-28 | 2022-05-24 | 山东农业大学 | Multi-dimensional grid efficient transportation working method and device for hilly orchard cable rail vehicle |
| CN115362773A (en) * | 2022-08-05 | 2022-11-22 | 中国农业科学院都市农业研究所 | Hilly agricultural robot device and method |
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