WO2023169016A1 - Air-ground integrated intelligent sprinkler irrigation robot - Google Patents
Air-ground integrated intelligent sprinkler irrigation robot Download PDFInfo
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- WO2023169016A1 WO2023169016A1 PCT/CN2022/136814 CN2022136814W WO2023169016A1 WO 2023169016 A1 WO2023169016 A1 WO 2023169016A1 CN 2022136814 W CN2022136814 W CN 2022136814W WO 2023169016 A1 WO2023169016 A1 WO 2023169016A1
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- fixed
- steering gear
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- pan
- irrigation
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- 230000002262 irrigation Effects 0.000 title claims abstract description 62
- 238000003973 irrigation Methods 0.000 title claims abstract description 62
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 66
- 239000007921 spray Substances 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 5
- 239000002699 waste material Substances 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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
Definitions
- An air-ground integrated intelligent sprinkler irrigation robot can be used in conjunction with a drone, including: a walking system, a balancing system, an irrigation system and a control system.
- the control system includes a battery, a lower photoelectric sensor and a controller.
- the battery is fixed on the bottom plate.
- the two lower photoelectric sensors are fixed on both sides of the front end of the bottom plate in the direction of travel.
- the controller is fixed on the bottom plate.
- the base plate is electrically connected to the wheel motor, at least two electronically controlled lifting devices, the irrigation device, the battery, and the lower photoelectric sensor.
- the controller is connected to the UAV. Wireless connections.
- control system further includes a voltage reduction module, which is fixed on the base plate and electrically connected to the controller.
- Figure 4 is a schematic structural diagram of the electronically controlled lifting device in the air-ground integrated intelligent sprinkler irrigation robot of the present invention
- the irrigation system 3 also includes a pan-tilt bracket 33, a rotating link 34 and two sliding columns 35.
- the pan-tilt bracket 33 is fixed on the top plate 31 corresponding to the outer peripheral side of the pan-tilt servo 322 and its top surface
- a passage hole 331 is provided below the pan-tilt 323, and an annular track 332 is provided on the top surface of the pan-tilt support 33 corresponding to the outer circumference of the passage hole 331; the rotating link 34 is vertically connected to the pan-tilt head corresponding to the top of the passage hole 331.
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- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
Provided is an air-ground integrated intelligent sprinkler irrigation robot, which can be used in cooperation with an unmanned aerial vehicle, and comprises: a locomotion system (1), a balancing system (2), an irrigation system (3), and a control system (4). By wirelessly connecting a controller (43) to the unmanned aerial vehicle, taking the advantage of a wide field of view of the unmanned aerial vehicle, a specific drought region in a certain district can be accurately obtained and a signal is transmitted to the controller (43), so that the controller (43) controls a water-saving irrigation device (32) to accurately irrigate a key region; by mounting two lower photoelectric sensors (42) on two sides of the front end of a base plate (11) in the traveling direction, and mounting electric control lifting and lowering devices (22) on two sides of a middle-layer plate (21), the two photoelectric sensors (22) can detect whether the ground on two sides of the advancing direction of the base plate (11) is level, and transmit a signal to the controller (43), and the controller (43) regulates, according to transmitted ground information, the lifting and lowering of the two electric control lifting and lowering devices (22), thereby ensuring that the irrigation system (3) mounted on a top plate (31) remains level, and improving irrigation accuracy.
Description
本发明涉及灌溉农业装置领域,特别涉及空地一体化智能喷灌机器人。The invention relates to the field of irrigation agricultural equipment, and in particular to an air-ground integrated intelligent sprinkler irrigation robot.
在农业机械转化为智能化的今天,越来越多的农业种植、农业灌溉都交给了机器人,从而解放人类双手、提高农业智能化水平。Today, as agricultural machinery becomes intelligent, more and more agricultural planting and agricultural irrigation are handed over to robots, thereby freeing human hands and improving the level of agricultural intelligence.
但市场上已出现的一些灌溉机器人获取信息不准确,无法独立完成操作,仍需人工后台逐步工作,而且只能进行大面积灌溉,水资源浪费严重,对于复杂地形适配性差,较难投入正常应用中。However, some irrigation robots that have appeared on the market do not obtain accurate information and cannot complete operations independently. They still require manual backend work step by step. They can only irrigate large areas, causing serious waste of water resources. They have poor adaptability to complex terrain and are difficult to put into normal operation. In application.
因此,如何提供空地一体化智能喷灌机器人是本领域技术人员亟需解决的问题。Therefore, how to provide an air-ground integrated intelligent sprinkler irrigation robot is an urgent problem that those skilled in the art need to solve.
发明内容Contents of the invention
本发明提供空地一体化智能喷灌机器人,解决现有灌溉机器人灌溉信息不准确、水资源浪费严重且无法适应复杂地形的技术问题。The invention provides an air-ground integrated intelligent sprinkler irrigation robot, which solves the technical problems of existing irrigation robots with inaccurate irrigation information, serious waste of water resources and inability to adapt to complex terrain.
本发明解决上述技术问题的技术方案如下,空地一体化智能喷灌机器人,可与无人机配合使用,包括:行走***、平衡***、灌溉***及控制***,The technical solution of the present invention to solve the above technical problems is as follows. An air-ground integrated intelligent sprinkler irrigation robot can be used in conjunction with a drone, including: a walking system, a balancing system, an irrigation system and a control system.
所述行走***包括底板、多个车轮及车轮电机,多个所述车轮分别布置于所述底板的两侧;所述车轮电机固定在所述底板的底部且传动连接多个所述车轮;The walking system includes a base plate, a plurality of wheels and a wheel motor. The plurality of wheels are respectively arranged on both sides of the base plate; the wheel motor is fixed at the bottom of the base plate and is drivingly connected to the plurality of wheels;
所述平衡***包括中层板和至少两个电控升降装置,所述中层板通过安装柱平行固定在所述底板的上方;至少两个所述电控升降装置沿垂直所述底板的行进方向分别固定在所述中层板的两侧;The balance system includes a middle layer board and at least two electronically controlled lifting devices. The middle layer board is fixed in parallel above the bottom plate through a mounting column; at least two of the electronically controlled lifting devices are respectively along the traveling direction perpendicular to the bottom plate. fixed on both sides of the middle layer board;
所述灌溉***包括顶板和灌溉装置,所述顶板平行布置于所述中层板的 上方且其底面固定在两个所述电控升降装置的升降端;所述灌溉装置固定在所述顶板上;The irrigation system includes a top plate and an irrigation device. The top plate is arranged in parallel above the middle plate and its bottom surface is fixed on the lifting ends of the two electronically controlled lifting devices; the irrigation device is fixed on the top plate;
所述控制***包括蓄电池、下光电传感器及控制器,所述蓄电池固定在所述底板上;两个所述下光电传感器对应固定在所述底板行进方向前端的两侧;所述控制器固定在所述底板上且分别与所述车轮电机、至少两个所述电控升降装置、所述灌溉装置、所述蓄电池、所述下光电传感器电性连接,所述控制器与所述无人机无线连接。The control system includes a battery, a lower photoelectric sensor and a controller. The battery is fixed on the bottom plate. The two lower photoelectric sensors are fixed on both sides of the front end of the bottom plate in the direction of travel. The controller is fixed on the bottom plate. The base plate is electrically connected to the wheel motor, at least two electronically controlled lifting devices, the irrigation device, the battery, and the lower photoelectric sensor. The controller is connected to the UAV. Wireless connections.
本发明的有益效果是:通过将控制器与无人机无线连接,可以利用无人机视野广阔的优势,准确获取到某地区具体的干旱区域并将信号传递至控制器,便于控制器控制节水灌溉装置对重点区域进行准确灌溉;The beneficial effects of the present invention are: by wirelessly connecting the controller to the drone, the drone can take advantage of the wide field of view to accurately obtain the specific drought area in a certain area and transmit the signal to the controller, which facilitates the controller to control the drought area. Water irrigation devices accurately irrigate key areas;
通过在底板行进方向前端的两侧安装两个下光电传感器,并在中层板的两侧安装电控升降装置,两个光电传感器可以检测底板行进方向两侧的地面是否平齐,并将信号传递至控制器,控制器根据传递的地面信息调控两个电控升降装置升降,从而确保安装在顶板上的灌溉***保持水平,提高喷灌准确性。By installing two lower photoelectric sensors on both sides of the front end of the base plate in the direction of travel, and installing electronically controlled lifting devices on both sides of the middle board, the two photoelectric sensors can detect whether the ground on both sides of the base plate in the direction of travel is level, and transmit the signal To the controller, the controller regulates the lifting and lowering of the two electronically controlled lifting devices based on the transmitted ground information, thereby ensuring that the irrigation system installed on the roof remains level and improving the accuracy of sprinkler irrigation.
在上述技术方案的基础上,本发明还可以做如下改进。On the basis of the above technical solution, the present invention can also make the following improvements.
进一步,所述车轮电机为多个,多个所述车轮电机分别固定在所述底板的底部两侧且分别一一传动连接多个所述车轮。Further, there are a plurality of wheel motors, and the plurality of wheel motors are respectively fixed on both sides of the bottom of the bottom plate and are respectively connected to the plurality of wheels one by one.
进一步,至少两个所述电控升降装置均包括舵机支架、平衡舵机、舵机连接件、升降架、上限位杆和下限位杆,Further, at least two of the electronically controlled lifting devices include a steering gear bracket, a balance steering gear, a steering gear connector, a lifting frame, an upper limit rod and a lower limit rod,
至少两个所述舵机支架沿垂直所述底板的行进方向分别固定在所述中层板的两侧;至少两个所述平衡舵机分别固定在两个所述舵机支架内部且均与所述控制器电性连接;至少两个所述舵机连接件的一端分别垂直传动连接在两个所述平衡舵机的输出轴上;至少两个所述升降架均竖直布置且其底端固定在两个所述舵机连接件的另一端,至少两个所述升降架对应所述顶板的上方和下方分别设有两个上限位孔和两个下限位孔;至少两个所述上限位杆 和两个所述下限位杆分别可拆卸插接在两个所述上限位孔和两个所述下限位孔中。At least two of the steering gear brackets are respectively fixed on both sides of the middle plate along the direction of travel perpendicular to the bottom plate; at least two of the balance servos are respectively fixed inside the two steering gear brackets and both are connected to the two steering gear brackets. The controller is electrically connected; one end of at least two steering gear connectors is vertically connected to the output shaft of the two balance servos respectively; at least two lifting frames are arranged vertically and their bottom ends Fixed at the other end of the two steering gear connectors, at least two of the lifting frames are respectively provided with two upper limit holes and two lower limit holes corresponding to the upper and lower parts of the top plate; at least two of the upper limit holes The position rod and the two lower limiting rods are detachably inserted into the two upper limiting holes and the two lower limiting holes respectively.
进一步,所述升降架包括连接杆和两个升降杆,两个所述升降杆均竖直布置且其底端固定在所述连接杆的两端,两个所述升降杆设有所述上限位孔和所述下限位孔;所述舵机连接件包括两个连接板,所述平衡舵机的两端均伸出有输出轴,两个所述连接板的一端分别垂直传动连接在所述平衡舵机两端的输出轴上,另一端分别固定在所述连接杆的两端。Further, the lifting frame includes a connecting rod and two lifting rods. The two lifting rods are arranged vertically and their bottom ends are fixed at both ends of the connecting rod. The two lifting rods are provided with the upper limit. position hole and the lower limit hole; the steering gear connection piece includes two connecting plates, with output shafts extending from both ends of the balanced steering gear, and one end of the two connecting plates is vertically connected to each other. On the output shafts at both ends of the balance steering gear, the other ends are respectively fixed on both ends of the connecting rod.
电控升降装置操作原理说明:控制器操控平衡舵机转动,平衡舵机两端的输出轴带动连接杆的一端转动,连接杆的另一端随之上下摆动并带动升降杆上下升降,由于升降杆对应顶板的上方和下方设有上限位孔和下限位孔,上限位杆和下限位杆分别可拆卸***上限位孔和下限位孔,上下升降的升降杆可以带动顶板的一侧上下移动,从而保证顶板始终处于水平状态。Description of the operating principle of the electronically controlled lifting device: The controller controls the rotation of the balance servo. The output shafts at both ends of the balance servo drive one end of the connecting rod to rotate. The other end of the connecting rod swings up and down and drives the lifting rod to rise and fall. Since the lifting rod corresponds to There are upper and lower limit holes above and below the top plate. The upper and lower limit rods can be detached and inserted into the upper and lower limit holes respectively. The lifting rod that moves up and down can drive one side of the top plate to move up and down, thus ensuring The top plate is always level.
进一步,所述灌溉装置包括水箱、水泵、云台舵机、云台、支梁、角件、横梁和两个喷水装置,Further, the irrigation device includes a water tank, a water pump, a pan/tilt steering gear, a pan/tilt, support beams, corner pieces, beams and two water spray devices,
所述水箱固定在所述顶板上;所述水泵放置于所述水箱内;所述云台舵机固定在所述顶板中间部位;所述云台平行布置于所述顶板的上方且其中部传动连接在所述云台舵机的输出轴;所述支梁的底端垂直固定在所述云台上;所述角件固定在所述支梁的顶端;所述横梁沿垂直所述底板的行进方向垂直固定在所述角件的顶端;两个所述喷水装置分别固定在所述横梁的两端;所述控制器分别与所述水泵、所述云台舵机和两个所述喷水装置电性连接。The water tank is fixed on the top plate; the water pump is placed in the water tank; the pan-tilt steering gear is fixed on the middle part of the top plate; the pan-tilt is arranged in parallel above the top plate and is driven in the middle Connected to the output shaft of the pan/tilt servo; the bottom end of the support beam is vertically fixed on the pan/tilt platform; the corner piece is fixed on the top of the support beam; the cross beam is vertically fixed on the base plate. The direction of travel is vertically fixed at the top of the corner piece; the two water spray devices are respectively fixed at both ends of the beam; the controller is respectively connected to the water pump, the pan/tilt steering gear and the two The sprinkler device is electrically connected.
进一步,所述控制***还包括两个所述上光电传感器和两个摄像装置,两个所述上光电传感器和两个所述摄像装置均沿垂直所述底板行进方向固定在所述顶板的两侧,两个所述上光电传感器和两个所述摄像装置均与所述控制器电性连接。Further, the control system further includes two upper photoelectric sensors and two camera devices, and the two upper photoelectric sensors and the two camera devices are fixed on both sides of the top plate along the direction perpendicular to the traveling direction of the bottom plate. On one side, the two upper photoelectric sensors and the two camera devices are electrically connected to the controller.
采取上述技术方案的有益效果是:节水灌溉机器人行驶过程中,两个上 光电传感器常开、两个摄像装置常闭,常开的两个上光电传感器可以检测顶板两侧是否存在遮挡并将检测信号传递至控制器,控制器根据遮挡信号开启两个摄像装置,并根据摄像装置观测的信息内容判断是否为植被,当判断为植被时,控制器开启灌溉装置喷灌植被。The beneficial effects of adopting the above technical solution are: when the water-saving irrigation robot is driving, the two upper photoelectric sensors are normally open and the two camera devices are normally closed. The two normally open upper photoelectric sensors can detect whether there is obstruction on both sides of the roof and will The detection signal is transmitted to the controller, and the controller turns on the two camera devices based on the occlusion signal, and determines whether it is vegetation based on the information observed by the camera devices. When it is determined to be vegetation, the controller turns on the irrigation device to spray the vegetation.
进一步,所述水泵为两个,所述水箱内部为两个独立的储水空腔,两个所述水泵分别布置于两个所述储水空腔内,Further, there are two water pumps, and there are two independent water storage cavities inside the water tank, and the two water pumps are respectively arranged in the two water storage cavities,
两个所述喷水装置均包括喷头舵机、三爪喷头支架和三个喷头,Both of the water spray devices include a nozzle steering gear, a three-claw nozzle bracket and three nozzles,
两个所述喷头舵机分别固定在所述横梁的两端;两个所述三爪喷头支架分别传动连接在两个所述喷头舵机上;六个所述喷头分别安装在两个所述三爪喷头支架上,一个所述水泵与两个所述三爪喷头支架的一个所述喷头连通,另一个所述水泵与两个所述所述三爪喷头支架的另两个所述喷头连通;所述控制器分别与两个所述水泵、两个所述喷头舵机电性连接。The two nozzle servos are respectively fixed at both ends of the beam; the two three-claw nozzle brackets are respectively connected to the two nozzle servos; the six nozzles are respectively installed on the two three-claw nozzles. On the claw nozzle bracket, one of the water pumps is connected to one of the two nozzle heads of the two three-claw nozzle brackets, and the other water pump is connected to the other two nozzles of the two three-claw nozzle brackets; The controller is electrically connected to the two water pumps and the two nozzle servos respectively.
采取上述技术方案的有益效果是:横梁一端的喷水装置连接两个水泵,一水泵与喷水装置中的一个喷头连通,另一个水泵与喷水装置中的另两个喷头连通,可以使喷水装置针对不同的植被使用单喷头、双喷头或三喷头三种不同的灌溉模式。The beneficial effect of adopting the above technical solution is that the water spray device at one end of the beam is connected to two water pumps, one water pump is connected to one nozzle in the water spray device, and the other water pump is connected to the other two nozzles in the water spray device, so that the water spray device can The water device uses three different irrigation modes: single sprinkler, double sprinkler or triple sprinkler for different vegetation.
进一步,灌溉***还包括云台支架、转动连杆和两个滑柱,所述云台支架对应所述云台舵机的外周侧固定在所述顶板上且其顶面对应所述云台的下方设有通过孔,所述云台支架的顶面对应所述通过孔的外周侧设有环形轨道;所述转动连杆对应所述通过孔的上方垂直传动连接在所述云台舵机的输出轴穿过所述通过孔的一端,所述转动连杆的两端均设有安装槽;两个所述滑柱的垂直放置于两个所述安装槽内且其底端滑动连接在所述环形轨道内;所述云台的底面垂直固定在两个所述滑柱的顶端。Further, the irrigation system also includes a pan-tilt bracket, a rotating link and two sliding columns. The pan-tilt bracket is fixed on the top plate corresponding to the outer peripheral side of the pan-tilt steering gear and the top surface thereof corresponds to the pan-tilt. There is a through hole below, and the top surface of the pan/tilt bracket is provided with an annular track corresponding to the outer peripheral side of the through hole; the rotating connecting rod is vertically connected to the pan/tilt rudder corresponding to the upper part of the through hole. The output shaft of the machine passes through one end of the through hole, and both ends of the rotating connecting rod are provided with installation grooves; the two sliding columns are placed vertically in the two installation grooves and their bottom ends are slidingly connected In the circular track, the bottom surface of the platform is vertically fixed on the tops of the two sliding columns.
采取上述技术方案的有益效果是:云台支架、转动连杆和两个滑柱可以支撑云台,避免云台转动过程中发生晃动,提高节水灌溉机器人结构稳定性。The beneficial effect of adopting the above technical solution is that the pan-tilt bracket, rotating connecting rod and two sliding columns can support the pan-tilt, avoid shaking during the rotation of the pan-tilt, and improve the structural stability of the water-saving irrigation robot.
进一步,所述控制***还包括降压模块,所述降压模块固定在所述底板 上且与所述控制器电性连接。Further, the control system further includes a voltage reduction module, which is fixed on the base plate and electrically connected to the controller.
采取上述技术方案的有益效果是:降压模块可以降低控制***内部电流电压,进而保护控制***内各部件,延长控制***的使用寿命。The beneficial effect of adopting the above technical solution is that the voltage reduction module can reduce the internal current and voltage of the control system, thereby protecting various components in the control system and extending the service life of the control system.
图1为本发明空地一体化智能喷灌机器人立体结构示意图;Figure 1 is a schematic three-dimensional structural diagram of the air-ground integrated intelligent sprinkler irrigation robot of the present invention;
图2为本发明空地一体化智能喷灌机器人正视结构示意图;Figure 2 is a schematic front view of the air-ground integrated intelligent sprinkler irrigation robot of the present invention;
图3为本发明空地一体化智能喷灌机器人侧视结构示意图;Figure 3 is a side structural schematic diagram of the air-ground integrated intelligent sprinkler irrigation robot of the present invention;
图4为本发明空地一体化智能喷灌机器人中电控升降装置结构示意图;Figure 4 is a schematic structural diagram of the electronically controlled lifting device in the air-ground integrated intelligent sprinkler irrigation robot of the present invention;
图5为本发明空地一体化智能喷灌机器人中电控升降装置内部结构示意图;Figure 5 is a schematic diagram of the internal structure of the electronically controlled lifting device in the air-ground integrated intelligent sprinkler irrigation robot of the present invention;
图6为本发明空地一体化智能喷灌机器人中云台舵机和云台连接结构示意图;Figure 6 is a schematic diagram of the connection structure between the pan/tilt servo and the pan/tilt in the air-ground integrated intelligent sprinkler irrigation robot of the present invention;
图7为本发明空地一体化智能喷灌机器人中云台支架、转动连杆和滑柱安装的结构示意图。Figure 7 is a schematic structural diagram of the installation of the pan-tilt bracket, rotating connecting rod and sliding column in the air-ground integrated intelligent sprinkler irrigation robot of the present invention.
附图中,各标号所代表的部件列表如下:In the drawings, the parts represented by each number are listed as follows:
1、行走***,11、底板,12、车轮,13、车轮电机,1. Walking system, 11. Base plate, 12. Wheels, 13. Wheel motors,
2、平衡***,21、中层板,22、电控升降装置,221、舵机支架,222、平衡舵机,223、舵机连接件,2231、连接板,224、升降架,2241、连接杆,2242、升降杆,225、上限位杆,226、下限位杆。2. Balance system, 21. Middle layer plate, 22. Electronic control lifting device, 221. Steering gear bracket, 222. Balanced steering gear, 223. Steering gear connector, 2231. Connection plate, 224. Lifting frame, 2241. Connecting rod , 2242, lifting rod, 225, upper limit rod, 226, lower limit rod.
3、灌溉***,31、顶板,32、灌溉装置,321、水箱,322、云台舵机,323、云台,324、支梁,325、角件,326、横梁,327、喷水装置,3271、喷头舵机,3272、三爪喷头支架,3273、喷头,33、云台支架,331、通过孔,332、环形轨道,34、转动连杆,341、安装槽,35、滑柱,3. Irrigation system, 31. Roof plate, 32. Irrigation device, 321. Water tank, 322. Cloud platform steering gear, 323. Cloud platform, 324. Support beam, 325. Angle piece, 326. Cross beam, 327. Water spray device, 3271. Nozzle servo, 3272. Three-claw nozzle bracket, 3273. Nozzle, 33. Pan-tilt bracket, 331. Through hole, 332. Ring track, 34. Rotating connecting rod, 341. Installation slot, 35. Slide column,
4、控制***,41、蓄电池,42、下光电传感器,43、控制器,44、降压模块,45、上光电传感器,46、摄像装置。4. Control system, 41. Battery, 42. Lower photoelectric sensor, 43. Controller, 44. Buck module, 45. Upper photoelectric sensor, 46. Camera device.
以下结合附图对本发明的原理和特征进行描述,所举实例只用于解释本发明,并非用于限定本发明的范围。The principles and features of the present invention are described below with reference to the accompanying drawings. The examples cited are only used to explain the present invention and are not intended to limit the scope of the present invention.
如图1所示,空地一体化智能喷灌机器人,可与无人机配合使用,包括:行走***1、平衡***2、灌溉***3及控制***4,As shown in Figure 1, the air-ground integrated intelligent sprinkler irrigation robot can be used in conjunction with drones, including: walking system 1, balance system 2, irrigation system 3 and control system 4.
行走***1包括底板11、多个车轮12及车轮电机13,多个车轮12分别布置于底板11的两侧;车轮电机13固定在底板11的底部且传动连接多个车轮12;The traveling system 1 includes a base plate 11, a plurality of wheels 12 and a wheel motor 13. The plurality of wheels 12 are respectively arranged on both sides of the base plate 11; the wheel motor 13 is fixed at the bottom of the base plate 11 and is transmission connected to the plurality of wheels 12;
平衡***2包括中层板21和至少两个电控升降装置22,中层板21通过安装柱平行固定在底板11的上方;至少两个电控升降装置22沿垂直底板11的行进方向分别固定在中层板21的两侧;The balance system 2 includes a middle plate 21 and at least two electronically controlled lifting devices 22. The middle plate 21 is fixed parallel to the base plate 11 through mounting columns; at least two electronically controlled lifting devices 22 are respectively fixed on the middle layer along the traveling direction of the vertical base plate 11. both sides of plate 21;
灌溉***3包括顶板31和灌溉装置32,顶板31平行布置于中层板21的上方且其底面固定在两个电控升降装置22的升降端;灌溉装置32固定在顶板31上;The irrigation system 3 includes a top plate 31 and an irrigation device 32. The top plate 31 is arranged in parallel above the middle plate 21 and its bottom surface is fixed on the lifting ends of two electronically controlled lifting devices 22; the irrigation device 32 is fixed on the top plate 31;
控制***4包括蓄电池41、下光电传感器42及控制器43,蓄电池41固定在底板11上;两个下光电传感器42对应固定在底板11行进方向前端的两侧;控制器43固定在底板11上且分别与车轮电机13、至少两个电控升降装置22、灌溉装置32、蓄电池41、下光电传感器42电性连接,控制器43与无人机无线连接。The control system 4 includes a battery 41, a lower photoelectric sensor 42 and a controller 43. The battery 41 is fixed on the base plate 11; the two lower photoelectric sensors 42 are fixed on both sides of the front end of the base plate 11 in the direction of travel; the controller 43 is fixed on the base plate 11. And are electrically connected to the wheel motor 13, at least two electronically controlled lifting devices 22, irrigation device 32, battery 41, and lower photoelectric sensor 42 respectively. The controller 43 is wirelessly connected to the drone.
具体地,控制器43为myrio控制器。Specifically, the controller 43 is a myrio controller.
在一些具体实施例中,车轮电机13为多个,多个车轮电机13分别固定在底板11的底部两侧且分别一一传动连接多个车轮12。In some specific embodiments, there are multiple wheel motors 13 , and the multiple wheel motors 13 are respectively fixed on both sides of the bottom of the base plate 11 and are transmission-connected to the multiple wheels 12 one by one.
在一些具体实施例中,至少两个电控升降装置22均包括舵机支架221、平衡舵机222、舵机连接件223、升降架224、上限位杆225和下限位杆226,In some specific embodiments, at least two electronically controlled lifting devices 22 each include a steering gear bracket 221, a balancing steering gear 222, a steering gear connector 223, a lifting frame 224, an upper limit rod 225 and a lower limit rod 226,
至少两个舵机支架221沿垂直底板11的行进方向分别固定在中层板21的两侧;至少两个平衡舵机222分别固定在两个舵机支架221内部且均与控制器43电性连接;至少两个舵机连接件223的一端分别垂直传动连接在两 个平衡舵机222的输出轴上;至少两个升降架224均竖直布置且其底端固定在两个舵机连接件223的另一端,至少两个升降架224对应顶板31的上方和下方分别设有两个上限位孔和两个下限位孔;至少两个上限位杆225和两个下限位杆226分别可拆卸插接在两个上限位孔和两个下限位孔中。At least two steering gear brackets 221 are respectively fixed on both sides of the middle plate 21 along the traveling direction of the vertical bottom plate 11; at least two balance servos 222 are respectively fixed inside the two steering gear brackets 221 and are electrically connected to the controller 43 ; One end of at least two steering gear connectors 223 is vertically connected to the output shafts of two balance servos 222 respectively; at least two lifting frames 224 are arranged vertically and their bottom ends are fixed on the two steering gear connectors 223 At the other end, at least two lifting frames 224 are respectively provided with two upper limit holes and two lower limit holes corresponding to the top and bottom of the top plate 31; at least two upper limit levers 225 and two lower limit levers 226 are respectively removable and insertable. Connected to the two upper limit holes and the two lower limit holes.
在一些具体实施例中,升降架224包括连接杆2241和两个升降杆2242,两个升降杆2242均竖直布置且其底端固定在连接杆2241的两端,两个升降杆2242设有上限位孔和下限位孔;舵机连接件223包括两个连接板2231,平衡舵机222的两端均伸出有输出轴,两个连接板2231的一端分别垂直传动连接在平衡舵机222两端的输出轴上,另一端分别固定在连接杆2241的两端。In some specific embodiments, the lifting frame 224 includes a connecting rod 2241 and two lifting rods 2242. The two lifting rods 2242 are arranged vertically and their bottom ends are fixed at both ends of the connecting rod 2241. The two lifting rods 2242 are provided with The upper limit hole and the lower limit hole; the steering gear connector 223 includes two connecting plates 2231, with output shafts extending from both ends of the balancing steering gear 222, and one end of the two connecting plates 2231 is vertically connected to the balancing steering gear 222 respectively. On the output shafts at both ends, the other ends are respectively fixed at both ends of the connecting rod 2241.
在一些具体实施例中,灌溉装置32包括水箱321、水泵、云台舵机322、云台323、支梁324、角件325、横梁326和两个喷水装置327,In some specific embodiments, the irrigation device 32 includes a water tank 321, a water pump, a pan/tilt servo 322, a pan/tilt 323, a support beam 324, a corner piece 325, a beam 326 and two water spray devices 327,
水箱321固定在顶板31上;水泵放置于水箱321内;云台舵机322固定在顶板31中间部位;云台323平行布置于顶板31的上方且其中部传动连接在云台舵机322的输出轴;支梁324的底端垂直固定在云台323上;角件325固定在支梁324的顶端;横梁326沿垂直底板11的行进方向垂直固定在角件325的顶端;两个喷水装置327分别固定在横梁326的两端;控制器43分别与水泵、云台舵机322和两个喷水装置327电性连接。The water tank 321 is fixed on the top plate 31; the water pump is placed in the water tank 321; the pan/tilt servo 322 is fixed in the middle of the top plate 31; the pan/tilt 323 is arranged in parallel above the top plate 31 and its middle transmission is connected to the output of the pan/tilt servo 322 shaft; the bottom end of the support beam 324 is vertically fixed on the platform 323; the corner piece 325 is fixed on the top of the support beam 324; the cross beam 326 is vertically fixed on the top of the corner piece 325 along the traveling direction of the vertical bottom plate 11; two water spray devices 327 are fixed at both ends of the beam 326 respectively; the controller 43 is electrically connected to the water pump, the pan/tilt steering gear 322 and the two water spray devices 327 respectively.
在一些具体实施例中,控制***4还包括两个上光电传感器45和两个摄像装置46,两个上光电传感器45和两个摄像装置46均沿垂直底板11行进方向固定在顶板31的两侧,两个上光电传感器45和两个摄像装置46均与控制器43电性连接。In some specific embodiments, the control system 4 also includes two upper photoelectric sensors 45 and two camera devices 46. The two upper photoelectric sensors 45 and the two camera devices 46 are fixed on both sides of the top plate 31 along the direction of travel of the vertical bottom plate 11. On the other hand, the two upper photoelectric sensors 45 and the two camera devices 46 are electrically connected to the controller 43 .
在一些具体实施例中,水泵为两个,水箱321内部为两个独立的储水空腔,两个水泵分别布置于两个储水空腔内,In some specific embodiments, there are two water pumps, and there are two independent water storage cavities inside the water tank 321. The two water pumps are respectively arranged in the two water storage cavities.
两个喷水装置327均包括喷头舵机3271、三爪喷头支架3272和三个喷头3273,Both water spray devices 327 include a nozzle steering gear 3271, a three-claw nozzle bracket 3272 and three nozzles 3273.
两个喷头舵机3271分别固定在横梁326的两端;两个三爪喷头支架3272分别传动连接在两个喷头舵机3271上;六个喷头3273分别安装在两个三爪喷头支架3272上,一个水泵与两个三爪喷头支架3272的一个喷头3273连通,另一个水泵与两个三爪喷头支架3272的另两个喷头3273连通;控制器43分别与两个水泵、两个喷头舵机3271电性连接。Two nozzle servos 3271 are respectively fixed at both ends of the beam 326; two three-claw nozzle brackets 3272 are respectively connected to the two nozzle servos 3271; six nozzles 3273 are respectively installed on the two three-claw nozzle brackets 3272. One water pump is connected to one nozzle 3273 of the two three-claw nozzle brackets 3272, and the other water pump is connected to the other two nozzles 3273 of the two three-claw nozzle brackets 3272; the controller 43 is connected to the two water pumps and the two nozzle servos 3271 respectively. Electrical connection.
在一些具体实施例中,灌溉***3还包括云台支架33、转动连杆34和两个滑柱35,云台支架33对应云台舵机322的外周侧固定在顶板31上且其顶面对应云台323的下方设有通过孔331,云台支架33的顶面对应通过孔331的外周侧设有环形轨道332;转动连杆34对应通过孔331的上方垂直传动连接在云台舵机322的输出轴穿过通过孔331的一端,转动连杆34的两端均设有安装槽341;两个滑柱35的垂直放置于两个安装槽341内且其底端滑动连接在环形轨道332内;云台323的底面垂直固定在两个滑柱35的顶端。In some specific embodiments, the irrigation system 3 also includes a pan-tilt bracket 33, a rotating link 34 and two sliding columns 35. The pan-tilt bracket 33 is fixed on the top plate 31 corresponding to the outer peripheral side of the pan-tilt servo 322 and its top surface A passage hole 331 is provided below the pan-tilt 323, and an annular track 332 is provided on the top surface of the pan-tilt support 33 corresponding to the outer circumference of the passage hole 331; the rotating link 34 is vertically connected to the pan-tilt head corresponding to the top of the passage hole 331. The output shaft of the steering gear 322 passes through one end of the through hole 331, and both ends of the rotating link 34 are provided with mounting slots 341; the two sliding columns 35 are placed vertically in the two mounting slots 341 and their bottom ends are slidingly connected to In the circular track 332; the bottom surface of the pan/tilt 323 is vertically fixed on the tops of the two sliding columns 35.
在一些具体实施例中,控制***4还包括降压模块44,降压模块44固定在底板11上且与控制器43电性连接。In some specific embodiments, the control system 4 further includes a voltage reduction module 44 , which is fixed on the base plate 11 and electrically connected to the controller 43 .
以上仅为本发明的较佳实施例,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention. Inside.
Claims (9)
- 空地一体化智能喷灌机器人,可与无人机配合使用,其特征在于,包括:行走***(1)、平衡***(2)、灌溉***(3)及控制***(4),The air-ground integrated intelligent sprinkler irrigation robot can be used in conjunction with drones and is characterized by including: a walking system (1), a balancing system (2), an irrigation system (3) and a control system (4).所述行走***(1)包括底板(11)、多个车轮(12)及车轮电机(13),多个所述车轮(12)分别布置于所述底板(11)的两侧;所述车轮电机(13)固定在所述底板(11)的底部且传动连接多个所述车轮(12);The walking system (1) includes a base plate (11), a plurality of wheels (12) and a wheel motor (13). The plurality of wheels (12) are respectively arranged on both sides of the base plate (11); the wheels The motor (13) is fixed on the bottom of the base plate (11) and is drivingly connected to a plurality of the wheels (12);所述平衡***(2)包括中层板(21)和至少两个电控升降装置(22),所述中层板(21)通过安装柱平行固定在所述底板(11)的上方;至少两个所述电控升降装置(22)沿垂直所述底板(11)的行进方向分别固定在所述中层板(21)的两侧;The balance system (2) includes a middle layer board (21) and at least two electronically controlled lifting devices (22). The middle layer board (21) is fixed in parallel above the bottom plate (11) through a mounting column; at least two The electronically controlled lifting device (22) is respectively fixed on both sides of the middle layer board (21) along the traveling direction perpendicular to the bottom board (11);所述灌溉***(3)包括顶板(31)和灌溉装置(32),所述顶板(31)平行布置于所述中层板(21)的上方且其底面固定在两个所述电控升降装置(22)的升降端;所述灌溉装置(32)固定在所述顶板(31)上;The irrigation system (3) includes a top plate (31) and an irrigation device (32). The top plate (31) is arranged in parallel above the middle plate (21) and its bottom surface is fixed on the two electronically controlled lifting devices. The lifting end of (22); the irrigation device (32) is fixed on the top plate (31);所述控制***(4)包括蓄电池(41)、下光电传感器(42)及控制器(43),所述蓄电池(41)固定在所述底板(11)上;两个所述下光电传感器(42)对应固定在所述底板(11)行进方向前端的两侧;所述控制器(43)固定在所述底板(11)上且分别与所述车轮电机(13)、至少两个所述电控升降装置(22)、所述灌溉装置(32)、所述蓄电池(41)、所述下光电传感器(42)电性连接,所述控制器(43)与所述无人机无线连接。The control system (4) includes a battery (41), a lower photoelectric sensor (42) and a controller (43). The battery (41) is fixed on the bottom plate (11); the two lower photoelectric sensors (41) are fixed on the base plate (11). 42) are correspondingly fixed on both sides of the front end of the base plate (11) in the traveling direction; the controller (43) is fixed on the base plate (11) and is connected to the wheel motor (13) and at least two of the The electronically controlled lifting device (22), the irrigation device (32), the battery (41), and the lower photoelectric sensor (42) are electrically connected, and the controller (43) is wirelessly connected to the UAV. .
- 根据权利要求1所述的空地一体化智能喷灌机器人,其特征在于,所述车轮电机(13)为多个,多个所述车轮电机(13)分别固定在所述底板(11)的底部两侧且分别一一传动连接多个所述车轮(12)。The air-ground integrated intelligent sprinkler irrigation robot according to claim 1, characterized in that there are multiple wheel motors (13), and the plurality of wheel motors (13) are respectively fixed on two bottom sides of the bottom plate (11). A plurality of said wheels (12) are connected side by side and driven one by one respectively.
- 根据权利要求1所述的空地一体化智能喷灌机器人,其特征在于,至少两个所述电控升降装置(22)均包括舵机支架(221)、平衡舵机(222)、舵机连接件(223)、升降架(224)、上限位杆(225)和下限位杆(226),The air-ground integrated intelligent sprinkler irrigation robot according to claim 1, characterized in that at least two of the electronically controlled lifting devices (22) include a steering gear bracket (221), a balancing steering gear (222), and a steering gear connector. (223), lifting frame (224), upper limit rod (225) and lower limit rod (226),至少两个所述舵机支架(221)沿垂直所述底板(11)的行进方向分别固定在所述中层板(21)的两侧;至少两个所述平衡舵机(222)分别固定在两个所述舵机支架(221)内部且均与所述控制器(43)电性连接;至少两个所述舵机连接件(223)的一端分别垂直传动连接在两个所述平衡舵机(222)的输出轴上;至少两个所述升降架(224)均竖直布置且其底端固定在两个所述舵机连接件(223)的另一端,至少两个所述升降架(224)对应所述顶板(31)的上方和下方分别设有两个上限位孔和两个下限位孔;至少两个所述上限位杆(225)和两个所述下限位杆(226)分别可拆卸插接在两个所述上限位孔和两个所述下限位孔中。At least two steering gear brackets (221) are respectively fixed on both sides of the middle plate (21) along the traveling direction perpendicular to the bottom plate (11); at least two balance steering gears (222) are respectively fixed on The two steering gear brackets (221) are internally electrically connected to the controller (43); one end of at least two steering gear connectors (223) is vertically connected to the two balance rudders respectively. on the output shaft of the machine (222); at least two of the lifting frames (224) are arranged vertically and their bottom ends are fixed on the other ends of the two steering gear connectors (223). The frame (224) is respectively provided with two upper limit holes and two lower limit holes corresponding to the upper and lower parts of the top plate (31); at least two upper limit levers (225) and two lower limit levers ( 226) can be detachably inserted into the two upper limit holes and the two lower limit holes respectively.
- 根据权利要求2所述的空地一体化智能喷灌机器人,其特征在于,所述升降架(224)包括连接杆(2241)和两个升降杆(2242),两个所述升降杆(2242)均竖直布置且其底端固定在所述连接杆(2241)的两端,两个所述升降杆(2242)设有所述上限位孔和所述下限位孔;所述舵机连接件(223)包括两个连接板(2231),所述平衡舵机(222)的两端均伸出有输出轴,两个所述连接板(2231)的一端分别垂直传动连接在所述平衡舵机(222)两端的输出轴上,另一端分别固定在所述连接杆(2241)的两端。The air-ground integrated intelligent sprinkler irrigation robot according to claim 2, characterized in that the lifting frame (224) includes a connecting rod (2241) and two lifting rods (2242), and the two lifting rods (2242) are both It is arranged vertically and its bottom end is fixed on both ends of the connecting rod (2241). The two lifting rods (2242) are provided with the upper limit hole and the lower limit hole; the steering gear connector ( 223) includes two connecting plates (2231), with output shafts extending from both ends of the balancing steering gear (222), and one end of the two connecting plates (2231) is vertically connected to the balancing steering gear respectively. (222) is on the output shaft at both ends, and the other end is respectively fixed on the two ends of the connecting rod (2241).
- 根据权利要求1所述的空地一体化智能喷灌机器人,其特征在于,所述灌溉装置(32)包括水箱(321)、水泵、云台舵机(322)、云台(323)、支梁(324)、角件(325)、横梁(326)和两个喷水装置(327),The air-ground integrated intelligent sprinkler irrigation robot according to claim 1, characterized in that the irrigation device (32) includes a water tank (321), a water pump, a pan/tilt steering gear (322), a pan/tilt (323), and a support beam (323). 324), corner pieces (325), cross beams (326) and two water spray devices (327),所述水箱(321)固定在所述顶板(31)上;所述水泵放置于所述水箱(321)内;所述云台舵机(322)固定在所述顶板(31)中间部位;所述云台(323)平行布置于所述顶板(31)的上方且其中部传动连接在所述云台舵机(322)的输出轴;所述支梁(324)的底端垂直固定在所述云台(323)上;所述角件(325)固定在所述支梁(324)的顶端;所述横梁(326)沿垂直所述底板(11)的行进方向垂直固定在所述角件(325)的顶端;两个所述喷水装置(327)分别固定在所述横梁(326)的两端;所述控制器(43) 分别与所述水泵、所述云台舵机(322)和两个所述喷水装置(327)电性连接。The water tank (321) is fixed on the top plate (31); the water pump is placed in the water tank (321); the pan/tilt servo (322) is fixed on the middle part of the top plate (31); The pan/tilt (323) is arranged in parallel above the top plate (31) and its middle part is connected to the output shaft of the pan/tilt servo (322); the bottom end of the support beam (324) is vertically fixed on the On the cloud platform (323); the corner piece (325) is fixed on the top of the support beam (324); the cross beam (326) is vertically fixed on the corner along the traveling direction perpendicular to the base plate (11). The top of the component (325); the two water spray devices (327) are respectively fixed at both ends of the beam (326); the controller (43) is connected to the water pump and the pan/tilt steering gear (327) respectively. 322) is electrically connected to the two water spray devices (327).
- 根据权利要求4所述的空地一体化智能喷灌机器人,其特征在于,所述控制***(4)还包括两个所述上光电传感器(45)和两个摄像装置(46),两个所述上光电传感器(45)和两个所述摄像装置(46)均沿垂直所述底板(11)行进方向固定在所述顶板(31)的两侧,两个所述上光电传感器(45)和两个所述摄像装置(46)均与所述控制器(43)电性连接。The air-ground integrated intelligent sprinkler irrigation robot according to claim 4, characterized in that the control system (4) further includes two upper photoelectric sensors (45) and two camera devices (46), and the two upper photoelectric sensors (45) and two camera devices (46). The upper photoelectric sensor (45) and the two camera devices (46) are fixed on both sides of the top plate (31) along the traveling direction perpendicular to the bottom plate (11). The two upper photoelectric sensors (45) and Both of the two camera devices (46) are electrically connected to the controller (43).
- 根据权利要求5所述的空地一体化智能喷灌机器人,其特征在于,所述水泵为两个,所述水箱(321)内部为两个独立的储水空腔,两个所述水泵分别布置于两个所述储水空腔内,The air-ground integrated intelligent sprinkler irrigation robot according to claim 5, characterized in that there are two water pumps, and there are two independent water storage cavities inside the water tank (321), and the two water pumps are respectively arranged in In the two water storage cavities,两个所述喷水装置(327)均包括喷头舵机(3271)、三爪喷头支架(3272)和三个喷头(3273),Both of the water spray devices (327) include a nozzle steering gear (3271), a three-claw nozzle bracket (3272) and three nozzles (3273),两个所述喷头舵机(3271)分别固定在所述横梁(326)的两端;两个所述三爪喷头支架(3272)分别传动连接在两个所述喷头舵机(3271)上;六个所述喷头(3273)分别安装在两个所述三爪喷头支架(3272)上,一个所述水泵与两个所述三爪喷头支架(3272)的一个所述喷头(3273)连通,另一个所述水泵与两个所述所述三爪喷头支架(3272)的另两个所述喷头(3273)连通;所述控制器(43)分别与两个所述水泵、两个所述喷头舵机(3271)电性连接。The two nozzle servos (3271) are respectively fixed at both ends of the cross beam (326); the two three-claw nozzle brackets (3272) are respectively connected to the two nozzle servos (3271); The six nozzles (3273) are respectively installed on the two three-claw nozzle brackets (3272), and one of the water pumps is connected to one of the nozzles (3273) of the two three-claw nozzle brackets (3272). The other water pump is connected to the other two nozzles (3273) of the two three-claw nozzle brackets (3272); the controller (43) is connected to the two water pumps and the two nozzle heads (3273) respectively. The nozzle servo (3271) is electrically connected.
- 根据权利要求5所述的空地一体化智能喷灌机器人,其特征在于,灌溉***(3)还包括云台支架(33)、转动连杆(34)和两个滑柱(35),所述云台支架(33)对应所述云台舵机(322)的外周侧固定在所述顶板(31)上且其顶面对应所述云台(323)的下方设有通过孔(331),所述云台支架(33)的顶面对应所述通过孔(331)的外周侧设有环形轨道(332);所述转动连杆(34)对应所述通过孔(331)的上方垂直传动连接在所述云台舵机(322)的输出轴穿过所述通过孔(331)的一端,所述转动连杆(34)的 两端均设有安装槽(341);两个所述滑柱(35)的垂直放置于两个所述安装槽(341)内且其底端滑动连接在所述环形轨道(332)内;所述云台(323)的底面垂直固定在两个所述滑柱(35)的顶端。The air-ground integrated intelligent sprinkler irrigation robot according to claim 5, characterized in that the irrigation system (3) also includes a cloud platform bracket (33), a rotating link (34) and two sliding columns (35). The platform bracket (33) is fixed on the top plate (31) corresponding to the outer peripheral side of the pan-tilt servo (322), and its top surface is provided with a through hole (331) corresponding to the bottom of the pan-tilt servo (323). The top surface of the pan/tilt support (33) is provided with an annular track (332) corresponding to the outer peripheral side of the through hole (331); the rotating link (34) is vertically corresponding to the upper side of the through hole (331). The transmission is connected to one end of the output shaft of the pan/tilt servo (322) passing through the through hole (331), and both ends of the rotating connecting rod (34) are provided with mounting slots (341); two The sliding column (35) is placed vertically in the two installation grooves (341) and its bottom end is slidingly connected in the annular track (332); the bottom surface of the pan/tilt (323) is vertically fixed in the two mounting grooves (341). The top of the sliding column (35).
- 根据权利要求1所述的空地一体化智能喷灌机器人,其特征在于,所述控制***(4)还包括降压模块(44),所述降压模块(44)固定在所述底板(11)上且与所述控制器(43)电性连接。The air-ground integrated intelligent sprinkler irrigation robot according to claim 1, characterized in that the control system (4) further includes a pressure reduction module (44), and the pressure reduction module (44) is fixed on the bottom plate (11) and is electrically connected to the controller (43).
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CN202210233708.6A CN114467713B (en) | 2022-03-10 | 2022-03-10 | Water-saving irrigation robot for air-ground cooperative operation |
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CN117774008A (en) * | 2024-02-27 | 2024-03-29 | 合肥小步智能科技有限公司 | All-visual-angle pipe gallery inspection robot |
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2022
- 2022-03-10 CN CN202210233708.6A patent/CN114467713B/en active Active
- 2022-12-06 WO PCT/CN2022/136814 patent/WO2023169016A1/en unknown
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EP3479682A1 (en) * | 2017-11-02 | 2019-05-08 | Andreas Maurer | Self-propelled irrigation device and method for autonomous watering of a ground area |
CN107938579A (en) * | 2017-12-04 | 2018-04-20 | 宋仲华 | A kind of multifunctional vehicle mounted sprinkling system |
CN109744133A (en) * | 2019-02-26 | 2019-05-14 | 广州市妙伊莲科技有限公司 | A kind of intelligent irrigation device with quantitative control function for agricultural production |
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CN117774008B (en) * | 2024-02-27 | 2024-04-26 | 合肥小步智能科技有限公司 | All-visual-angle pipe gallery inspection robot |
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CN114467713A (en) | 2022-05-13 |
LU503314B1 (en) | 2023-09-18 |
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