Orchard pruning machine

Abstract

The utility model provides an orchard pruning machine. The orchard pruning machine comprises a robot body, and a moving system, electric scissors, a battery, a motor driving module, a single chip microcomputer, a visual sensor and an ultrasonic sensor which are arranged on the robot body, the moving system can enable the robot body to move through a motor, and the motor driving module can control rotation of the motor, steering of the moving system and operation of the electric scissors. The visual sensor can detect external visual information and transmit visual signals to the single chip microcomputer, and the single chip microcomputer can judge fruit trees and judge whether the fruit trees meet pruning conditions or not and transmit the signals to the motor driving module. The ultrasonic sensor can emit ultrasonic waves and transmit signals reflected by the ultrasonic waves to the single-chip microcomputer, and the single-chip microcomputer can judge whether the reflected ultrasonic signals reach a set value or not and transmit the signals to the motor driving module. The orchard trimmer can perform obstacle avoidance action through ultrasonic detection.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit tree pruning, in particular to a machine for pruning orchards. Background Art

[0002] Pruning fruit trees can adjust the relationship between growth and fruiting to increase fruit yield. In the process of fruit tree planting, pruning is a heavy workload and a daunting task. At present, pruning is still mainly done manually, with a low level of mechanization and high labor intensity. More efficient and labor-saving equipment is needed to save fruit farmers from heavy manual labor.

[0003] For this reason, there is a pruning robot as shown in CN102657037A, which further improves the heavy pruning situation by combining visual sensors, etc. However, the device lacks an obstacle avoidance mechanism, so that it requires more manual participation during the driving process. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model proposes an orchard pruning machine to solve the technical problem that the pruning robot mentioned in the above background technology lacks an obstacle avoidance mechanism.

[0005] In order to solve this technical problem, the technical solution adopted by the utility model is:

[0006] An orchard pruning machine comprises a robot body, and a moving system, electric scissors, a battery, a motor drive module, a single chip microcomputer, a visual sensor and an ultrasonic sensor arranged on the robot body;

[0007] The mobile system can move the robot body through the motor, and the motor drive module can control the rotation of the motor, the steering of the mobile system and the operation of the electric scissors;

[0008] The visual sensor can detect external visual information and transmit visual signals to the single-chip microcomputer, and the single-chip microcomputer can judge the fruit tree and whether the fruit tree meets the pruning conditions, and transmit the signal to the motor drive module;

[0009] The ultrasonic sensor can emit ultrasonic waves and transmit the signal reflected by the ultrasonic waves to the single chip microcomputer. The single chip microcomputer can determine whether the reflected ultrasonic signal reaches a set value and transmit the signal to the motor driving module.

[0010] Furthermore, the robot body is also provided with a tactile sensor and a force / torque sensor; the tactile sensor can transmit the contact signal between the robot body and the electric scissors and the outside world to the single-chip microcomputer, and the single-chip microcomputer sends a cutting signal by detecting the numerical values ​​transmitted by the tactile sensor, the force / torque sensor and the visual sensor.

[0011] Furthermore, a meteorological sensor is also provided on the robot body; the meteorological sensor can detect meteorological information and transmit it to the single-chip microcomputer, and the single-chip microcomputer adjusts the mobile system, the motor and the motor drive module according to the received signal.

[0012] Furthermore, a tilt sensor is provided on the robot body; the tilt sensor can detect angle information of the robot body and transmit it to the single-chip microcomputer, and the single-chip microcomputer adjusts the mobile system, the motor and the motor drive module according to the received signal.

[0013] Furthermore, the robot body is also provided with a light sensor and a lighting lamp; the light sensor can detect lighting information and transmit it to the single-chip microcomputer, and the single-chip microcomputer can adjust the opening status of the lighting lamp according to the received signal.

[0014] Furthermore, the robot body is also provided with a GPS module and a WIFI module, and is connected to the single-chip microcomputer via a USART module to achieve UART communication.

[0015] Compared with the prior art, the advancement of this application is:

[0016] By adding ultrasonic sensors, the robot body can avoid receiving signals and turning before encountering obstacles, avoiding collisions with the robot body and making its work more intelligent. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation of the utility model, the following will briefly introduce the drawings required for use in the specific implementation. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0018] Figure 1 A schematic diagram of an orchard pruner provided by an embodiment of the utility model;

[0019] Figure 2 for Figure 1 The functional block diagram of the orchard trimmer shown;

[0020] Figure 3 for Figure 1 Workflow diagram of the orchard pruner shown.

[0021] Reference numerals:

[0022] On the robot body 1, mobile system 2, electric scissors 3, sensor module 4. DETAILED DESCRIPTION

[0023] The following embodiments of the technical solution of the utility model are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and are therefore only used as examples, and cannot be used to limit the protection scope of the utility model.

[0024] Please also read Figure 1-Figure 3 , this embodiment provides an orchard pruning machine, including a robot body, and a mobile system 2, an electric scissors 3, a battery, a motor drive module, a single chip microcomputer, a visual sensor and an ultrasonic sensor arranged on the robot body 1;

[0025] The mobile system 2 can move the robot body through the motor, and the motor drive module can control the rotation of the motor, the steering of the mobile system 2 and the operation of the electric scissors 3; it should be understood that the mobile system 2 is a tire group composed of multiple mobile wheels.

[0026] The visual sensor can detect external visual information and transmit the visual signal to the single-chip microcomputer, which can judge the fruit tree and whether the fruit tree meets the pruning conditions and transmit the signal to the motor drive module;

[0027] The ultrasonic sensor can emit ultrasonic waves and transmit the reflected signal to the microcontroller. The microcontroller can determine whether the reflected ultrasonic signal reaches the set value and transmit the signal to the motor drive module. Specifically, the microcontroller collects the sensor through the ADC module and reads the sensor signal through the pin.

[0028] By adding ultrasonic sensors, the robot body can avoid receiving signals and turning before encountering obstacles, avoiding collisions with the robot body and making its work more intelligent.

[0029] In other schemes, the robot body 1 is also provided with a tactile sensor and a force / torque sensor; the tactile sensor can transmit the contact signal between the robot body and the electric scissors 3 and the outside world to the single-chip microcomputer, and the single-chip microcomputer sends a shearing signal by detecting the values ​​transmitted by the tactile sensor, the force / torque sensor and the visual sensor. The visual sensor, the tactile sensor and the force / torque sensor transmit the signal to the single-chip microcomputer to decide whether to shear and how to shear, so as to better perform the shearing operation. Specifically, after the values ​​sensed by the tactile sensor and the force / torque sensor reach the predetermined value, they are further transmitted to the next step and judged together with the values ​​transmitted by the visual sensor. After reaching the predetermined value, it is decided whether to shear and how to shear. For example, if the resistance required for shearing is small, the shearing force is reduced; if the resistance required for shearing is large, the shearing force is increased.

[0030] In other schemes, the robot body 1 is also provided with a meteorological sensor; the meteorological sensor can detect meteorological information and transmit it to the single-chip microcomputer, and the single-chip microcomputer adjusts the motor and the motor drive module of the mobile system 2 through the received signal. Specifically, after the value transmitted by the meteorological sensor reaches the set value, the single-chip microcomputer sends an adjustment signal for adjustment. Furthermore, the meteorological sensor includes a temperature and humidity sensor, an air pressure sensor, and a wind speed sensor.

[0031] In other solutions, the robot body 1 is also provided with a tilt sensor; the tilt sensor can detect the angle information of the robot body and transmit it to the single chip microcomputer, and the single chip microcomputer adjusts the motor and the motor drive module of the mobile system 2 according to the received signal. It should be known that through the detection of the tilt sensor, the robot body can be adjusted according to the slope to adapt to working on a slope.

[0032] In other schemes, the robot body 1 is also provided with a light sensor and a lighting lamp; the light sensor can detect the light information and transmit it to the single chip microcomputer, and the single chip microcomputer can adjust the opening of the lighting lamp according to the received signal. By setting the light sensor and the lighting lamp, the robot body can be illuminated by adjusting the opening of the lighting lamp when the light is insufficient, so as to facilitate the detection of the visual sensor and make it easier to work.

[0033] In other solutions, the robot body 1 is also provided with a GPS module and a WIFI module, and is connected to the single-chip microcomputer via a USART module to realize UART communication.

[0034] It should be understood that all sensors together constitute a sensor module 4 and are arranged on one side of the robot body.

[0035] The circuit of the orchard trimmer described above is specifically implemented as follows: the single-chip microcomputer collects the sensor through the ADC module. At the same time, the signal of the pressure sensor is read through the pin. The single-chip microcomputer controls the speed and direction of the motor and the operation of the tool device through the PWM signal. The communication system can realize UART communication by configuring the USART module and use the corresponding pins to connect external devices.

[0036] Connect the serial communication interface (TX / RX) of the GPS module to the corresponding serial interface (USART) pin of the STM32 microcontroller, and connect the power supply and ground wire. Connect the serial communication interface (TX / RX) of the ESP8266 WIFI module to the corresponding serial interface pin of the STM32 microcontroller, and connect the power supply and ground wire. Connect the control line of the lighting lamp to the pin of the STM32 so that the state of the lighting lamp can be controlled by the STM32. The visual sensor is connected and data is exchanged through the GPIO, SPI, I2C and other interfaces of the STM32 microcontroller. The microcontroller gives the relay switch signal. Calculate motion data, obtain sensing data, etc.

[0037] The workflow of the above-mentioned orchard pruner: the HT32 microcontroller is used as the main control chip, and the ultrasonic sensor is used to detect and measure the distance to help the robot avoid obstacles. It can also be used for positioning and obstacle avoidance. When the light intensity is less than our set value, it means that the light is too low. The microcontroller will control the lighting module to turn on and provide lighting. It is convenient for the machine to prune in dark places, especially at night. The tactile sensor is used to detect to help the robot detect contact with fruit trees or other objects to avoid damaging the fruit trees or itself. The tilt sensor can detect the tilt angle of the robot to ensure stable operation on unstable or inclined terrain. The force / torque sensor can detect the contact force and pruning force between the robot and the tree to ensure the accuracy and effect of pruning. Meteorological sensors (such as temperature, humidity, wind speed, precipitation sensors, etc.) can monitor the weather conditions of the surrounding environment so that the robot can adapt to different seasons and weather conditions.

[0038] The orchard trimmer described above can perform obstacle avoidance actions through ultrasonic detection.

[0039] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A machine for pruning orchards. It is characterized in that It includes a robot body, and a moving system, an electric scissors, a battery, a motor drive module, a single-chip microcomputer, a visual sensor and an ultrasonic sensor arranged on the robot body; The mobile system can move the robot body through the motor, and the motor drive module can control the rotation of the motor, the steering of the mobile system and the operation of the electric scissors; The visual sensor can detect external visual information and transmit visual signals to the single-chip microcomputer, and the single-chip microcomputer can judge the fruit tree and whether the fruit tree meets the pruning conditions, and transmit the signal to the motor drive module; The ultrasonic sensor can emit ultrasonic waves and transmit the signal reflected by the ultrasonic waves to the single chip microcomputer. The single chip microcomputer can determine whether the reflected ultrasonic signal reaches a set value and transmit the signal to the motor driving module.

2. A machine for orchard pruning according to claim 1, It is characterized in that The robot body is also provided with a tactile sensor and a force / torque sensor; the tactile sensor can transmit the contact signal between the robot body and the electric scissors and the outside world to the single-chip microcomputer, and the single-chip microcomputer sends a cutting signal by detecting the numerical values ​​transmitted by the tactile sensor, the force / torque sensor and the visual sensor.

3. An orchard pruning machine according to claim 1, It is characterized in that The robot body is also provided with a meteorological sensor; the meteorological sensor can detect meteorological information and transmit it to the single-chip microcomputer, and the single-chip microcomputer adjusts the mobile system, the motor and the motor drive module according to the received signal.

4. An orchard pruning machine according to claim 1, It is characterized in that The robot body is also provided with a tilt sensor; the tilt sensor can detect the angle information of the robot body and transmit it to the single chip microcomputer, and the single chip microcomputer adjusts the moving system, the motor and the motor driving module according to the received signal.

5. An orchard pruning machine according to claim 1, It is characterized in that The robot body is also provided with a light sensor and a lighting lamp; the light sensor can detect lighting information and transmit it to the single chip microcomputer, and the single chip microcomputer can adjust the opening condition of the lighting lamp according to the received signal.

6. An orchard pruning machine according to claim 1, It is characterized in that The robot body is also provided with a GPS module and a WIFI module, which are connected to the single-chip microcomputer via a USART module to realize UART communication.

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