CN208029345U - A kind of agricultural intelligent weeding and the robot that loosens the soil - Google Patents
A kind of agricultural intelligent weeding and the robot that loosens the soil Download PDFInfo
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- CN208029345U CN208029345U CN201820292169.2U CN201820292169U CN208029345U CN 208029345 U CN208029345 U CN 208029345U CN 201820292169 U CN201820292169 U CN 201820292169U CN 208029345 U CN208029345 U CN 208029345U
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Abstract
The utility model discloses a kind of agricultural intelligent weeding and the robot that loosens the soil, it includes vehicle frame, power plant and homework department, power plant is located at the top of vehicle frame, it is equipped with running gear in the lower part of vehicle frame, axis connection is driven by walking between power plant and running gear and transmits power, infrared sensor and ultrasonic sensor are designed with before and after running gear, it is equipped with GPS navigation device, gyroscope and horizon sensor and velocity sensor on vehicle frame, electric-control system is additionally provided in power plant.The utility model can replace manpower to realize the continual farming behavior without fatigue, unattended to realize, while can carry out Adaptive Control according to various surface conditions.
Description
Technical field
The utility model is related to agricultural machinery technological field, specifically a kind of agricultural intelligent weeding and the robot that loosens the soil.
Background technology
Machine vision and image processing techniques：Machine vision technique is to realize animal and plant growth environmental Kuznets Curves, plant, remove
The essential technology of the various agriculturals production automation such as grass, beta pruning, picking, plant protection, fertilising and farming.Any type agricultural
The normal work of production machine people depends on the correct identification to manipulating object.
Airmanship：Airmanship is promoted and applied in the operations such as automobile, aircraft, ship, for a wide range of row
For the agricultural robot walked, an important research topic is exactly to establish to determine leading for robot body position and direction of travel
Boat system, so airmanship just seems critically important；
Existing pilotless automobile technology has had certain level, i.e. planning and control for the processing of image, path
Systematic research processed has achievement in research that can refer to respectively, but as the robot system of agricultural tillage, the technology covered
Content interosculates with common pilotless automobile, equally also has prodigious otherness.The country such as Japan, U.S. is being studied
Carry out more early, technology relative maturity in terms of agricultural robot, have been developed that various agricultural production machine people, transplant robot,
Rate fertilization robot etc., technology and application all occupy world forefront.Research of the China in terms of agricultural robot also achieves one
Fixed achievement, the grafting robot as China Agricultural University develops are widely used.Northeast Forestry University develops
Cone harvesting machine device people, solve the problems, such as manually to list handheld tool picking cone well.However, there are also one
Fixed problem, i.e., degree of intelligence existing for general agricultural robot is inadequate, and the artificial intervention of excessive needs often results in excessively high
Production cost.
Invention content
The utility model is for existing agricultural robot, especially weeding and the scarce of robot lack of wisdomization control of loosening the soil
It falls into, the purpose of this utility model is to make agricultural robot by the self study of fuzzy logic, neural network and artificial intelligence technology
Function etc. realizes that independent learning ability, analysis and storage capacity, the abilities such as the weight-normality stroke in path are reduced artificial dry to the full extent
In advance, the purpose of automatic job is realized.As the one side of the utility model, a kind of agricultural intelligent weeding and the machine that loosens the soil are provided
People comprising vehicle frame, power plant and homework department, power plant are located at the top of vehicle frame, and being equipped with walking in the lower part of vehicle frame fills
It sets, axis connection is driven by walking between power plant and running gear and transmits power, all set before and after running gear
There are infrared sensor and ultrasonic sensor, GPS navigation device, gyroscope and horizon sensor and speed are equipped on vehicle frame
Sensor is additionally provided with electric-control system in power plant.
Preferably, homework department be included in power plant front connection front rest portion, front rest portion include preceding rotor and
Front rest transmission shaft, front rest portion are pivotally connected by the power output portion of front rest transmission shaft and power plant, and homework department is also
It is included in the back-connected back tool rest portion of power plant, back tool rest portion includes rear rotor and back tool rest transmission shaft, back tool rest portion
It is pivotally connected by the power output portion of back tool rest transmission shaft and power plant.
Preferably, front rest transmission shaft includes first axle and the second axis, wherein first axle is connected with power plant,
Second axis is connected with preceding rotor, by being pivotally connected between first axle and the second axis, is passed in power plant and front rest
The first switching hydraulic lift is equipped between moving axis；Back tool rest transmission shaft includes third axis and the 4th axis, third axis and power
Device is connected, and the 4th axis is connected with rear rotor, by being pivotally connected between third axis and the 4th axis, in power plant
The second switching hydraulic lift is equipped between back tool rest transmission shaft.
Preferably, the center top in power plant is equipped with video equipment.
Preferably, video equipment uses video camera.
Preferably, further including braking mechanism, wherein braking mechanism is connected with running gear, for running gear
It is braked.
Preferably, power plant is engine or battery.
Preferably, when using engine as power plant, weeding and loosening device further include throttle control machine
Structure, gearshift and arrangement of clutch, wherein throttle control mechanism and gearshift are connected with engine.
The utility model can replace manpower to realize the continual farming behavior without fatigue, to realize unmanned behaviour
Make, while Adaptive Control can be carried out according to various surface conditions.
Description of the drawings
Fig. 1 be the utility model is related to weeding and loosening device structural schematic diagram.
Reference numeral：1- vehicle frames；2- power plants；3- running gears；4- walking transmission shafts；5- front rests portion；Knife before 6-
Frame transmission shaft；7- electric-control systems；8- video cameras；The first hydraulic pressure of 9- switches lifting gear；10- back tool rests portion；11- back tool rests are driven
Axis；Rotor before 12-；Rotor after 13-；14- first axles；The second axis of 15-；16- third axis；The 4th axis of 17-；18- second switches liquid
Press lifting gear.
Specific implementation mode
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, but not as to this practicality
Novel restriction.
As shown in Figure 1, the present embodiment is related to a kind of agricultural intelligent weeding and the robot that loosens the soil comprising vehicle frame 1 and power
Device 2, power plant 2 are located at the top of vehicle frame 1, for providing power for entire weeding and loosening device, as a preferred embodiment,
Power plant 2 can be engine either battery or other be capable of providing the device of power.
Further, it is equipped with running gear 3 in the lower part of vehicle frame 1, running gear 3 is for carrying entire weeding and loosening device
And it drives weeding and loosening device to be moved forward and backward or rotate left and right, is driven between power plant 2 and running gear 3 by walking
Axis 4 connects and transmits power.It is designed with infrared sensor and ultrasonic sensor before and after running gear 3, the infrared biography
For detecting information of road surface before and after weeding and loosening device, which includes obstacle information for sensor and ultrasonic sensor
Deng.
In addition, being equipped with GPS navigation device, gyroscope and horizon sensor and velocity sensor on vehicle frame 1, wherein
GPS navigation device is used to obtain the location coordinate information of weeding and loosening device and utilizes location coordinate information and previous
GPS running orbits carry out path planning, the slope on road surface where gyroscope and horizon sensor are used to obtain weeding and loosening device
Information is spent, velocity sensor is used to measure the speed of service of current weeding and loosening device.
It is connected with the front rest portion 5 for operation in the front of power plant 2, which includes 12 He of preceding rotor
Front rest transmission shaft 6, specifically, front rest portion 5 is pivoted by the power output portion of front rest transmission shaft 6 and power plant 2 to be connected
It connects, further, front rest transmission shaft 6 includes first axle 14 and the second axis 15, wherein first axle 14 is connected with power plant 2
It connects, the second axis 15 is connected with preceding rotor 12, can be by being pivotally connected between first axle 14 and the second axis 15.In this way, dynamic
Power exports from power plant 2 and by front rest transmission shaft 6, to which rotor 12 carries out weeding and operation of loosening the soil before driving.For
The rotation of first axle 14 is controlled, and then controls the position of front rest transmission shaft 6 and the height and job position of preceding rotor 12,
The first switching hydraulic lift 9 is equipped between power plant 2 and front rest transmission shaft 6.
Analogously, it is connected with the back tool rest portion 10 for operation at the rear portion of power plant 2, which includes
Rotor 13 and back tool rest transmission shaft 11 afterwards, specifically, the power that back tool rest portion 10 passes through back tool rest transmission shaft 11 and power plant 2
Output section is pivotally connected, and back tool rest transmission shaft 11 includes third axis 16 and the 4th axis 17, and third axis 16 is connected with power plant 2
It connects, the 4th axis 17 is connected with rear rotor 13, can be by being pivotally connected between third axis 16 and the 4th axis 17.In this way, dynamic
Power exports from power plant 2 and by back tool rest transmission shaft 11, to which rotor 13 carries out weeding and operation of loosening the soil after driving.For
The rotation of third axis 16 is controlled, and then controls the position of back tool rest transmission shaft 11 and the height and job position of rear rotor 13,
The second switching hydraulic lift 18 is equipped between power plant 2 and back tool rest transmission shaft 11.Wherein, preceding rotor 12 turns with rear
Knife 13 is respectively used to the operations such as carry out weeding respectively, loosen the soil in the front and rear of weeding and loosening device.
Video equipment is installed in the center top of power plant 2, video camera 8 preferably can be used, the model of video camera 8 is not
It is required, but is that by 360 ° of rotary takings to obtain the image on road surface in weeding and loosening device all directions.The camera shooting
Machine 8 has image identification function, i.e., by video camera 8 using identification target obstacle, such as can identify the information such as trees,
Can also identifying wall, zanjon etc., other are an impediment to the barrier and situation that device is run.In addition, the minute surface of video camera 8 has
Automatic dedusting function, specifically, this function are realized by the pneumatic dust removal system being arranged on video camera 8, this pneumatically to remove
Dirt device can there are many selections, it may for example comprise configuration blowing on the air accumulator and setting 8 minute surface of video camera on vehicle frame 1
Gas jets, to blow to realize the purpose of dedusting to minute surface.
Electric-control system 7 is additionally provided in power plant 2, electric-control system 7 is used for the fortune to entire weeding and loosening device
Row carries out data analysis and corresponding control, and the object of data analysis includes the analysis to information such as device road surface aheads, to selection
The analysis of the operating path of power section, the analysis etc. to the operating status in selection front rest portion 5 and back tool rest portion 10.In addition,
In actually controlling, including the use of planning paths such as location coordinate information, image information, various sensor informations and hide obstacle
Object, and control power plant 2 export power, while also switching liquid by control the first switching hydraulic lift 9 and second
The operation for pressing lifting gear 18, it is final to control to control posture and the rotation of front rest transmission shaft 6 and back tool rest transmission shaft 11
The height and position etc. of preceding rotor 12 and rear rotor 13.
In addition, the utility model is related to weeding and loosening device further include braking mechanism, wherein the braking mechanism and row
Walking apparatus 3 is connected, and is used to brake running gear 3.When using engine as power plant 2, small-sized intelligence
Energy weeding and loosening device further include throttle control mechanism, gearshift and arrangement of clutch, wherein throttle control mechanism and shift
Mechanism is connected with engine, and throttle control mechanism is used to control the power output of engine, and gearshift is used to pass power
Progressive row control and adjustment.In order to more easily operate the utility model is related to small intelligent weeding and loosening device, should
Device further includes remote control, is communicated and is matched with the reception device in electric-control system 7.In this way, operator is using distant
Control device and realize and start and stop, the working condition of front and back operation, turning, knife rest in operational process, according to image, ultrasonic wave and
Infrared sensor carries out analysis choice, unattended to realize.
It states small intelligent weeding in use and when loosening device is operated, specific control method is as follows：
S1：The reception device being mounted in electric-control system 7 using remote control control is worked and is arranged initial launch direction,
Remote control controls electric-control system 7 by signal and works；
S2：It checks whether remote control sends to cease and desist order, if there is being carried out S12, if electric-control system 7 without if
According to the surface conditions for the video image analysis traffic direction that video camera 8 acquires, barrier or raceway groove are judged whether there is, if do not had
It was found that barrier or raceway groove, then detect the gradient of current road by gyroscope and horizon sensor, if scarp slope is worked as in detection
Degree is less than certain slope, it is determined that can move ahead, execute S9；
S3：If there is barrier or raceway groove, or there is object identical with sample, utilizes ultrasonic sensor and infrared
Sensor distinguishes disturbance in judgement object with a distance from car body, by image result and sensor result comprehensive descision, obtains distance signal,
If distance is more than first threshold, such as 2 meters or more, continue to move ahead；
S4：It when distance is less than first threshold, adjusts and gives the speed of service, shift gears and constantly corrected according to velocity sensor
Throttle so that when speed very little, move forwards, when less than second threshold, such as at 0.5 meter, barrier or mesh have been hidden in judgement
Whether mark object needs to continue to move ahead.
S5：The gradient of current road is detected by gyroscope and horizon sensor, if detection current hill grade is more than centainly
The gradient executes S6；
S6：The rotation of lens 180 degree of video camera 8 is controlled, the traffic direction of setting is reversed, the control shift dress of electric-control system 7
It sets, the operation of arrangement of clutch and throttle control mechanism, and according to image analysis as a result, judging to the left or the certain angle of right turn
Degree, when run to have first threshold apart from next barrier when, forward signal is continued according to whether needing of obtaining of S4, such as
Fruit needs to move ahead, and executes S7, if you do not need to moving ahead, executes S9；
S7：Electric-control system 7 controls gearshift, arrangement of clutch and throttle control mechanism operation, and according to image analysis
As a result, judging to the left or right turn certain angle, to avoid barrier, the low speed speed of service is given, shift gears and reduces throttle,
Reduce speed, real-time speed is measured by velocity sensor, judges whether to need to reduce oil circuit；
S8：By image analysis, when the angle of rotation is provided with certain differential seat angle with barrier, adjustment direction makes
Its vehicle wheel put-straight is kept straight on certain time, the period constantly by the method for image analysis detect car body and barrier away from
From and judge whether to need to come back to carry out farming on original path；
S9：Judge image, if present straight line farming face be before side the edge for needing farming, if so, directly
Line is run, and electric-control system 7 controls gearshift, arrangement of clutch and throttle control mechanism operation, realizes high-speed cruising, and mutually meet the tendency of
The knife rest at line direction rear works, and according to the height of knife rest output situation adjust automatically knife rest, executes S2；
S10：If it is not, adjustment direction is run to the edge in non-farming face originally, a wide-angle is adjusted, operation is a small amount of
Time, car body is constantly judged using image at a distance from non-farming face edge, when distance reaches certain small value, adjustment side
To disk, it is that farming edge line is run, while measuring real-time speed by velocity sensor to make car body edge, judges whether to need to add
Large throttle starts to execute S2；
S11：It is halted state, cut-out arrangement of clutch and stopping throttle control mechanism that electric-control system 7, which controls gearshift,.
Certainly, the above is preferred embodiments of the present invention, it is noted that for the common of the art
For technical staff, without departing from the principle of this utility model, several improvements and modifications can also be made, these improvement
It is also considered as the scope of protection of the utility model with retouching.
Claims (8)
1. a kind of agricultural intelligent weeding and the robot that loosens the soil, which is characterized in that it includes vehicle frame（1）, power plant（2）And operation
Portion, the power plant（2）Positioned at the vehicle frame（1）Top, in the vehicle frame（1）Lower part be equipped with running gear（3）, institute
State power plant（2）With the running gear（3）Between pass through walk transmission shaft（4）Power is connected and transmits, in the row
Walking apparatus（3）It is front and back be designed with infrared sensor and ultrasonic sensor, in the vehicle frame（1）Be equipped with GPS navigation device,
Gyroscope and horizon sensor and velocity sensor, in the power plant（2）On be additionally provided with electric-control system（7）.
2. weeding according to claim 1 and the robot that loosens the soil, which is characterized in that the homework department is included in the power
Device（2）The front rest portion of front connection（5）, the front rest portion（5）Including preceding rotor（12）With front rest transmission shaft（6）,
The front rest portion（5）Pass through the front rest transmission shaft（6）With the power plant（2）Power output portion be pivotally connected,
The homework department further includes in the power plant（2）Back-connected back tool rest portion（10）, the back tool rest portion（10）Packet
Include rear rotor（13）With back tool rest transmission shaft（11）, the back tool rest portion（10）Pass through the back tool rest transmission shaft（11）With it is described
Power plant（2）Power output portion be pivotally connected.
3. weeding according to claim 2 and the robot that loosens the soil, which is characterized in that the front rest transmission shaft（6）Including
First axle（14）With the second axis（15）, wherein the first axle（14）With the power plant（2）It is connected, second axis
（15）With the preceding rotor（12）It is connected, the first axle（14）With second axis（15）Between by pivotably connecting
It connects, in the power plant（2）With the front rest transmission shaft（6）Between be equipped with first switching hydraulic lift（9）；It is described
Back tool rest transmission shaft（11）Including third axis（16）With the 4th axis（17）, the third axis（16）With the power plant（2）Phase
Connection, the 4th axis（17）With the rear rotor（13）It is connected, the third axis（16）With the 4th axis（17）Between
By being pivotally connected, in the power plant（2）With the back tool rest transmission shaft（11）Between be equipped with second switching hydraulic pressure
Lifting gear（18）.
4. weeding according to any one of claim 1-3 and the robot that loosens the soil, which is characterized in that in the power plant
（2）Center top video equipment is installed.
5. weeding according to claim 4 and the robot that loosens the soil, which is characterized in that the video equipment uses video camera
（8）.
6. weeding according to claim 5 and the robot that loosens the soil, which is characterized in that further include braking mechanism, wherein described
Braking mechanism and the running gear（3）It is connected, for the running gear（3）It is braked.
7. weeding according to claim 6 and the robot that loosens the soil, which is characterized in that the power plant（2）It is engine
Or battery.
8. weeding according to claim 7 and the robot that loosens the soil, which is characterized in that when using the engine as institute
State power plant（2）When, the weeding and loosening device further include throttle control mechanism, gearshift and arrangement of clutch, wherein
The throttle control mechanism and the gearshift are connected with the engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820292169.2U CN208029345U (en) | 2018-03-02 | 2018-03-02 | A kind of agricultural intelligent weeding and the robot that loosens the soil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820292169.2U CN208029345U (en) | 2018-03-02 | 2018-03-02 | A kind of agricultural intelligent weeding and the robot that loosens the soil |
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| Publication Number | Publication Date |
|---|---|
| CN208029345U true CN208029345U (en) | 2018-11-02 |
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ID=63950321
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820292169.2U Active CN208029345U (en) | 2018-03-02 | 2018-03-02 | A kind of agricultural intelligent weeding and the robot that loosens the soil |
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| Country | Link |
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| CN (1) | CN208029345U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108508889A (en) * | 2018-03-02 | 2018-09-07 | 西安工业大学 | Small intelligent weeding and loosening device and control method |
| CN110089219A (en) * | 2019-05-13 | 2019-08-06 | 南县伟业机械制造有限公司 | A kind of rotary cultivator |
-
2018
- 2018-03-02 CN CN201820292169.2U patent/CN208029345U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108508889A (en) * | 2018-03-02 | 2018-09-07 | 西安工业大学 | Small intelligent weeding and loosening device and control method |
| CN108508889B (en) * | 2018-03-02 | 2024-04-05 | 西安工业大学 | Small intelligent weeding and soil loosening device and control method |
| CN110089219A (en) * | 2019-05-13 | 2019-08-06 | 南县伟业机械制造有限公司 | A kind of rotary cultivator |
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