Green plant cutting trolley

Abstract

The invention discloses a green plant cutting trolley, and relates to the technical field of green plant cutting, the green plant cutting trolley comprises a double-layer base plate, the double-layer base plate comprises a lower base plate and an upper base plate, and the lower base plate is arranged below the upper base plate; the camera is arranged on one side above the double-layer substrate; the angle adjusting assembly is connected with the camera and used for adjusting the angle direction of the camera; and the deep learning module is arranged on the double-layer substrate. According to the method, data of different plants are collected, a database of various plants is established, the database contains feature data and growth information of various plants, data support and basic data are provided for subsequent shaping scheme making, an optimal transformation scheme is made for the plants according to the shape and appearance characteristics of different plants, the pruning difficulty is reduced, and the pruning efficiency is improved. According to the scheme, the growth habits, aesthetic requirements and maintenance requirements of the plants are considered, and therefore personalized pruning and shaping of each plant are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of green plant cutting, and in particular to a green plant cutting trolley. Background Art

[0002] In recent years, my country's green plant market is currently in a stage of rapid growth. Affected by the urbanization process, the improvement of people's quality of life and the enhancement of health awareness, the application of green plants indoors and outdoors has attracted more and more attention. As people's requirements for living environment increase, green plants have become one of the main elements of interior decoration, and the demand for green plants in offices, shopping malls, hotels and residences is increasing. Consumers have higher demands for different types of plants, such as air purification plants, potted plants, succulents, etc., and the types of green plants on the market are becoming increasingly rich.

[0003] With the expansion of the green plant market, people pay more and more attention to the care and maintenance of green plants, and green plant maintenance services have gradually become a new growth point. At the same time, intelligent green plant maintenance is also very popular. Intelligent green plant construction is not only suitable for landscaping projects, but also can be applied to indoor landscape design, roof garden construction, urban public space transformation and other fields. It has broad application prospects. With the continuous advancement of science and technology and people's pursuit of a better life, intelligent green plant construction is expected to be more widely used and promoted in the future. Based on this, a greening shaping car is designed. Summary of the invention

[0004] The object of the present invention is to provide a green plant trimming trolley to solve the problems raised in the above-mentioned background technology.

[0005] To solve the above problems, the technical solutions adopted by the present invention are as follows:

[0006] A green plant cutting trolley, comprising:

[0007] A double-layer substrate, the double-layer substrate comprising a lower substrate and an upper substrate, wherein the lower substrate is disposed below the upper substrate;

[0008] A camera, wherein the camera is arranged on one side above the double-layer substrate;

[0009] An angle adjustment component, which is connected to the camera and is used to adjust the angle of the camera;

[0010] A deep learning module, which is disposed on the double-layer substrate and is used to perform in-depth analysis on images captured by the camera using a convolutional neural network algorithm to achieve accurate recognition of target objects;

[0011] A WiFi module is provided on the double-layer substrate, and is used to connect to the network and send plant images and plant growth information to a host computer in real time;

[0012] A GPS module, which is arranged on one side of the deep learning module and is used to locate the route of the vehicle;

[0013] A single-chip microcomputer, wherein the single-chip microcomputer is fixedly arranged on the double-layer substrate;

[0014] A battery pack, wherein the battery pack is arranged on one side of the single chip computer;

[0015] Motor drive modules, two of which are symmetrically and fixedly arranged on the upper wall of the lower substrate;

[0016] Moving wheels, four of which are symmetrically arranged on both sides of the lower base plate;

[0017] A cutting component, which is disposed above the double-layer substrate and is used to shape the green plants;

[0018] A mechanical arm is fixedly arranged on the double-layer substrate, and an output end of the mechanical arm is connected to the cutting component for moving the cutting component.

[0019] Preferably, a servo gimbal is fixedly mounted on the double-layer substrate.

[0020] Preferably, the angle adjustment assembly comprises a pitch servo, a rotary servo and a servo bracket, the rotary servo is fixedly arranged on the servo platform, and the pitch servo is mounted on the rotary servo via the servo bracket.

[0021] Preferably, the pitch servo and the rotation servo are both connected and controlled by a camera.

[0022] Preferably, the WiFi module, camera, GPS module and deep learning module are all communicatively connected to the single-chip microcomputer.

[0023] Preferably, the battery pack is composed of lithium batteries.

[0024] Preferably, the moving wheels are Mecanum wheels, wherein two of the moving wheels are mounted on the front side of the lower substrate, and the other two moving wheels are mounted on the rear side of the lower substrate, and the two moving wheels mounted on the rear side of the lower substrate are driven by a motor.

[0025] Preferably, the motor drive module is connected to the motor control.

[0026] Preferably, the robotic arm is a six-axis robotic arm structure.

[0027] Preferably, the cutting assembly includes a mounting plate, a lower spindle, an upper spindle, an upper saw blade, a lower saw blade and a positioning block, the mounting plate is fixedly connected to the output end of the robot arm, the lower spindle is arranged above the mounting plate, and a steering servo connected to the lower end of the lower spindle is provided below the mounting plate, the two ends of the upper spindle are respectively rotatably connected to the other end of the lower spindle and one end of the lower saw blade, the upper saw blade is fixedly arranged above the mounting plate by a fixing rod, and the upper saw blade is arranged above the lower saw blade, a notch is opened on the upper wall of the lower saw blade, the positioning block is arranged in the notch, and the lower end of the positioning block is fixedly connected to the upper wall of the mounting plate.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The present invention can intelligently perceive the distribution and form of surrounding plants, identify the appearance of plants through image recognition technology, prune dead branches and leaves of plants, and maintain the overall aesthetics of plants; prune the twisted roots and branches of plants, and shape the plants, thereby pruning green plants with unique and strange shapes that express special meanings.

[0030] The present invention uses some open source hardware and software, which has a lower procurement cost, helps to reduce the overall R&D and production costs, and reduces the subsequent maintenance costs. The design takes energy utilization and environmental protection into consideration, and uses low-power electronic components and efficient energy utilization methods, which helps to reduce the cost of use, reduce the energy consumption of the equipment and maintenance costs.

[0031] In terms of green plant pruning, the construction cost and use cost of the device of the present invention are much lower than the construction and operation cost of a greenhouse, and no personnel are required for care. In terms of green belt and shrub pruning, in the case of large highways, there is no need for specialized technicians to operate large equipment for pruning, and in some small and medium-sized places, there is no need for pruning technicians to perform long-term pruning.

[0032] The present invention collects data of different plants and establishes a database of multiple plants. The database will contain characteristic data and growth information of various plants, provide data support and basic information for the subsequent shaping plan formulation, formulate the best transformation plan for the plants according to the shape and appearance characteristics of different plants, reduce the difficulty of pruning, and ensure good landscape effects of plants. These plans will take into account the growth habits, aesthetic requirements and maintenance needs of the plants, thereby realizing personalized pruning and shaping of each plant.

[0033] When the steering servo is started, the upper spindle and the lower spindle both make circular motions. Since the two spindles are staggered and have a height difference, no collision occurs during the rotation. The height difference formed by the two spindles allows the saw blade to pass smoothly without collision, thereby making it reciprocate. During the movement, the upper saw blade is fixed, and the lower saw blade is driven by the rotation of the upper spindle to form a reciprocating motion through a fixed path track. The upper and lower saw blades fit tightly together, and the shearing force generated cuts off the roots, stems and leaves of the plants, thereby achieving the purpose of pruning the plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The figure is a schematic diagram of the overall external structure of a green plant cutting vehicle;

[0035] Figure 2 This is a schematic diagram of the angle adjustment component structure of a green plant cutting trolley;

[0036] Figure 3 This is a schematic diagram of the servo gimbal structure of a green plant cutting vehicle;

[0037] Figure 4 This is a schematic diagram of the structure of the moving wheels of a green plant cutting trolley;

[0038] Figure 5 It is a schematic diagram of the structure of a cutting component of a green plant cutting vehicle;

[0039] Figure 6 It is a schematic diagram of the partial structure of a cutting component of a green plant cutting vehicle;

[0040] Figure 7 It is a schematic diagram of the structure of a cutting component of a green plant cutting vehicle;

[0041] Figure 8 The present invention is an operation flow chart of a green plant cutting vehicle.

[0042] In the figure: 1. Camera; 2. Pitch servo; 3. Deep learning module; 4. GPS module; 5. Single chip microcomputer; 6. Battery pack; 7. Motor drive module; 8. Moving wheel; 9. WiFi module; 10. Robotic arm; 11. Mounting plate; 12. Servo gimbal; 13. Rotary servo; 14. Servo bracket; 15. Lower spindle; 16. Upper spindle; 17. Upper saw blade; 18. Lower saw blade; 19. Positioning block. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Embodiment 1:

[0045] See also Figure 1-Figure 8 As shown, the present invention is a green plant cutting vehicle, comprising

[0046] A double-layer substrate, the double-layer substrate comprises a lower substrate and an upper substrate, and the lower substrate is arranged below the upper substrate;

[0047] Camera 1, camera 1 is arranged on one side above the double-layer substrate;

[0048] An angle adjustment component, which is connected to the camera 1 and is used to adjust the angle of the camera 1;

[0049] A deep learning module 3 is provided on the double-layer substrate and is used to perform a deep analysis on the image captured by the camera 1 using a convolutional neural network algorithm to achieve accurate recognition of the target object;

[0050] In addition to object recognition, it can also perceive changes in the surrounding environment through image processing technology, providing the car with more comprehensive environmental information;

[0051] WiFi module 9, WiFi module 9 is arranged on the double-layer substrate, used to connect to the network and send plant images and plant growth information to the host computer in real time;

[0052] GPS module 4, which is arranged on one side of the deep learning module 3 and is used to locate the route of the vehicle;

[0053] The GPS module 4 can receive signals from satellites and calculate the current precise position coordinates of the car through mathematical algorithms such as triangulation. Combining map data and GPS positioning information, the cutting car can plan the optimal driving path to avoid obstacles and unfavorable terrain, thereby improving cutting efficiency;

[0054] A single chip microcomputer 5, which is fixedly arranged on the double-layer substrate;

[0055] A battery pack 6, which is arranged on one side of the single chip computer 5;

[0056] Motor drive modules 7, two motor drive modules 7 are symmetrically and fixedly arranged on the upper wall of the lower substrate;

[0057] Moving wheels 8, four moving wheels 8 are symmetrically arranged on both sides of the lower base plate;

[0058] A cutting component, which is arranged above the double-layer substrate and is used to shape the green plants;

[0059] The robot arm 10 is fixedly arranged on the double-layer substrate, and the output end of the robot arm 10 is connected to the cutting component for moving the cutting component.

[0060] Depend on Figure 1-Figure 8 It can be seen that the servo platform 12 is fixedly mounted on the double-layer substrate.

[0061] The angle adjustment assembly includes a pitch servo 2, a rotary servo 13 and a servo bracket 14. The rotary servo 13 is fixedly arranged on the servo platform 12, and the pitch servo 2 is installed on the rotary servo 13 through the servo bracket 14.

[0062] The two-dimensional pan-tilt angle control realized by the original two servos can basically realize all-round monitoring of camera 1.

[0063] The pitch servo 2 and the rotation servo 13 are both controlled and connected by the camera 1 .

[0064] The WiFi module 9, the camera 1, the GPS module 4 and the deep learning module 3 are all connected to the single chip microcomputer 5 for communication;

[0065] The single chip microcomputer 5 receives information from the WiFi module 9, the camera 1, the GPS module 4, and the deep learning module 3, and after internal processing, outputs control instructions to the robot arm 10, the motor and other actuators to realize the automation and intelligence of the cutting process;

[0066] The battery pack 6 consists of 6 18500 lithium batteries;

[0067] To provide power for various devices on the trolley (such as motors, sensors, control systems, etc.) to ensure the normal operation of the trolley, the battery pack 6 adopts a modular power supply method, taking into account the different currents required for power supply of different devices. The electric saw, motor, and main control system are respectively powered by three independent battery packs 6. When a module is insufficiently powered and cannot work, the remaining modules will not be affected and will continue to work until the next stage where work cannot be carried out. A two-level power-off protection of a main switch and a sub-switch is adopted. When a device fails or an accident occurs, the main switch can be turned off in time to force the device to stop running.

[0068] The moving wheels 8 are Mecanum wheels, wherein two moving wheels 8 are installed on the front side of the lower substrate, and the other two moving wheels 8 are installed on the rear side of the lower substrate, and the two moving wheels 8 installed on the rear side of the lower substrate are driven by a motor;

[0069] By changing the rotation direction of the four moving wheels 8, the force direction of the entire vehicle is changed. The effect of omnidirectional movement is achieved through different changes in the force direction, which facilitates flexible movement in complex environments on flat ground.

[0070] The motor drive module 7 is connected to the motor control.

[0071] The robot arm 10 is a six-axis robot arm structure;

[0072] It can move according to the preset cutting path or the optimal path calculated in real time, has strong environmental adaptability and learning ability, and can maintain stable cutting performance and complete cutting in a constantly changing production environment.

[0073] The main functions of the camera 1 are to monitor and respond to the surrounding environment and identify plant species, take photos of each plant and record them, and send the identified plant species information to the single-chip microcomputer 5 to achieve interactive communication, so as to prepare for the next shaping plan.

[0074] As can be seen from the above, by uploading the model data and area coordinates of the target to be cropped to the single-chip microcomputer 5, the single-chip microcomputer 5 is positioned through the GPS module 4, and the rotating servo 13 is controlled to make the camera 1 scan the area where the target is located. The GPS module 4 locates the target area coordinates and then feeds back to the single-chip microcomputer 5. The GPS module 4 and the camera 1 control the moving wheel 8 to move to the vicinity of the target through the motor drive module 7. After the camera 1 scans the target green plant, it feeds back to the single-chip microcomputer 5, and the cropping path is calculated according to the model. The camera 1 controls the mechanical arm 10 to move along the path and controls the cropping component to start, and the green plants are cropped according to the corresponding path and model. During the operation, the camera 1 uploads plant images and plant growth information through the WiFi module 9, and the WiFi module 9 feeds back to the single-chip microcomputer 5. The relevant information of the green plants can be viewed through the upper computer.

[0075] Embodiment 2:

[0076] A double-layer substrate, the double-layer substrate comprises a lower substrate and an upper substrate, and the lower substrate is arranged below the upper substrate;

[0077] Camera 1, camera 1 is arranged on one side above the double-layer substrate;

[0078] An angle adjustment component, which is connected to the camera 1 and is used to adjust the angle of the camera 1;

[0079] A deep learning module 3 is provided on the double-layer substrate and is used to perform a deep analysis on the image captured by the camera 1 using a convolutional neural network algorithm to achieve accurate recognition of the target object;

[0080] WiFi module 9, WiFi module 9 is arranged on the double-layer substrate, used to connect to the network and send plant images and plant growth information to the host computer in real time;

[0081] GPS module 4, which is arranged on one side of the deep learning module 3 and is used to locate the route of the vehicle;

[0082] A single chip microcomputer 5, which is fixedly arranged on the double-layer substrate;

[0083] A battery pack 6, which is arranged on one side of the single chip computer 5;

[0084] Motor drive modules 7, two motor drive modules 7 are symmetrically and fixedly arranged on the upper wall of the lower substrate;

[0085] Moving wheels 8, four moving wheels 8 are symmetrically arranged on both sides of the lower base plate;

[0086] A cutting component, which is arranged above the double-layer substrate and is used to shape the green plants;

[0087] The robot arm 10 is fixedly arranged on the double-layer substrate, and the output end of the robot arm 10 is connected to the cutting component for moving the cutting component.

[0088] refer to Figure 1 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, the cutting assembly includes a mounting plate 11, a lower spindle 15, an upper spindle 16, an upper saw blade 17, a lower saw blade 18 and a positioning block 19. The mounting plate 11 is fixedly connected to the output end of the robot arm 10, the lower spindle 15 is arranged above the mounting plate 11, and a steering servo connected to the lower end of the lower spindle 15 is provided below the mounting plate 11. The two ends of the upper spindle 16 are rotatably connected to the other end of the lower spindle 15 and one end of the lower saw blade 18 respectively. The upper saw blade 17 is fixedly arranged above the mounting plate 11 by a fixing rod, and the upper saw blade 17 is arranged above the lower saw blade 18. A slot is opened on the upper wall of the lower saw blade 18, the positioning block 19 is arranged in the slot, and the lower end of the positioning block 19 is fixedly connected to the upper wall of the mounting plate 11.

[0089] As can be seen from the above, when the cutting assembly is moved to the area to be trimmed, the steering servo connected to the lower spindle 15 is driven, and further, the lower spindle 15 is driven by the steering servo to make a circular motion, wherein the two ends of the upper spindle 16 are respectively rotatably connected with the other end of the lower spindle 15 and one end of the lower saw blade 18, further making the upper spindle 16 make a circular motion along one end of the lower spindle 15, and at this time, the lower saw blade 18 makes a reciprocating motion;

[0090] When the steering servo is started, the upper spindle 16 and the lower spindle 15 both make circular motions. Since the two axes are staggered and have a height difference, they will not collide while rotating. The height difference formed by the two axes allows the saw blade to pass smoothly without collision, making it reciprocate.

[0091] During the movement, the upper saw blade 17 is fixed, and the lower saw blade 18 is driven by the upper main shaft 16 to form a reciprocating motion through a fixed path track. The upper and lower saw blades fit tightly together, and the shear force generated cuts the roots, stems and leaves of the plants, thereby achieving the purpose of pruning the plants.

[0092] The standard parts used in the present invention can all be purchased from the market, and the special-shaped parts can be customized according to the description and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0093] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0094] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0095] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0096] In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0097] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A green plant cutting trolley, characterized by: include A double-layer substrate, the double-layer substrate comprising a lower substrate and an upper substrate, wherein the lower substrate is disposed below the upper substrate; A camera (1), wherein the camera (1) is arranged on one side above the double-layer substrate; An angle adjustment component, the angle adjustment component is connected to the camera (1) and is used to adjust the angle of the camera (1); A deep learning module (3), the deep learning module (3) being arranged on the double-layer substrate and being used for performing a deep analysis on the image captured by the camera (1) using a convolutional neural network algorithm to achieve accurate recognition of the target object; A WiFi module (9), the WiFi module (9) being arranged on the double-layer substrate and used for connecting to a network and sending plant images and plant growth information to a host computer in real time; A GPS module (4), which is arranged on one side of the deep learning module (3) and is used to locate the route of the vehicle; A single-chip microcomputer (5), wherein the single-chip microcomputer (5) is fixedly arranged on the double-layer substrate; A battery pack (6), wherein the battery pack (6) is arranged on one side of the single-chip computer (5); Motor drive modules (7), two motor drive modules (7) are symmetrically and fixedly arranged on the upper wall of the lower base plate; Moving wheels (8), four of the moving wheels (8) are symmetrically arranged on both sides of the lower base plate; A cutting component, which is disposed above the double-layer substrate and is used to shape the green plants; A mechanical arm (10) is fixedly arranged on the double-layer substrate, and an output end of the mechanical arm (10) is connected to a cutting component for moving the cutting component.

2. The green plant trimming trolley according to claim 1, characterized in that: A steering gear platform (12) is fixedly mounted on the double-layer substrate.

3. The green plant trimming trolley according to claim 2, characterized in that: The angle adjustment assembly comprises a pitch servo (2), a rotary servo (13) and a servo bracket (14); the rotary servo (13) is fixedly arranged on a servo platform (12); and the pitch servo (2) is mounted on the rotary servo (13) via the servo bracket (14).

4. The green plant trimming trolley according to claim 3, characterized in that: The pitch steering gear (2) and the rotation steering gear (13) are both controlled and connected by the camera (1).

5. The green plant trimming trolley according to claim 1, characterized in that: The WiFi module (9), camera (1), GPS module (4) and deep learning module (3) are all communicatively connected to the single-chip computer (5).

6. The green plant trimming trolley according to claim 1, characterized in that: The battery pack (6) is composed of 6 18500 lithium batteries.

7. The green plant trimming trolley according to claim 1, characterized in that: The moving wheels (8) are Mecanum wheels, wherein two of the moving wheels (8) are installed on the front side of the lower substrate, and the other two of the moving wheels (8) are installed on the rear side of the lower substrate, and the two moving wheels (8) installed on the rear side of the lower substrate are driven by a motor.

8. The green plant trimming trolley according to claim 7, characterized in that: The motor drive module (7) is connected to the motor control.

9. The green plant trimming trolley according to claim 1, characterized in that: The mechanical arm (10) is a six-axis mechanical arm structure.

10. The green plant trimming trolley according to claim 1, characterized in that: The cutting assembly comprises a mounting plate (11), a lower spindle (15), an upper spindle (16), an upper saw blade (17), a lower saw blade (18) and a positioning block (19); the mounting plate (11) is fixedly connected to the output end of the mechanical arm (10); the lower spindle (15) is arranged above the mounting plate (11); and a steering servo connected to the lower end of the lower spindle (15) is arranged below the mounting plate (11); the two ends of the upper spindle (16) are rotatably connected to the other end of the lower spindle (15) and one end of the lower saw blade (18) respectively; the upper saw blade (17) is fixedly arranged above the mounting plate (11) by a fixing rod, and the upper saw blade (17) is arranged above the lower saw blade (18); a notch is opened on the upper wall of the lower saw blade (18); the positioning block (19) is arranged in the notch, and the lower end of the positioning block (19) is fixedly connected to the upper wall of the mounting plate (11).

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