Stemple crop vine management robot

Abstract

The utility model discloses a creeping crop vine management robot, which comprises a multi-legged robot and a control end, the control end is used for controlling the multi-legged robot to advance, the multi-legged robot is provided with at least four mechanical legs, an outer attached shell is fixedly mounted on the outer side of a shank of at least one mechanical leg, and the outer attached shell is fixedly connected with the multi-legged robot. A management assembly is mounted on any side surface of the peripheral side of the external attached shell; the management assembly comprises an execution unit and a driving unit, the execution unit is installed at the output tail end of the driving unit, the driving unit is used for driving the execution unit to reciprocate in the shank extending direction of the mechanical leg, and the execution unit is used for pruning or tidying vines, branches, bud flowers and fruits of the creeping crops; a main camera is installed on the back of the multi-legged robot and used for recognizing the advancing path. Auxiliary cameras are arranged at the ends, close to the feet, of the peripheral sides of the shanks of the mechanical legs and face the outer side of the multi-foot robot. The auxiliary cameras are used for recognizing the specific positions of vines, branches, bud flowers and fruits.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural robot technical field, concretely relates to a kind of creeping plant management robot. BACKGROUND

[0002] In traditional creeping plant management, such as watermelon, pumpkin and other crop planting, artificial is needed to arrange vine (arrange vine), or branch fork, bud flower and fruit screening pruning at different stages of crop growth, to ensure the standardization of crop growth, which needs to consume a lot of manpower, and also easily causes damage to the vine or branch fork, bud flower and fruit that need to be retained of crop.

[0003] In addition, although some robot technology is applied in agricultural field, the leg of management robot is mostly designed with single function (such as only having walking function), and other additional functions are mostly realized by mechanical arm attached to the back of robot, so that function modules are relatively dispersed, leading to large structure and volume of management robot, which is difficult to adapt to creeping plant management.

[0004] Therefore, it is necessary to provide a kind of creeping plant management robot to solve the problems mentioned in the background. CONTENT OF UTILITY MODEL

[0005] To achieve the above purpose, the utility model provides the following technical scheme: a kind of creeping plant management robot, comprising: multi-legged robot and control end, the control end is used to control the multi-legged robot to carry out advancing operation, the multi-legged robot is configured with at least four mechanical legs, at least one shank outer side of the mechanical leg is fixedly installed with outer attached shell, any side of the outer attached shell is installed with management component;

[0006] The management component includes execution unit and drive unit, the execution unit is installed at the output end of the drive unit, the drive unit is used to drive the execution unit to reciprocate along the shank extension direction of the mechanical leg, and the execution unit is used to prune or arrange the vine, branch fork, bud flower and fruit of creeping plant;

[0007] The back of the multi-legged robot is installed with main camera, for identifying advancing path;

[0008] One end of the shank side of the mechanical leg close to foot is provided with auxiliary camera towards the outside of the multi-legged robot, and the auxiliary camera is used to identify the specific position of vine, branch fork, bud flower and fruit.

[0009] Preferably, the outer attached shell includes: lower shell and upper shell clamped on the outer side of the shank of the mechanical leg, the lower shell and upper shell are provided with buffer layer in the inner side, and the lower shell and upper shell are fixedly connected.

[0010] Preferably, the lower shell and the upper shell are both U-shaped plate structures in cross section.

[0011] Preferably, the driving unit is a linear driving structure.

[0012] Preferably, the linear driving structure comprises:

[0013] A slide rail is fixedly installed on the outer circumferential side of the lower shell or the upper shell, a sliding block is arranged on the slide rail, an electric telescopic rod is arranged between the sliding block and the top end of the slide rail, the sliding block is driven to reciprocate along the slide rail by the electric telescopic rod, and the execution unit is installed on the end of the sliding block away from the electric telescopic rod.

[0014] Preferably, the execution unit comprises: a U-shaped block fixedly arranged at the end of the sliding block away from the electric telescopic rod, a guide portion arranged on the opposite side of the open end of the U-shaped block, and an installation cavity arranged on the opposite side of the inner side of the open end of the U-shaped block.

[0015] An electromagnetic unit is fixedly installed on the inner side of each installation cavity, a sliding seat is arranged on the outer side of the electromagnetic unit in each installation cavity, and flexible clamping blocks are symmetrically arranged on the opposite sides of the two groups of sliding seats along the extension direction of the sliding seats.

[0016] A cutting blade is arranged between the two clamping blocks on each side and is fixedly arranged on the sliding seat, and the height of the cutting blade is lower than the height of the clamping block.

[0017] The electromagnetic unit provides electromagnetic forces of different sizes to control the clamping blocks and the cutting blades to clamp or cut the vines, branch forks, buds and fruits of the creeping crops, respectively.

[0018] Preferably, the power supply of the electromagnetic unit is provided with at least two gradient power supply voltages corresponding to the cutting and clamping operations of the execution unit, respectively.

[0019] Preferably, the electromagnetic unit comprises a magnetically conductive shell and an electromagnetic coil, the magnetically conductive shell is provided with the electromagnetic coil, and the electromagnetic coil is connected with the power supply.

[0020] Preferably, the main camera is provided with two groups, which are respectively arranged on the front and rear sides of the back of the multi-legged robot.

[0021] Preferably, a pressure sensor is arranged between the clamping block and the sliding seat.

[0022] Compared with the prior art, the vine management robot for creeping crops has the following beneficial effects:

[0023] The utility model discloses a kind of ground-hugging crop vine management robots, including:Multi-legged robot 1 and control end, the control end is used to control the multi-legged robot 1 to carry out travel operation, the multi-legged robot 1 is equipped with at least four mechanical legs 2, at least one shank outside of the mechanical leg 2 is fixedly installed with outer attached shell 3, and management component 4 is installed on the side of the outer attached shell 3. BRIEF DESCRIPTION OF DRAWINGS

[0024] Fig. 1 It is a kind of ground-hugging crop vine management robot overall structure schematic view;

[0025] Fig. 2 It is a kind of ground-hugging crop vine management robot outer attached shell and management component structure schematic view;

[0026] Fig. 3 It is a kind of ground-hugging crop vine management robot management component cross section structure schematic view;

[0027] In the drawing:1, multi-legged robot;2, mechanical leg;3, outer attached shell;4, management component;5, main camera;6, auxiliary camera;7, slide rail;8, electric telescopic rod;9, sliding block;10, lower shell;11, upper shell;12, buffer layer;13, U-shaped block;14, guide portion;15, installation cavity;16, electromagnetic unit;17, slide;18, cutting blade;19, clamping block. DETAILED DESCRIPTION

[0028] Please refer to Figs. 1-3 The utility model provides a kind of ground-hugging crop vine management robot, including:

[0029] Multi-legged robot 1 and control end, the control end is used to control the multi-legged robot 1 to carry out travel operation, the multi-legged robot 1 is equipped with at least four mechanical legs 2, at least one shank outside of the mechanical leg 2 is fixedly installed with outer attached shell 3, and management component 4 is installed on the side of the outer attached shell 3;

[0030] The management component 4 includes execution unit and drive unit, the execution unit is installed at the output end of the drive unit, and the drive unit is used to drive the execution unit reciprocating movement along the shank extension direction of the mechanical leg 2, and the execution unit is used to prune or arrange the vine, branch, bud flower and fruit of ground-hugging crop;

[0031] The back of the multi-legged robot 1 is installed with main camera 5, for identifying the travel path of the multi-legged robot 1;

[0032] The small leg of the mechanical leg 2 is provided with an auxiliary camera 6 near the end of the foot, which is used to identify the specific position of the vine, branch, bud and fruit.

[0033] It should be explained that the main camera 5 and the auxiliary camera 6 are both full-view cameras, and the multi-legged robot 1 is provided with a power supply on the back for providing power for the multi-legged robot 1 to move or work, and the mechanical leg 2 is vertically supported with the large arm as the rotation axis, and the clockwise rotation range is not less than 90°.

[0034] In use, the multi-legged robot 1 is controlled to walk in the planting area, the image of the creeping plant vine in the planting area is captured and identified by the main camera 5, then the control terminal generates a walking route to control the multi-legged robot 1 to walk, when it approaches the target position (the position of the vine, branch, bud or fruit), at this time, the execution unit is less than 10 cm away from the target position, then the auxiliary camera 6 further determines the accurate position of the target position (with an error of less than 1 mm), and the mechanical leg 2, the execution unit and the driving unit are controlled by the control terminal to trim or arrange the vine, branch, bud and fruit of the creeping plant.

[0035] Further, the outer shell 3 includes a lower shell 10 and an upper shell 11 clamped on the outside of the small leg of the mechanical leg 2, the inside of the lower shell 10 and the upper shell 11 is provided with a buffer layer 12, and the lower shell 10 and the upper shell 11 are fixedly connected.

[0036] The connection mode of the lower shell 10 and the upper shell 11 at least includes bolt connection, or magnetic interface connection is arranged on the splicing surface of the two, which facilitates quick disassembly and assembly of the outer shell 3; the lower shell 10 and the upper shell 11 are clamped on the outside of the small leg of the mechanical leg 2, which facilitates assembly installation with the multi-legged robot 1 and improves the applicability of the device. By arranging the buffer layer 12 on the inside of the lower shell 10 and the upper shell 11, the mechanical leg 2 can be prevented from being pinched.

[0037] In this embodiment, the cross section of the lower shell 10 and the upper shell 11 is a U-shaped plate structure.

[0038] In another embodiment, the cross section of the lower shell 10 and the upper shell 11 is a V-shaped plate structure, or the cross section shape of the lower shell 10 and the upper shell 11 is designed to match the outer contour of the mechanical leg 2.

[0039] Further, the driving unit is a linear driving structure.

[0040] Specifically, the linear driving structure can drive the execution unit by using a screw-nut pair structure, a linear motor structure or a gear and rack structure.

[0041] In this embodiment, the linear drive structure comprises:

[0042] A slide rail 7 is fixedly installed on the outer circumferential side of the lower shell 10 or the upper shell 11, a sliding block 9 is slidingly arranged on the slide rail 7, an electric telescopic rod 8 is arranged between the sliding block 9 and the top end of the slide rail 7, the sliding block 9 is driven to reciprocatingly move along the slide rail 7 by the electric telescopic rod 8, and the execution unit is installed on the end of the sliding block 9 away from the electric telescopic rod 8.

[0043] It should be explained that the slide rail 7 is provided with a guide structure along the extension direction thereof, and the sliding block 9 is slidingly installed on the guide structure. The guide structure comprises a guide groove, a guide convex strip, etc.

[0044] Further, the execution unit comprises:

[0045] A U-shaped block 13 is fixedly arranged on the end of the sliding block 9 away from the electric telescopic rod 8, a guide portion 14 is formed on the opposite side of the open end of the U-shaped block 13, an installation cavity 15 is formed on the opposite side of the inner side of the opening of the U-shaped block 13, and the guide portion 14 is chamfered or rounded, so as to facilitate the U-shaped block 13 to guide the vines, branch forks, bud flowers and fruits of the creeping crops into the U-shaped block 13 for operation;

[0046] An electromagnetic unit 16 is fixedly installed on the inner side of each installation cavity 15, a sliding seat 17 is slidingly arranged in each installation cavity 15 and located on the outer side of the electromagnetic unit 16, and two groups of flexible clamping blocks 19 are symmetrically arranged on the opposite sides of the extension direction of the sliding seat 17;

[0047] A cutting blade 18 is arranged between each two clamping blocks 19 on the same side and is fixedly arranged on the sliding seat 17, and the height of the cutting blade 18 is lower than the height of the clamping block 19;

[0048] The electromagnetic unit 16 provides electromagnetic forces of different sizes to control the clamping blocks 19 and the cutting blades 18 to respectively clamp or cut the vines, branch forks, bud flowers and fruits of the creeping crops.

[0049] It can be understood that when the multi-legged robot 1 moves to the target position, the posture of the mechanical leg 2 is adjusted by the control end, so that the execution unit is aligned with the operation target, then the execution unit is controlled to extend by the driving unit, the target is guided into the U-shaped block 13, and the operation target is clamped or cut by energizing the electromagnetic unit 16, so as to complete the pruning or arrangement of the vines, branch forks, bud flowers and fruits of the creeping crops.

[0050] Further, the power supply of the electromagnetic unit 16 is provided with at least two gradient power supply voltages corresponding to the shearing and clamping operations of the execution unit respectively.

[0051] It needs to be explained that the output voltage of the power supply is adjusted by the transformer, and then the electromagnetic force generated by the electromagnetic unit 16 by changing the current input to the electromagnetic coil is controlled, so that different clamping forces can be generated between the two clamping blocks 19 to cope with the vine of the creeping plant and the pruning of the branch, bud and fruit. Specifically, when the clamping force of the clamping block 19 is less than the preset value, the cutting blade 18 is located in the clamping block 19, and only the clamping arrangement of the operation target is performed; when the clamping force of the clamping block 19 is greater than the preset value, the clamping block 19 is compressed and deformed, and the cutting blade 18 is exposed to the shearing operation target.

[0052] Further, the electromagnetic unit 16 comprises a magnetic conductive shell and an electromagnetic coil, the electromagnetic coil is arranged in the magnetic conductive shell, and the electromagnetic coil is connected with the power supply.

[0053] Further, the main camera 5 is provided with two groups, which are respectively located on the front and rear sides of the back of the multi-legged robot 1, so as to reduce the visual blind area of the multi-legged robot 1.

[0054] Further, the clamping block 19 and the sliding seat 17 are provided with a pressure sensor, which is convenient for controlling the clamping force between the two clamping blocks 19.

[0055] In specific implementation, the multi-legged robot 1 is controlled to walk in the planting area by the control terminal, the image of the creeping plant vine in the planting area is captured and recognized by the main camera 5, then the walking route is generated by the control terminal, and the multi-legged robot 1 is controlled to walk, when walking to the vicinity of the target position (the position of the vine, branch, bud or fruit), at this time, the execution unit is less than 10cm away from the target position, then the auxiliary camera 6 further determines the accurate position (error less than 1mm) of the target position, and the mechanical leg 2, the execution unit and the driving unit are controlled by the control terminal to prune or arrange the vine, branch, bud and fruit of the creeping plant.

[0056] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A ground-hugging plant vine management robot, comprising: The multi-legged robot (1) and a control end for controlling the multi-legged robot (1) to perform a traveling operation, the multi-legged robot (1) being provided with at least four mechanical legs (2), characterized in that at least one of the mechanical legs (2) is fixedly provided with an external shell (3) on the outside of the shank, and the external shell (3) is provided with a management assembly (4) on any side of the periphery. The management assembly (4) comprises an execution unit and a driving unit, the execution unit is installed at the output end of the driving unit, the driving unit is used to drive the execution unit to reciprocate along the extension direction of the shank of the mechanical leg (2), and the execution unit is used to trim or arrange the vines, branches, buds and fruits of the creeping crops. The back of the multi-legged robot (1) is provided with a main camera (5) for identifying the traveling path. The end of the shank of the mechanical leg (2) near the foot is provided with an auxiliary camera (6) on the outside of the multi-legged robot (1), and the auxiliary camera (6) is used to identify the specific position of the vines, branches, buds and fruits.

2. The ground-hugging plant vine management robot according to claim 1, wherein The external shell (3) comprises a lower shell (10) and an upper shell (11) clamped on the outside of the shank of the mechanical leg (2), a buffer layer (12) is arranged on the inner side of the lower shell (10) and the upper shell (11), and the lower shell (10) and the upper shell (11) are fixedly connected.

3. The ground-hugging plant vine management robot according to claim 2, wherein, The cross section of the lower shell (10) and the upper shell (11) is a U-shaped plate structure.

4. The ground-hugging plant vine management robot according to claim 2, wherein The driving unit is a linear driving structure.

5. The ground-hugging plant vine management robot according to claim 4, wherein The linear driving structure comprises: A slide rail (7) is fixedly installed on the outer periphery of the lower shell (10) or the upper shell (11), a sliding block (9) is slidably arranged on the slide rail (7), an electric telescopic rod (8) is arranged between the sliding block (9) and the top end of the slide rail (7), the sliding block (9) is driven to reciprocate along the slide rail (7) by the electric telescopic rod (8), and the execution unit is installed at the end of the sliding block (9) away from the electric telescopic rod (8).

6. The ground-hugging plant vine management robot according to claim 5, wherein The execution unit comprises: A U-shaped block (13) is fixedly arranged at the end of the sliding block (9) away from the electric telescopic rod (8), a guide portion (14) is formed on the opposite side of the opening end of the U-shaped block (13), and an installation cavity (15) is formed on the opposite side of the inner side of the opening of the U-shaped block (13); An electromagnetic unit (16) is fixedly installed on the inner side of each installation cavity (15), a sliding seat (17) is slidably arranged on the outer side of the electromagnetic unit (16) in each installation cavity (15), and flexible clamping blocks (19) are symmetrically arranged on both sides of the extension direction of the opposite sides of the two groups of sliding seats (17); A cutting blade (18) is arranged between each two clamping blocks (19) and is fixedly arranged on the sliding seat (17), and the height of the cutting edge of the cutting blade (18) is lower than the height of the clamping block (19). The electromagnetic unit (16) provides different sizes of electromagnetic force to control the clamping block (19) and the cutting blade (18) to clamp or cut the vines, branches, buds and fruits of the creeping crops respectively.

7. The ground-hugging plant vine management robot according to claim 6, wherein The power supply of the electromagnetic unit (16) is provided with at least two gradient power supply voltages corresponding to the cutting and clamping operations of the execution unit respectively.

8. The ground-hugging plant vine management robot according to claim 7, wherein, The electromagnetic unit (16) comprises a magnetic conductive shell and an electromagnetic coil, the electromagnetic coil is arranged in the magnetic conductive shell, and the electromagnetic coil is connected with the power supply.

9. The ground-hugging plant vine management robot according to claim 1, wherein, The main camera (5) is provided with two groups, which are respectively located on the front and rear sides of the back of the multi-legged robot (1).

10. The ground-hugging plant vine management robot according to claim 6, wherein, A pressure sensor is arranged between the clamping block (19) and the sliding seat (17).

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