Mechatronics catamaran suitable for water crop picking

Abstract

The invention relates to the field of water crop picking, in particular to a mechanical and electrical integration catamaran suitable for water crop picking, which comprises a catamaran floating load mechanism, and a picking mechanism, a storage mechanism, a wind power driving mechanism and a detection and electric control mechanism which are fixedly arranged on the catamaran floating load mechanism, and adopts a catamaran design. The wind power propulsion device is high in stability, not prone to overturning and good in operability, meanwhile, the wind power propulsion technology is adopted, the situation that the propulsion device is wound by aquatic plants underwater is avoided, more accurate sailing control can be achieved by accurately controlling the rotating speed and direction of the wind power propeller, and further, the sailing efficiency is improved. And reverse sailing can be realized in a narrow space, so that the situation of difficulty in turning around is avoided. And the sailing safety and stability are greatly improved. The device is simple in structure and high in automation degree, continuous operation such as water crop picking, metering and transferring can be achieved, and the safety and efficiency of water crop picking are improved.

Description

Technical Field

[0001] The invention relates to the technical field of water crop picking, and in particular to a mechatronic catamaran suitable for water crop picking. Background Art

[0002] At present, the main ways of picking crops on the water are: picking on the shore, picking by boat, or picking directly in the water, etc. These methods have major disadvantages: limited picking range, low work efficiency, and poor operation safety. With the continuous increase in the field and output of agricultural picking in my country, people are in urgent need of a picking machine with high work efficiency, good safety performance, and low labor intensity to replace manual picking. At present, there are few suitable water crop picking equipment on the market, with single functions, which cannot meet the needs of actual production. Therefore, it is of great significance to design an efficient and mechatronic catamaran suitable for water crop picking.

[0003] Patent No. 202410446403.2, the patent name is a lotus pod picking manipulator based on drone and its picking method invention patent, this patent uses drones to pick lotus pods, but the drone platform has a small picking storage capacity, the picking technology is difficult, and the lotus leaves may be rolled into the rotor during the picking process, causing accidents. The drone that can hover has a short flight time, high energy consumption, and poor operating capacity.

[0004] Patent No. 202320535526.4, the patent name is a utility model patent for an automatic balancing system for picking lotus pods. This patent uses wheeled machinery for picking, but it is not suitable for working in an environment with silt at the bottom of the pond. It is easy to get stuck. The picking mechanism is too simple and cannot take into account the picking of lotus pods of different heights. Moreover, draining the water in the pond when picking lotus pods is not conducive to the growth of lotus roots in the mud. The picking method using wheeled machinery on land is not only time-consuming and labor-intensive, but also not conducive to the growth of subsequent crops. It is not very practical. Summary of the invention

[0005] In view of the above problems, the present invention provides a mechatronic catamaran suitable for harvesting crops on water, which is based on a wind-driven catamaran and a harvesting mechanical arm.

[0006] The present invention is implemented by adopting the following technical solutions:

[0007] A catamaran floating mechanism, and a picking mechanism, a storage mechanism, a wind-driven mechanism, and a detection and electric control mechanism fixedly arranged on the catamaran floating mechanism.

[0008] As a preferred solution of the mechatronic catamaran suitable for water crop harvesting of the present invention, the catamaran floating mechanism includes a first hull and a second hull, and flying wings, connecting rods and connecting bridges connected to the first hull and the second hull at the same time;

[0009] Wherein, the No. 1 hull is parallel and coplanar with the No. 2 hull.

[0010] As a preferred solution of the mechatronic catamaran suitable for water crop picking of the present invention, the picking mechanism includes a screw lifting mechanism arranged on the connecting bridge, and a wheel circle arranged on the screw lifting mechanism, a mechanical arm is arranged on the wheel circle, a mechanical claw is arranged on the mechanical arm, and also includes an image transmission arranged on the mechanical claw.

[0011] As a preferred solution of the mechatronic catamaran suitable for water crop picking of the present invention, the storage mechanism includes a guide rail provided on the catamaran floating mechanism, a hydraulic cylinder is connected to the guide rail, and a cargo hold connecting rod rotatably provided on the hydraulic cylinder, a lifting arm is rotatably provided on the hydraulic rod, a hydraulic rod is fixedly provided on the lifting arm, a cargo hold rack is fixedly provided on the guide rail, and also includes a cargo hold connected to the cargo hold rack;

[0012] Among them, under the action of liquid pressure, the hydraulic rod is driven to extend outward or retract inward, thereby realizing linear motion. The cargo hold connecting rod connects the hydraulic cylinder and the lifting arm, and the lifting arm and the cargo hold frame are welded together. The linear motion of the hydraulic rod drives the lifting arm to move linearly.

[0013] As a preferred solution of the mechatronic catamaran suitable for water crop picking of the present invention, the wind drive mechanism includes a steering gear bracket arranged on the flying wing, and a steering gear built into the steering gear bracket, the steering gear is fixed with four copper columns close to the steering gear bracket and a steering gear away from the steering gear bracket, and also includes a wind propeller arranged on the steering gear.

[0014] As a preferred solution of the mechatronic catamaran suitable for water crop picking of the present invention, the detection and electric control mechanism includes an electric control integrated module box fixedly mounted on the second hull, and a pressure sensor mounted on the cargo hold, and also includes a detection radar and a support mounted on the second hull away from the end of the flying wing, and an infrared sensor is also provided on the cargo hold.

[0015] As a preferred solution of the mechatronic catamaran suitable for harvesting crops on water, the mechanical gripper includes a steering gear B arranged on the mechanical arm, and a turntable rotatably arranged on the steering gear B, a rotating rod rotatably arranged on the turntable, three gripper arms rotatably arranged on the rotating rod, and a steering gear A is arranged on the rotating rod, and also includes a steering gear A connected to the three gripper arms;

[0016] The steering gear A rotates to drive the rotating rod to rotate, and drives the three gripper arms to open and close according to the rotation direction of the rotating rod.

[0017] As a preferred solution of the mechatronic catamaran suitable for water crop picking of the present invention, the mechanical arm includes a rotating member fixedly arranged on the wheel circle, and two steering gear discs symmetrically arranged on the rotating member, and also includes a steering gear housing arranged on the steering gear disc, a steering gear C is arranged inside the steering gear housing, and a steering gear D is also arranged on the steering gear housing;

[0018] The mechanical arm includes eight identical units, and the wheel circle is provided between every two adjacent identical units.

[0019] As a preferred solution of the mechatronic catamaran suitable for harvesting crops on water of the present invention, the screw lifting mechanism comprises a top plate fixedly arranged on the wheel circle away from the mechanical arm, three screw rods are fixedly arranged on the top plate, each of the three screw rods is provided with a nut, a gear is provided at one end of the nut away from the screw rod, and a gear B is provided on the gear, a gear A is provided on the gear B, a chassis is provided on the gear A, and a stepping motor is provided on the side of the chassis away from the gear A;

[0020] Among them, each of the three screw rods is provided with a gear, the three gears are all connected with the gear B, and the three gears, the gear B and the gear A are all arranged on the same surface of the chassis away from the stepping motor.

[0021] As a preferred solution of the mechatronic catamaran suitable for water crop picking of the present invention, the detection radar is used to scan the surrounding environment to obtain a contour map of the surrounding environment and point cloud information of the target crop position, and the pre-constructed information acquisition and conversion module in the electronic control integrated module box is used to receive and process the contour map of the surrounding environment and the point cloud information of the target crop position to obtain a three-dimensional point cloud map including the waterway conditions, wherein the electronic control integrated module box includes: a central control module, a motor drive module, a GPS module, a picture transmission microprocessor module and an information conversion module.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: the waterway and surrounding environment information can be obtained through dual detection of laser and vision, and sent to the user end, so as to guide the water crop picking boat to accurately travel and dock in the predetermined position. During use, the mechanical claw can cut and pick the target object and move the target object to the storage mechanism. When the storage mechanism reaches the maximum loading mass, the pressure sensor can return the full load information to the electronic control module. The present invention adopts a catamaran design, which makes the present invention stable, not easy to capsize, and has good operability. The present invention adopts wind propulsion technology, which makes the present invention avoid the situation that the propulsion device is entangled by waterweeds underwater, and more accurate navigation control can be achieved by accurately controlling the speed and direction of the wind propeller. The present invention can achieve reverse navigation in a small space, avoiding the difficulty of turning around. The safety and stability of navigation are greatly improved. The present invention adopts a snake-shaped mechanical arm. This makes the present invention have extremely high degrees of freedom and compact structure, and can accurately pick target crops in all directions. The present invention has a long battery life, can pick a large number of target crops at a single time, and can automatically, accurately and efficiently complete the picking of water crops. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative labor, among which:

[0024] Figure 1 It is a schematic diagram of the overall structure of a mechatronic catamaran suitable for harvesting crops on water provided by the present invention;

[0025] Figure 2 It is a schematic diagram of a catamaran floating mechanism of a mechatronic catamaran suitable for harvesting crops on water provided by the present invention;

[0026] Figure 3 It is a schematic diagram of a picking mechanism and a schematic diagram of a mechanical hand gripper of a mechatronic catamaran suitable for picking crops on water provided by the present invention;

[0027] Figure 4 It is a schematic diagram of the screw lifting and lowering in the picking mechanism of a mechatronic catamaran suitable for picking crops on water and a schematic diagram of a mechanical arm provided by the present invention;

[0028] Figure 5 It is a schematic diagram of a storage mechanism of a mechatronic catamaran suitable for harvesting crops on water and a schematic diagram of a lifting part thereof provided by the present invention;

[0029] Figure 6 It is a schematic diagram of a wind-driven mechanism of a mechatronic catamaran suitable for harvesting crops on water provided by the present invention;

[0030] Figure 7 It is a schematic diagram of an axonometric view of a detection and electric control mechanism of a mechatronic catamaran suitable for harvesting crops on water provided by the present invention;

[0031] In the figure: 1. Catamaran floating mechanism;

[0032] 11. Hull No. 1, 12. Hull No. 2, 13. Flying wing, 14. Connecting rod, 15. Connecting bridge;

[0033] 2. Picking mechanism;

[0034] 21. Robotic claw, 22. Image transmission, 23. Robotic arm, 24. Screw lifting, 25. Wheel rim;

[0035] 211, servo A, 212, servo B, 213, gripper arm, 214, rotating rod, 215, turntable;

[0036] 231, servo C, 232, servo D, 233, rotating part, 234, servo housing, 235, servo disc;

[0037] 241. stepping motor, 242. gear A, 243. gear B, 245. lead screw, 246. nut, 247. bottom plate, 248. top plate;

[0038] 3. Warehousing institutions;

[0039] 31. cargo hold, 32. cargo hold rack, 33. lifting arm, 34. cargo hold connecting rod, 35. hydraulic rod, 36. hydraulic cylinder, 37. guide rail;

[0040] 4. Wind-driven mechanism;

[0041] 41. wind propeller, 42. steering gear, 43. steering gear, 44. copper column, 45. steering gear bracket;

[0042] 5. Detection and electronic control mechanism;

[0043] 51. Detection radar, 52. Support, 53. Electronic control integrated module box, 54. Pressure sensor, 55. Infrared sensor. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention. In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "inside", "outside", "upper", "lower", "front", "back", etc. are based on the positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0045] Embodiment 1:

[0046] See also Figures 1 to 7 As the first embodiment of the present invention, this embodiment provides a mechatronic catamaran suitable for water crop picking, which can realize continuous operations such as water crop picking, metering, and transportation, thereby improving the safety and efficiency of surface crop picking. The embodiment includes: a catamaran floating mechanism 1, and a picking mechanism 2, a storage mechanism 3, a wind-driven mechanism 4, and a detection and electric control mechanism 5 fixedly arranged on the catamaran floating mechanism 1.

[0047] Specifically, the catamaran floating mechanism 1 includes a first hull 11 and a second hull 12, and a flying wing 13, a connecting rod 14 and a connecting bridge 15 connected to the first hull 11 and the second hull 12, wherein the first hull 11 is parallel to and coplanar with the second hull 12. In the embodiment of the present invention, the first hull 11 and the second hull 12 are coplanar and symmetrically arranged, and are fixedly connected by the flying wing 13, the connecting rod 14 and the connecting bridge 15. The flying wing 13 is fastened to the first hull 11 and the second hull by screws.

[0048] It is understandable that the picking mechanism 2 includes a screw lifting mechanism 24 provided on the connecting bridge 15, and a wheel circle 25 provided on the screw lifting mechanism 24, a mechanical arm 23 is provided on the wheel circle 25, and also includes a mechanical claw 21 provided on the mechanical arm 23, a mechanical claw 21 is provided on the mechanical arm 23, and also includes an image transmitter 22 provided on the mechanical claw 21. In the embodiment of the present invention, the picking mechanism 2 is welded to the connecting bridge 14, so that the picking mechanism 2 is fixed between the No. 1 hull 11 and the No. 2 hull 12. The mechanical arm 23 is connected to the screw lifting mechanism 24 by welding. When the mechanical arm 23 picks the target crop, if the height of the mechanical arm 23 is not enough, the image transmitter 22 works, thereby driving the mechanical arm 23 to rise as a whole. The mechanical claw 21 is connected to the mechanical arm 23 by screws, and the image transmitter 22 is placed in the mechanical claw 21, and can follow the movement of the mechanical claw 21, so as to obtain a wide field of view and the position of the target crop, and realize accurate picking. When in use, after the target crop position is determined by the image transmission 22, the mechanical arm 23 moves to the predetermined position, and the mechanical claw 21 starts to pick the target crop. After picking, the mechanical arm 23 moves to place the target crop into the cargo hold 31.

[0049] It can be understood that the image transmission 22 includes: an image acquisition module and an image micro-processing module, which uses the image acquisition module to acquire an image of the target crop to obtain a target image, transmits the target image to the image micro-processing module, and uses the image micro-processing module after receiving the target image to parse the target image to obtain a positioning signal of the target crop, which is sent to the electronically controlled integrated module box 53, and uses the electronically controlled integrated module box 53 after receiving the positioning signal of the target crop to control the robotic gripper 21.

[0050] It should be noted that the target crop is the crop to be collected, for example, if the crop to be collected is lotus pods, the target crop is lotus pods. The analysis is: performing image processing, target detection, target motion prediction, and target tracking on the target image, so as to obtain a positioning signal of the target crop, wherein image processing, target detection, target motion prediction, and target tracking are all existing technologies and will not be described in detail here.

[0051] Furthermore, the storage mechanism 3 includes a guide rail 37 arranged on the catamaran floating mechanism 1, a hydraulic cylinder 36 is connected to the guide rail 37, and a cargo hold connecting rod 34 rotatably arranged on the hydraulic cylinder 36, a lifting arm 33 is rotatably arranged on the hydraulic rod 35, the lifting arm 33 is fixedly provided with a hydraulic rod 35, a cargo hold frame 32 is fixedly provided on the guide rail 37, and also includes a cargo hold 31 connected to the cargo hold frame 32, wherein the hydraulic rod 36 is driven to extend outward or retract inward under the action of liquid pressure, thereby realizing linear motion, the cargo hold connecting rod 34 connects the hydraulic cylinder 36 and the lifting arm 33, and the lifting arm 33 and the cargo hold frame 32 are welded together, and the linear motion of the hydraulic rod 36 drives the lifting arm 33 to move linearly. In the embodiment of the present invention, the storage mechanism 3 is placed in the middle of the catamaran floating mechanism 1, and the two sides are fixed to the No. 1 hull 11 and the No. 2 hull 12 by screws through the guide rails 37, and the hydraulic cylinder 36 is fixed on the guide rails 37. When in use, the hydraulic rod 36 is controlled by the hydraulic cylinder 36 to reciprocate along the axial direction of the hydraulic cylinder 36. The cargo hold connecting rod 34 connects the hydraulic cylinder 36 and the lifting arm 33, and the lifting arm 33 is welded to the cargo hold frame 32. Therefore, the reciprocating motion of the hydraulic rod 36 enables the lifting arm 33 to reciprocate along a straight line. The cargo hold 31 is directly mounted on the cargo hold frame 32, and the cargo hold frame 32 can rotate around the guide rail 3 according to the end of the guide rail 37 away from the picking mechanism 2, thereby realizing the function of dumping the cargo in the cargo hold 31.

[0052] Specifically, the wind drive mechanism 4 includes a steering gear bracket 45 provided on the flying wing 13, and a steering gear 43 built into the steering gear bracket 45, and the steering gear 43 is fixedly provided with four copper pillars 44 close to the side of the steering gear bracket 45 and a steering gear 42 away from the side of the steering gear bracket 45, and also includes a wind propeller 41 provided on the steering gear 42. In the embodiment of the present invention, the wind propeller 41 is fixedly connected with the steering gear 42, and is fixed to the flying wing 13 by screws through four copper pillars 44 and the steering gear bracket 45. The wind propeller 41 is tightly connected with the steering gear 42 to ensure the precise steering of the wind-driven catamaran. The steering gear 43 is built into the steering gear bracket 45, and the steering gear 43 drives the steering gear 42 to rotate, and the steering gear 42 drives the wind propeller 41 to rotate, thereby realizing the steering function.

[0053] Furthermore, the detection and electric control mechanism 5 includes an electric control integrated module box 53 fixedly mounted on the second hull 12, and a pressure sensor 54 mounted on the cargo hold 31, and also includes a detection radar 51 and a support 52 mounted on the second hull 12 away from the end of the flying wing 13, and an infrared sensor 55 is also mounted on the cargo hold 31. In the embodiment of the present invention, the detection radar 51 is supported by the support 52 and fixed to the end of the second hull 12 away from the flying wing 13 by screws.

[0054] It is understandable that in the embodiment of the present invention, the electric control integrated module box 53 includes: a central control module, a motor drive module, a GPS module, an image transmission microprocessor module and an information conversion module.

[0055] Specifically, the mechanical gripper 21 includes a steering gear B212 disposed on the mechanical arm 23, and a turntable 215 rotatably disposed on the steering gear B212, a rotating rod 214 rotatably disposed on the turntable 215, three gripper arms 213 rotatably disposed on the rotating rod 214, and a steering gear A211 disposed on the rotating rod 214, and further includes a steering gear A211 connected to the three gripper arms 213, wherein the steering gear A211 rotates to drive the rotating rod 214 to rotate, and drives the three gripper arms 213 to open and close according to the direction of rotation of the rotating rod 214. In the embodiment of the present invention, when the steering gear A211 rotates, it drives the rotating rod 214 to rotate, and the rotating rod 214 rotates so that the distance from the end of the rotating rod 214 away from the center increases or decreases, thereby driving the three gripper arms 213 to open and close. When the three gripper arms 213 grab and completely surround the target crop, the servo B212 rotates to drive the turntable 215 to rotate, so that the gripper arms 213 rotate. In the embodiment of the present invention, saw teeth are also provided at the front end of the gripper arms 213, so that the gripper arms 213 can apply torque to the stems of the target crop, cut off the stems with the saw teeth, and achieve the picking of the target crop.

[0056] Preferably, the mechanical arm 23 includes a rotating member 233 fixedly arranged on the wheel circle 25, and two steering gear discs 235 symmetrically arranged on the rotating member 233, and also includes a steering gear housing 234 arranged on the steering gear disc 235, a steering gear C231 is arranged inside the steering gear housing 234, and a steering gear D232 is also arranged on the steering gear housing 234, wherein the mechanical arm 23 includes eight identical units, and a wheel circle 25 is arranged between every two adjacent identical units. In the embodiment of the present invention, each of the eight identical units includes: a steering gear C231, a steering gear D232, two rotating members 233, two steering gear housings 234 and two steering gear discs 235. The two steering gear housings 234 are connected end to end and fixed by screws, and the steering gear C231 and the steering gear D232 are fixed by screws and two steering gear housings 234. When the servo C231 and the servo D232 rotate, the servo disc 235 is driven to rotate, and since the servo disc 235 and the rotating member 233 are fixed by screws, the rotation of the servo disc 235 enables the rotating member 233 to turn. It can be understood that each of the eight identical units is linked by its own rotating member 233, so that the mechanical arm 23 has multiple degrees of freedom and can reach any position in space.

[0057] Furthermore, the screw lifting mechanism 24 includes a top plate 248 fixedly mounted on the wheel circle 25 away from the robotic arm 23, three screw rods 245 are fixedly mounted on the top plate 248, each of the three screw rods 245 is provided with a nut 246, an end of the nut 246 away from the screw rod 245 is provided with a gear 244, and a gear B243 cooperated with the gear 244, the gear B243 is cooperated with a gear A242, the gear A242 is provided with a chassis 247, and also includes a stepper motor 241 arranged on a side of the chassis 247 away from the gear A242, wherein each of the three screw rods 245 is provided with a gear 244, the three gears 244 are all cooperated and connected with the gear B243, and the three gears 244, the gear B243 and the gear A242 are all arranged on the same side of the chassis 247 away from the stepper motor 241. In the embodiment of the present invention, the stepper motor 241 rotates to drive the gear A242 to rotate, the gear A242 meshes with the gear B243, the gear B243 meshes with the three gears 244, and the three nuts 246 are respectively welded to the gears 244. Finally, the three screw rods 245 rotate with the rotation of the stepper motor 241, so that the top plate 248 rises or falls.

[0058] It should be noted that in the embodiment of the present invention, the detection and electrical control mechanism 5, the wind drive mechanism 4, the storage mechanism 3, the steering gear 43 and the motor are all connected with relays, each relay is respectively connected to the motor drive module on the hull, the motor drive module is connected to the steering gear 43 of the steering gear 42, and the central control module is wirelessly connected to the user end.

[0059] During use, taking the picking of lotus pods as an example, the image transmission 22 starts working. After the image transmission 22 identifies the lotus pods to be picked, the mechanical claw 21 moves to the top of the lotus pods. When the mechanical claw 21 is closed, it can clamp the lotus pod stems. At this time, the steering gear A211 drives the mechanical claw 21 to rotate to achieve the cutting of the lotus pod stems. After the cutting is completed, the lotus pods are transported to the top of the storage mechanism 3 by the mechanical claw 21 under the movement of the mechanical arm. Further, the mechanical claw 21 opens and the lotus pods fall into the cargo compartment 31 of the storage mechanism 3. The detection and electronic control mechanism 5 starts working in real time, and the pressure sensor 54 and the infrared sensor 55 will measure the mass and volume of the lotus pods in the cargo compartment 31. When the mass of the lotus pods reaches the maximum loading mass, the pressure sensor 54 generates full load information and sends it to the electronic control integrated module box 53, or when the volume of the lotus pods reaches the maximum loading volume, the infrared sensor 55 returns the full load information to the electronic control integrated module box 53. When the electronic control integrated module box 53 receives the full load information, it controls the mechanical claw 21 to close. After the mechanical claw 21 is closed, the wind drive mechanism 4 starts to work, and the two steering gears 42 respectively twist the two wind propellers 41 to complete the turning action and drive the wind-driven catamaran to return.

[0060] Furthermore, the detection and electric control mechanism 5 guides the crop picking boat on the water to accurately travel and dock at the predetermined position. After arriving at the predetermined position, the central control module sends arrival information to the user end. After the user end manipulates the catamaran to accurately dock at the loading and unloading position, the storage mechanism enters the unloading process and the cargo hold is tilted for unloading.

[0061] Example 2

[0062] As a second embodiment of the present invention, this embodiment is used to realize the control function of an electronically controlled integrated module box 53 in a mechatronic catamaran suitable for water crop picking. Through dual detection by laser and vision, the waterway and surrounding environment information is obtained in real time to guide the wind-driven catamaran to travel normally, including: using the detection radar 51 to scan the surrounding environment to obtain a contour map of the surrounding environment and point cloud information of the target crop position, using the pre-constructed information acquisition and conversion module in the electronically controlled integrated module box 53 to receive and process the contour map of the surrounding environment and the point cloud information of the target crop position, and obtain a three-dimensional point cloud map including the waterway status, wherein the electronically controlled integrated module box 53 includes: a central control module, a motor drive module, a GPS module, a picture transmission microprocessor module and an information conversion module.

[0063] It is understandable that in the embodiment of the present invention, after receiving the operation instruction initiated by the user end, the central control module is started, so that the wind propeller 41 and the steering gear 42 are started, and the waterway and surrounding environment information are monitored, the surrounding environment is scanned, and the contour map of the surrounding environment and the point cloud information of the target crop position are obtained. The information acquisition conversion module pre-built in the electronic control integrated module box 53 receives and processes the contour map of the surrounding environment and the point cloud information of the target crop position, and obtains a three-dimensional point cloud map including the waterway status. The user makes adjustments and corrections according to the three-dimensional point cloud map. After arriving at the operating position, the wind propeller 41, the steering gear 42, the image transmission 22 cooperate with the detection radar 51 to accurately park in the operating position, and fine-tune the posture of the wind-driven catamaran to facilitate the operation of the picking mechanism 2. At this time, the wind propeller 41 enters the low power consumption mode, the GPS module and the detection radar sleep to save energy, the mechanical arm starts, and the picking operation begins. The image transmission 22 sends the collected positioning signal of the target crop to the mechanical arm 23, and the mechanical arm 23 picks the target crop and puts it into the storage mechanism 3. When the storage mechanism sends the full load information to the central processor, the electronic control integrated module transmits the full load information back to the user end and sends a stop command to the picking mechanism 2, and the robotic arm 23 returns to its position. At the same time, the storage mechanism 3 and the picking mechanism 2 go into sleep mode to save energy, the GPS module and the detection radar 51 are activated, and the wind-driven catamaran returns.

[0064] Furthermore, the wind-driven catamaran stops after reaching the return position. The central control module sends arrival information to the user end, and the user end manipulates the catamaran to accurately dock at the loading and unloading position. The storage mechanism 3 is activated and enters the unloading process, and the cargo hold is tilted for unloading.

[0065] Specifically, after unloading is completed, the storage mechanism 3 returns to its original position, the user terminal sends a shutdown command, and the central control module cuts off the power to all mechanisms.

[0066] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0067] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A mechatronic catamaran suitable for harvesting crops on water, based on a wind-driven catamaran and a harvesting mechanical arm, characterized by: comprising: A catamaran floating mechanism (1), and a picking mechanism (2), a storage mechanism (3), a wind-driven mechanism (4), and a detection and electric control mechanism (5) fixedly arranged on the catamaran floating mechanism (1).

2. The mechatronic catamaran suitable for harvesting crops on water as claimed in claim 1, characterized in that: The catamaran floating mechanism (1) comprises a first hull (11) and a second hull (12), and a flying wing (13), a connecting rod (14) and a connecting bridge (15) which are simultaneously connected to the first hull (11) and the second hull (12); Wherein, the first hull (11) and the second hull (12) are parallel and coplanar.

3. The mechatronic catamaran suitable for harvesting crops on water as claimed in claim 2, characterized in that: The picking mechanism (2) includes a screw lifting mechanism (24) arranged on the connecting bridge (15), and a wheel circle (25) arranged on the screw lifting mechanism (24), a mechanical arm (23) is arranged on the wheel circle (25), a mechanical arm (23) is arranged on the mechanical arm (23), and also includes an image transmission (22) arranged on the mechanical claw (21).

4. The mechatronic catamaran suitable for harvesting crops on water as claimed in claim 3, characterized in that: The storage mechanism (3) comprises a guide rail (37) arranged on the catamaran floating mechanism (1), a hydraulic cylinder (36) is connected to the guide rail (37), and a cargo hold connecting rod (34) rotatably arranged on the hydraulic cylinder (36), a lifting arm (33) is rotatably arranged on the hydraulic rod (35), a hydraulic rod (35) is fixedly arranged on the lifting arm (33), a cargo hold frame (32) is fixedly arranged on the guide rail (37), and also comprises a cargo hold (31) connected to the cargo hold frame (32); Wherein, under the action of liquid pressure, the hydraulic rod (36) is driven to extend outward or retract inward, thereby realizing linear motion, the cargo hold connecting rod (34) connects the hydraulic cylinder (36) and the lifting arm (33), and the lifting arm (33) and the cargo hold frame (32) are welded together, and the linear motion of the hydraulic rod (36) drives the lifting arm (33) to move linearly.

5. The mechatronic catamaran suitable for harvesting crops on water as claimed in claim 4, characterized in that: The wind-driven mechanism (4) comprises a steering gear bracket (45) arranged on the flying wing (13), and a steering gear (43) built into the steering gear bracket (45); the steering gear (43) is fixed with four copper pillars (44) on one side close to the steering gear bracket (45) and a steering gear (42) on a side away from the steering gear bracket (45); and further comprises a wind propeller (41) arranged on the steering gear (42).

6. The mechatronic catamaran suitable for harvesting crops on water as claimed in claim 5, characterized in that: The detection and electric control mechanism (5) includes an electric control integrated module box (53) fixedly mounted on the second hull (12), and a pressure sensor (54) mounted on the cargo hold (31). It also includes a detection radar (51) and a support (52) mounted on the second hull (12) away from the end of the flying wing (13). An infrared sensor (55) is also mounted on the cargo hold (31).

7. The mechatronic catamaran suitable for harvesting crops on water as claimed in claim 6, characterized in that: The mechanical gripper (21) comprises a steering gear B (212) arranged on the mechanical arm (23), and a turntable (215) rotatably arranged on the steering gear B (212), a rotating rod (214) rotatably arranged on the turntable (215), three gripper arms (213) rotatably arranged on the rotating rod (214), and a steering gear A (211) is arranged on the rotating rod (214), and further comprises a steering gear A (211) connected to the three gripper arms (213); The steering gear A (211) rotates to drive the rotating rod (214) to rotate, and according to the rotation direction of the rotating rod (214), the three gripper arms (213) are driven to open and close.

8. The mechatronic catamaran suitable for harvesting crops on water as claimed in claim 7, characterized in that: The mechanical arm (23) comprises a rotating member (233) fixedly arranged on the wheel circle (25), and two steering gear discs (235) symmetrically arranged on the rotating member (233), and also comprises a steering gear housing (234) arranged on the steering gear disc (235), a steering gear C (231) being arranged inside the steering gear housing (234), and a steering gear D (232) being also arranged on the steering gear housing (234); The mechanical arm (23) includes eight identical units, and the wheel circle (25) is provided between every two adjacent identical units.

9. The mechatronic catamaran suitable for harvesting crops on water as claimed in claim 8, characterized in that: The screw lifting mechanism (24) comprises a top plate (248) fixedly arranged on the wheel circle (25) away from the mechanical arm (23), three screw rods (245) are fixedly arranged on the top plate (248), each of the three screw rods (245) is provided with a nut (246), a gear (244) is provided at one end of the nut (246) away from the screw rod (245), and a gear B (243) matched with the gear (244), a gear A (242) is matched with the gear B (243), a bottom plate (247) is provided on the gear A (242), and a stepping motor (241) is provided on a side of the bottom plate (247) away from the gear A (242); Each of the three screw rods (245) is provided with a gear (244), the three gears (244) are all connected to the gear B (243), and the three gears (244), the gear B (243) and the gear A (242) are all arranged on the same surface of the chassis (247) away from the stepping motor (241).

10. The mechatronic catamaran suitable for harvesting crops on water as claimed in claim 9, characterized in that: The detection radar (51) is used to scan the surrounding environment to obtain a contour map of the surrounding environment and point cloud information of the target crop position, and a pre-constructed information acquisition and conversion module in the electric control integrated module box (53) is used to receive and process the contour map of the surrounding environment and the point cloud information of the target crop position to obtain a three-dimensional point cloud map including the waterway status, wherein the electric control integrated module box (53) comprises: a central control module, a motor drive module, a GPS module, an image transmission microprocessor module and an information conversion module.

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