Autonomous navigation precise operation vegetable management vehicle

Abstract

The invention discloses an autonomous navigation precise operation vegetable management vehicle, and belongs to the technical field of agricultural equipment.The autonomous navigation precise operation vegetable management vehicle comprises a frame, a walking assembly is arranged at the bottom of the frame, a cross beam is arranged in the center of the frame, a laser radar is installed above the cross beam, and a mechanical arm assembly is installed below the cross beam; a lithium battery and a storage battery are arranged on the left side of the frame, telescopic cylinder assemblies are arranged on the two sides of the frame in the direction parallel to the cross beam, a platform is arranged on the right side of the frame, a control assembly, a pesticide box assembly and a camera are arranged on the platform, and a solar photovoltaic panel is arranged on the rightmost side of the platform. According to the autonomous-navigation precise-operation vegetable management vehicle, full-automatic non-contact control of the management vehicle is achieved through the control assembly, the pesticide spraying amount, the pesticide spraying direction and the pesticide spraying pressure of the spray heads are precisely controlled, the quality of operations such as watering, fertilization and pesticide spraying is guaranteed, the labor intensity of operators is relieved, and the operators are prevented from making contact with pesticides for a long time.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and in particular to an autonomous navigation precision operation vegetable management vehicle. Background Art

[0002] During the agricultural production process, the following problems were found in current vegetable cultivation: (1) Watering the seedlings is done manually, and the water pressure cannot be accurately controlled, which can easily cause the seedlings to collapse or break; (2) Uneven fertilization and different depths of fertilizers during the growth period will cause inconsistent growth conditions of vegetables, affecting the yield and quality of vegetables; (3) During the pest and disease management process, uneven spraying can easily cause a large amount of pesticide residues and cause land pollution; (4) During the spraying process, farmers need to work for a long time in a relatively harsh environment, which is harmful to people's health. Summary of the Invention

[0003] The purpose of the present invention is to provide an autonomous navigation and precision operation vegetable management vehicle, which realizes fully automatic contactless control of the management vehicle through the control terminal of the 4G network controller in the control component, realizes the position movement of the management vehicle through the walking component, realizes the spraying operation of the management vehicle on vegetables through the nozzles provided on the management vehicle, realizes precise positioning and navigation of the position of the management vehicle through autonomous navigation devices such as laser radar, and realizes energy supply to the management vehicle through power supply devices such as lithium batteries to ensure long-term endurance.

[0004] To achieve the above-mentioned objectives, the present invention provides an autonomous navigation precision operation vegetable management vehicle, comprising a frame, a walking assembly provided at the bottom of the frame, a crossbeam provided at the center of the frame, a laser radar installed above the crossbeam, a robotic arm assembly installed below the crossbeam, a lithium battery and a storage battery provided on the left side of the frame, telescopic cylinder assemblies provided on both sides of the frame and parallel to the crossbeam, a platform provided on the right side of the frame, a control assembly, a medicine box assembly and a camera provided on the platform, and a solar photovoltaic panel provided on the far right of the platform.

[0005] Preferably, the walking assembly includes a driving wheel and a driven wheel, the driving wheel and the driven wheel are installed on the walking leg, the walking leg is fixedly connected to the bottom of the frame, the driving wheel is driven by a DC motor, and the DC motor is fixedly installed on the walking leg through a motor fixing plate, and the driven wheel is a universal wheel.

[0006] Preferably, the robotic arm assembly includes an electric push rod, a push rod platform is provided below the electric push rod, a vertical parallel robotic arm is installed below the push rod platform, and the vertical parallel robotic arm consists of an active arm and a driven arm.

[0007] Preferably, the active arm and the driven arm are hinged, the active arm is driven by a stepper motor, the driven arm is a parallelogram mechanism connected by four ball joints, the upper end of the driven arm is connected to the active arm through a spherical pair, a mobile platform is provided at the bottom end of the driven arm, and a vertical parallel robotic arm nozzle is provided below the mobile platform.

[0008] Preferably, the telescopic cylinder assembly includes a screw motor, an electric screw, a telescopic cylinder body, a telescopic rod and a telescopic cylinder nozzle. The screw motor provides power for the electric screw and drives the telescopic cylinder body to move. The telescopic cylinder bodies transmit power through the engagement of gears and racks. The telescopic rod is arranged below the telescopic cylinder body, and a telescopic cylinder nozzle is provided on the telescopic rod.

[0009] Preferably, the control component includes a 4G network controller, a single-chip microcomputer controller and a motor forward and reverse rotation controller.

[0010] Preferably, the medicine box assembly is arranged on one side of the platform, and the medicine box assembly includes a medicine box and a water pump located on the top of the medicine box.

[0011] Therefore, the present invention adopts the above-mentioned autonomous navigation precision operation vegetable management vehicle, realizes full-automatic contactless control of the management vehicle through the control terminal to the 4G network controller in the control component, realizes the position movement of the management vehicle through the walking component, and the nozzle set on the management vehicle realizes the spraying operation of the management vehicle on the vegetables. The electric push rod is used to adjust the height of the vertical parallel mechanical arm nozzle to adapt to different vegetable heights, which is convenient for management from seedling to maturity; autonomous navigation devices such as laser radar realize accurate positioning and navigation of the management vehicle position, and power supply devices such as lithium batteries realize energy supply to the management vehicle to ensure long-term endurance. The various components of the device work together to accurately control the spraying amount, spraying direction and pressure of the nozzle, ensure the quality of operations such as fertilization or spraying, reduce the labor intensity of operators, and avoid long-term exposure to pesticides.

[0012] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the overall structure of an embodiment of an autonomous navigation precision operation vegetable management vehicle of the present invention;

[0014] Figure 2 This is a schematic diagram of the walking components of an embodiment of an autonomous navigation precision operation vegetable management vehicle of the present invention;

[0015] Figure 3 This is a schematic diagram of the structure of a mechanical arm assembly of an embodiment of an autonomous navigation precision operation vegetable management vehicle of the present invention;

[0016] Figure 4 This is a schematic diagram of the structure of a telescopic cylinder assembly of an embodiment of an autonomous navigation precision operation vegetable management vehicle of the present invention;

[0017] Figure 5 This is a schematic diagram of the structure of the platform surface portion of an embodiment of an autonomous navigation precision operation vegetable management vehicle of the present invention;

[0018] Figure 6 This is an operational flow chart of an embodiment of an autonomous navigation precision operation vegetable management vehicle of the present invention;

[0019] Figure 7 This is a control principle diagram of an embodiment of an autonomous navigation precision operation vegetable management vehicle of the present invention;

[0020] Figure 8 This is a diagram of the operating interface of a control terminal of an embodiment of an autonomous navigation precision operation vegetable management vehicle of the present invention;

[0021] Figure 9 This is a diagram of the control operation interface of the robotic arm assembly of an embodiment of an autonomous navigation precision operation vegetable management vehicle of the present invention.

[0022] Reference numerals

[0023] 1. Frame; 2. Walking assembly; 21. Driving wheel; 22. Driven wheel; 23. Walking leg; 24. DC motor; 25. Motor fixing plate; 3. Crossbeam; 4. LiDAR; 5. Robotic arm assembly; 51. Electric push rod; 52. Push rod platform; 53. Active arm; 54. Driven arm; 55. Stepper motor; 56. Mobile platform; 57. Vertical parallel robot arm nozzle; 6. Lithium battery; 7. Storage battery; 8. Telescopic cylinder assembly; 81. Screw motor; 82. Telescopic cylinder body; 83. Gear; 84. Rack; 85. Telescopic cylinder nozzle; 86. Telescopic rod; 87. Electric screw; 9. Platform; 10. Control assembly; 101. 4G network controller; 102. Motor forward and reverse controller; 103. Single chip microcomputer controller; 11. Medicine box assembly; 111. Medicine box; 112. Water pump; 12. Camera; 13. Solar photovoltaic panel. DETAILED DESCRIPTION

[0024] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0025] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0026] Example 1

[0027] This embodiment provides an autonomous navigation precision operation vegetable management vehicle, the overall structure of which is as follows Figure 1 As shown, it includes a frame 1, a walking assembly 2 is provided at the bottom of the frame 1, a crossbeam 3 is provided in the center of the frame 1, a laser radar 4 is installed above the crossbeam 3, a mechanical arm assembly 5 is installed below the crossbeam 3, a lithium battery 6 and a storage battery 7 are provided on the left side of the frame 1, and telescopic cylinder assemblies 8 are provided on both sides of the frame 1 and parallel to the crossbeam 3. A platform 9 is provided on the right side of the frame 1, and a control assembly 10, a medicine box assembly 11 and a camera 12 are provided on the platform 9. A solar photovoltaic panel 13 is provided on the far right of the platform 9. During normal operation, the lithium battery 6 serves as the main power source, and the solar photovoltaic panel 13 and the storage battery 7 serve as auxiliary power sources to ensure the effective endurance of the management vehicle.

[0028] Camera 12 collects data from the vegetables on the ridges and uploads this information to the microcontroller controller 103. Using machine vision technology, it recognizes and processes the color of the green vegetables to obtain accurate target location information. Based on the collected vegetable location data, the optimal path for the management vehicle to travel along the ridges is determined by analyzing changes in the vegetable's position. This processed information is then uploaded to the 4G network controller 101, which then sends high and low voltage signals to the motor forward and reverse controller 102, driving the DC motor 24 to move, thereby enabling the management vehicle to move along the optimal path within the greenhouse. LiDAR 4 is used for positioning and mapping. The map created by LiDAR 4 is uploaded to the microcontroller controller 103 for processing. The processed information is then uploaded to the 4G network controller 101, which then sends high and low voltage signals to the motor forward and reverse controller 102, driving the DC motor 24 to enable the management vehicle to detect and avoid obstacles. By integrating LiDAR positioning technology with machine vision navigation technology and performing system-level optimization and debugging, the management vehicle can operate stably and efficiently in complex environments.

[0029] The specific structure of walking component 2 is as follows Figure 2 As shown, the driving wheel 21 and the driven wheel 22 are mounted on a walking leg 23, which is fixedly connected to the bottom of the frame 1. The driving wheel 21 is driven by a DC motor 24, which is mounted on the walking leg 23 via a motor fixing plate 25. The driven wheel 22 is a universal wheel. In this embodiment, the driving wheel 21 uses an inflatable shock-absorbing tire, and the driven wheel 22 uses a rubber universal wheel.

[0030] Robotic arm assembly 5 Figure 3 As shown, it includes an electric push rod 51, which can control the vertical parallel robotic arm and other components to rise or fall. A push rod platform 52 is provided below the electric push rod 51, and a vertical parallel robotic arm is installed below the push rod platform 52. The vertical parallel robotic arm consists of an active arm 53 and a passive arm 54. The active arm 53 and the passive arm 54 are hinged. The active arm 53 can drive the passive arm 54 to move. The active arm 53 is driven by a stepper motor 55. The passive arm 54 is a parallelogram mechanism connected by four ball joints. The upper end of the passive arm 54 is connected to the active arm 53 through a spherical pair. A moving platform 56 is provided at the bottom of the passive arm 54. A vertical parallel robotic arm nozzle 57 is provided below the moving platform 56. The vertical parallel robotic arm nozzle 57 cooperates with the telescopic cylinder nozzle 85 to water vegetables, spray pesticides or fertilize. The vertical parallel robotic arm nozzle 57 is flexible and can achieve precise positioning. It can operate on roots and other parts that cannot be directly covered by the telescopic cylinder nozzle 85.

[0031] Telescopic cylinder assembly 8 Figure 4As shown, the telescopic system includes a screw motor 81, a telescopic cylinder 82, a telescopic rod 86, a telescopic cylinder nozzle 85, and an electric screw 87. Power is transmitted between the telescopic cylinder 82 via the meshing of a gear 83 and a rack 84. A telescopic rod 86 is disposed below the telescopic cylinder 82, and a telescopic cylinder nozzle 85 is disposed below the telescopic rod 86. The screw motor 81 drives the electric screw 87 to rotate, converting the rotary motion of the gear 83 into reciprocating linear motion of the rack 84, thereby driving the telescopic cylinder 82 and the telescopic rod 86 to extend and retract horizontally. The telescopic cylinder nozzle 85 is used for watering, spraying pesticides, or applying fertilizers. The telescopic cylinder nozzle 85 and the vertical parallel robot arm nozzle 57 can work in tandem.

[0032] The control component 10 includes a 4G network controller 101, a single chip controller 103 and a motor forward and reverse controller 102. The medicine box component 11 is set on one side of the platform 9. The medicine box component 11 includes a medicine box 111 and a water pump 112 located on the top of the medicine box. Figure 5 shown.

[0033] The management vehicle has two DC motors 24, each equipped with a motor forward and reverse controller 102. The forward and reverse directions are selected according to the high and low levels (low level is forward, high level is reverse) to realize the forward and reverse movement of the management vehicle. The operation interface of the management vehicle is developed using C++ language, such as Figure 8 The control program of the robot arm assembly 5 is burned into the single chip controller 103, and the control operation interface of the robot arm assembly 5 is as shown. Figure 9 The specific operation process of the management vehicle is as follows. Figure 6 As shown, the control system schematic diagram is as follows Figure 7 shown.

[0034] In this embodiment, remote control is achieved through a control terminal. The operation interface of the control terminal is as follows Figure 8As shown. The control terminal controls the 4G network controller 101, and the 4G network controller 101 sends high and low level signals to the motor forward and reverse controller 102 to drive the forward and reverse rotation of the DC motor 24, the switch of the water pump 112, and the extension and retraction of the electric push rod 51. The 4G network controller 101 and the single-chip microcomputer controller 103 can realize information exchange. The 4G network controller 101 sends high and low level signals to the single-chip microcomputer controller 103 to drive the opening and closing of the robotic arm assembly 5. The camera 12 collects data on the vegetables on the ridges and uploads the collected information to the single-chip microcomputer controller 103. The single-chip microcomputer controller 103 uploads the processed information to the 4G network controller 101. The 4G network controller 101 then sends high and low levels to the motor forward and reverse controller 102 to drive the DC motor 24 to move, thereby realizing that the management vehicle moves along the optimal path in the greenhouse. The map constructed by the laser radar 4 is uploaded to the single-chip controller 103 for processing. The processed information is then uploaded to the 4G network controller 101. The 4G network controller 101 then sends high and low voltage signals to the motor forward and reverse controller 102, driving the DC motor 24 to enable the management vehicle to detect and avoid obstacles. The telescopic cylinder assembly 8 is controlled to extend and retract to adjust the coverage of the telescopic cylinder nozzle 85. The water pressure and output are controlled by the water pump 112. The vertical parallel robot arm nozzle 57 can be adjusted in height by controlling the vertical push rod 51 up and down to moisten, spray, or fertilize the trunks and roots of vegetables. The push rod 51 ensures that the vertical parallel robot arm nozzle 57 adapts to the height of the vegetables at different times. The vertical parallel robot arm nozzle 57's direction can be adjusted by controlling the coordinated movement of the three stepper motors 55. The telescopic cylinder assembly 8 and the medicine box assembly 11 work in coordination to precisely control the spraying amount, direction, and pressure of the telescopic cylinder nozzle 85, ensuring the quality of fertilization or spraying operations and preventing prolonged exposure to pesticides.

[0035] Therefore, the present invention adopts the above-mentioned autonomous navigation precision operation vegetable management vehicle, realizes fully automatic contactless control of the management vehicle through the 4G network controller, realizes the position movement of the management vehicle through the walking component, and the nozzles provided on the management vehicle realize the spraying operation of the management vehicle on the vegetables. The electric push rod is used to adjust the height of the vertical parallel mechanical arm nozzle to adapt to different vegetable heights, which is convenient for management from seedling to maturity. Autonomous navigation devices such as laser radar realize accurate positioning and navigation of the management vehicle position, and power supply devices such as lithium batteries realize energy supply to the management vehicle to ensure long-term endurance. The various components of the device work together to accurately control the spraying amount, spraying direction and pressure of the nozzle, ensure the quality of operations such as fertilization or spraying, reduce the labor intensity of operators, and avoid long-term exposure to pesticides.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An autonomous navigation precision vegetable management vehicle, characterized by: It includes a frame, a walking assembly is provided at the bottom of the frame, a crossbeam is provided at the center of the frame, a laser radar is installed above the crossbeam, a robotic arm assembly is installed below the crossbeam, a lithium battery and a storage battery are provided on the left side of the frame, telescopic cylinder assemblies are provided on both sides of the frame and parallel to the crossbeam, a platform is provided on the right side of the frame, a control assembly, a medicine box assembly and a camera are provided on the platform, and a solar photovoltaic panel is provided on the far right of the platform.

2. The autonomous navigation precision operation vegetable management vehicle according to claim 1, characterized in that: The walking assembly includes a driving wheel and a driven wheel, which are installed on a walking leg. The walking leg is fixedly connected to the bottom of the frame. The driving wheel is driven by a DC motor, and the DC motor is fixedly installed on the walking leg through a motor fixing plate. The driven wheel is a universal wheel.

3. The autonomous navigation precision operation vegetable management vehicle according to claim 1, characterized in that: The mechanical arm assembly includes an electric push rod, a push rod platform is provided below the electric push rod, and a vertical parallel mechanical arm is installed below the push rod platform. The vertical parallel mechanical arm consists of an active arm and a driven arm.

4. The autonomous navigation precision operation vegetable management vehicle according to claim 3, characterized in that: The active arm and the driven arm are hinged, the active arm is driven by a stepper motor, the driven arm is a parallelogram mechanism connected by four ball joints, the upper end of the driven arm is connected to the active arm through a spherical pair, the bottom end of the driven arm is provided with a mobile platform, and a vertical parallel robotic arm nozzle is provided below the mobile platform.

5. The autonomous navigation precision operation vegetable management vehicle according to claim 1 is characterized by: The telescopic cylinder assembly includes a screw motor, an electric screw, a telescopic cylinder body, a telescopic rod and a telescopic cylinder nozzle. The screw motor provides power to the electric screw and drives the telescopic cylinder body to move. The telescopic cylinder body transmits power through the engagement of gears and racks. The telescopic rod is arranged below the telescopic cylinder body, and the telescopic cylinder nozzle is provided on the telescopic rod.

6. The autonomous navigation precision operation vegetable management vehicle according to claim 1, characterized in that: The control component includes a 4G network controller, a single chip microcomputer controller and a motor forward and reverse control controller.

7. The autonomous navigation precision operation vegetable management vehicle according to claim 1, characterized in that: The medicine box assembly is arranged on one side of the platform, and the medicine box assembly includes a medicine box and a water pump located on the top of the medicine box.

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