An obstacle avoidance device and method based on unmanned agricultural machine

Abstract

The application relates to the field of plant protection machinery, in particular to an obstacle avoidance device and method based on unmanned agricultural machinery, which comprises an electric trolley and two high-definition vehicle-mounted cameras, and further comprises a controller, a cutting mechanism and a knocking mechanism; the cutting mechanism comprises a saw blade, a protective cover, a driving assembly and an extension assembly; the knocking mechanism comprises a hammer block, a traction assembly, a transmission assembly and a rotating assembly; a guide rail is fixedly arranged on the outer wall of the electric trolley; a sliding block is slidably arranged in the guide rail; the hammer block is fixedly arranged at the bottom of the sliding block through a connecting rod; the transmission assembly is arranged at the top of the electric trolley; the traction assembly is arranged between the extension assembly and the transmission assembly; the rotating assembly is arranged between the hammer block and the transmission assembly; the electric trolley, the driving assembly and the two high-definition vehicle-mounted cameras are electrically connected with the controller; the obstacle avoidance device and method based on unmanned agricultural machinery can realize automatic obstacle avoidance and have triple obstacle avoidance effects, and are more practical.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of plant protection machinery, and particularly relates to an obstacle avoidance device and method based on unmanned agricultural machinery. BACKGROUND

[0002] The agricultural machinery refers to various machinery used in crop planting and livestock production processes, and initial processing and treatment processes of agricultural and livestock products. The agricultural machinery includes agricultural power machinery, farmland construction machinery, soil tillage machinery, planting and fertilization machinery, plant protection machinery, farmland irrigation and drainage machinery, crop harvesting machinery, agricultural product processing machinery, livestock industry machinery and agricultural transportation machinery, etc. The unmanned agricultural machinery generally refers to agricultural machinery that does not need to be manually driven and operated.

[0003] When the general soil moisture is maintained at 60%-80% of the field water holding capacity, the root system of the fruit tree can grow, absorb, transport and conduct normally, and too high moisture has adverse effects on the growth of the root system and the whole tree body. If weeds absorb too much water, the growth of the fruit tree is limited, and thus it is necessary to regularly clean the weeds on the ground of the orchard, so as to avoid the weeds competing with the fruit tree for nutrients and water, and avoid causing malnutrition of the fruit tree and hindering the growth of the fruit tree.

[0004] The existing orchard weeding machinery has the following deficiencies:

[0005] 1. When the trunk of the fruit tree is encountered, it is inconvenient to avoid, and a large amount of fruits, fallen leaves and branches will fall on the ground below the fruit tree. The existing weeding machinery is inconvenient to avoid, so that the weeds around the bottom of the fruit tree trunk cannot be completely removed, and the cutting speed is affected, and the weeding efficiency is reduced.

[0006] 2. In the orchard that has not been weeded for a long time, the weeds grow more luxuriantly. When the existing weeding device is used for weeding, the weeds are easily stuck between the weeding knife and the inner wall of the protective cover installed on the weeding knife, so that the weeding device cannot work smoothly, and even is damaged, the service life of the knife is reduced, and the weeding effect is reduced.

[0007] 3. In daily orchard plant protection work, in order to achieve the purposes of protection, flood prevention and promotion of new root growth, it is necessary to pile soil at the base of the fruit tree trunk. The soil pile is usually cone-shaped. After weeds grow on the soil pile, if it is directly cut with a horizontally installed saw blade, the edge of the saw blade can easily cut into the soil layer because the outer edge of the soil pile is cone-shaped, which can damage the blade. Soil adhering to the blade will reduce the weeding effect. Weeds located on the outer edge of the soil layer cannot be cut neatly. Even if the weeds on the soil pile cannot be cut neatly, it will result in an uneven effect, which will lead to inconsistent germination time of the weeds in this area. Multiple weeding operations are required, which further increases the burden of plant protection. That is, it lacks the ability to adaptively adjust the cutting angle of the weeding blade according to the orchard ground conditions.

[0008] 4. Most existing weeding machinery is operated by hand-held small weeders or by plant protection personnel driving weeding vehicles. This is not conducive to saving manpower, and manual operation is prone to fatigue, and carelessness in observation can easily lead to missed cuttings. At the same time, the workload is relatively large. Summary of the Invention

[0009] The purpose of this invention is to provide an obstacle avoidance device based on an electric vehicle to solve the problem of being unable to effectively avoid multiple obstacles during weeding.

[0010] To achieve this objective, the present invention adopts the following technical solution:

[0011] An obstacle avoidance device based on an electric vehicle is provided, comprising the electric vehicle and two high-definition vehicle-mounted cameras, both of which are fixedly mounted on the outer wall of the electric vehicle.

[0012] It also includes a controller, a cutting mechanism, and a hammering mechanism.

[0013] The controller is fixedly mounted on the outer wall of the electric vehicle.

[0014] The cutting mechanism is mounted on the outer wall of the electric cart to cut weeds. The cutting mechanism includes a saw blade, a protective cover, a drive assembly, and a telescopic assembly. The telescopic assembly is mounted on the outer wall of the electric cart, the drive assembly is mounted on the telescopic assembly, the protective cover is fixedly mounted on the drive assembly, and the saw blade is fixedly mounted on the drive assembly, with the saw blade located inside the protective cover.

[0015] The striking mechanism is located on the top of the electric trolley to strike the protective cover. The striking mechanism includes a hammer, a traction component, a transmission component, and a rotating component. A guide rail is fixed on the outer wall of the electric trolley, and a slider is slidably installed inside the guide rail. The hammer is fixed to the bottom of the slider via a connecting rod. The transmission component is located on the top of the electric trolley. The traction component is located between the telescopic component and the transmission component. The rotating component is located between the hammer and the transmission component. The electric trolley, the drive component, and the two high-definition vehicle cameras are all electrically connected to the controller.

[0016] Further, the driving assembly comprises a micro motor, a first bearing and an L-shaped plate, the L-shaped plate is fixedly arranged on the top of the protective cover, the micro motor is fixedly arranged on the outer wall of the L-shaped plate, the first bearing is fixedly arranged on the inner wall of the protective cover, the output end of the micro motor is fixedly connected with the inner ring of the first bearing through the protective cover, the saw blade is fixedly connected with the output end of the micro motor, and the micro motor is electrically connected with the controller.

[0017] Further, a conical shovel plate is fixedly arranged on the outer wall in the circumferential direction of the protective cover, a plurality of conical through holes are arranged at equal intervals on the outer wall of the saw blade, and a plurality of heat dissipation holes are arranged at equal intervals on the outer wall of the protective shell.

[0018] Further, the telescopic assembly comprises a pressing spring, two fixed rods and two swing rods, the two fixed rods are arranged on the outer wall of the electric trolley, each swing rod is hingedly arranged at the end of one fixed rod away from the electric trolley, the L-shaped plate is fixedly connected with the ends of the two swing rods away from the fixed rods through a connecting block, a limiting plate is fixedly arranged between the two fixed rods and the two swing rods, and the pressing spring is fixedly arranged between the two limiting plates.

[0019] Further, the traction assembly comprises a pull rope, a rack, a return spring and a sliding rail, the sliding rail is fixedly arranged on the top of the electric trolley, the rack is slidingly arranged in the interior of the sliding rail, the pull rope is fixedly arranged between the outer wall of the rack and the top of one of the swing rods, the pull rope passes through the sliding rail, the return spring is fixedly arranged between the outer wall of the end of the rack away from the pull rope and the inner wall of the sliding rail, an installation plate is fixedly arranged on the outer wall of the guide rail, two grooved wheels are rotatably arranged on the outer wall of the installation plate, and the outer wall of the pull rope is attached to the outer edges of the two grooved wheels.

[0020] Further, the transmission assembly comprises a gear, a belt, a first bevel gear and two synchronous wheels, the top of the electric trolley is provided with a bottom plate, a top plate is fixedly arranged above the bottom plate, a first rotating shaft and a second rotating shaft are respectively inserted between the top plate and the bottom plate, the gear and one of the synchronous wheels are fixedly arranged on the first rotating shaft, the gear is in meshing connection with the rack, the first bevel gear and the other synchronous wheel are fixedly arranged on the second rotating shaft, and the belt is sleeved between the two synchronous wheels.

[0021] Further, the rotating assembly comprises a second bevel gear, a rotating wheel and a connecting rod, the top of the top plate is provided with a third rotating shaft, the rotating wheel and the second bevel gear are fixedly arranged on the third rotating shaft, the connecting rod is hingedly arranged between the rotating wheel and the sliding block, the second bevel gear is in meshing connection with the first bevel gear, and the first bevel gear is smaller than the second bevel gear.

[0022] Further, the outer wall of the connecting block is fixedly provided with a positioning shaft, the outer wall of the positioning shaft is sleeved with a second bearing, the inner ring of the second bearing is fixedly connected with the outer wall of the positioning shaft, the outer wall of the L-shaped plate is fixedly provided with a sleeve, the inner wall of the sleeve is fixedly connected with the outer ring of the second bearing, the outer wall in the circumferential direction of the sleeve is fixedly provided with two limiting blocks, the two ends of the connecting block are fixedly provided with two supporting plates, and the buffer spring is fixedly arranged between each limiting block and a supporting plate.

[0023] Further, the top of each limiting block is fixedly provided with an insertion rod, and the two ends of the connecting block are fixedly provided with two arc-shaped guide rails.

[0024] The beneficial effects of the present application are:

[0025] 1. The controller, the electric trolley, the cutting mechanism and the two high-definition vehicle-mounted cameras are designed, when working, the electric trolley is started through the controller, automatic driving in the orchard is realized, the two high-definition vehicle-mounted cameras are started through the controller, one of the two high-definition vehicle-mounted cameras faces the front of the electric trolley to provide a driving vision, and the other faces the ground of the orchard to provide a weeding vision, and the cutting mechanism is started through the controller to weed, compared with the prior art, the weeding does not need to be manually held or driven by a mechanical device, manpower can be saved, and the labor amount can be reduced.

[0026] 2. The telescopic assembly, i.e., the abutting spring, the two fixed rods and the two swing rods, when encountering the trunk of a fruit tree, the abutting spring is driven to contract through the resistance generated by the contact of the conical shovel plate with the fruit tree, so that the two swing rods are rotated towards one end close to the electric trolley, the saw blade is contracted, the trunk is automatically avoided, the second obstacle avoidance effect is realized, when the protective cover moves with the electric trolley to weed, the conical shovel plate shovels the fruits, branches and fallen leaves on the ground, prevents the saw blade from being touched to affect weeding, and plays the first obstacle avoidance effect, the conical shovel plate can shovel the fruits, branches and fallen leaves to the maximum extent, clears the obstacles on the weeding path, and the heat dissipation holes play a heat dissipation effect, so that the heat generated by the saw blade during work can be dissipated from the protective cover and cannot be accumulated in the interior of the protective cover, the failure rate caused by high temperature is reduced, and the mowing work is smoothly implemented.

[0027] 3. The present application can rotate the trunk of the fruit tree near the side of the trolley while the hammer block hits the top of the protective cover once by designing the knocking mechanism, i.e. the hammer block, the traction assembly, the transmission assembly and the rotating assembly, on the premise of avoiding obstacles, on one hand, the cut grass that is stuck between the saw blade and the top inside of the protective cover is shaken and shaken and falls to the ground through the conical through hole on the saw blade, preventing the cutting effect from being affected by being stuck on the saw blade, while reducing the wear and tear on the saw blade, which is beneficial to prolong the service life of the saw blade, on the other hand, a small amount of leaves, branches and fruits that are shovelled to the top outside of the protective cover by the conical insertion plate can be shaken off from the protective cover, preventing the protective cover from being crushed by the increasing amount of impurities on the top outside of the protective cover, and also providing a space for subsequent mowing, without causing missed cutting, improving the weeding effect.

[0028] 4. The present application can automatically tilt according to the taper of the earth pile outer wall by designing the positioning shaft, the second bearing, the sleeve, the limiting block, the support plate, the buffer spring, the insertion rod and the arc-shaped guide rail, achieving the function of self-adaptive adjustment of the saw blade cutting angle according to the orchard ground conditions, without the need for power driving, with extremely low adjustment cost, two buffer springs for buffering ensure uniform speed automatic tilting, and the saw blade in the protective cover automatically follows the tilting to achieve the effect of fitting the earth pile outer wall, further ensuring that the grass on the earth pile can be evenly cut off, without causing uneven cutting, avoiding inconsistent subsequent germination time of the grass here, without the need for multiple weeding work, reducing the burden of plant protection, while preventing the saw blade from cutting into the earth pile, achieving the prevention and protection effect. It should be noted that the above is only an illustration, as the orchard ground also has uneven conditions, so the above self-adaptive adjustment effect is also applicable to the cutting requirements of the grass on the uneven ground, and through the design of the above structure, it is also ensured that the device can achieve the third obstacle avoidance effect.

[0029] 5. The combination of the two beneficial effects of 2 and 4 enables the device to have three obstacle avoidance effects, the first being to avoid fruits, branches and leaves on the orchard ground, the second being to avoid fruit trees inside the orchard, and the third being to avoid the earth pile at the bottom of the fruit tree or any uneven position in the orchard, greatly increasing the practicality and flexibility of the device.

[0030] 6. The present application designs a traction assembly to link the cutting mechanism and the knocking mechanism, so that the top of the protective cover that avoids obstacles can be knocked at the same time in the cutting process, the cut grass that is stuck between the inner wall of the protective cover and the saw blade is cleaned through vibration, and the obstacle for the subsequent weeding path is removed, so that the two mechanisms are not independent operation, but the force generated by the rotation of the two swing rods when avoiding obstacles is used as a driving source to drive the operation of the two mechanisms, greatly reducing the number of driving sources, which is beneficial to reduce the weeding cost, and at the same time, the overall structure of the device is reduced, which is beneficial to reduce the cost and land occupation of the device, and improve the use convenience. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments of the present application are briefly introduced as follows.

[0032] Figure 1 The three-dimensional structure of the present application is shown in Figure 1 ;

[0033] Figure 2 The three-dimensional structure of the present application is shown in Figure 2 ;

[0034] Figure 3 The enlarged view of A in Figure 2 ;

[0035] Figure 4 The enlarged view of B in Figure 2 ;

[0036] Figure 5 The cross-sectional view of the sliding rail of the present application is shown in

[0037] Figure 6 The enlarged view of C in Figure 5 ;

[0038] Figure 7 The enlarged view of D in Figure 5 ;

[0039] Figure 8 The three-dimensional structure of the saw blade, the protective cover and the driving assembly of the present application is shown in

[0040] Figure 9 The cross-sectional view of the sleeve of the present application is shown in

[0041] Figure 10 The enlarged view of E in Figure 9 ;

[0042] Figure 11 The planar structure of the connecting block, the positioning shaft, the second bearing, the sleeve, the limiting block, the support plate, the buffer spring, the insertion rod and the arc-shaped guide rail of the present application is shown in

[0043] In the figure: electric trolley 1, sliding block 10,

[0044] High-definition vehicle-mounted camera 2,

[0045] Cutting mechanism 3,

[0046] Saw blade 30, conical through hole 300,

[0047] Protective cover 31, heat dissipation hole 310,

[0048] Drive assembly 32, micro motor 320, first bearing 321, L-shaped plate 322, conical shovel plate 323,

[0049] Telescopic assembly 33, abutting spring 330, fixing rod 331, swing rod 332, connecting block 333,

[0050] Knocking mechanism 4,

[0051] Hammer block 40,

[0052] Traction assembly 41, pull rope 410, rack 411, return spring 412, sliding rail 413, groove wheel 414,

[0053] Transmission assembly 42, gear 420, belt 421, first bevel gear 422, synchronous wheel 423,

[0054] Rotary assembly 43, second bevel gear 430, rotating wheel 431, connecting rod 432,

[0055] Positioning shaft 5, second bearing 50, sleeve 51, limiting block 52, supporting plate 53, buffer spring 54, insertion rod 55, arc-shaped guide rail 56,

[0056] Ground 6,

[0057] Fruit trees 7. Embodiment

[0058] The technical solutions of the present application will be further illustrated below in combination with the drawings and through specific embodiments.

[0059] Among them, the drawings are only used for example explanation, and the representation is only a schematic diagram, not a real object diagram, and cannot be understood as a limitation of the patent; in order to better illustrate the embodiments of the present application, some components of the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product. Embodiment

[0060] The present application provides a kind of technical solutions, refer to Figures 1 to 11 As shown in the figure, an obstacle avoidance device based on unmanned agricultural machine, including electric trolley 1 and two high-definition vehicle-mounted cameras 2, two high-definition vehicle-mounted cameras 2 are fixedly arranged on the outer wall of electric trolley 1,

[0061] The controller, the cutting mechanism 3 and the knocking mechanism 4 are further included,

[0062] The controller is fixedly arranged on the outer wall of the electric trolley 1,

[0063] The cutting mechanism 3 is arranged on the outer wall of the electric trolley 1 for cutting weeds, and the cutting mechanism 3 comprises a saw blade 30, a protective cover 31, a driving assembly 32 and an extension assembly 33. The extension assembly 33 is arranged on the outer wall of the electric trolley 1, the driving assembly 32 is arranged on the extension assembly 33, the protective cover 31 is fixedly arranged on the driving assembly 32, the saw blade 30 is fixedly arranged on the driving assembly 32, and the saw blade 30 is located inside the protective cover 31,

[0064] The knocking mechanism 4 is arranged on the top of the electric trolley 1 for knocking the protective cover 31, and the knocking mechanism 4 comprises a hammer block 40, a traction assembly 41, a transmission assembly 42 and a rotating assembly 43. A guide rail is fixedly arranged on the outer wall of the electric trolley 1, a sliding block 10 is slidably arranged inside the guide rail, the hammer block 40 is fixedly arranged on the bottom of the sliding block 10 through a connecting rod, the transmission assembly 42 is arranged on the top of the electric trolley 1, the traction assembly 41 is arranged between the extension assembly 33 and the transmission assembly 42, the rotating assembly 43 is arranged between the hammer block 40 and the transmission assembly 42, and the electric trolley 1, the driving assembly 32 and the two high-definition vehicle-mounted cameras 2 are electrically connected with the controller.

[0065] Referring to Figure 8 The driving assembly 32 comprises a micro motor 320, a first bearing 321 and an L-shaped plate 322. The L-shaped plate 322 is fixedly arranged on the top of the protective cover 31, the micro motor 320 is fixedly arranged on the outer wall of the L-shaped plate 322, and the first bearing 321 is fixedly arranged on the inner wall of the protective cover 31. The output end of the micro motor 320 is fixedly connected with the inner ring of the first bearing 321 through the protective cover 31, the saw blade 30 is fixedly connected with the output end thereof, and the micro motor 320 is electrically connected with the controller. In working, the electric trolley 1 is first started through the controller to realize automatic driving in the orchard, the two high-definition vehicle-mounted cameras 2 are then started through the controller, one of the two high-definition vehicle-mounted cameras 2 faces the front of the electric trolley 1 to provide a driving vision, and the other faces the orchard ground 6 to provide a weeding vision. Then, the micro motor 320 is started through the controller. Since the output end of the micro motor 320 is fixedly connected with the saw blade 30, the L-shaped plate 322 is fixedly connected with the protective cover 31, and the micro motor 320 is fixedly connected with the L-shaped plate 322, the output end of the micro motor 320 is rotatably connected with the inner wall of the protective cover 31 through the first bearing 321, and the saw blade 30 is further driven to rotate to cut weeds on the ground 6.

[0066] Referring to Figure 8As shown, a conical shovel plate 323 is fixedly provided on the outer wall of the protective cover 31 in the circumferential direction. Several conical through holes 300 are evenly spaced on the outer wall of the saw blade 30, and several heat dissipation holes 310 are evenly spaced on the outer wall of the protective cover 31. When the protective cover 31 moves with the electric trolley 1 to weed, the conical shovel plate 323 shovels up the fruit, branches and fallen leaves on the ground 6 to prevent the saw blade 30 from touching them and affecting the weeding, thus playing the first obstacle avoidance role. The conical shovel plate 323 is designed to shovel up the fruit, branches and fallen leaves to the greatest extent. Several heat dissipation holes 310 play a heat dissipation role, ensuring that the heat generated by the saw blade 30 when working is transmitted through the protective cover 31 and does not accumulate inside the protective cover 31, reducing the failure rate caused by excessive temperature and ensuring the smooth implementation of the weeding work. It should be noted that in order not to scratch the fruit trees, the conical shovel plate 323 is made of hard rubber.

[0067] Reference Figure 3 As shown, the telescopic assembly 33 includes a clamping spring 330, two fixed rods 331, and two swing rods 332. The two fixed rods 331 are both mounted on the outer wall of the electric trolley 1. Each swing rod 332 is hinged to one end of a fixed rod 331 away from the electric trolley 1. An L-shaped plate 322 is fixedly connected to the ends of the two swing rods 332 away from the fixed rods 331 via a connecting block 333. Limiting plates are fixedly installed between the two fixed rods 331 and the two swing rods 332. The clamping spring 330 is fixedly installed between the two limiting plates. When the electric trolley 1 travels to the side of the trunk of the fruit tree 7, the protective spring... The conical shovel 323 on the cover 31 contacts the trunk of the fruit tree 7, and the clamping spring 330 changes from a stretched state to a contracted state. Since the two swing rods 332 are hinged to the two fixed rods 331, and the two fixed rods 331 and the two swing rods 332 are fixedly designed with limit plates, the two limit plates are fixedly connected to the two ends of the clamping spring 330 respectively, so that the two swing rods 332 rotate towards the end closer to the electric trolley 1 with the hinge point with the two fixed rods 331 as the center, thereby causing the protective cover 31 and the conical shovel 323 to avoid the trunk of the fruit tree 7, achieving a second avoidance effect.

[0068] Reference Figure 6As shown, the traction assembly 41 comprises a pull rope 410, a rack 411, a return spring 412 and a sliding rail 413, the sliding rail 413 is fixedly arranged at the top of the electric trolley 1, the rack 411 is slidingly arranged in the inner wall of the sliding rail 413, the pull rope 410 is fixedly arranged between the outer wall of the rack 411 and the top of one of the swing rods 332, the pull rope 410 passes through the sliding rail 413, the return spring 412 is fixedly arranged between the outer wall of the end of the rack 411 away from the pull rope 410 and the inner wall of the sliding rail 413, the outer wall of the sliding rail is fixedly provided with a mounting plate, the outer wall of the mounting plate is rotatably provided with two grooved wheels 414, the outer wall of the pull rope 410 is attached to the outer edges of the two grooved wheels 414, when the two swing rods 332 rotate towards the end close to the electric trolley 1 with the two fixed rods 331 as the center, that is, while avoiding the trunks of the fruit trees 7, since the top of one of the swing rods 332 and the outer wall of the rack 411 are fixedly connected to the two ends of the pull rope 410 respectively, and the outer wall of the end of the rack 411 away from the pull rope 410 and the inner wall of the sliding rail 413 are fixedly connected to the two ends of the return spring 412 respectively, and since the return spring 412 is initially in a tight state, the return spring 412 is pushed to slide quickly in the inner wall of the sliding rail 413 towards the end close to the grooved wheels 414 from the tight state to the stretched state, the two grooved wheels 414 limit the operation of the pull rope 410 to prevent the pull rope 410 from being skewed or detached.

[0069] Referring to Figure 6 As shown, the transmission assembly 42 comprises a gear 420, a belt 421, a first bevel gear 422 and two synchronous wheels 423, the top of the electric trolley 1 is provided with a bottom plate, the top plate is fixedly arranged above the bottom plate, the first rotating shaft and the second rotating shaft are respectively inserted between the top plate and the bottom plate, the gear 420 and one of the synchronous wheels 423 are fixedly arranged on the first rotating shaft, the gear 420 is meshingly connected with the rack 411, the first bevel gear 422 and the other synchronous wheel 423 are fixedly arranged on the second rotating shaft, the belt 421 is sleeved between the two synchronous wheels 423, when the rack 411 slides quickly in the inner wall of the sliding rail 413 towards the end close to the grooved wheels 414, since the rack 411 is meshingly connected with the gear 420, the gear 420 is driven to rotate counterclockwise, since the gear 420 and one of the synchronous wheels 423 are fixedly connected with the first rotating shaft, and the first bevel gear 422 and the other synchronous wheel 423 are fixedly connected with the second rotating shaft, and the two synchronous wheels 423 are sleeved by the belt 421, the first bevel gear 422 is driven to rotate counterclockwise quickly.

[0070] Referring to Figure 6As shown, the rotating assembly 43 comprises a second bevel gear 430, a rotating wheel 431 and a connecting rod 432, the top of the top plate is provided with a third rotating shaft, the rotating wheel 431 and the second bevel gear 430 are both fixedly arranged on the third rotating shaft, the connecting rod 432 is hingedly arranged between the rotating wheel 431 and the sliding block 10, the second bevel gear 430 and the first bevel gear 422 are in meshing connection, and the first bevel gear 422 is smaller than the second bevel gear 430, when the first bevel gear 422 rotates counterclockwise quickly, since the first bevel gear 422 and the second bevel gear 430 are in meshing connection, the second bevel gear 430 and the rotating wheel 431 are both fixedly connected with the third rotating shaft, the rotating wheel 431 and the sliding block 10 are respectively hinged to the two ends of the connecting rod 432, thereby driving the rotating wheel 431 to rotate clockwise quickly, and since the sliding block 10 is fixedly connected with the hammer block 40 through the connecting rod, and the sliding block 10 is in sliding connection with the guide rail, thereby rotating the protective cover 31 to the side close to the trolley while avoiding obstacles, and the hammer block 40 quickly slides downward to knock the top of the protective cover 31 once, on the one hand, the cut grass that is clamped between the saw blade 30 and the top inside of the protective cover 31 is vibrated and shaken and falls to the ground 6 through the plurality of conical through holes 300 on the saw blade 30, preventing the grass from being clamped on the saw blade 30 to affect the mowing effect, while reducing the wear of the saw blade 30, which is conducive to prolonging the service life of the saw blade 30, on the other hand, a small amount of leaves, branches and fruits that are previously shovelled to the top outside of the protective cover 31 can be shaken off from the protective cover 31, preventing the protective cover 31 from being crushed due to the accumulation of more and more impurities on the top outside of the protective cover 31.

[0071] A method for an obstacle avoidance device based on an unmanned agricultural machine, comprising the following steps:

[0072] S1: automatic driving of the unmanned agricultural machine:

[0073] In operation, first, the electric trolley 1 is started through the controller to realize automatic driving in the orchard, and then the two high-definition vehicle-mounted cameras 2 are started through the controller, one of the two high-definition vehicle-mounted cameras 2 faces the front of the electric trolley 1 to provide a driving field of view, and the other faces the orchard ground 6 to provide a weeding field of view.

[0074] S2: clearing of weeds and first heavy obstacle avoidance:

[0075] The micro motor 320 is started through the controller, since the output end of the micro motor 320 is fixedly connected with the saw blade 30, the L-shaped plate 322 is fixedly connected with the protective cover 31, and the micro motor 320 is fixedly connected with the L-shaped plate 322, the output end of the micro motor 320 is rotatably connected with the inner wall of the protective cover 31 through the first bearing 321, thereby driving the saw blade 30 to rotate to cut the weeds on the ground 6.

[0076] When the protective cover 31 moves with the electric vehicle 1 to remove weeds, the conical shovel plate 323 shovels the fruits, branches and fallen leaves on the ground 6, preventing the saw blade 30 from touching them and affecting the cutting of weeds, thereby achieving the first obstacle avoidance effect. The conical shovel plate 323 is designed to shovel the fruits, branches and fallen leaves to the greatest extent. The heat dissipation holes 310 ensure that the heat generated by the saw blade 30 during operation is dissipated from the protective cover 31 and does not accumulate inside the protective cover 31, thereby reducing the failure rate caused by high temperature and ensuring the smooth implementation of the mowing work.

[0077] S3: Second obstacle avoidance:

[0078] When the electric vehicle 1 drives to the side of the trunk of the fruit tree 7, the conical shovel plate 323 on the protective cover 31 contacts the trunk of the fruit tree 7, and the abutting spring 330 changes from the stretched state to the contracted state. Since the two swing rods 332 are hinged to the two fixed rods 331, the two fixed rods 331 and the two swing rods 332 are fixedly designed with limit plates therebetween, and the two limit plates are fixedly connected to the two ends of the abutting spring 330, so that the two swing rods 332 rotate toward the end close to the electric vehicle 1 with the hinged place of the two fixed rods 331 as the center, thereby causing the protective cover 31 and the conical shovel plate 323 to avoid the trunk of the fruit tree 7, achieving the second obstacle avoidance effect.

[0079] S4: Synchronous work during the second obstacle avoidance:

[0080] When the two swing rods 332 rotate toward the end close to the electric vehicle 1 with the hinged place of the two fixed rods 331 as the center, i.e., while avoiding the trunk of the fruit tree 7, since the top of one of the swing rods 332 and the outer wall of the rack 411 are fixedly connected to the two ends of the pull rope 410, respectively, and the outer wall of the end of the rack 411 away from the pull rope 410 and the inner wall of the slide rail 413 are fixedly connected to the two ends of the return spring 412, respectively, and since the return spring 412 is initially in a tight state, the return spring 412 is instantaneously changed from the tight state to the stretched state to push the rack 411 to slide quickly inside the slide rail 413 toward the end close to the groove wheel 414. The two groove wheels 414 limit the position of the pull rope 410 during operation to prevent the pull rope 410 from being skewed or detached.

[0081] When the rack 411 slides quickly inside the slide rail 413 to the end close to the Geneva wheel 414, the rack 411 is connected with the gear 420, which drives the gear 420 to rotate counterclockwise. Since the gear 420 and one of the two synchronizing wheels 423 are fixedly connected with the first rotating shaft, the first bevel gear 422 and the other synchronizing wheel 423 are fixedly connected with the second rotating shaft, and the two synchronizing wheels 423 are sleeved with the belt 421, the first bevel gear 422 is driven to rotate counterclockwise quickly. Since the first bevel gear 422 and the second bevel gear 430 are connected, the second bevel gear 430 and the rotating wheel 431 are fixedly connected with the third rotating shaft, and the rotating wheel 431 and the sliding block 10 are hingedly connected with the two ends of the connecting rod 432, the rotating wheel 431 is driven to rotate clockwise quickly. Since the sliding block 10 is fixedly connected with the hammer block 40 through the connecting rod, and the sliding block 10 is slidingly connected with the guide rail, when the protective cover 31 avoids obstacles and rotates to the side close to the trolley, the hammer block 40 quickly slides down to hit the top of the protective cover 31 once. On the one hand, the cut grass that is stuck between the saw blade 30 and the top inside of the protective cover 31 is shaken and shaken and falls to the ground 6 through the several conical through holes 300 on the saw blade 30, preventing the saw blade 30 from being stuck and affecting the mowing effect, reducing the wear and tear of the saw blade 30, and prolonging the service life of the saw blade 30. On the other hand, a small amount of leaves, branches and fruits that are previously shovelled to the top outside of the protective cover 31 can be shaken off from the protective cover 31, preventing the top outside of the protective cover 31 from being crushed by the increasing amount of impurities.

[0082] Working principle: When working, first start the electric trolley 1 through the controller to realize automatic driving in the orchard, and then start the two high-definition vehicle cameras 2 through the controller. One of the two high-definition vehicle cameras 2 faces the front of the electric trolley 1 to provide a driving field of view, and the other faces the orchard ground 6 to provide a weeding field of view.

[0083] Then start the micro motor 320 through the controller. Since the output end of the micro motor 320 is fixedly connected with the saw blade 30, the L-shaped plate 322 is fixedly connected with the protective cover 31, and the micro motor 320 is fixedly connected with the L-shaped plate 322, the output end of the micro motor 320 is rotatably connected with the inner wall of the protective cover 31 through the first bearing 321, thereby driving the saw blade 30 to rotate and cutting the grass on the ground 6.

[0084] When the protective cover 31 moves with the electric trolley 1 to weed, the conical shovel plate 323 shovels the fruits, branches and fallen leaves on the ground 6, preventing the saw blade 30 from being touched and affecting the cutting of grass, achieving the first obstacle avoidance effect. The conical shovel plate 323 is designed to maximize the shoveling of fruits, branches and fallen leaves. The several heat dissipation holes 310 provide heat dissipation effect, ensuring that the heat generated by the saw blade 30 during operation is dissipated from the protective cover 31 and does not accumulate inside the protective cover 31, reducing the failure rate caused by high temperature, and ensuring the smooth implementation of the mowing work.

[0085] When the electric car 1 drives to the side of the trunk of the fruit tree 7, the conical shovel plate 323 on the protective cover 31 is in contact with the trunk of the fruit tree 7, and the abutting spring 330 changes from the stretched state to the contracted state. Since the two swing rods 332 are hinged to the two fixed rods 331, the two fixed rods 331 and the two swing rods 332 are fixedly designed with limit plates, and the two limit plates are fixedly connected with the two ends of the abutting spring 330, so that the two swing rods 332 rotate towards the end close to the electric car 1 with the hinge of the two fixed rods 331 as the center, and then the protective cover 31 and the conical shovel plate 323 avoid the trunk of the fruit tree 7, achieving the second re-avoiding effect.

[0086] When the two swing rods 332 rotate towards the end close to the electric car 1 with the hinge of the two fixed rods 331 as the center, that is, while avoiding the trunk of the fruit tree 7, since the top of one of the swing rods 332 and the outer wall of the rack 411 are fixedly connected with the two ends of the pull rope 410, and the outer wall of the end of the rack 411 away from the pull rope 410 and the inner wall of the sliding rail 413 are fixedly connected with the two ends of the reset spring 412, and since the reset spring 412 is initially in a tight state, the tension is temporarily relaxed, and the reset spring 412 is instantaneously changed from the tight state to the stretched state to push the rack 411 to slide quickly inside the sliding rail 413 towards the end close to the groove wheel 414. The two groove wheels 414 have a limiting effect when the pull rope 410 is operating, preventing the pull rope 410 from being skewed or detached.

[0087] When the rack 411 slides quickly inside the sliding rail 413 towards the end close to the groove wheel 414, since the rack 411 is in meshing connection with the gear 420, the gear 420 is driven to rotate counterclockwise, and since the gear 420 and one of the synchronous wheels 423 are fixedly connected with the first rotating shaft, and the first bevel gear 422 and the other synchronous wheel 423 are fixedly connected with the second rotating shaft, the two synchronous wheels 423 are sleeved with the belt 421, thereby driving the first bevel gear 422 to rotate counterclockwise quickly.

[0088] When the first bevel gear 422 rotates quickly counterclockwise, since the first bevel gear 422 and the second bevel gear 430 are meshed and connected, the second bevel gear 430 and the rotating wheel 431 are fixedly connected with the third rotating shaft, the rotating wheel 431 and the sliding block 10 are respectively hinged with two ends of the connecting rod 432, thereby driving the rotating wheel 431 to rotate quickly clockwise, and since the sliding block 10 is fixedly connected with the hammer block 40 through the connecting rod, the sliding block 10 is slidingly connected with the guide rail, thereby rotating the protective cover 31 to avoid obstacles to be close to the side of the trolley, at the same time, the hammer block 40 quickly slides downward to knock the top of the protective cover 31 once, on the one hand, the cut grass clamped between the saw blade 30 and the top inside of the protective cover 31 is vibrated and shaken to fall to the ground 6 through the conical through hole 300 on the saw blade 30, preventing the cutting effect from being affected by being clamped on the saw blade 30, reducing the abrasion of the saw blade 30, prolonging the service life of the saw blade 30, on the other hand, a small amount of leaves, branches and fruits chipped to the top outside of the protective cover 31 by the conical insert plate can be shaken off from the protective cover 31, preventing the protective cover 31 from being crushed by more and more impurities accumulated on the top outside of the protective cover 31. Embodiments

[0089] In order to meet the cutting of grass in different ground 6 conditions of the orchard, the application provides another technical scheme, referring to Figure 10 and Figure 11As shown, the outer wall of the connecting block 333 is fixedly provided with a positioning shaft 5, the outer wall of the positioning shaft 5 is sleeved with a second bearing 50, the inner ring of the second bearing 50 is fixedly connected with the outer wall of the positioning shaft 5, the outer wall of the L-shaped plate 322 is fixedly provided with a sleeve 51, the inner wall of the sleeve 51 is fixedly connected with the outer ring of the second bearing 50, the outer wall of the sleeve 51 in the circumferential direction is fixedly provided with two limiting blocks 52, the two ends of the connecting block 333 are fixedly provided with two supporting plates 53, and each limiting block 52 and one supporting plate 53 are fixedly provided with a buffer spring 54.

[0090] Referring to Figure 10 and Figure 11As shown, the top of each limiting block 52 is fixedly provided with an insertion rod 55, and the two ends of the connecting block 333 are fixedly provided with two arc-shaped guide rails 56, each insertion rod 55 is inserted with an arc-shaped guide rail 56, when the saw blade 30 is automatically skewed, the two insertion rods 55 and the two arc-shaped guide rails 56 are in sliding fit, so that the saw blade 30, the protective cover 31 and the whole driving assembly 32 are smoothly skewed, and shaking or even falling is avoided, and the adjusting effect is improved.

Claims

1. Obstacle avoidance device based on unmanned agricultural machine, comprising electric trolley (1) and two high-definition vehicle cameras (2), two high-definition vehicle cameras (2) are fixedly arranged on the outer wall of electric trolley (1), characterized in that: It further comprises a controller, a cutting mechanism (3) and a knocking mechanism (4), The controller is fixedly arranged on the outer wall of the electric trolley (1), The cutting mechanism (3) is arranged on the outer wall of the electric trolley (1) to cut off weeds, the cutting mechanism (3) comprises a saw blade (30), a protective cover (31), a driving assembly (32) and a telescopic assembly (33), the telescopic assembly (33) is arranged on the outer wall of the electric trolley (1), the driving assembly (32) is arranged on the telescopic assembly (33), the protective cover (31) is fixedly arranged on the driving assembly (32), the saw blade (30) is fixedly arranged on the driving assembly (32), and the saw blade (30) is located inside the protective cover (31), The knocking mechanism (4) is arranged on the top of the electric trolley (1) to knock the protective cover (31), the knocking mechanism (4) comprises a hammer block (40), a traction assembly (41), a transmission assembly (42) and a rotating assembly (43), a guide rail is fixedly arranged on the outer wall of the electric trolley (1), a sliding block (10) is slidably arranged in the guide rail, the hammer block (40) is fixedly arranged on the bottom of the sliding block (10) through a connecting rod, the transmission assembly (42) is arranged on the top of the electric trolley (1), the traction assembly (41) is arranged between the telescopic assembly (33) and the transmission assembly (42), the rotating assembly (43) is arranged between the hammer block (40) and the transmission assembly (42), the electric trolley (1), the driving assembly (32) and the two high-definition vehicle cameras (2) are electrically connected with the controller; A conical shovel (323) is fixedly arranged on the outer wall in the circumferential direction of the protective cover (31), a plurality of conical through holes (300) are arranged at equal intervals on the outer wall of the saw blade (30), and a plurality of heat dissipation holes (310) are arranged at equal intervals on the outer wall of the protective cover (31); The telescopic assembly (33) comprises a pressing spring (330), two fixed rods (331) and two swing rods (332), the two fixed rods (331) are both arranged on the outer wall of the electric trolley (1), each swing rod (332) is hingedly arranged at the end of one fixed rod (331) away from the electric trolley (1), an L-shaped plate (322) is fixedly connected with the ends of the two swing rods (332) away from the fixed rods (331) through a connecting block (333), a limiting plate is fixedly arranged between the two fixed rods (331) and the two swing rods (332), and the pressing spring (330) is fixedly arranged between the two limiting plates. The traction assembly (41) comprises a pull rope (410), a rack (411), a return spring (412) and a sliding rail (413). The sliding rail (413) is fixedly arranged at the top of the electric trolley (1). The rack (411) is slidingly arranged in the inner wall of the sliding rail (413). The pull rope (410) is fixedly arranged between the outer wall of the rack (411) and the top of one of the swing rods (332). The pull rope (410) passes through the sliding rail (413). The return spring (412) is fixedly arranged between the outer wall of the end of the rack (411) away from the pull rope (410) and the inner wall of the sliding rail (413). The outer wall of the guide rail is fixedly provided with a mounting plate. Two grooved wheels (414) are rotatably arranged on the outer wall of the mounting plate. The outer wall of the pull rope (410) is attached to the outer edges of the two grooved wheels (414). The transmission assembly (42) comprises a gear (420), a belt (421), a first bevel gear (422) and two synchronous wheels (423). The top of the electric trolley (1) is provided with a bottom plate. A top plate is fixedly arranged above the bottom plate. A first rotating shaft and a second rotating shaft are respectively inserted between the top plate and the bottom plate. The gear (420) and one of the synchronous wheels (423) are fixedly arranged on the first rotating shaft. The gear (420) is in meshing connection with the rack (411). The first bevel gear (422) and the other synchronous wheel (423) are fixedly arranged on the second rotating shaft. The belt (421) is sleeved between the two synchronous wheels (423). The rotating assembly (43) comprises a second bevel gear (430), a rotating wheel (431) and a connecting rod (432). The top of the top plate is provided with a third rotating shaft. The rotating wheel (431) and the second bevel gear (430) are fixedly arranged on the third rotating shaft. The connecting rod (432) is hingedly arranged between the rotating wheel (431) and the sliding block (10). The second bevel gear (430) is in meshing connection with the first bevel gear (422). The first bevel gear (422) is smaller than the second bevel gear (430).

2. The obstacle avoidance device based on unmanned agricultural machine according to claim 1, characterized in that: The driving assembly (32) comprises a micro motor (320), a first bearing (321) and an L-shaped plate (322). The L-shaped plate (322) is fixedly arranged at the top of the protective cover (31). The micro motor (320) is fixedly arranged on the outer wall of the L-shaped plate (322). The first bearing (321) is fixedly arranged on the inner wall of the protective cover (31). The output end of the micro motor (320) is fixedly connected with the inner ring of the first bearing (321) through the protective cover (31). The saw blade (30) is fixedly connected with the output end of the micro motor (320). The micro motor (320) is electrically connected with the controller.

3. The obstacle avoidance device based on unmanned agricultural machine according to claim 2, characterized in that: The outer wall of the connecting block (333) is fixedly provided with a positioning shaft (5), the outer wall of the positioning shaft (5) is sleeved with a second bearing (50), the inner ring of the second bearing (50) is fixedly connected with the outer wall of the positioning shaft (5), the outer wall of the L-shaped plate (322) is fixedly provided with a sleeve (51), the inner wall of the sleeve (51) is fixedly connected with the outer ring of the second bearing (50), the outer wall of the sleeve (51) in the circumferential direction is fixedly provided with two limiting blocks (52), the two ends of the connecting block (333) are fixedly provided with two supporting plates (53), and the buffer spring (54) is fixedly arranged between each limiting block (52) and the supporting plate (53).

4. The obstacle avoidance device based on unmanned agricultural machine according to claim 3, characterized in that: The top of each limiting block (52) is fixedly provided with an insertion rod (55), and the two ends of the connecting block (333) are fixedly provided with two arc-shaped guide rails (56), and each insertion rod (55) is inserted with an arc-shaped guide rail (56).

5. The method of claim 1-4, comprising the following steps: S1: automatic driving of the unmanned agricultural machine: In operation, first, the electric car (1) is started by the controller to realize automatic driving in the orchard, and then the two high-definition vehicle cameras (2) are started by the controller, one of which faces the front of the electric car (1) to provide a driving field of view, and the other of which faces the ground of the orchard to provide a weeding field of view; S2: weed cleaning and first obstacle avoidance: The micro motor (320) is started by the controller, and since its output end is fixedly connected with the saw blade (30), the L-shaped plate (322) is fixedly connected with the protective cover (31), and the micro motor (320) is fixedly connected with the L-shaped plate (322), its output end is rotatably connected with the inner wall of the protective cover (31) through the first bearing (321), thereby driving the saw blade (30) to rotate and cutting the weeds on the ground; When the protective cover (31) moves with the electric car (1) to remove weeds, the conical shovel plate (323) shovels the stones, branches and fallen leaves on the ground to prevent the cutter from being poked and affecting the cutting of weeds, thereby achieving the first obstacle avoidance effect, the conical shovel plate (323) is designed to shovel the stones, branches and fallen leaves to the greatest extent, the heat dissipation holes (310) play a heat dissipation effect, ensuring that the heat generated during the operation of the cutter is dissipated from the protective cover (31) and will not be accumulated in the interior of the protective cover (31), thereby reducing the failure rate caused by high temperature and ensuring the smooth implementation of the mowing work; S3: second obstacle avoidance: When the electric car (1) drives to the side of the trunk of the fruit tree, the conical shovel plate (323) on the protective cover (31) contacts the trunk of the fruit tree, the abutting spring (330) changes from the stretched state to the contracted state, since the two swing rods (332) are hinged with the two fixed rods (331), the two fixed rods (331) and the two swing rods (332) are fixedly designed with limiting plates, the two limiting plates are fixedly connected with the two ends of the abutting spring (330) respectively, so that the two swing rods (332) rotate towards the end close to the electric car (1) with the hinging place of the two fixed rods (331) as the center, and then the protective cover (31) and the conical shovel plate (323) avoid the trunk of the fruit tree, achieving the second avoidance effect; S4: Synchronous work during the second avoidance of obstacles: When the two swing rods (332) rotate towards the end close to the electric car (1) with the hinging place of the two fixed rods (331) as the center, that is, while avoiding the trunk of the fruit tree, since the top of the swing rod (332) and the outer wall of the rack (411) are fixedly connected with the two ends of the pull rope (410) respectively, and the outer wall of the end of the rack (411) away from the pull rope (410) and the inner wall of the sliding rail (413) are fixedly connected with the two ends of the reset spring (412) respectively, and since the reset spring (412) is initially in a tight state, the stretching is temporarily relaxed, the reset spring (412) is instantly changed from the tight state to the stretched state to push the rack (411) to slide quickly in the sliding rail (413) towards the end close to the groove wheel (414), and the two groove wheels (414) limit the position of the pull rope (410) during the operation of the pull rope (410), preventing the pull rope (410) from being skewed or separated; When the rack (411) slides quickly inside the slide rail (413) to the end close to the Geneva wheel (414), the rack (411) drives the gear (420) to rotate counterclockwise because they are in mesh connection. Since the gear (420) and one of the two synchronizing wheels (423) are fixedly connected with the first rotating shaft, the first bevel gear (422) and the other synchronizing wheel (423) are fixedly connected with the second rotating shaft, and the two synchronizing wheels (423) are sleeved with the belt (421), the first bevel gear (422) is driven to rotate counterclockwise quickly. Since the first bevel gear (422) and the second bevel gear (430) are in mesh connection, the second bevel gear (430) and the rotating wheel (431) are fixedly connected with the third rotating shaft, the rotating wheel (431) and the sliding block (10) are hingedly connected with the two ends of the connecting rod (432), the rotating wheel (431) is driven to rotate clockwise quickly. Since the sliding block (10) is fixedly connected with the hammer block (40) through the connecting rod, and the sliding block (10) is in sliding connection with the guide rail, the hammer block (40) knocks the top of the protective cover (31) once when the protective cover (31) avoids obstacles and rotates to the side close to the trolley. On the one hand, the cut grass clamped between the saw blade (30) and the top inside of the protective cover (31) is shaken and shaken and falls to the ground through the conical through hole (300) on the saw blade (30), preventing the saw blade (30) from being clamped and affecting the mowing effect, reducing the wear of the saw blade (30), and prolonging the service life of the saw blade (30). On the other hand, a small amount of leaves, branches and stones chipped by the conical plug to the top outside of the protective cover (31) are shaken off from the protective cover (31), preventing the protective cover (31) from being crushed by the increasing impurities accumulated on the top outside of the protective cover (31).

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