LU503171B1 - Terrain self-adaption unmanned weeding robot for hillside orchard - Google Patents
Terrain self-adaption unmanned weeding robot for hillside orchard Download PDFInfo
- Publication number
- LU503171B1 LU503171B1 LU503171A LU503171A LU503171B1 LU 503171 B1 LU503171 B1 LU 503171B1 LU 503171 A LU503171 A LU 503171A LU 503171 A LU503171 A LU 503171A LU 503171 B1 LU503171 B1 LU 503171B1
- Authority
- LU
- Luxembourg
- Prior art keywords
- vehicle body
- crawler
- controller
- motor
- mowing
- Prior art date
Links
- 238000009333 weeding Methods 0.000 title claims abstract description 58
- 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 14
- 230000001681 protective effect Effects 0.000 claims description 31
- 238000003860 storage Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 241000196324 Embryophyta Species 0.000 abstract description 19
- 235000013399 edible fruits Nutrition 0.000 abstract description 11
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000003971 tillage Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Harvester Elements (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
Disclosed is discloses a terrain self-adaption unmanned weeding robot for a hillside orchard, which comprises a crawler vehicle, a control system, mowing devices and an inter-plant telescopic mowing device. A chassis of the robot adopts a crawler-type chassis moving carrier, so that the robot has good passing ability in complex environments such as a mountain land; by adopting a technology of detecting fruit trees with cameras, the fruit trees in the orchard can be identified, so as to realize precise operation; and by using a laser radar, a map of the orchard can be constructed in real time, so as to realize automatic walking of the intelligent weeding robot for the orchard. Meanwhile, through combination with the advantages of the traditional rotary tillage type weeding machine, mowing mechanisms in the present invention further adopt the deep ploughing type mowing devices, so that roots of weeds can be effectively mowed, and the clearance rate of the weeds is effectively improved. The inter-plant telescopic mowing device adopts screw rods for transmission, to realize the left-and-right telescoping of the mowing devices, so as to realize inter-plant precise weeding.
Description
TERRAIN SELF-ADAPTION UNMANNED WEEDING ROBOT FOR HILLSIDE ORCHARD
LU503171
The present invention relates to the technical field of agricultural robots, and more particularly relates to a terrain self-adaption unmanned weeding robot for a hillside orchard.
Intertillage weeding is carried out artificially or mechanically on weeds growing in fields of crops, so that the weeds can be prevented and weeded in time. The weeding work not only can prevent and weed the weeds, but also can provide good growing conditions for the crops. In the whole growth process of the crops, repeated weeding can be conducted as required; and when in weeding, the favourable opportunity needs to be seized to weed early weeds and little weeds and realize thorough weeding, without leaving little weeds, so as to avoid future trouble.
The present weeding work of an orchard is mainly carried out artificially. Since there are many obstacles in the orchard, the traditional weeding machine is not suitable for carrying out intertillage weeding work on the weeds. Therefore, an intelligent robot specially for weeding in the orchard is lacked on the present market.
In view of this, the present invention proposes a terrain self-adaption unmanned weeding robot for a hillside orchard, and the specific technical solution thereof is described as follows:
The terrain self-adaption unmanned weeding robot for the hillside orchard comprises: a crawler vehicle, wherein the crawler vehicle comprises a vehicle body, a crawler vehicle cavity is arranged in the vehicle body, and a crawler mechanism for driving the vehicle body to walk is installed on the crawler vehicle; a control system, wherein the control system comprises a storage battery, a control box, a laser radar and cameras; the storage battery and the control box are located in the crawler vehicle cavity, and the storage battery is used for supplying power for all electric elements of the intelligent weeding robot for the orchard; the control box is internally provided with a controller for controlling the intelligent weeding robot for the orchard to implement various actions; and the laser radar and the cameras are installed at the top of the vehicle body and are in control connection with the controller; mowing devices, wherein two sets of mowing devices are respectively located at the left side and the right side of the rear end of the vehicle body; each 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 DC (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 DC motor is fixed in a motor installation hole in the fixed plate; an output shaft of the DC motor, which extends out downwards, is in transmission connection with the first screw rod; the sliding table 15 5031 74 sleeved on the first screw rod through a threaded hole formed therein, and meanwhile, one side of the sliding table, which is away from the fixed plate, is fixedly connected with the motor base; the rotary cutting motor is fixed at the upper part of the motor base, a rotary shaft of the rotary cutting motor, which extends out downwards, 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 transmission shaft protective shell is installed at an outer ring of the transmission shaft, and the transmission shaft protective shell is fixed at the bottom of the motor base; the protective cover is installed at the bottom of the transmission shaft protective shell, the rotary cutting blade is located in the protective cover, a bottom cutter tip of the blade is exposed out of the bottom of the protective cover; and the rotary cutting blade is a deep ploughing type blade; and an inter-plant telescopic mowing device, wherein the inter-plant telescopic mowing device comprises a sliding rail, two inter-plant DC motors, two second screw rods, two sliding rods and two sets of mowing devices; the sliding rail is fixed at the top of the vehicle body by supporting legs; the axis direction of the sliding rail is perpendicular to a connecting line in the front-back direction of the vehicle body, and the two ends of the sliding rail extend out of the left side and the right side of the vehicle body; the two inter-plant DC motors are fixed below the middle position of the sliding rail, and two corresponding motor output shafts thereof are parallel to the sliding rail, but the extension directions of the two corresponding motor output shafts are opposite; the two motor output shafts are in transmission connection with the two second screw rods in a one-to- one correspondence manner; the sliding rods are in an L shape, a threaded hole is formed in an upper cross rod of each sliding rod, and one end of each second screw rod, which is away from the motor output shaft, is screwed into the corresponding threaded hole of the upper cross rod; a track is arranged at the bottom of the sliding rail, a plurality of rollers are installed on the top surface of each upper cross rod, and the rollers are installed into the track in a rolling manner adaptively; and the outer side wall of a lower vertical rod of each second screw rod, which is away from one side of the vehicle body, is fixedly connected with the fixed plate on the corresponding mowing device.
In order to solve the problems existing in the traditional mowing method, a chassis of the terrain self-adaption unmanned weeding robot for the hillside orchard of the present invention adopts a crawler-type chassis moving carrier, so that the weeding robot has good passing ability in complex environments such as a mountain land; by adopting a technology of detecting fruit trees with the cameras, the fruit trees in the orchard can be identified, so as to realize precise operation; by using the laser radar, a map of the orchard can be constructed in real time, so as to realize automatic walking of the intelligent weeding robot for the orchard.
In the present invention, the cameras are matched the laser radar, so that the weeding robot can walk automatically to complete obstacle avoidance, autonomous tasks and indirect operation.
Through the combination of the cameras and the laser radar, the mowing precision and the 503171 walking intellectualization of the robot can be effectively improved.
Meanwhile, through combination with the advantages of the traditional rotary tillage type weeding machine, mowing mechanisms in the present invention further adopt the deep ploughing type mowing devices; screw rod transmission mechanisms are adopted by the deep ploughing type mowing devices, so that the up-and-down movement of the mowing devices can be realized, the mowing devices can be adjusted in different mowing environments, thereby avoiding excessive damage to the rotary cutting blades; and meanwhile, the mowing devices adopt the deep ploughing type blades, so that roots of weeds can be effectively mowed, and the clearance rate of the weeds is effectively improved. Further, in order to adapt to the environment of the orchard, the inter-plant telescopic mowing device in the present invention also adopts the screw rods for transmission, and the left-and-right telescoping of the mowing devices is realized, so as to realize inter-plant precise weeding.
Preferably, the crawler mechanism comprises two sets of gear boxes, two sets of crawler vehicle motors, two sets of crawlers and two sets of driving wheels, which are integrally arranged at the left side and the right side of the vehicle body respectively; the crawler vehicle motors are fixed in the crawler vehicle cavity, and a rotary shaft of each crawler vehicle motor is in transmission connection with the gear box arranged at the corresponding side in the crawler vehicle cavity similarly; the driving wheels and driven wheels are respectively installed at the front positions and the rear positions of the left side and the right side of the crawler vehicle, each crawler is sleeved on the outer sides of the corresponding driven wheel and the corresponding driving wheel at the same side of the vehicle body and is meshed with the driving wheel and the driven wheel; and each driving wheel is in transmission connection with the gear box at the corresponding side.
Preferably, the controller in the control box comprises a Myrio controller and a Jetson Nano controller; the control box is also internally provided with a depressurization module; the Myrio controller is electrically connected with the Jetson Nano controller; the depressurization 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 cameras; and the
Myrio controller is in control connection with the motors in the crawler mechanism, the mowing devices and the inter-plant telescopic mowing device.
Preferably, remote control can be carried out by the Myrio controller through Bluetooth.
Preferably, the laser radar is installed at the middle position of the top of the vehicle body.
Preferably, two cameras are respectively arranged at the left side and the right side of the front end at the top of the vehicle body and are placed at a 45-degree angle with a centre shaft of the vehicle body.
Preferably, the protective cover is detachably installed at the bottom of the transmission shaft protective shell.
The terrain self-adaption unmanned weeding robot for the hillside orchard of the present 503171 invention has the beneficial effects that: the intelligent weeding robot for the orchard can construct the map of the orchard in real time by the laser radar; existence information of the fruit trees are detected by the double cameras; and through communication of the Jetson Nano controller and the Myrio controller, inter-plant weeding devices and inter-row weeding devices are controlled to carry out automatic weeding operation. The whole operation process has the characteristics of intelligentisation, efficiency and so on, so that labour can be greatly reduced, the mowing efficiency is improved, and the mowing cost is lowered.
To more clearly describe the technical solutions in embodiments of the present invention or in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be simply presented below.
Figs. 1-2 are overall structural schematic diagrams of the present invention;
Fig. 3 is a structural schematic diagram of an intelligent weeding robot for an orchard of the present invention after a vehicle roof is removed;
Fig. 4 is a main view of a mowing device in the present invention;
Fig. 5 is a top view of the mowing device in the present invention;
Fig. 6 is a sectional view of an A-A direction in Fig. 5;
Fig. 7 is a three-dimensional diagram of the mowing device in the present invention;
Fig. 8 is a three-dimensional diagram of an inter-plant telescopic mowing device in the present invention;
Fig. 9 is a structural schematic diagram of the inter-plant telescopic mowing device (one mowing device is removed) in the present invention;
Fig. 10 is a sectional schematic diagram of a sliding rail in the inter-plant telescopic mowing device;
Fig. 11 is a structural schematic diagram of a sliding rod in the inter-plant telescopic mowing device;
Fig. 12 is a structural schematic diagram of a motor base in the present invention; and
Fig. 13 is a positional schematic diagram of a sliding table in the present invention.
As shown in Fig. 1-Fig. 3, a terrain self-adaption unmanned weeding robot for a hillside orchard in the present invention comprises a crawler vehicle 1, a control system 2, mowing devices 3 and an inter-plant telescopic mowing device 4. The direction pointed by an arrow in Fig. 1 is the forward walking direction of the intelligent weeding robot, wherein the crawler vehicle 1 comprises a vehicle body 5, a crawler vehicle cavity 6 is arranged 1m 503174 the vehicle body 5, and a crawler mechanism for driving the vehicle body 5 to walk is installed on the crawler vehicle 1.
Further, the crawler mechanism comprises two sets of gear boxes 7, two sets of crawler 5 vehicle motors 8, two sets of crawlers 9 and two sets of driving wheels 10, which are integrally arranged at the left side and the right side of the vehicle body 5 respectively; the crawler vehicle motors 8 are fixed in the crawler vehicle cavity 6 through bolts, and a rotary shaft of each crawler vehicle motor is in transmission connection with the gear box 7 arranged at the corresponding side in the crawler vehicle cavity 6 similarly; the driving wheels 10 and driven wheels 11 are respectively installed at the front positions and the rear positions of the left side and the right side of the crawler vehicle 1; each crawler 9 is sleeved on the outer sides of the corresponding driven wheel 11 and the corresponding driving wheel 10 at the same side of the vehicle body 5 and is meshed with the driving wheel 10 and the driven wheel 11; and each driving wheel 10 is in transmission connection with the gear box 7 at the corresponding side. When in work, the rotary shafts of the crawler vehicle motors 8 are rotated to drive the gear boxes 7 to rotate, and the gear boxes 7 drive the driving wheels 10 to rotate, so as to control the robot to walk.
In the present invention, a chassis adopts a crawler-type chassis moving carrier, so that the weeding robot has good passing ability in complex environments such as a mountain land and the like.
The control system 2 comprises a storage battery 12, a control box 13, a laser radar 14 and cameras 15; the storage battery 12 and the control box 13 are located in the crawler vehicle cavity 6, and the storage battery 12 is used for supplying power for all electric elements of the intelligent weeding robot for the orchard; the control box 13 is internally provided with a controller for controlling the intelligent weeding robot for the orchard to implement various actions; and the laser radar 14 and the cameras 15 are installed at the top of the vehicle body 5 and are in control connection with the controller.
Further, the controller in the control box 13 comprises a Myrio controller and a Jetson Nano controller; the control box 13 is also internally provided with a depressurization module; the Myrio controller is electrically connected with the Jetson Nano controller; the depressurization 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 cameras 15; and the Myrio controller is in control connection with the corresponding motors in the crawler mechanism, the mowing devices 3 and the inter-plant telescopic mowing device 4. Meanwhile, remote control can be carried out by the Myrio controller through Bluetooth.
In a specific embodiment of the present invention, the laser radar 14 is installed at the middle position of the top of the vehicle body 5, so that a map of the orchard can be constructed by the laser radar precisely in real time. Two cameras 15 are respectively arranged at the left side and the right side of the front end at the top of the vehicle body 5 and are placed at a 45-degree angle with a centre shaft of the vehicle body 5. In the present invention, by adopting a double-camera _ 74 technology, fruit trees in the orchard can be effectively identified, so as to realize precise operation. In addition, in the present invention, the cameras 15 are matched the laser radar 14, so that the weeding robot can walk automatically to complete obstacle avoidance, autonomous tasks and indirect operation.
Two sets of mowing devices 3 are respectively located at the left side and the right side of the rear end of the vehicle body 5. As shown in Fig. 4-Fig. 7 and Fig. 12-Fig. 13, each mowing device 3 comprises a rotary cutting blade 16, a protective cover 17, a transmission shaft protective shell 18, a transmission shaft 19, a rotary cutting motor 20, a motor base 21, a sliding table 22, a
DC motor 23, a fixed plate 24 and a first screw rod 25, wherein the fixed plate 24 is fixed at the rear end of the vehicle body 5 through bolts, and the DC motor 23 is fixed in a motor installation hole in the fixed plate 24; an output shaft of the DC motor 23, which extends out downwards, is in transmission connection with the first screw rod 25; the sliding table 22 is sleeved on the first screw rod 25 through a threaded hole formed therein, and meanwhile, one side of the sliding table 22, which is away from the fixed plate 24, is fixedly connected with the motor base 21; the rotary cutting motor 20 is fixed at the upper part of the motor base 21; a rotary shaft of the rotary cutting motor 20, which extends out downwards, penetrates through the motor base 21 and is connected with the transmission shaft 19; the rotary cutting blade 16 is fixed at the bottom of the transmission shaft 19; the transmission shaft protective shell 18 is installed at an 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; the protective cover 17 is further installed at the bottom of the transmission shaft protective shell 18 through bolts, and the protective cover 17 can also be detachably installed at the bottom of the transmission shaft protective shell 18 in other forms; the rotary cutting blade 16 is located in the protective cover 17, a bottom cutter tip of the blade is exposed out of the bottom of the protective cover 17; and the rotary cutting blade 16 is a deep ploughing type blade.
As shown in Fig. 8-Fig. 11, the inter-plant telescopic mowing device 4 comprises a sliding rail 26, two inter-plant DC 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 at the top of the vehicle body 5 by 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 an installation space for the inter-plant DC motors 27, the second screw rods 28 and the sliding rods 29; the axis direction of the sliding rail 26 is perpendicular to a connecting line in the front-back direction of the vehicle body 5, and the two ends of the sliding rail 26 extend out of the left side and the right side of the vehicle body 5; the two inter-plant DC motors 27 are fixed below the middle position of the sliding rail 26, and two corresponding motor output shafts thereof are parallel to the sliding rail 26, but the extension directions of the two corresponding motor output shafts are opposite; the two motor output shafts are in transmission connection with the two second screw rods 28 in a one-to-one correspondence manner; the sliding rods 29 are in an L shape, a threaded hole is formed in an upper cross rod of each sliding rod 29, and one end of each second screw rod 28, which is away 5034 74 from the motor output shaft, is screwed into the corresponding threaded hole of the upper cross rod; a track 30 is arranged at the bottom of the sliding rail 26, a plurality of rollers 31 (the number of the rollers 3 is three in the embodiment) are installed on the top surface of each upper cross rod, and the rollers 31 are installed into the track 30 in a rolling manner adaptively; and the outer side wall of a lower vertical rod of each second screw rod 28, which is away from one side of the vehicle body 5, is fixedly connected with the fixed plate 24 on the corresponding mowing device 3.
In order to adapt to the environment of the orchard, the inter-plant telescopic mowing device 4 in the present invention adopts the screw rods for transmission, and the left-and-right telescoping of the mowing devices 3 is realized, so as to realize inter-plant precise weeding.
The four mowing devices 3 in the present invention adopt the deep ploughing type blades, so that the weeding effect can be effectively improved. In addition, as screw rod transmission mechanisms are adopted by the deep ploughing type mowing devices 3, the up-and-down movement of the mowing devices 3 can be realized; and the mowing devices can be adjusted in different mowing environments, thereby avoiding excessive damage to the rotary cutting blades 16.
By taking the weeding work for the orchard and the weeding work for a golf course as examples, the specific working process of the terrain self-adaption unmanned weeding robot for the hillside orchard of the present invention is described as follows: 1. The weeding work for the orchard:
After the intelligent weeding robot for the orchard is started, the Jetson Nano controller starts the laser radar 14 to construct the map; and after the construction of the map is completed, the
Myrio controller starts the crawler vehicle motors 8 to control the robot to walk. When the robot starts walking, the mowing devices 3 located at the rear side of the vehicle body 5 of the robot are started, and the Myrio controller controls the corresponding DC motors 23 to rotate, so that the sliding tables 22 descend; when the rotary cutting blades 16 move by 1 mm-depth into the land, the Myrio controller starts the rotary cutting motors 20 to rotate, so that the rotary cutting blades 16 start mowing weeds; in order to prevent the weeds, soil blocks and so on from being drawn into the transmission shafts 19, the transmission shafts 19 can be effectively protected by the peripheral transmission shaft protective shells 18; and when deeper mowing work needs to be carried out, the protective covers 17 can be removed, so that the mowing work for roots of the weeds is carried out by the rotary cutting blades 16.
When a fruit tree at the left side or the right side is identified by the cameras 15 of the robot, the cameras 15 start measuring the distance to the identified fruit tree; when the robot continues to travel until a second fruit tree is identified, spacing information of the two fruit trees is transmitted to the Jetson Nano controller, and walking stop information of the robot is transferred to the Myrio controller by the Jetson Nano controller through communication; walking stop of the robot is controlled by the Myrio controller, and then the Jetson Nano controller controls the Inter 5034 74 plant DC motors 27 to start; through screw rod mechanisms, the inter-plant telescopic mowing device 4 extends out, the mowing devices 3 at the left side or the right side of the robot are started, and the robot walks backwards to mow the weeds between the two fruit trees identified by the cameras 15; the inter-plant mowing process is the same as the above first paragraph; and when the inter-plant mowing distance of the robot reaches the spacing of the two trees, the robot continues to walk, and the above process is repeated. 2. The weeding work for the golf course
As weeds do not need to be eradicated in the weeding for the golf course, and no obstacles are in the golf course, the weeding work is carried out through remote control, and remote control is carried out by the Myrio controller through Bluetooth. In the working environment, the left side and the right side of the inter-plant telescopic mowing device 4 extend out to the extreme positions, and the sliding tables 22 of the mowing devices 3 in the inter-plant telescopic mowing device 4 are moved downwards, so that the distance from the rotary cutting blades 16 to the land is 1-5 mm; the two mowing devices 3 at the rear side of the vehicle body 5 of the robot are operated in a similar way; and when the four mowing devices 3 are started to the proper positions, the rotary cutting motors 20 are started manually to start the rotary cutting blades 16, i.e., the remote control weeding work is started.
Claims (7)
1. A terrain self-adaption unmanned weeding robot for a hillside orchard, comprising: — a crawler vehicle comprising a vehicle body, wherein — a crawler vehicle cavity is arranged in the vehicle body, and — a crawler mechanism for driving the vehicle body to walk is installed on the crawler vehicle; — a control system comprising a storage battery, a control box, a laser radar and cameras, wherein — the storage battery and the control box are located in the crawler vehicle cavity, — the storage battery is used for supplying power for all electric elements of the intelligent weeding robot for the orchard; — the control box is internally provided with a controller for controlling the intelligent weeding robot for the orchard to implement various actions; and — the laser radar and the cameras are installed at the top of the vehicle body and are in control connection with the controller; — mowing devices, being located at the left side and the right side of the rear end of the vehicle body, respectively, each 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 DC (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, — the DC motor is fixed in a motor installation hole in the fixed plate; — an output shaft of the DC motor, which extends out downwards, is in transmission connection with the first screw rod; — the sliding table is sleeved on the first screw rod through a threaded hole formed therein, — one side of the sliding table, which is away from the fixed plate, being fixedly connected with the motor base; — the rotary cutting motor is fixed at the upper part of the motor base, — arotary shaft of the rotary cutting motor, which extends out downwards, penetrates through the motor base and is connected with the transmission shaft, — the rotary cutting blade is fixed at the bottom of the transmission shaft; — the transmission shaft protective shell is installed at an outer ring of the transmission shaft, — the transmission shaft protective shell is fixed at the bottom of the motor base;
— the protective cover is installed at the bottom of the transmission shaft protectiye 03171 shell; — the rotary cutting blade is located in the protective cover; — a bottom cutter tip of the blade is exposed out of the bottom of the protective cover, and — the rotary cutting blade is a deep ploughing type blade; and — an inter-plant telescopic mowing device comprising a sliding rail, two inter-plant DC motors, two second screw rods, two sliding rods and two sets of mowing devices, wherein — the sliding rail is fixed at the top of the vehicle body by supporting legs; — the axis direction of the sliding rail is perpendicular to a connecting line in the front- back direction of the vehicle body, — two ends of the sliding rail extend out of the left side and the right side of the vehicle body; — the two inter-plant DC motors are fixed below the middle position of the sliding rail, — two corresponding motor output shafts thereof are parallel to the sliding rail, the extension directions of the two corresponding motor output shafts being opposite; — the two motor output shafts are in transmission connection with the two second screw rods in a one-to-one correspondence manner; — the sliding rods are in an L shape, — a threaded hole is formed in an upper cross rod of each sliding rod, — one end of each second screw rod, which is away from the motor output shaft, is screwed into the corresponding threaded hole of the upper cross rod; — atrack is arranged at the bottom of the sliding rail, — a plurality of rollers is installed on the top surface of each upper cross rod, — the rollers are installed into the track in a rolling manner adaptively; and — the outer side wall of a lower vertical rod of each second screw rod, which is away from one side of the vehicle body, is fixedly connected with the fixed plate on the corresponding mowing device.
2. The terrain self-adaption unmanned weeding robot for the hillside orchard according to claim _ 74 1, wherein the crawler mechanism comprises two sets of gear boxes, two sets of crawler vehicle motors, two sets of crawlers and two sets of driving wheels, which are integrally arranged at the left side and the right side of the vehicle body respectively; — the crawler vehicle motors are fixed in the crawler vehicle cavity, and a rotary shaft of each crawler vehicle motor is in transmission connection with the gear box arranged at the corresponding side in the crawler vehicle cavity similarly; — the driving wheels and driven wheels are respectively installed at the front positions and the rear positions of the left side and the right side of the crawler vehicle; — each crawler is sleeved on the outer sides of the corresponding driven wheel and the corresponding driving wheel at the same side of the vehicle body and is meshed with the driving wheel and the driven wheel; and — each driving wheel is in transmission connection with the gear box at the corresponding side.
3. The terrain self-adaption unmanned weeding robot for the hillside orchard according to claim 1 or 2, wherein — the controller in the control box comprises a Myrio controller and a Jetson Nano controller; — the control box is also internally provided with a depressurization module; — the Myrio controller is electrically connected with the Jetson Nano controller; — the depressurization 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 cameras; and — the Myrio controller is in control connection with the motors in the crawler mechanism, the mowing devices and the inter-plant telescopic mowing device.
4. The terrain self-adaption unmanned weeding robot for the hillside orchard according to claim 3, wherein remote control can be carried out by the Myrio controller through Bluetooth.
5. The terrain self-adaption unmanned weeding robot for the hillside orchard according to claim 1, wherein the laser radar is installed at the middle position of the top of the vehicle body.
6. The terrain self-adaption unmanned weeding robot for the hillside orchard according to claim 1 or 5, wherein two cameras are respectively arranged at the left side and the right side of the front end at the top of the vehicle body and are placed at a 45-degree angle with a centre shaft of the vehicle body.
7. The terrain self-adaption unmanned weeding robot for the hillside orchard according to claim _ 74 1, wherein the protective cover is detachably installed at the bottom of the transmission shaft protective shell.
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 |
|---|---|
| LU503171B1 true LU503171B1 (en) | 2023-11-30 |
Family
ID=82569816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| LU503171A LU503171B1 (en) | 2022-05-17 | 2022-11-16 | Terrain self-adaption unmanned weeding robot for hillside orchard |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN114830855A (en) |
| LU (1) | LU503171B1 (en) |
| WO (1) | WO2023221430A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114830855A (en) * | 2022-05-17 | 2022-08-02 | 重庆文理学院 | Intelligent weeding robot for mountainous standardized orchard |
| CN115500143B (en) * | 2022-11-02 | 2023-08-29 | 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 |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006025676A (en) * | 2004-07-15 | 2006-02-02 | Kyoeisha Co Ltd | Rubber crawler-type mower |
| JP2011142900A (en) * | 2009-12-15 | 2011-07-28 | Daitsu:Kk | Remote control weeder |
| JP6719744B2 (en) * | 2016-03-31 | 2020-07-08 | 株式会社ササキコーポレーション | Self-propelled mower |
| CN107912089A (en) * | 2017-11-06 | 2018-04-17 | 吉林大学 | In the ranks mechanical weeding device between strain |
| CN210053768U (en) * | 2018-03-19 | 2020-02-14 | 昆明英武农业科技有限公司 | Chinese-medicinal material is planted with device of ploughing deeply |
| CN108934404A (en) * | 2018-08-10 | 2018-12-07 | 李微 | Walking weeder |
| CN109348831B (en) * | 2018-09-03 | 2021-08-03 | 江苏大学 | Automatic copying mower suitable for orchard terrain |
| US11510361B2 (en) * | 2019-01-17 | 2022-11-29 | Renu Robotics Corporation | System and method for automated grounds maintenance |
| CN110226373A (en) * | 2019-06-03 | 2019-09-13 | 中国农业大学 | Vegetables strain inter-row weeder structure |
| CN111713245B (en) * | 2020-05-11 | 2022-06-21 | 江苏大学 | Mountain orchard profiling autonomous obstacle avoidance mower and control method thereof |
| CN212812610U (en) * | 2020-07-08 | 2021-03-30 | 黑龙江省农业科学院黑河分院 | Soybean is planted and is used weeding device |
| US20220039313A1 (en) * | 2020-08-05 | 2022-02-10 | Scythe Robotics, Inc. | Autonomous lawn mower |
| CN213880922U (en) * | 2020-09-16 | 2021-08-06 | 点亮明天科技(北京)有限责任公司 | Automatic mowing robot and mowing device |
| CN213755586U (en) * | 2020-10-21 | 2021-07-23 | 湖北民族大学 | Hillside orchard weeder |
| CN214178072U (en) * | 2020-10-22 | 2021-09-14 | 甘肃省药品检验研究院 | Liquorice harvesting device that practicality is strong |
| CN113068506B (en) * | 2021-04-16 | 2022-06-03 | 湖南生物机电职业技术学院 | Greenhouse orchard mowing robot and control method thereof |
| CN114158543B (en) * | 2021-12-17 | 2023-01-10 | 重庆文理学院 | Hybrid weeding robot between trunk is gone in crawler-type hillside orchard |
| CN114830855A (en) * | 2022-05-17 | 2022-08-02 | 重庆文理学院 | Intelligent weeding robot for mountainous standardized orchard |
-
2022
- 2022-05-17 CN CN202210540189.8A patent/CN114830855A/en active Pending
- 2022-11-16 WO PCT/CN2022/132191 patent/WO2023221430A1/en unknown
- 2022-11-16 LU LU503171A patent/LU503171B1/en active IP Right Grant
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023221430A1 (en) | 2023-11-23 |
| CN114830855A (en) | 2022-08-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| LU503171B1 (en) | Terrain self-adaption unmanned weeding robot for hillside orchard | |
| CN109952857B (en) | Orchard mower capable of automatically completing mowing operation and method | |
| CN103329653B (en) | A kind of intelligent comprehensive weeding by machine in orchard machine | |
| CN210444770U (en) | Crawler type mini-tiller | |
| CN213044088U (en) | Crop weeding machine | |
| CN111183785A (en) | Crawler-type postposition obstacle-avoiding mower | |
| CN113632779A (en) | Laser intelligent weeding robot and weeding method | |
| KR102389381B1 (en) | Weed removal robot included weed removal unit part | |
| CN209017403U (en) | A kind of weed-eradicating robot for orchard weeding | |
| KR102298784B1 (en) | Artificial intelligence variable complex tillage robot for weed management of upland crop | |
| AU2021100165A4 (en) | Automatic system for navigation of an agricultural robot using pixhawk | |
| CN211881071U (en) | Crawler-type postposition obstacle-avoiding mower | |
| CN210841314U (en) | Novel automatic whiteflower hogfennel root weeder | |
| CN114158543B (en) | Hybrid weeding robot between trunk is gone in crawler-type hillside orchard | |
| JP2022508219A (en) | Agricultural work vehicle | |
| CN112602389B (en) | Portable weeding equipment for agriculture and weeding method | |
| CN213819542U (en) | All-round intelligent weeder | |
| CN115004932A (en) | Mowing equipment used between strawberry ditches in greenhouse and working method thereof | |
| KR102389383B1 (en) | Weed removal robot included moving part | |
| CN117178731A (en) | Rail-mounted automatic weeding machine for ladder-layer tea garden | |
| CN214592912U (en) | Weeding machine | |
| CN218603887U (en) | Field weeding device for planting field ridge type seedling plants | |
| CN221203339U (en) | Automatic change weeder | |
| CN215775112U (en) | Laser intelligence weeding robot | |
| CN114009418A (en) | Crawler-type multifunctional weeding robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FG | Patent granted |
Effective date: 20231130 |