CN209330618U - A kind of farmland Special weeder device people - Google Patents
A kind of farmland Special weeder device people Download PDFInfo
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- CN209330618U CN209330618U CN201920026458.2U CN201920026458U CN209330618U CN 209330618 U CN209330618 U CN 209330618U CN 201920026458 U CN201920026458 U CN 201920026458U CN 209330618 U CN209330618 U CN 209330618U
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Abstract
The utility model discloses a kind of farmland Special weeder device people, belong to agricultural machinery technological field, including moving trolley main body, traveling wheel, weeding mechanism and mechanical gripper, several traveling wheels are installed in the moving trolley main body, traveling wheel is run by the traveling wheel drive unit driving being mounted in moving trolley main body, adjustable weeding machine arm mechanism is installed in moving trolley main body, weeding mechanism and mechanical gripper are installed on adjustable weeding machine arm mechanism, the moving trolley main body is built-in with for controlling adjustable weeding machine arm mechanism, travel wheel drive unit, the industrial personal computer and power plant module of weeding mechanism and mechanical gripper, compared with prior art, the beneficial effects of the utility model are: transboundary merging using modern information technologies and agriculture depth, make traditional intelligence by introducing deep learning model Energy weed-eradicating robot excessively arrives the agriculture weed-eradicating robot of wisdom, improves the working efficiency and work quality of weed-eradicating robot.
Description
Technical field
The utility model relates to a kind of agricultural machinery, specifically a kind of farmland Special weeder device people.
Background technique
It is well known that weeds are always to endanger field-crop is grown up strong and sturdy one big field killer, it is weedy not only and
Field-crop competes soil nutrient, but also captures limited growing space and solar irradiation, while being also easy to induce field calamity
Evil, seriously affects the growth of field-crop, leads to the underproduction of field-crop.
The field weeding of China's agricultural mainly carries out in a conventional manner, such as manually sprays insecticide, artificial mechanism weeding
Deng, the growth not only polluted environment but also be unfavorable for field-crop of largely spraying insecticide, while can also have medicament residue and ask
Topic, and the mode inefficiency of artificial mechanism weeding, labour cost is excessively high, is not suitable for crop field operation.
With the continuous quickening of China's agricultural modernization process, the continuous enhancing of national awareness of environment protection, traditional field is removed
Careless mode is no longer applicable in, while existing intelligent weed-eradicating robot intelligence degree is to be improved, to respond to the call of one's country, because
This is badly in need of a kind of farmland Special weeder device people and its control method to solve the above problems.
Utility model content
The purpose of this utility model is to provide a kind of farmland Special weeder device people, to solve to mention in above-mentioned background technique
Out the problem of.
To achieve the above object, the utility model provides the following technical solutions:
A kind of farmland Special weeder device people, including moving trolley main body, traveling wheel, weeding mechanism and mechanical gripper, institute
It states and several traveling wheels is installed in moving trolley main body, traveling wheel is filled by the traveling wheel drive being mounted in moving trolley main body
Driving operation is set, adjustable weeding machine arm mechanism is installed in moving trolley main body, is pacified on adjustable weeding machine arm mechanism
Equipped with weeding mechanism and mechanical gripper, the moving trolley main body is built-in with for controlling adjustable weeding machine arm mechanism, row
Sail the industrial personal computer and power plant module of wheel drive unit, weeding mechanism and mechanical gripper；
Depth camera one and depth phase are separately installed on the moving trolley main body and adjustable weeding machine arm mechanism
Machine two, depth camera one are mounted in moving trolley main body by camera support, and depth camera one and depth camera two are and work
Control electrical-mechanical connection.
The depth camera one is the Microsoft Kinect based on TOF principle as a further solution of the present invention,
V2, depth camera two are the Intel Realsense D435 based on triangulation.
The power plant module is rechargable power supplies, rechargable power supplies 48V as a further solution of the present invention,
Rechargeable lithium battery or lead storage battery, rechargable power supplies are detachably arranged in moving trolley main body rear interposition
In the groove set out, groove is equipped with power cover, rechargable power supplies are encapsulated in, moving trolley main body is equipped with charging
Mouth charges.
The moving trolley main body is made of Metal plate as a further solution of the present invention, and movement is small
Vehicle main body is equipped with start button, scram button.
The traveling wheel is detachably connected with moving trolley main body as a further solution of the present invention, described
The cross-country solid tire that traveling wheel is diameter 250mm.
The adjustable weeding machine arm mechanism is solid by pedestal fixing seat as a further solution of the present invention,
It is scheduled on slide damper, slide damper grafting is mounted in the U-shaped fixed plate for being fixed on moving trolley body surfaces, U-shaped fixation
Offered on the two sidewalls of plate for the mutually matched notch of slide damper.
It as a further solution of the present invention, further include the moving trolley of side before and after being mounted on moving trolley main body
Bumper, moving trolley bumper are made of alloy material.
The adjustable weeding machine arm mechanism includes pedestal, first as a further solution of the present invention,
Transverse arm, the first vertical arm, the second transverse arm, the second vertical arm and horizontal axis, the pedestal are mounted in pedestal fixing seat, in pedestal fixing seat
The servo motor for driving pedestal to rotate relative to pedestal fixing seat is set, the first transverse arm is connect with base rotation, the first transverse arm
It can be fixedly connected relative to base rotation, the free end position of the first transverse arm with the first vertical arm by servo motor driving, described the
One end of two transverse arms and the second vertical arm are rotatablely connected, and the second transverse arm can be erected as the servo motor driving built in it relative to second
Arm rotation, the other end of the second transverse arm are fixedly connected with the first vertical arm, and the free end position of the second vertical arm is fixedly connected with horizontal axis, horizontal
The end positions of axis are separately installed with weeding mechanism and mechanical gripper, and weeding mechanism and mechanical gripper are as the servo built in horizontal axis
Motor driven, so that weeding mechanism and mechanical gripper can be rotated relative to horizontal axis.
The weeding mechanism includes high-speed rotary motor and is mounted at a high speed as a further solution of the present invention,
Weeding cutter on rotating electric machine output shaft.
The mechanical gripper includes mechanical arm and is mounted on mechanical arm as a further solution of the present invention,
On hydraulic gripper, hydraulic gripper be electric hydaulic handgrip.
Compared with prior art, the utility model has the beneficial effects that (1) supports adjustable weeding machine arm mechanism position
Adjusting and moving trolley main body run wheel replacement, can be suitably used for adjustable weeding machine arm mechanism and moving trolley main body
Different weeds environment and field place, from the design angle of theory of mechanics, using closer actual design concept；
(2) weeding apparatus on weeding machine arm mechanism and mechanical gripper independently interaction operation is adjusted in the utility model,
Be different from existing mechanical arm weeding apparatus, weeding apparatus is used to efficient weeding, mechanical gripper can will cut weeds recycling or
Person's Tree Precise Fertilization realizes the Multifunction cross interoperability of mechanical arm tail end；
(3) in the utility model depth camera use, cooperated accurate identification weeds by two kinds of depth cameras
On the one hand the form of position and weeds improves the precision that identifies and positions of weeds, is on the other hand also beneficial to weeding machine
The trajectory path planning of arm assembly and weeding operation, improve the efficiency and precision of farmland weeding；
(4) the utility model transboundary merging using modern information technologies and agriculture depth, passes through introducing deep learning mould
Type makes traditional intelligent weed-eradicating robot excessively arrive the agriculture weed-eradicating robot of wisdom, improves weed-eradicating robot
Working efficiency and work quality have greatly pushed the development of wisdom weed-eradicating robot.
Detailed description of the invention
Fig. 1 is a kind of front overall structure diagram of farmland Special weeder device people of the utility model.
Fig. 2 is a kind of rear overall structure diagram of farmland Special weeder device people of the utility model.
Fig. 3 is a kind of weeding system schematic diagram of farmland Special weeder device people of the utility model.
Fig. 4 is a kind of recycling weeds schematic diagram of farmland Special weeder device people of the utility model.
Fig. 5 is a kind of normally travel status diagram of farmland Special weeder device people of the utility model.
Fig. 6 is the structural schematic diagram of U-shaped fixed plate in a kind of farmland Special weeder device people of the utility model.
Fig. 7 is the structural schematic diagram of camera support in a kind of farmland Special weeder device people of the utility model.
Fig. 8 is the structural schematic diagram of weeding apparatus in a kind of farmland Special weeder device people of the utility model.
Fig. 9 is the structural schematic diagram of mechanical gripper in a kind of farmland Special weeder device people of the utility model.
Figure 10 is a kind of system entirety schematic diagram of the control method of farmland Special weeder device people of the utility model.
Figure 11 is a kind of schematic diagram of the control method of farmland Special weeder device people of the utility model.
Figure 12 is a kind of working principle diagram of farmland Special weeder device people of the utility model.
In figure: 1, moving trolley main body；2, traveling wheel；3, wheel drive unit is travelled；4, moving trolley bumper；5 cameras
Bracket；6, depth camera one；7, U-shaped fixed plate；8, slide damper；9, pedestal；10, the first transverse arm；11, the first vertical arm；12,
Two transverse arms；13, the second vertical arm；14, horizontal axis；15, weeding mechanism；16, mechanical gripper；17, depth camera two；18, power cover；
19, charging interface；20, start button；21, scram button；22, pedestal fixing seat.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of device and method being described in detail in claims, some aspects disclosed in the present embodiment are consistent.
Embodiment 1
Please refer to Fig. 1~7, in the utility model embodiment, a kind of farmland Special weeder device people, including moving trolley master
Body 1, traveling take turns 2, weeding mechanism 15 and mechanical gripper 16, several traveling wheels 2, row are equipped in the moving trolley main body 1
Wheel 2 is sailed by the driving operation of traveling wheel drive unit 3 being mounted in moving trolley main body 1, travels wheel drive unit 3 by direct current
Machine and direct current base are constituted, and the direct current generator is mounted on direct current base and output shaft and 2 transmission of traveling wheel connect
It connects, adjustable weeding machine arm mechanism is installed in moving trolley main body 1, weeding is installed on adjustable weeding machine arm mechanism
On the one hand mechanism 15 and mechanical gripper 16, in the present embodiment, adjustable weeding machine arm mechanism are for as weeding mechanism
15 and mechanical gripper 16 installation carrier, another aspect weeding mechanism 15 and mechanical gripper 16 can also be by being adjusted weeding machine
Arm mechanism drives the variation for realizing orientation, so that weeding mechanism 15 and mechanical gripper 16 are according to the motion path and weeding set
Track movement, the moving trolley main body 1 be built-in with for control adjustable weeding machine arm mechanism, traveling wheel drive unit 3,
The industrial personal computer and power plant module of weeding mechanism 15 and mechanical gripper 16, in the present embodiment, industrial personal computer are actually industry control
Computer processed, attribute and feature with computer, power plant module is rechargable power supplies, and the preferred 48V's of rechargable power supplies fills
Electric lithium battery or lead storage battery, and be detachably arranged in the groove in the 1 rear middle position of moving trolley main body,
For the power supply of entire weed-eradicating robot, certainly, groove is equipped with power cover 18, rechargable power supplies is encapsulated in interior；Simultaneously
Rechargable power supplies can be charged by reserved charging interface 19, can also be changed another by taking out rechargable power supplies
Then one piece of rechargable power supplies is charged by the rechargable power supplies that external charging unit charges to needs, certainly, this reality
Other kinds of power can also be used by applying example.
In the present embodiment, depth is separately installed on the moving trolley main body 1 and adjustable weeding machine arm mechanism
Camera 1 and depth camera 2 17, wherein depth camera 1 is mounted in moving trolley main body 1 by camera support 5, preferably
, camera support 5(aluminum alloy material) a length of 500mm, width 20mm, a height of 800mm, apart from each 125mm in 5 two sides of camera support
Place is used for fitting depth camera 1 there are two the holding frame that length is 100mm, and the mounting means of depth camera 2 17 can be with
Depth camera 1 is identical, can also be directly installed on adjustable weeding machine arm mechanism front end, and by the way that weeding machine is adjusted
Winding displacement built in arm mechanism carries out cabling, and depth camera 1 and depth camera 2 17 are electrically connected with industrial personal computer.In the present embodiment
In, depth camera 1 is preferably based on the Microsoft Kinect V2 of TOF principle, and depth camera 2 17 is preferably using based on triangulation
The Intel Realsense D435 of method, depth camera 1 are used to obtain the weed density of 1 front region of moving trolley main body,
And it determines its corresponding three dimensional space coordinate information, realizes coarse localization, depth camera 2 17 is for realizing further auxiliary
Positioning is helped, the final exact position for determining weeds and posture realize precise positioning, to be weeding mechanism 15 and mechanical gripper 16
Trajectory path planning and weeding operation carry out place mat one step ahead.
Embodiment 2
Please refer to Fig. 1~5, in the utility model embodiment, a kind of farmland Special weeder device people, in above-described embodiment
On the basis of: the moving trolley main body 1 is made of Metal plate, and the length, width and height of moving trolley main body 1 are respectively as follows:
1000mm, 600mm and 300mm, moving trolley main body 1 is hollow at the position before and after the correspondence between traveling wheel 2, is used for regular worker
Control machine, 1 rear middle position recessing of moving trolley main body, for installing the rechargable power supplies, before moving trolley main body 1
Respectively symmetrically smooth cut goes to corner at rear, moreover, being additionally provided with start button 20, scram button 21 in moving trolley main body 1, has
Body, charging interface 19, start button 20 and scram button 21 are arranged on the scarf at 1 rear of moving trolley main body.
Meanwhile in order to adapt to different landform, the traveling wheel 2 is detachably connected with moving trolley main body 1, traveling wheel 2
It can be a variety of different types of tires, in the present embodiment, the cross-country solid rubber wheel that the traveling wheel 2 is diameter 250mm
Tire.
Embodiment 3
Please refer to Fig. 1~6, in the utility model embodiment, a kind of farmland Special weeder device people, in above-described embodiment
On the basis of: the adjustable weeding machine arm mechanism is fixed on slide damper 8 by pedestal fixing seat 22, and slide damper 8 is inserted
It connects in the U-shaped fixed plate 7 for being mounted on and being fixed on 1 surface of moving trolley main body, is opened up on the two sidewalls of U-shaped fixed plate 7 useful
In with the mutually matched notch of slide damper 8, herein, slide damper 8(is preferably steel) length it is generous be respectively 600mm,
150mm and 20mm, the length of notch and aperture are respectively 300mm and 20mm, necessary, on slide damper 8 and U-shaped fixed plate 7
Through-hole is offered, as adjustable weeding machine arm mechanism, weeding mechanism 15, mechanical gripper 16 and depth camera 2 17
Cable hole, facilitate winding displacement to enter to inside moving trolley main body 1, can moreover, the position for the ease of slide damper 8 is fixed
It is locked with being realized by nut, prevents equal the phenomenon that shaking of slide damper 8 at runtime.
Embodiment 4
Please refer to Fig. 1~2, in the utility model embodiment, a kind of farmland Special weeder device people, further includes being mounted on shifting
The moving trolley bumper 4 of small 1 front and back side of vehicle main body is moved, the quantity of moving trolley bumper 4 is two, is symmetrically mounted on described
1 front and back of moving trolley main body, apart from moving trolley main body 1 bottom surface 100mm, a length of 600mm, width 50mm, with a thickness of
30mm is stretched in 45 degree of angles in 15mm, both ends, and extend outwardly 50mm at intermediate trisection point, and thickness is also 15mm, and selected materials are
Alloy.
Embodiment 5
Please refer to Fig. 1~9, in the utility model embodiment, a kind of farmland Special weeder device people, in above-described embodiment
On the basis of: the adjustable weeding machine arm mechanism include pedestal 9, the first transverse arm 10, the first vertical arm 11, the second transverse arm 12,
Second vertical arm 13 and horizontal axis 14, the pedestal 9 are mounted in pedestal fixing seat 22, and pedestal fixing seat 22 is built-in for driving pedestal
9 servo motors rotated relative to pedestal fixing seat 22, in the present embodiment, before pedestal 9 needs to realize with moving trolley main body 1
It is benchmark line into direction, realizes each 120 degree of the rotation in left and right, the first transverse arm 10 is rotatablely connected with pedestal 9, and the first transverse arm 10 is by watching
Taking motor driven can rotate relative to pedestal 9, and the free end position of the first transverse arm 10 is fixedly connected with the first vertical arm 11, and described
One end of two transverse arms 12 and the second vertical arm 13 are rotatablely connected, and the second transverse arm 12 can be relative to as the servo motor driving built in it
The rotation of second vertical arm 13, the other end of the second transverse arm 12 are fixedly connected with the first vertical arm 11, the free end position of the second vertical arm 13
It is fixedly connected with horizontal axis 14, the end positions of horizontal axis 14 are separately installed with weeding mechanism 15 and mechanical gripper 16, and weeding mechanism 15
With mechanical gripper 16 as the servo motor driving built in horizontal axis 14, so that weeding mechanism 15 and mechanical gripper 16 can be relative to horizontal axis
14 rotations, herein, pedestal 9 is vertical with the axis of the first transverse arm 10, likewise, the first transverse arm 10 and the first vertical arm 11, first are perpendicular
Arm 11 keeps vertical with the second transverse arm 12, the second transverse arm 12 with the axis of the second vertical arm 13, the second vertical arm 13 and horizontal axis 14, real
On border, it is a manipulator that weeding machine arm mechanism, which is adjusted, multivariant rotation is able to achieve, to adjust weeding mechanism
15 and mechanical gripper 16 motion path and posture.
Specific: the weeding mechanism 15 includes high-speed rotary motor and is mounted on removing on high-speed rotary motor output shaft
Careless cutter, 13500 revs/min of high-speed rotary motor no-load speed, the cutting diameter of weeding cutter is 200mm, and weeding cutter is adopted
It is designed with Seiko, similar willow leaf symmetric design, while considering that cutting edge smoothly goes chamfering, it is ensured that its is sharp, supports blade
Replacement connects axial length 50mm.
The mechanical gripper 16 includes mechanical arm and the hydraulic gripper being mounted on mechanical arm, and hydraulic gripper is mainly
For realizing the crawl and release of weeds, in fact, hydraulic gripper is a kind of electric hydaulic handgrip, the utility model is to hydraulic hand
The number of pawl with no restrictions, to clearly show structure the utility model preferably 3 hydraulic grippers.
In conjunction with the embodiments 1~5, be apparent from the working principle of the technical program: moving trolley main body 1 takes turns 2 by four travelings
And corresponding traveling wheel drive unit forms the travel configuration of moving trolley main body 1；The front-back of moving trolley main body 1 is symmetrical
The crash structure that moving trolley bumper 5 constitutes intelligent carriage is installed；The 1 rear middle position recessing of moving trolley main body is used
In placing rechargable power supplies, removable power supply architecture is constituted with the cooperation of corresponding detachable power source cover 18；Moving trolley main body 1 it is upper
Adjustable weeding machine arm mechanism is installed by the position of near-car head in surface, be adjusted weeding machine arm mechanism by slide damper with
U-shaped fixed plate 7 with notch matches composition carrier；The upper surface of moving trolley main body is equipped with camera close to the position of the tailstock
Bracket, the depth camera 1 for regulating angle in advance is equipped on camera support, and depth camera 1 is matched with depth camera 2 17
Close the long sight depth scene structure for forming moving trolley main body 1.
Need further exist for illustrating, industrial personal computer electrical connection there are two master control borad (STM32F103RCT6), a master control borad with
Moving trolley main body 1 travels the direct current generator electrical connection in wheel drive unit, and the corresponding installation two-by-two of four direct current generators
In 1 two sides of moving trolley main body, the utility model is travelled using existing two sides traveling wheel forward and reverse mode, and then is realized
In situ to turn to, it will not go into details for detailed process, each servo motor in another master control borad and adjustable weeding machine arm mechanism
Electrical connection controls the turnning circle of each servo motor and then realizes the attitude regulation of weeding mechanism 15 and mechanical gripper 16,
Also it will not go into details for detailed process；Rechargable power supplies are powered and then being electrically connected with industrial personal computer to entire moving trolley main body 1；
The Kinect V2 of one 6(Microsoft of depth camera on camera support 5) it is electrically connected by winding displacement and industrial personal computer, another depth
The Realsense D435 of two 17(Intel of camera) pass through winding displacement and industry control electrical-mechanical built in adjustable weeding machine arm mechanism
Connection, to realize system entirety hardware circuit principle structure.
Embodiment 6
It please refers to Figure 10~11, in the utility model embodiment, also discloses the control of farmland Special weeder device people a kind of
Method processed, specifically, itself the following steps are included:
S1, passed through using the depth convolutional neural networks in deep learning according to the shared convolution feature of region proposal algorithm
The data set training weeds of acquisition and Crop classification and identification depth model, to realize the frame per second target detection of near real-time；
Specifically: each 3000 ~ 5000, the high definition picture data sets as classification and identification depth model of acquisition weeds and crops,
And artificial mark is carried out to data set and forms exemplar collection for model training, wherein the ratio of training set and verifying collection is 8:
2, algorithm is proposed according to region, is based on VGGNet model, training obtains the weeds and Crop classification with high discrimination and knowledge
Other depth model；
S2, obtained weeds and Crop classification and identification depth model will be trained to be deployed to the operating system of industrial personal computer
In, specifically: industrial personal computer is preferably based on the operating system of Linux, and hardware device meets the configuration of operation deep learning model, together
When in an operating system installation support machine vision correlation interaction platform, then by weeds and Crop classification and identification depth mould
Type is encapsulated into interaction platform；
S3, outdoor environment calibration is carried out to depth camera one, depth camera two and adjustable weeding machine arm mechanism, realized
The modeling of exterior space 3 D stereo；Specifically: depth camera is arrived according to " correction of grade line " to " Stereo matching " again in outdoor environment
The step of " trigonometric ratio ", establishes threedimensional model, realizes the conversion of world coordinate system to camera coordinates system, and weeding machine arm is adjusted
Mechanism is initialized under the premise of depth camera one and depth camera two complete outdoor environment calibration, really to adjustable
The calibration of the position coordinates of the initial position of weeding machine arm mechanism and the weeding mechanism of end and mechanical gripper；
S4, the weed density that moving trolley main body front region is obtained by the depth camera one on camera support, and
It determines its corresponding three dimensional space coordinate information, realizes coarse localization；Specifically: it is outdoor in depth camera one, depth camera two
Under the premise of environment completes calibration, using image procossing and computer vision algorithms make by weed targets three dimensional representation, camera is realized
Coordinate system is converted into image coordinate system, the position coordinates of rough determination weed targets；
S5, pass through the further auxiliary positioning of depth camera two on horizontal axis, the final exact position for determining weeds and appearance
State realizes precise positioning；Specifically: under the premise of the position coordinates of rough determination weed targets, utilize point cloud registration method
The further position coordinates for determining weed targets, while identifying specific posture, precise positioning is substantially by depth twice
The use of camera improves the precision of target positioning according to the advantage of different depth camera；
S6, the coordinate information that weed-eradicating robot is converted by the three dimensional space coordinate information by weeds, and then instructing can
It adjusts weeding machine arm mechanism and completes accurately trajectory path planning and weeding operation, specifically: in the step of completing S1 to S5
Afterwards, the accurate position coordinates and practical posture, industrial personal computer for learning weed targets carry out real-time path planning, and control is adjustable
Weeding mechanism in weeding machine arm mechanism carries out weeding operation.
In the present embodiment: there is prior art support, the technical program in computer vision algorithms make, point cloud registration method
Also the improvement of algorithm is not carried out to it, therefore, to specific computer vision algorithms make, the process of point cloud registration method with regard to not carrying out
It explains in detail, but does not influence the integrality of the technical program.
Computer vision algorithms make is very wide in range, there is many contents, such as target following, target positioning, object boundary identification etc.,
The main purpose of computer vision research is to allow computer that can identify and recognize three-dimensional world using image and image sequence,
Its final goal is that computer is allowed to have the function of " vision ", to meet the needs of society applies computer advanced.
Point cloud registration method is registrated when point cloud data only has three-dimensional coordinate, this when, can extract just only
There is the geometrical characteristic of a cloud, common feature includes: the curvature of a cloud, puts the spies such as affine-invariant features of plane quadrilateral in cloud
Sign.In fact regardless of method for registering, it is all based on the principle of characteristic matching.It is obtained additionally either in image
The information of auxiliary, or the only geometrical characteristic extracted in three-dimensional point cloud are provided to more preferable the spy for taking out a cloud
Corresponding points between sign and two clouds.Unquestionably, if it is possible to change corresponding to each base by traversal point cloud
It changes, optimal transformation can be found certainly, but this calculation amount is an astronomical figure, is less may be used in practical application
Can.
The point cloud registering of present comparative maturity is divided into two parts substantially, first progress rough registration, the algorithm multiplicity of rough registration,
The main function of rough registration is to provide preferable iteration initial position for subsequent accurate registration ICP algorithm.By rough registration it
Afterwards, the coincidence degree of the two point clouds is very high, to further increase, it is necessary to subsequent accurate registration, present one
As all carried out using ICP (iteration closest approach) algorithm or its mutation, by successive ignition, can be further improved and match
Quasi- precision, if but without the preferable iteration initial position of rough registration offer, ICP algorithm often falls into regional area
Optimal solution, and cannot get global optimal solution.
The application carries out point cloud registering again after carrying out coarse positioning, realizes and accurately positions, and point cloud registration method master
It applies in three dimensional space coordinate, it is high with compatible degree is walked before the technical program therefore more appropriate using point cloud registration method.
Embodiment 7
Figure 12 is please referred to, when weed-eradicating robot works normally, depth camera one (is in fact using included vision system
The depth camera lens of depth camera) by the processing of Intel D4 vision processor by the weeds obtained in real time and crops depth map
As information is transmitted to industrial personal computer by corresponding 3.0 interface of USB, then independently shown equipped with Radeon RX Vega M GH
The industrial personal computer of the Intel core i7-8809G processor of card utilizes acquisition according to image procossing and computer vision algorithms make
Weeds and crops deep image information are by weed targets three dimensional representation, the position coordinates of rough determination weed targets；In this
Simultaneously industrial personal computer on the one hand pass through corresponding serial ports USART1 by serial communication circuit (serial ports RS232 turns USART serial ports, benefit
With MAX3232 chip by RS232 level conversion at Transistor-Transistor Logic level) issue control movement system instruction to corresponding STM32F103RCT6 master
Plate is controlled, corresponding STM32F103RCT6 master control borad is sent after receiving motion control instruction by corresponding I/O mouthfuls of driving circuit
Direct current motor drive circuit driving DC motor control circuit work is given, and then controls moving trolley main body run, so as to adjust
The relative distance of moving trolley main body and weeds and crops；On the other hand serial communication is passed through by corresponding serial ports USART2
Circuit (serial ports RS232 turns USART serial ports, using MAX3232 chip by RS232 level conversion at Transistor-Transistor Logic level) issues mechanical arm
Control instruction gives corresponding STM32F103RCT6 master control borad, and corresponding STM32F103RCT6 master control borad receives mechanical arm control
Servo motor driving circuit is sent to by corresponding I/O mouthfuls of driving circuit after instruction and drives the work of Serve Motor Control circuit,
And then control the coarse movement planning of weeding machine arm.The depth camera two on weeding machine arm horizontal axis is further close at this time
Weed targets, using included vision system by the processing of PS1080 system level chip by the weeds obtained in real time and crops
Deep image information is transmitted to industrial personal computer by its corresponding 3.0 interface of USB, then equipped with Radeon RX Vega M
The industrial personal computer of the Intel core i7-8809G processor of GH independent display card is according to image procossing and computer vision algorithms make benefit
With the weeds and crops deep image information of acquisition by weed targets three dimensional representation, in the position of rough determination weed targets
Under the premise of coordinate, the position coordinates of weed targets are further determined using point cloud registration method, while identifying specific posture；
Then industrial personal computer on the one hand pass through corresponding serial ports USART2 by serial communication circuit (serial ports RS232 turns USART serial ports, benefit
With MAX3232 chip by RS232 level conversion at Transistor-Transistor Logic level) issue mechanical arm be precisely controlled instruction to corresponding
STM32F103RCT6 master control borad, corresponding STM32F103RCT6 master control borad receive mechanical arm be precisely controlled instruction after by pair
The I/O mouth driving circuit answered is sent to the driving Serve Motor Control circuit work of servo motor driving circuit, and then controls weeding
The accurate motion planning of mechanical arm is close to weed targets；On the other hand in the accurate position coordinates and reality for learning weed targets
Posture, STM32F103RCT6 master control borad send high-speed rotary motor enabled instruction to high speed rotation by its I/O mouthfuls of driving circuit
Motor-drive circuit, high-speed rotary motor driving circuit can then drive high-speed rotary motor control circuit to work, and then controlling can
The weeding mechanism adjusted in weeding machine arm mechanism carries out accurate weeding operation.Similarly, if weeds are recycled or are precisely applied
Fertilizer, it is only necessary to withdraw weeding mechanism, then hydraulic gripper is according to same working principle and step.In addition, 48V
Rechargable power supplies, which are led the way, is powered by switch voltage-stabilizing circuit to entire industrial personal computer, and then is powered to entire weed-eradicating robot.
It should be noted that: a kind of farmland Special weeder device people of the utility model and its control method, as letter
The inevitable outcome of breath technology and agriculture field depth integration, for pushing the practical application of China's wisdom agricultural that there is great show
Sincere justice handles real time video data using the computer vision technique based on deep learning algorithm, changes tradition side
The mechanization weeding of formula, either from intelligentized Machine Design angle, or from intelligentized weeding system angle, this is practical
It is novel all to have done great improvement, improve the intelligence degree of intelligent weed-eradicating robot equipment.
Those skilled in the art will readily occur to other realities of the disclosure after considering the disclosure at specification and embodiment
Apply scheme.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or suitable
The variation of answering property follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure or used
Use technological means.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are referred to by claim
Out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (10)
1. a kind of farmland Special weeder device people, including moving trolley main body (1), traveling wheel (2), weeding mechanism (15) and machinery
Handgrip (16) is equipped with several traveling wheels (2) on the moving trolley main body (1), and traveling wheel (2) is by being mounted on moving trolley
Traveling wheel drive unit (3) in main body (1) drives operation, is equipped with adjustable weeding machine arm in moving trolley main body (1)
Mechanism is adjusted on weeding machine arm mechanism and is equipped with weeding mechanism (15) and mechanical gripper (16), the moving trolley main body
(1) it is built-in with for controlling adjustable weeding machine arm mechanism, traveling wheel drive unit (3), weeding mechanism (15) and mechanical gripping
The industrial personal computer and power plant module of hand (16), it is characterised in that:
Depth camera one (6) and depth are separately installed on the moving trolley main body (1) and adjustable weeding machine arm mechanism
Camera two (17), depth camera one (6) are mounted on moving trolley main body (1) by camera support (5), depth camera one (6)
It is electrically connected with industrial personal computer with depth camera two (17).
2. a kind of farmland Special weeder device people according to claim 1, which is characterized in that the depth camera one (6)
For the Microsoft Kinect V2 based on TOF principle, depth camera two (17) is the Intel Realsense based on triangulation
D435。
3. a kind of farmland Special weeder device people according to claim 1, which is characterized in that the power plant module is that can fill
Power supply, rechargable power supplies are the rechargeable lithium battery or lead storage battery of 48V, and rechargable power supplies are detachably arranged in described
In the groove that moving trolley main body (1) rear middle position is opened, groove is equipped with power cover (18), and rechargable power supplies are encapsulated
Inside, moving trolley main body is equipped with charging interface (19) and charges.
4. a kind of farmland Special weeder device people according to claim 3, which is characterized in that the moving trolley main body
(1) it is made of Metal plate, moving trolley main body (1) is equipped with start button (20), scram button (21).
5. a kind of farmland Special weeder device people according to claim 1 or 2 or 4, which is characterized in that the traveling wheel
(2) it is detachably connected with moving trolley main body (1), the cross-country solid tire that the traveling wheel (2) is diameter 250mm.
6. a kind of farmland Special weeder device people according to claim 5, which is characterized in that the adjustable weeding machine
Arm mechanism is fixed on slide damper (8) by pedestal fixing seat (22), and slide damper (8) grafting is mounted on that be fixed on movement small
In the U-shaped fixed plate (7) on vehicle main body (1) surface, offered on the two sidewalls of U-shaped fixed plate (7) for slide damper (8)
Mutually matched notch.
7. a kind of farmland Special weeder device people described according to claim 1 or 2 or 4 or 6, which is characterized in that further include peace
Moving trolley bumper (4) mounted in side before and after moving trolley main body (1), moving trolley bumper (4) use alloy material system
At.
8. a kind of farmland Special weeder device people according to claim 6, which is characterized in that the adjustable weeder
Tool arm mechanism includes pedestal (9), the first transverse arm (10), the first vertical arm (11), the second transverse arm (12), the second vertical arm (13) and horizontal axis
(14), the pedestal (9) is mounted on pedestal fixing seat (22), and pedestal fixing seat (22) is built-in for driving pedestal (9) opposite
In the servo motor of pedestal fixing seat (22) rotation, the first transverse arm (10) and pedestal (9) are rotatablely connected, and the first transverse arm (10) is by watching
Taking motor driven can rotate relative to pedestal (9), and the free end position of the first transverse arm (10) is fixedly connected with the first vertical arm (11),
One end and the second vertical arm (13) of second transverse arm (12) are rotatablely connected, and the second transverse arm (12) is as the servo motor built in it
Driving can be rotated relative to the second vertical arm (13), and the other end of the second transverse arm (12) is fixedly connected with the first vertical arm (11), and second
The free end position of vertical arm (13) is fixedly connected horizontal axis (14), and the end positions of horizontal axis (14) are separately installed with weeding mechanism (15)
With mechanical gripper (16), and weeding mechanism (15) and mechanical gripper (16) be as the servo motor driving built in horizontal axis (14), so that
Weeding mechanism (15) and mechanical gripper (16) can be rotated relative to horizontal axis (14).
9. a kind of farmland Special weeder device people according to claim 8, which is characterized in that weeding mechanism (15) packet
The weeding cutter for including high-speed rotary motor and being mounted on high-speed rotary motor output shaft.
10. a kind of farmland Special weeder device people according to claim 8, which is characterized in that the mechanical gripper (16)
Including mechanical arm and the hydraulic gripper being mounted on mechanical arm, hydraulic gripper is electric hydaulic handgrip.
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| CN201920026458.2U CN209330618U (en) | 2019-01-08 | 2019-01-08 | A kind of farmland Special weeder device people |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109511361A (en) * | 2019-01-08 | 2019-03-26 | 安徽农业大学 | A kind of farmland Special weeder device people and its control method |
| CN112544204A (en) * | 2020-12-03 | 2021-03-26 | 武汉理工大学 | Weeding robot based on RISC-V embedded processor and control method |
-
2019
- 2019-01-08 CN CN201920026458.2U patent/CN209330618U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109511361A (en) * | 2019-01-08 | 2019-03-26 | 安徽农业大学 | A kind of farmland Special weeder device people and its control method |
| CN112544204A (en) * | 2020-12-03 | 2021-03-26 | 武汉理工大学 | Weeding robot based on RISC-V embedded processor and control method |
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