CN110024555A - Substation's weed-eradicating robot - Google Patents
Substation's weed-eradicating robot Download PDFInfo
- Publication number
- CN110024555A CN110024555A CN201910284318.XA CN201910284318A CN110024555A CN 110024555 A CN110024555 A CN 110024555A CN 201910284318 A CN201910284318 A CN 201910284318A CN 110024555 A CN110024555 A CN 110024555A
- Authority
- CN
- China
- Prior art keywords
- control device
- substation
- weed
- weeds
- trolley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of substation's weed-eradicating robots, including ultrasonic sensor, signal conditioning module, control device, memory module, trolley, cutter and recyclable device, ultrasonic sensor is connect by signal conditioning module with control device, memory module, cutter and recyclable device are connected to control device, and control device is connect with trolley.System of the invention adjusts small truck position by the weeding performance level stored in memory module, weeds height is detected through ultrasonic sensor, it is compared, cutter cuts weeds are controlled by control device when weeds are excessively high and is collected to recyclable device by control device and the action value of setting.Favorable working performance of the present invention.
Description
Technical field
The present invention relates to a kind of substation's weed-eradicating robots, belong to field in intelligent robotics.
Background technique
In substation, outdoor equipment Weeds Around plant growth quickly, to avoid vegetative growth is excessively high from setting to substation
Standby safe operation causes a hidden trouble, and need to guarantee that weeds must not be excessively high in substation, and 110kV and following substation are mostly nobody at present
Substation on duty, operation maintenance personnel can not weeds situation in real-time awareness substation, be difficult to accomplish to handle in time, and substation's multidigit
In remote districts, artificial weeding cost is larger, therefore, it is extremely urgent to solve this problem.
Summary of the invention
The purpose of the present invention is to provide a kind of structurally reasonable, excellent substation's weed-eradicating robots of working performance.
The technical solution of the invention is as follows:
Substation's weed-eradicating robot, it is characterised in that: including ultrasonic sensor, signal conditioning module, control device, memory mould
Block, trolley, cutter and recyclable device, ultrasonic sensor are connect by signal conditioning module with control device, memory module,
Cutter and recyclable device are connected to control device, and control device is connect with trolley.
Recyclable device uses KVP04-1.1-24 brush DC aspiration pump, flow >=1.1L/min, vacuum degree -40kpa, benefit
Quickly the weeds of cutting are recycled with vacuum pressure principle.
Trolley is driven using twin-differential, and driving wheel is equipped with high torque (HT), the driving of high speed reversible direct current generator, driver
On have a high-resolution photoelectric code disk, code-disc is measured for high-precision position.
Favorable working performance of the present invention.The weeding performance level of memory module storage is read by control device to adjust trolley
Position, and by real time position be recorded in memory module to avoid weeding route repetition, detect weeds through ultrasonic sensor
Highly, amplified by the data that signal conditioning module acquires ultrasonic sensor and A/D conversion, in control device with
The action value of setting compares, and controls cutter cuts weeds by control device when weeds are excessively high and collects to recycling dress
It sets, is recycled repeatedly with this, weeds are eliminated, eliminate outdoor equipment security risk, significantly improve electric network reliability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of substation's weed-eradicating robot；
Fig. 2 is the schematic diagram of substation's weed-eradicating robot.
Specific embodiment
The structure of substation's weed-eradicating robot of the invention is as shown in Figure 1, include ultrasonic sensor 1, signal condition mould
Block 2, control device 6, memory module 4, trolley 7, cutter 3 and recyclable device 5, ultrasonic sensor 1 pass through signal condition mould
Block 2 is connect with control device 6, and memory module 4, cutter 3 and recyclable device 5 are connected to control device 6, control device 6
It is connect with trolley 7.
Control device 6 uses STM32F103 MCU embedded-type ARM single-chip microcontroller.Ultrasonic sensor 1 is sensed using URM07
Device detects 60 ° of angle, effectively 7.5 meters of distance, 38 ~ 42KHz of choacoustic frequency of measurement, automatic offset data.Memory module 4 uses
AT24C04 Non-Volatile EEPROM Store chip, supply voltage 2.7-5.5V, serial i IC interface.
Using above-mentioned substation's weed-eradicating robot, the weeding performance level that memory module 4 stores is read by control device 6
To adjust the position of trolley 7, and real time position is recorded in memory module 4 to avoid the repetition of weeding route, is passed through ultrasonic wave
Sensor 1 detects weeds height, is amplified by the data that signal conditioning module 2 acquires ultrasonic sensor 1 and A/D turns
It changes, is compared in control device 6 with the action value of setting, cutter 3 is controlled by control device 6 when weeds are excessively high and is cut
It cuts weeds and collects to recyclable device 5, recycled repeatedly with this, weeds are eliminated.
Claims (6)
1. a kind of substation's weed-eradicating robot, it is characterised in that: including ultrasonic sensor, signal conditioning module, control device,
Memory module, trolley, cutter and recyclable device, ultrasonic sensor are connect by signal conditioning module with control device, are remembered
Recall module, cutter and recyclable device and be connected to control device, control device is connect with trolley；
The weeding performance level that memory module 4 stores is read by control device to adjust the position of trolley, and by real time position
It is recorded in memory module to avoid the repetition of weeding route, detects weeds height through ultrasonic sensor, pass through signal condition mould
The data that block acquires ultrasonic sensor amplify and A/D conversion, carry out in control device with the action value of setting pair
Than, cutter cuts weeds are controlled by control device when weeds are excessively high and are collected to recyclable device, are recycled repeatedly with this, it will
Weeds eliminate.
2. substation's weed-eradicating robot according to claim 1, it is characterised in that: the recyclable device uses KVP04-
1.1-24 brush DC aspiration pump, flow >=1.1L/min, vacuum degree -40kpa, using vacuum pressure principle quickly by cutting
Weeds are recycled.
3. substation's weed-eradicating robot according to claim 1, it is characterised in that: the trolley is driven using twin-differential
Dynamic, driving wheel is equipped with high torque (HT), the driving of high speed reversible direct current generator.
4. substation's weed-eradicating robot according to claim 3, it is characterised in that: there is high-resolution photoelectricity on driver
Code-disc, code-disc are measured for high-precision position.
5. substation's weed-eradicating robot according to claim 2, it is characterised in that: the trolley is driven using twin-differential
Dynamic, driving wheel is equipped with high torque (HT), the driving of high speed reversible direct current generator.
6. substation's weed-eradicating robot according to claim 5, it is characterised in that: there is high-resolution photoelectricity on driver
Code-disc, code-disc are measured for high-precision position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910284318.XA CN110024555A (en) | 2019-04-10 | 2019-04-10 | Substation's weed-eradicating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910284318.XA CN110024555A (en) | 2019-04-10 | 2019-04-10 | Substation's weed-eradicating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110024555A true CN110024555A (en) | 2019-07-19 |
Family
ID=67237842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910284318.XA Pending CN110024555A (en) | 2019-04-10 | 2019-04-10 | Substation's weed-eradicating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110024555A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111357468A (en) * | 2020-03-13 | 2020-07-03 | 西安海裕能源科技有限公司 | A full-automatic weeding robot for photovoltaic power plant |
| WO2022043568A3 (en) * | 2020-08-31 | 2022-06-09 | Hochschule für Technik und Wirtschaft Dresden | Method for monitoring the mechanical, automated removal of weeds |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10309700A1 (en) * | 2003-03-06 | 2004-09-30 | Deere & Company, Moline | Discharge device for an agricultural harvesting machine |
| JP2006304618A (en) * | 2005-04-26 | 2006-11-09 | Kinsei Engei Kogyo Kk | Reel type mower |
| CN101895252A (en) * | 2010-07-09 | 2010-11-24 | 上海新时达电气股份有限公司 | Automatic regulating apparatus for controller parameters of servo driver of motor and method thereof |
| CN107343494A (en) * | 2017-06-19 | 2017-11-14 | 中国烟草总公司广东省公司 | Agricultural intelligent weeding system and herbicidal methods |
| CN108541308A (en) * | 2016-07-19 | 2018-09-14 | 苏州宝时得电动工具有限公司 | From mobile horticultural machine people and its system |
| CN108811698A (en) * | 2018-07-09 | 2018-11-16 | 王丹 | Gardens weeder |
| CN109426265A (en) * | 2017-08-30 | 2019-03-05 | 苏州宝时得电动工具有限公司 | From mobile device |
-
2019
- 2019-04-10 CN CN201910284318.XA patent/CN110024555A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10309700A1 (en) * | 2003-03-06 | 2004-09-30 | Deere & Company, Moline | Discharge device for an agricultural harvesting machine |
| JP2006304618A (en) * | 2005-04-26 | 2006-11-09 | Kinsei Engei Kogyo Kk | Reel type mower |
| CN101895252A (en) * | 2010-07-09 | 2010-11-24 | 上海新时达电气股份有限公司 | Automatic regulating apparatus for controller parameters of servo driver of motor and method thereof |
| CN108541308A (en) * | 2016-07-19 | 2018-09-14 | 苏州宝时得电动工具有限公司 | From mobile horticultural machine people and its system |
| CN107343494A (en) * | 2017-06-19 | 2017-11-14 | 中国烟草总公司广东省公司 | Agricultural intelligent weeding system and herbicidal methods |
| CN109426265A (en) * | 2017-08-30 | 2019-03-05 | 苏州宝时得电动工具有限公司 | From mobile device |
| CN108811698A (en) * | 2018-07-09 | 2018-11-16 | 王丹 | Gardens weeder |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111357468A (en) * | 2020-03-13 | 2020-07-03 | 西安海裕能源科技有限公司 | A full-automatic weeding robot for photovoltaic power plant |
| WO2022043568A3 (en) * | 2020-08-31 | 2022-06-09 | Hochschule für Technik und Wirtschaft Dresden | Method for monitoring the mechanical, automated removal of weeds |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190719 |