CN112219535A - Suspension type obstacle-avoiding mower based on image processing technology - Google Patents
Suspension type obstacle-avoiding mower based on image processing technology Download PDFInfo
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- CN112219535A CN112219535A CN202011239875.9A CN202011239875A CN112219535A CN 112219535 A CN112219535 A CN 112219535A CN 202011239875 A CN202011239875 A CN 202011239875A CN 112219535 A CN112219535 A CN 112219535A
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- module
- output end
- obstacle
- main body
- body frame
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- 239000000725 suspension Substances 0.000 title claims abstract description 25
- 238000005516 engineering process Methods 0.000 title claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 235000013399 edible fruits Nutrition 0.000 description 7
- 239000002420 orchard Substances 0.000 description 7
- 244000025254 Cannabis sativa Species 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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- 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
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- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/06—Gearings
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- 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
- A01D75/185—Avoiding collisions with obstacles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Harvester Elements (AREA)
Abstract
The invention relates to the technical field of a suspension type obstacle-avoiding mower based on an image processing technology, in particular to a suspension type obstacle-avoiding mower based on the image processing technology, which comprises an obstacle-avoiding mower main body frame, wherein a suspension bracket is arranged at the top of the obstacle-avoiding mower main body frame, a hydraulic rod is arranged at the bottom of the suspension bracket, a three-leg support frame is rotatably arranged at the left side of the obstacle-avoiding mower main body frame, a plurality of straight-line cutting knives are arranged in the inner cavities of the obstacle-avoiding mower main body frame and the three-leg support frame, a power motor and a transmission gear box are respectively arranged on the obstacle-avoiding mower main body frame and the three-leg support frame, the power motor is connected with an external power supply through a lead, the output end of the power motor is rotatably connected with the transmission gear box, the suspension type obstacle-avoiding mower based on the image processing technology is matched with a digital signal processor and an embedded controller through a video, the working stability and reliability of the equipment are ensured.
Description
Technical Field
The invention relates to the technical field of a suspension type obstacle-avoiding mower based on an image processing technology, in particular to a suspension type obstacle-avoiding mower based on an image processing technology.
Background
Along with the continuous development of modern orchards in China, the requirements on agricultural machinery used in a matched mode are higher and higher, the improvement of the working efficiency of orchard mechanical equipment is the main problem of orchard mechanical development, the existing orchard mechanical equipment is difficult to treat weeds growing among fruit trees, so that the orchard machinery cannot efficiently carry out grass cutting and grass chopping operation, and aiming at the problems, a scheme is developed to actively avoid obstacles such as the fruit trees and the like and well complete grass cutting and grass chopping tasks of the weeds among the fruit trees.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a suspension type obstacle-avoiding mower based on an image processing technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
the suspension type obstacle avoidance mower based on the image processing technology comprises an obstacle avoidance mower main body frame, wherein a suspension bracket is installed at the top of the obstacle avoidance mower main body frame, a hydraulic rod is installed at the bottom of the suspension bracket, a three-leg support frame is rotatably installed on the left side of the obstacle avoidance mower main body frame, a plurality of straight-line-shaped cutting knives are installed in the inner cavities of the obstacle avoidance mower main body frame and the three-leg support frame, a power motor and a transmission gear box are installed on the obstacle avoidance mower main body frame and the three-leg support frame, the power motor is connected with an external power supply through a wire, the output end of the power motor is rotatably connected with the transmission gear box, the output end of the transmission gear box drives the plurality of straight-line-shaped cutting knives to rotate through a transmission belt, and the end part of a power rod of the hydraulic rod;
install embedded controller, main control unit, power module on the tripod support frame, main control unit's input passing signal line is connected with embedded controller, video acquisition module's output, embedded controller's input passing signal line is connected with manual control module's output, automatic control module's output, main control unit's output passes through the wire and is connected with drive module's input, drive module's output passes through the wire and is connected with the input of motor, main control unit's output passes through the wire and is connected with reduction gear module's input, reduction gear module's output passes through the wire and is connected with position detection module's input, position detection module's output passes through the wire and is connected with main control unit's input.
Preferably, the position detection module is a GPS module.
Preferably, the motor is connected with a speed detection module through a wire, and the output end of the speed detection module is connected with the input end of the main controller through a wire.
Preferably, the output end of the main controller is connected with the input end of the hydraulic rod through a wire, the output end of the main controller is connected with the input end of the communication module through a wire, and the communication module is connected with the remote terminal equipment through a wireless signal.
The invention provides a suspension type obstacle-avoiding mower based on an image processing technology, which has the beneficial effects that: the suspension support and the flexible pneumatic cylinder cooperation that use can realize controlling the lawn mower and realize flexible action among the barrier lawn mower are kept away to the suspension type, shrink when meeting barriers such as fruit trees and accomplish and keep away the action, the object of weed smashing mechanization between the fruit tree trunk has been solved, use through the cooperation of video acquisition module and digital signal processor and embedded controller, combine image processing technique and orchard supporting mechanical equipment, the stable reliability of equipment work has been guaranteed, show the work efficiency that has improved mechanical apparatus, it accomplishes the operation of mowing to drive the high-speed rotation of cutting knife through the power drive gear box that uses the tractor to provide by power output shaft, select the good cutting knife of material for use, guarantee the reliability of equipment during operation.
Drawings
Fig. 1 is a schematic structural diagram of a suspended obstacle-avoiding mower based on an image processing technology according to the present invention;
fig. 2 is a schematic block diagram of a suspended obstacle-avoiding mower based on an image processing technology.
In the figure: the obstacle-avoiding mower comprises a main body frame 1, a hydraulic rod 2, a power output shaft 3, a transmission gear box 4, a video acquisition module 5, a straight cutting knife 6, a tripod support 7, a suspension bracket 8, an embedded controller 9 and a main controller 10.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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.
Referring to fig. 1-2, a suspension type obstacle avoidance mower based on an image processing technology comprises an obstacle avoidance mower main body frame 1, wherein a suspension support 8 is installed at the top of the obstacle avoidance mower main body frame 1, a hydraulic rod 2 is installed at the bottom of the suspension support 8, a three-leg support frame 7 is rotatably installed on the left side of the obstacle avoidance mower main body frame 1, a plurality of straight-line-shaped cutters 6 are installed in inner cavities of the obstacle avoidance mower main body frame 1 and the three-leg support frame 7, a power motor 3 and a transmission gear box 4 are installed on the obstacle avoidance mower main body frame 1 and the three-leg support frame 7, the power motor 3 is connected with an external power supply through a wire, an output end of the power motor 3 is rotatably connected with the transmission gear box 4, an output end of the transmission gear box 4 drives the plurality of straight-line-shaped cutters 6 to rotate through a transmission belt, and an end part;
install embedded controller 9 on tripod support frame 7, main control unit 10, power module, main control unit 10's input passing signal line and embedded controller 9, the output of video acquisition module is connected, embedded controller 9's input passing signal line and manual control module's output, automatic control module's output is connected, main control unit 10's output passes through the wire and is connected with drive module's input, drive module's output passes through the wire and is connected with the input of motor, main control unit 10's output passes through the wire and is connected with reducer module's input, reducer module's output passes through the wire and is connected with position detection module's input, position detection module's output passes through the wire and is connected with main control unit 10's input.
The position detection module is a GPS module, a motor is connected with a speed detection module through a lead, the output end of the speed detection module is connected with the input end of a main controller 10 through a lead, the output end of the main controller 10 is connected with the input end of a hydraulic rod 2 through a lead, the output end of the main controller 10 is connected with the input end of a communication module through a lead, the communication module is connected with a remote terminal device through a wireless signal, a suspension bracket and a telescopic hydraulic cylinder applied in the suspension type obstacle avoidance mower can be used in a matched mode to control the mower to achieve telescopic action, the obstacle avoidance action is completed through contraction when obstacles such as fruit trees are met, the mechanical purpose of smashing the weeds among the fruit trees is solved, the video acquisition module is used in a matched mode with a digital signal processor and an embedded controller, the image processing technology is combined with mechanical equipment matched with an orchard, and the stable reliability of the equipment work, the cutting knife is driven by the power output shaft through the power provided by the tractor to drive the gear box to drive the cutting knife to rotate at high speed to finish mowing operation, the cutting knife with excellent material is selected, and the reliability of equipment during working is ensured.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. A suspension type obstacle avoidance mower based on an image processing technology comprises an obstacle avoidance mower main body frame (1) and is characterized in that a suspension bracket (8) is installed at the top of the obstacle avoidance mower main body frame (1), a hydraulic rod (2) is installed at the bottom of the suspension bracket (8), a three-leg support frame (7) is rotatably installed on the left side of the obstacle avoidance mower main body frame (1), a plurality of straight-line-shaped cutting knives (6) are installed in inner cavities of the obstacle avoidance mower main body frame (1) and the three-leg support frame (7), a power motor (3) and a transmission gear box (4) are installed on the obstacle avoidance mower main body frame (1) and the three-leg support frame (7), the power motor (3) is connected with an external power supply through a wire, the output end of the power motor (3) is rotatably connected with the transmission gear box (4), the output end of the transmission gear box (4) drives the plurality of straight-line-shaped cutting knives (6) to rotate through a transmission, the end part of a power rod of the hydraulic rod (2) is hinged with a tripod support frame (7);
the tripod support frame (7) is provided with an embedded controller (9), a main controller (10) and a power module, the input end of the main controller (10) is connected with the output ends of the embedded controller (9) and the video acquisition module through signal lines, the input end of the embedded controller (9) is connected with the output end of the manual control module and the output end of the automatic control module through signal lines, the output end of the main controller (10) is connected with the input end of the driving module through a lead, the output end of the driving module is connected with the input end of the motor through a lead, the output end of the main controller (10) is connected with the input end of the reducer module through a lead, the output end of the speed reducer module is connected with the input end of the position detection module through a wire, and the output end of the position detection module is connected with the input end of the main controller (10) through a wire.
2. The suspended obstacle-avoiding mower based on the image processing technology as claimed in claim 2, wherein the position detection module is a GPS module.
3. The suspended obstacle-avoiding mower based on the image processing technology as claimed in claim 1, wherein the motor is connected with a speed detection module through a wire, and an output end of the speed detection module is connected with an input end of the main controller (10) through a wire.
4. The suspended obstacle-avoiding mower based on the image processing technology as claimed in claim 1, wherein an output end of the main controller (10) is connected with an input end of the hydraulic rod (2) through a wire, an output end of the main controller (10) is connected with an input end of a communication module through a wire, and the communication module is connected with a remote terminal device through a wireless signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011239875.9A CN112219535A (en) | 2020-11-09 | 2020-11-09 | Suspension type obstacle-avoiding mower based on image processing technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011239875.9A CN112219535A (en) | 2020-11-09 | 2020-11-09 | Suspension type obstacle-avoiding mower based on image processing technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112219535A true CN112219535A (en) | 2021-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011239875.9A Pending CN112219535A (en) | 2020-11-09 | 2020-11-09 | Suspension type obstacle-avoiding mower based on image processing technology |
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| CN (1) | CN112219535A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114258775A (en) * | 2021-12-22 | 2022-04-01 | 南京农业大学 | Orchard combination formula rotary tillage weeder |
-
2020
- 2020-11-09 CN CN202011239875.9A patent/CN112219535A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114258775A (en) * | 2021-12-22 | 2022-04-01 | 南京农业大学 | Orchard combination formula rotary tillage weeder |
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