CN218604370U - Automatic watering vehicle for road green belt - Google Patents
Automatic watering vehicle for road green belt Download PDFInfo
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- CN218604370U CN218604370U CN202222252735.6U CN202222252735U CN218604370U CN 218604370 U CN218604370 U CN 218604370U CN 202222252735 U CN202222252735 U CN 202222252735U CN 218604370 U CN218604370 U CN 218604370U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
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Abstract
The utility model provides an automatic watering car in road green area relates to greenbelt watering technical field, include: the vehicle comprises a main vehicle body frame, a vehicle head, a vehicle body, a vehicle tail and a vehicle bottom; wherein the overall vehicle body frame includes: an aluminum alloy frame and a plurality of wheels; the locomotive includes: upper computer and lower computer hardware; the vehicle body includes: the device comprises a water tank, a water pump, a wide-angle camera, a storage battery and an NVIDIA board; the vehicle tail comprises: a steering engine and a watering spray head; the vehicle bottom includes: a plurality of wheel drive motors. The utility model discloses manpower and materials's demand can be practiced thrift, the efficiency of watering has been improved greatly.
Description
Technical Field
The utility model relates to a greenbelt watering technical field specifically relates to an automatic watering car in road greenbelt.
Background
The watering cart is widely applied to the watering work of various urban road greening as the workers on the watering cart can often water the green belt to guarantee the sound growth and the urban green development of the road green belt. After looking up the data, it needs continuous high frequency watering especially under the seedling of new kind in the last three years to discover, and accomplishes this work at present and mainly follows the watering lorry operation by the handheld spray tube of workman, and afforest personnel's work singleness and repetition.
Reports by tobacco identification: fan Lianxiang, development of intelligent tobacco watering machine based on machine vision technology [ D ]. University of agriculture in Shandong, 2017 (3), and in 2019, the feedback opinions of industry standard urban road greening design standard (acquisition draft) drafted by units such as China city planning and design research institute according to standard system revision plan file (build standard conveniently [ 2019 ] 21) in China greening department: road greening is mainly carried out by arbor, shrub and ground cover plant are planted in a combined mode, the height of the densely planted green belt plant generally does not exceed 6 m, the color characteristics of branches and leaves can be easily obtained, the soil thickness of the green belt on the side face of the road is mainly based on shrub at present, the height of the green belt soil is required to be less than 60cm, and the soil thickness (the bottom height of the green belt) is more than 50cm. In addition, the current common green belt irrigation mode is manual flood irrigation, which not only wastes manpower and increases irrigation cost, but also reduces operation efficiency and water resource utilization rate. In view of the fact that micro-irrigation, sprinkling irrigation and drip irrigation are mainly used in the existing agricultural field, through experiments, the relative feasibility of sprinkling irrigation is considered to be the highest on a watering vehicle. However, some problems are still found after investigation by using sprinkling irrigation and other devices in the field at present: fixed installations require a large amount of equipment to achieve coverage and lack flexibility; and large-scale irrigation pipelines are additionally arranged in the green belts, and the construction fund and the maintenance fund are lack of feasibility.
In summary, there is a need to create a flexible green belt irrigation device that is effective in irrigation and that adapts to conventional watering carts.
Chinese utility model patent with publication number CN202005183U discloses a greenbelt irrigation equipment, including the outlet conduit who has the watering shower nozzle, its characterized in that, this greenbelt irrigation equipment still includes the water tank, the one end fixed connection of watering shower nozzle is kept away from to water tank and outlet conduit, and there is the water filling port on water tank upper portion. The irrigation equipment can not flexibly adjust irrigation according to actual greening area.
The utility model discloses a chinese utility model patent of publication number CN213073658U discloses a road both sides greenbelt watering device, including greenbelt watering device body and motor, the inside fixedly connected with greenbelt of greenbelt watering device body covers watering structure perpendicularly, and greenbelt covers watering structure perpendicularly and includes motor, rotation main shaft, control gear, first connecting gear, water tank, water pipe, sprinkler head and rolling disc, the surface cover of rotation main shaft has greenbelt trimming structure along the limit. The length or the height of the water spraying irrigation structure in the irrigation device can not be adjusted in a telescopic mode, and the spraying area is limited.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model aims at providing an automatic watering car of road green.
According to the utility model provides a pair of automatic watering car in road green area, this watering car utensil includes: the vehicle comprises a main vehicle body frame, a vehicle head, a vehicle body, a vehicle tail and a vehicle bottom;
wherein the overall vehicle body frame includes: an aluminum alloy frame and a plurality of wheels; the locomotive includes: upper computer and lower computer hardware; the vehicle body includes: the device comprises a water tank, a water pump, a wide-angle camera, a storage battery and an NVIDIA board; the vehicle tail comprises: a steering engine and a watering spray head; the vehicle bottom includes: a plurality of wheel drive motors;
the watering spray head realizes water transmission through a water pump, the water pump is connected with two water pipes, one water pipe is connected with the water tank, and the other water pipe is connected with the spray head;
the watering arm comprises two steering gears, and hardware including the steering gears, a water pump and a tire motor at the bottom of the vehicle on the watering arm is connected with an Arduino singlechip control board;
the Arduino single-chip microcomputer control board is connected with an upper computer or an NVIDIA board through a usb port;
the camera is connected with the computer end through a self-contained usb connecting port.
Preferably, the lower computer hardware includes:
an electronic speed regulator: controlling a wheel chassis motor to rotate;
a first relay: controlling a steering engine;
a second relay: controlling the water pump;
remote control receiving board: controlling the traveling;
arduino single-chip microcomputer: as a lower computer receiving and driving device, the irrigation arm steering engine is controlled and driven;
wherein, first relay and second relay are connected with Arduino singlechip and steering wheel, water pump respectively, and at the operation in-process, the relay replaces Arduino singlechip to supply power, and Arduino singlechip carries out the transmission of signal, and the remote control dash receiver is connected with the singlechip.
Preferably, the number of the steering engines is two, so that a high-freedom-degree irrigation mechanical arm is formed, and oriented irrigation within 180 degrees in the transverse direction and the longitudinal direction is realized.
Preferably, MG995 metal gear digital steering engines with working torque of 13KG cm are selected for all the steering engines.
Preferably, the two MG995 digital steering engines, the water pipe, the watering spray head and the supporting structure form a two-degree-of-freedom watering arm which is arranged on one side of the tail of the vehicle.
Preferably, the two-degree-of-freedom watering arm is arranged as an adjustable telescopic arm.
Preferably, when the height of the trolley is ensured to be parallel to and closely attached to the green belt, the length of the telescopic rod of the two-degree-of-freedom watering arm is equal to the width of the actual green belt.
Preferably, the watering end of the watering spray head and the carried wide-angle camera are arranged in the same direction and on the horizontal plane.
Preferably, the wide-angle camera area is provided with a light intensity stabilizer with an LED light bar.
Preferably, the light intensity stabilizer and the wide-angle camera are both installed at the head part.
Compared with the prior art, the utility model discloses following beneficial effect has:
through two degree of freedom watering arms, realize the watering to the vegetation in the unidimensional greenbelt, practice thrift the demand of manpower and materials, improved the efficiency of watering greatly.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the structure and operation of a watering cart;
FIG. 2 is a side view of the pouring.
Detailed Description
The present invention will be described in detail with reference to specific embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one of ordinary skill in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
The embodiment of the utility model provides an automatic watering method of road green belt based on image processing, this watering car utensil includes: the vehicle comprises a main vehicle body frame, a vehicle head, a vehicle body, a vehicle tail and a vehicle bottom;
wherein, total body frame includes: an aluminum alloy frame and a plurality of wheels; the locomotive includes: upper computer and lower computer hardware; the vehicle body includes: the device comprises a water tank, a water pump, a wide-angle camera, a storage battery and an NVIDIA board; the vehicle tail comprises: a steering engine and a watering spray head; the vehicle bottom includes: a plurality of wheel drive motors.
The watering spray head realizes water transmission through a water pump (one water pipe is connected with the water tank, and the other water pipe is connected with the spray head) which is connected with two water pipes. Wherein the watering arm comprises two degree of freedom steering gears (a horizontal steering gear, a vertical steering gear). The steering engine, the water pump, the tire motor at the bottom of the vehicle and other hardware parts on the irrigation arm are driven by the Arduino control panel, so that the movement is controlled. The Arduino control board is connected with an upper computer (which can be replaced by an NVIDIA board) through a usb port to realize signal communication. The camera is connected with the computer end through a self-contained usb connecting port, and helps the computer end to acquire images.
According to the project objective and practical use condition, the wide-angle camera in the embodiment is a 90-degree camera and is arranged on one side of the pouring model car, the wide-angle camera area is provided with a light intensity stabilizer with an LED light bar, and the light intensity stabilizer and the wide-angle camera are both arranged on the car head part.
The NVIDIA board can complete image recognition, algorithm development for measuring and calculating depth and the like, and can also perform related operations such as image processing and upper computer signal transmission.
The lower computer hardware of the watering cart comprises:
an electronic speed regulator: controlling the rotation of a wheel chassis motor (programming and speed regulation are carried out by utilizing PWM, and a singlechip on hardware is also provided with an L298 chip to amplify current to drive a direct current motor to operate);
a first relay: controlling a steering engine;
a second relay: controlling the water pump;
remote control receiving board: controlling the traveling;
arduino single-chip microcomputer: as a lower computer receiving and driving device, the irrigation arm steering engine is controlled and driven.
Wherein first, the second relay is connected with Arduino board and steering wheel, water pump respectively, and at the operation in-process, the relay replaces the singlechip to supply power (the singlechip power supply is big enough), and the singlechip then only carries out the transmission of signal, and the remote control receiver board is connected with the singlechip, can be through the operation of remote control machine control vehicle through compiling the receipt procedure in the procedure.
Wherein, the steering wheel sets up to two, constitutes high degree of freedom irrigation mechanical arm, realizes the directional watering of horizontal and vertical 180 degrees within ranges respectively. MG995 metal gear digital steering engines with working torque of 13KG cm are all selected as the steering engines. Two MG995 digital steering engines, water pipe, watering shower nozzle and bearing structure form two degree of freedom watering arms, install in one side of the tailstock.
Specifically, the two-degree-of-freedom watering arm is arranged as an adjustable telescopic arm. When the height of the trolley is ensured to be parallel to and closely attached to the green belt, the length of the telescopic rod of the two-degree-of-freedom watering arm is equal to the width of the actual green belt.
The watering end of the watering spray head and the carried wide-angle camera are arranged in the same direction and on the horizontal plane.
Next, the present invention will be described more specifically.
The automatic watering cart in road green area that this embodiment provided, this watering cart specifically includes: the vehicle comprises a main vehicle body frame, a vehicle head, a vehicle body, a vehicle tail and a vehicle bottom;
wherein, total body frame includes: an aluminum alloy frame and a plurality of wheels; the locomotive includes: upper computer and lower computer hardware; the vehicle body includes: the device comprises a water tank, a water pump, a wide-angle camera, a storage battery and an NVIDIA plate; the vehicle tail comprises: a steering engine and a watering spray head; the vehicle bottom includes: a plurality of wheel drive motors. The automatic green belt watering cart is shown in fig. 1, and the structures in the figure are shown as follows: 1 denotes a light intensity stabilizer (with LED light bar); 2, a usb camera (connected with a computer upper computer); 3 denotes an Arduino single chip microcomputer; 4 denotes a water tank; 5 denotes a shower head (shower head); 6 denotes a vertical iron plate; 7 denotes a horizontal iron plate; 8 denotes a vertical steering engine; 9 denotes a horizontal steering engine; 10, a computer upper computer; and 11, a water pump (two pipes connecting the water tank and the nozzle).
A list of specific vehicle structural materials is given in table 1 below:
TABLE 1 list of vehicle structural materials
| Vehicle assembly | The equipment used |
| General vehicle body frame | An aluminum alloy frame; wheel 4 |
| Vehicle head | Arduino Mega 2560 development board |
| Vehicle body | A water tank pump; a 90-degree wide-angle camera; a storage battery; NVIDIA board |
| Vehicle tail | MG995 steering engines × 2; watering spray head |
| Vehicle bottom | Wheel drive motor 2 |
The wide-angle camera in the embodiment is a 90-degree camera which is arranged on one side of the irrigation model car, and the number of the steering engines is two, so that a high-freedom-degree irrigation mechanical arm is formed, and oriented irrigation in a 180-degree range in the transverse direction and the longitudinal direction is realized.
During assembly, the watering tail end and the carrying camera are arranged in the same direction and on the same horizontal plane, so that accurate identification of watering is ensured. The water tank, the circuit lower computer and the like are arranged in the vehicle body, so that the vehicle is suitable for various road operation scenes, and is safe and attractive.
The lower computer hardware material list is shown in table 2 below:
TABLE 2 lower computer hardware materials
| Name (R) | Function(s) |
| Electronic speed regulator | Controlling the rotation of the wheel |
| Relay | |
| 1 | Control steering engine |
| Relay 2 | Control water pump |
| Remote control receiving board | Controlling travel |
| Arduino single-chip microcomputer | Steering engine for controlling and driving irrigation arm |
The NVIDIA board has the advantages of high speed and small size, can complete algorithm development of image recognition, depth measurement and calculation and the like, and can be used for carrying out relevant operations such as image processing, upper computer signal transmission and the like.
And the watering arms of the watering cart model all adopt MG995 metal gear digital steering engines with the working torque of 13KG cm.
Digital rudder has overturned the control system of steering wheel from fundamental, for traditional analog steering wheel, digital steering wheel has two advantages:
1. because of the microprocessor, the digital steering engine can process the input signal according to the set parameters before sending the power pulse to the steering engine. This means that the width of the power pulse, that is to say the power to energise the motor, can be adjusted according to the programmed operation of the microprocessor to suit different functional requirements and to optimise the performance of the steering engine.
2. Digital steering engines send power pulses to the motor at a much higher frequency. The steering engine motor responds to the signal of the transmitter with higher frequency, and a 'non-reaction zone' is reduced; the reaction becomes faster; the speed is accelerated and decelerated more quickly and softly; the digital steering engine provides higher precision and better fixed strength. In addition, the method also has the advantages of jitter prevention and high response speed.
Designing a vehicle head model:
the Arduino Mega 2560 development board was mounted at the head position of the vehicle, and used as a lower-level machine receiving/driving device. For accomplishing safer more stable watering, installed two relays on locomotive one side wall, drive double steering wheel operation and water pump motor rotation respectively, the rotation of steering wheel about the first relay can control, and the water pump can be controlled to the second relay.
Designing a model vehicle body:
the vehicle body is divided into three areas, namely an English WEIDAN board and a display module thereof, a water tank water pump module and a camera module. The positions of the three parts are front, middle and back, so that the camera and the watering arm can be ensured to be positioned at a relatively short distance, and the accurate synchronization of identification is ensured. The main modes used in the creation of models are three-dimensional modeling and 3d printing.
Design of a rear pouring arm:
two MG995 digital steering engines are used, and form a two-degree-of-freedom watering arm together with a water pipe, a spray head and a supporting structure, and the two-degree-of-freedom watering arm is arranged on one side of the tail of the vehicle, so that the steering engines can move in multiple dimensions by fully utilizing the advantages of the two steering engines, and the coverage area is wider.
In the sports system, considering that the vehicle must travel on the urban road, we decide to adopt the tire movement suitable for the working environment of the urban road.
In order to effectively reduce the interference of ambient light to color extraction in different application scenes, a light intensity stabilizer with an LED light bar is additionally arranged in a camera area.
Three problems are considered in acquiring images by a camera: 1) A wider camera view is required to be obtained in an actual scene; 2) The size of the light intensity stabilizer and the rotation range of the irrigation arm have mutual influence; 3) The image processing judgment and the communication of the upper computer and the lower computer generally require 2 to 3 seconds. Therefore, the light intensity stabilizer and the camera are selectively arranged on the head part, and the defects caused by the factors are reduced.
According to a test scene, the farthest effective distance of the spray irrigation is 80cm, the inclination angle is 25 degrees, the spray head is always perpendicular to the vertical steering engine arm, the water flow included angle of the spray head is 5 degrees, and the coverage inclination angle of the spray head used for the test is 30 degrees.
In order to solve the problem of automatic sprinkling irrigation at different heights, the length L of a telescopic arm is flexibly adjusted to control the sprinkling irrigation coverage, and the side view of the sprinkling irrigation is shown in figure 2.
The method can find that AB = AD when the model meets the condition that ≈ BAD = B =60 DEG after the equal scaling reduction;
and = ═ DAC =30 °, then AD = DC, so AB = DC = L;
and (4) conclusion:
when the height of the trolley is ensured to be parallel to and closely attached to the green belt, the length L of the required telescopic rod is equal to the width of the actual green belt.
The embodiment of the utility model provides an automatic watering lorry of road green has realized automatic road plant watering to carry out accurate watering according to green planting condition, reach the demand that the watering is automatic, practice thrift manpower and materials.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides an automatic watering car of road green, its characterized in that includes: the vehicle comprises a main vehicle body frame, a vehicle head, a vehicle body, a vehicle tail and a vehicle bottom;
wherein the overall vehicle body frame includes: an aluminum alloy frame and a plurality of wheels; the locomotive includes: upper computer and lower computer hardware; the vehicle body includes: the device comprises a water tank, a water pump, a wide-angle camera, a storage battery and an NVIDIA board; the vehicle tail comprises: a steering engine and a watering spray head; the vehicle bottom includes: a plurality of wheel drive motors;
the watering spray head realizes water transmission through a water pump, the water pump is connected with two water pipes, one water pipe is connected with the water tank, and the other water pipe is connected with the spray head;
the irrigation arm comprises two steering engines, and hardware including the steering engines, a water pump and a tire motor at the bottom of the vehicle on the irrigation arm is connected with an Arduino singlechip control board;
the Arduino single-chip microcomputer control board is connected with an upper computer or an NVIDIA board through a usb port;
the camera is connected with the computer end through a self-contained usb connecting port.
2. The automatic watering cart for road green belts according to claim 1, wherein the lower computer hardware comprises:
an electronic speed regulator: controlling a wheel chassis motor to rotate;
a first relay: controlling a steering engine;
a second relay: controlling the water pump;
remote control receiving board: controlling the traveling;
arduino single-chip microcomputer: as a lower computer receiving and driving device, the irrigation arm steering engine is controlled and driven;
wherein, first relay and second relay are connected with Arduino singlechip and steering wheel, water pump respectively, and at the operation in-process, the relay replaces Arduino singlechip to supply power, and Arduino singlechip carries out the transmission of signal, and the remote control dash receiver is connected with the singlechip.
3. The automatic watering vehicle for road green belts according to claim 1, wherein the number of the steering gears is two, so that a high-freedom watering mechanical arm is formed, and directional watering within 180 degrees in the transverse direction and the longitudinal direction is realized.
4. The automatic watering cart for road green belts according to claim 3, wherein the steering gears are all MG995 digital steering gears with working torque of 13 KG-cm.
5. The automatic watering vehicle for road green belts according to claim 4, wherein the two MG995 digital steering engines, the water pipe, the watering spray head and the supporting structure form a two-degree-of-freedom watering arm which is arranged at one side of the tail of the vehicle.
6. The automatic watering cart for road-green belts according to claim 5 wherein the two-degree-of-freedom watering arm is provided as an adjustable telescopic arm.
7. The automatic watering cart for road green belts according to claim 6, wherein the length of the telescopic rod of the two-degree-of-freedom watering arm is equal to the width of the actual green belt when the height of the cart is ensured to be parallel to and close to the green belt.
8. The automatic watering vehicle for road green belts according to claim 1, characterized in that the watering end of the watering nozzle and the wide-angle camera are arranged in the same direction and horizontal plane.
9. The automatic watering cart for road-greening belts defined by claim 1 wherein the wide-angle camera area is equipped with a light intensity stabilizer with an LED light bar.
10. The automatic watering cart for road-greening belts according to claim 9, wherein the light intensity stabilizer and the wide-angle camera are both mounted on the head portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222252735.6U CN218604370U (en) | 2022-08-25 | 2022-08-25 | Automatic watering vehicle for road green belt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222252735.6U CN218604370U (en) | 2022-08-25 | 2022-08-25 | Automatic watering vehicle for road green belt |
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| Publication Number | Publication Date |
|---|---|
| CN218604370U true CN218604370U (en) | 2023-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222252735.6U Active CN218604370U (en) | 2022-08-25 | 2022-08-25 | Automatic watering vehicle for road green belt |
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| Country | Link |
|---|---|
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2022
- 2022-08-25 CN CN202222252735.6U patent/CN218604370U/en active Active
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