本發明(ming)涉及農業(ye)機器人(ren)領域，特別涉及一種低成(cheng)本除草機器人(ren)。

背景技術：

農(nong)田雜草(cao)直(zhi)接(jie)與莊稼爭奪營養、水分和陽光，影(ying)響作(zuo)物生長(chang)(chang)，減(jian)少作(zuo)物產量。人工除草(cao)勞(lao)動度(du)大(da)，效率低費(fei)時(shi)費(fei)力，且工人工資開銷較(jiao)大(da)，使用(yong)除草(cao)劑，可有(you)效抑制雜草(cao)，但污(wu)染環境(jing)。開發高效地(di)去除雜草(cao)、降(jiang)低以消除生態污(wu)染的(de)自(zi)動化除草(cao)機(ji)器人十(shi)分必要，從長(chang)(chang)遠來看，將(jiang)具(ju)有(you)很高的(de)經濟效益。

技術實現要素：

本發明要解決的技術問題是提供一種(zhong)低成本除草機器(qi)人。

為(wei)了解決(jue)上(shang)述(shu)(shu)(shu)技(ji)術問題，本發明的技(ji)術方(fang)案為(wei):一種低成(cheng)本除草機(ji)(ji)器人，包括機(ji)(ji)器人本體和機(ji)(ji)械臂(bei)，所(suo)述(shu)(shu)(shu)機(ji)(ji)器人本體連(lian)接(jie)有一個固(gu)定(ding)(ding)底(di)板(ban)，在(zai)(zai)固(gu)定(ding)(ding)底(di)板(ban)下面連(lian)接(jie)有四個輪子(zi)，在(zai)(zai)固(gu)定(ding)(ding)底(di)板(ban)上(shang)面連(lian)接(jie)有一個導航用(yong)的gps模塊，在(zai)(zai)固(gu)定(ding)(ding)底(di)板(ban)的前(qian)部連(lian)接(jie)有一個機(ji)(ji)械臂(bei)固(gu)定(ding)(ding)底(di)板(ban)，在(zai)(zai)所(suo)述(shu)(shu)(shu)機(ji)(ji)械臂(bei)固(gu)定(ding)(ding)底(di)板(ban)的上(shang)面連(lian)接(jie)有上(shang)臂(bei)，在(zai)(zai)所(suo)述(shu)(shu)(shu)上(shang)臂(bei)上(shang)面連(lian)接(jie)有前(qian)臂(bei)，在(zai)(zai)所(suo)述(shu)(shu)(shu)前(qian)臂(bei)的前(qian)端(duan)(duan)連(lian)接(jie)有機(ji)(ji)械手和雜草識別攝像頭，在(zai)(zai)機(ji)(ji)械手的下端(duan)(duan)連(lian)接(jie)有末端(duan)(duan)執行器；

所(suo)(suo)述(shu)主控電(dian)(dian)(dian)路(lu)電(dian)(dian)(dian)連接(jie)有(you)(you)按鍵模(mo)塊(kuai)、顯(xian)示模(mo)塊(kuai)、通信(xin)模(mo)塊(kuai)、分頻器和(he)光(guang)耦，所(suo)(suo)述(shu)分頻器電(dian)(dian)(dian)連接(jie)有(you)(you)驅動器，所(suo)(suo)述(shu)驅動器電(dian)(dian)(dian)連接(jie)有(you)(you)步進(jin)電(dian)(dian)(dian)機(ji)，所(suo)(suo)述(shu)步進(jin)電(dian)(dian)(dian)機(ji)連接(jie)有(you)(you)負載，所(suo)(suo)述(shu)光(guang)耦電(dian)(dian)(dian)連接(jie)有(you)(you)繼(ji)電(dian)(dian)(dian)器，所(suo)(suo)述(shu)繼(ji)電(dian)(dian)(dian)器電(dian)(dian)(dian)連接(jie)有(you)(you)電(dian)(dian)(dian)磁閥。

進一步的(de)(de)，所述主控電路以(yi)單片機(ji)(ji)為核心控制機(ji)(ji)械(xie)臂(bei)(bei)的(de)(de)運(yun)動以(yi)及除草(cao)劑的(de)(de)供給。．根據權利要求所述的(de)(de)一種新(xin)型除草(cao)機(ji)(ji)器人，其特征(zheng)在于(yu)：所述機(ji)(ji)械(xie)臂(bei)(bei)包括機(ji)(ji)械(xie)臂(bei)(bei)固定(ding)底板、上臂(bei)(bei)、前臂(bei)(bei)、機(ji)(ji)械(xie)手、末端執行器和(he)雜草(cao)識別攝像頭，所述機(ji)(ji)械(xie)臂(bei)(bei)和(he)上臂(bei)(bei)、所述上臂(bei)(bei)和(he)前臂(bei)(bei)、所述前臂(bei)(bei)和(he)機(ji)(ji)械(xie)手都采(cai)用采(cai)用步進電機(ji)(ji)連接，所述機(ji)(ji)械(xie)臂(bei)(bei)的(de)(de)材質為鋁(lv)合金。

進一(yi)步的(de)，所(suo)述末端執行器為圓盤狀，外圍有一(yi)圈鋸齒(chi)的(de)刀片。

進一步的(de)(de)，所述雜草識別攝像(xiang)頭圖像(xiang)分辨率為320×240的(de)(de)sccb總線(xian)的(de)(de)ccd攝像(xiang)頭。

進一步的，所述(shu)機器(qi)人(ren)本體采用(yong)可(ke)充電(dian)的鋰電(dian)池供電(dian)。

進(jin)一步的，所(suo)述(shu)主控電路采用stm32vet6單片機獲(huo)得雜(za)草(cao)識(shi)別(bie)攝像頭的數據以進(jin)行雜(za)草(cao)識(shi)別(bie)、定位以及控制(zhi)機械臂來除草(cao)。

采用上述技術方案(an)，可以達到以下有益效(xiao)果：

(1)采用機器人(ren)除(chu)草(cao)可以減少人(ren)工成本的投入達到了(le)減少工人(ren)工資開銷(xiao)的目的

(2)本機器人是采(cai)用(yong)電能驅動(dong)不(bu)會產生廢棄(qi)氣(qi)體污染空氣(qi)

(3)本機器人采用攝像頭(tou)識(shi)別雜(za)草(cao)，并且(qie)用計算機來(lai)處理雜(za)草(cao)的圖像，可編程(cheng)的處理方式(shi)可以(yi)隨時更新的雜(za)草(cao)識(shi)別的精度。

(4)本機(ji)器人的(de)除草(cao)刀片呈(cheng)圓(yuan)盤(pan)狀，刀片周圍(wei)有一圈鋸齒，當刀片轉動時(shi)，鋸齒切割雜(za)(za)草(cao)可以(yi)很好(hao)的(de)切斷雜(za)(za)草(cao)的(de)莖稈。

附圖說明

圖(tu)1為(wei)本發明整體結構(gou)示意圖(tu)；

圖2為本發明機器人手臂圖；

圖3為(wei)本(ben)發明控制電路連接(jie)圖；

圖(tu)4為(wei)本發明的按(an)鍵電路圖(tu)；

圖5為本發明(ming)的顯示(shi)模塊(kuai)電(dian)路圖；

圖6為本發明的通信模塊電路圖；

圖(tu)7為本發(fa)明的分頻器電路圖(tu)；

圖8為本發明的光耦電路(lu)圖；

圖9為本發明(ming)的主(zhu)控電路圖；

圖10為(wei)本發明(ming)的(de)gps電路圖。

圖中，1-機(ji)器人(ren)本體，2-固(gu)(gu)定(ding)底板，3-gps模(mo)塊(kuai)(kuai)，4-前臂(bei)(bei)，5-雜草(cao)識別(bie)攝(she)像頭(tou)，6-機(ji)械手，7-末端執行(xing)器，8-機(ji)械臂(bei)(bei)，9-機(ji)械臂(bei)(bei)固(gu)(gu)定(ding)底板，10-輪子，11-上臂(bei)(bei)，12-步進電(dian)(dian)機(ji)，13-按鍵模(mo)塊(kuai)(kuai)，14-顯示模(mo)塊(kuai)(kuai)，15-通(tong)信模(mo)塊(kuai)(kuai)，16-主控電(dian)(dian)路，17-分頻(pin)器，18-驅動器，19-負載，20-光耦，21-繼電(dian)(dian)器，22-電(dian)(dian)磁(ci)閥(fa)。

具體實施方式

下面(mian)結合附圖對本發(fa)明(ming)的具體實(shi)施(shi)方式作進一(yi)步(bu)說(shuo)明(ming)。在此(ci)(ci)需要(yao)說(shuo)明(ming)的是(shi)，對于(yu)(yu)這些實(shi)施(shi)方式的說(shuo)明(ming)用(yong)于(yu)(yu)幫助理解本發(fa)明(ming)，但并不構(gou)成(cheng)對本發(fa)明(ming)的限定。此(ci)(ci)外(wai)，下面(mian)所(suo)描述的本發(fa)明(ming)各(ge)個實(shi)施(shi)方式中所(suo)涉及的技(ji)術特征(zheng)只要(yao)彼此(ci)(ci)之間未(wei)構(gou)成(cheng)沖(chong)突就(jiu)可以相互(hu)組合。

請參閱圖(tu)1、圖(tu)2、圖(tu)3、圖(tu)4、圖(tu)5、圖(tu)6、圖(tu)7、圖(tu)8、圖(tu)9和(he)圖(tu)10，本(ben)(ben)發(fa)(fa)(fa)明提供一(yi)種技術方案：一(yi)種低(di)成本(ben)(ben)除(chu)草(cao)(cao)機(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)，包括機(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)本(ben)(ben)體(ti)1和(he)機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)臂(bei)(bei)8，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)機(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)本(ben)(ben)體(ti)1連(lian)(lian)(lian)(lian)(lian)(lian)接(jie)(jie)(jie)有(you)(you)(you)一(yi)個(ge)(ge)固(gu)(gu)定(ding)(ding)底(di)板(ban)(ban)(ban)2，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)固(gu)(gu)定(ding)(ding)底(di)板(ban)(ban)(ban)2的(de)(de)(de)(de)(de)(de)(de)(de)(de)材質(zhi)為亞克(ke)力材料，該(gai)材料具(ju)有(you)(you)(you)強度高、質(zhi)量輕(qing)、價(jia)格便宜的(de)(de)(de)(de)(de)(de)(de)(de)(de)特點，在(zai)(zai)固(gu)(gu)定(ding)(ding)底(di)板(ban)(ban)(ban)2下(xia)面(mian)(mian)連(lian)(lian)(lian)(lian)(lian)(lian)接(jie)(jie)(jie)有(you)(you)(you)四個(ge)(ge)輪(lun)子10，四個(ge)(ge)輪(lun)子10為越野輪(lun)胎，表面(mian)(mian)具(ju)有(you)(you)(you)突(tu)起的(de)(de)(de)(de)(de)(de)(de)(de)(de)不(bu)規則分布的(de)(de)(de)(de)(de)(de)(de)(de)(de)花紋(wen)，以(yi)應對田(tian)野間(jian)(jian)復(fu)雜(za)(za)的(de)(de)(de)(de)(de)(de)(de)(de)(de)地形情況，在(zai)(zai)固(gu)(gu)定(ding)(ding)底(di)板(ban)(ban)(ban)2上面(mian)(mian)連(lian)(lian)(lian)(lian)(lian)(lian)接(jie)(jie)(jie)有(you)(you)(you)一(yi)個(ge)(ge)導航用的(de)(de)(de)(de)(de)(de)(de)(de)(de)gps模(mo)(mo)塊3，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)gps模(mo)(mo)塊3為全(quan)球定(ding)(ding)位系統，可以(yi)識(shi)別(bie)機(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)所(suo)(suo)(suo)在(zai)(zai)田(tian)間(jian)(jian)的(de)(de)(de)(de)(de)(de)(de)(de)(de)經度及緯(wei)度，起到定(ding)(ding)位和(he)標記機(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)的(de)(de)(de)(de)(de)(de)(de)(de)(de)作用，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)gps模(mo)(mo)塊3電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)連(lian)(lian)(lian)(lian)(lian)(lian)接(jie)(jie)(jie)主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)gps模(mo)(mo)塊3將(jiang)數據傳(chuan)輸(shu)給(gei)(gei)(gei)(gei)主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16，主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16來對機(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)的(de)(de)(de)(de)(de)(de)(de)(de)(de)位置(zhi)(zhi)進(jin)(jin)(jin)(jin)(jin)行(xing)(xing)(xing)(xing)標定(ding)(ding)，并(bing)為機(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)導航，機(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)主(zhu)(zhu)要起到除(chu)草(cao)(cao)功能的(de)(de)(de)(de)(de)(de)(de)(de)(de)為機(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)的(de)(de)(de)(de)(de)(de)(de)(de)(de)機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)臂(bei)(bei)8，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)臂(bei)(bei)8采用輕(qing)質(zhi)的(de)(de)(de)(de)(de)(de)(de)(de)(de)鋁合金材料。在(zai)(zai)固(gu)(gu)定(ding)(ding)底(di)板(ban)(ban)(ban)2的(de)(de)(de)(de)(de)(de)(de)(de)(de)前(qian)部連(lian)(lian)(lian)(lian)(lian)(lian)接(jie)(jie)(jie)有(you)(you)(you)一(yi)個(ge)(ge)機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)臂(bei)(bei)固(gu)(gu)定(ding)(ding)底(di)板(ban)(ban)(ban)9，在(zai)(zai)所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)臂(bei)(bei)固(gu)(gu)定(ding)(ding)底(di)板(ban)(ban)(ban)9的(de)(de)(de)(de)(de)(de)(de)(de)(de)上面(mian)(mian)連(lian)(lian)(lian)(lian)(lian)(lian)接(jie)(jie)(jie)有(you)(you)(you)上臂(bei)(bei)11，在(zai)(zai)所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)上臂(bei)(bei)11上面(mian)(mian)連(lian)(lian)(lian)(lian)(lian)(lian)接(jie)(jie)(jie)有(you)(you)(you)前(qian)臂(bei)(bei)4，在(zai)(zai)所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)前(qian)臂(bei)(bei)4的(de)(de)(de)(de)(de)(de)(de)(de)(de)前(qian)端(duan)連(lian)(lian)(lian)(lian)(lian)(lian)接(jie)(jie)(jie)有(you)(you)(you)機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)手(shou)6和(he)雜(za)(za)草(cao)(cao)識(shi)別(bie)攝(she)像(xiang)頭5，在(zai)(zai)機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)手(shou)6的(de)(de)(de)(de)(de)(de)(de)(de)(de)下(xia)端(duan)連(lian)(lian)(lian)(lian)(lian)(lian)接(jie)(jie)(jie)有(you)(you)(you)末(mo)端(duan)執(zhi)(zhi)行(xing)(xing)(xing)(xing)器(qi)(qi)(qi)(qi)(qi),所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)臂(bei)(bei)8包括機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)臂(bei)(bei)固(gu)(gu)定(ding)(ding)底(di)板(ban)(ban)(ban)9、上臂(bei)(bei)11、前(qian)臂(bei)(bei)4、機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)手(shou)6、末(mo)端(duan)執(zhi)(zhi)行(xing)(xing)(xing)(xing)器(qi)(qi)(qi)(qi)(qi)7和(he)雜(za)(za)草(cao)(cao)識(shi)別(bie)攝(she)像(xiang)頭5，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)臂(bei)(bei)8上的(de)(de)(de)(de)(de)(de)(de)(de)(de)雜(za)(za)草(cao)(cao)識(shi)別(bie)攝(she)像(xiang)頭5來采集田(tian)間(jian)(jian)雜(za)(za)草(cao)(cao)的(de)(de)(de)(de)(de)(de)(de)(de)(de)圖(tu)像(xiang)，通(tong)過sccb總(zong)線將(jiang)圖(tu)像(xiang)信(xin)(xin)(xin)息傳(chuan)輸(shu)給(gei)(gei)(gei)(gei)主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16，主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16通(tong)過內置(zhi)(zhi)的(de)(de)(de)(de)(de)(de)(de)(de)(de)圖(tu)像(xiang)處理程(cheng)序(xu)(xu)，將(jiang)雜(za)(za)草(cao)(cao)和(he)農作物(wu)區(qu)別(bie)開來。所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16識(shi)別(bie)出(chu)雜(za)(za)草(cao)(cao)后，計(ji)算出(chu)雜(za)(za)草(cao)(cao)相(xiang)對小(xiao)車(che)所(suo)(suo)(suo)在(zai)(zai)的(de)(de)(de)(de)(de)(de)(de)(de)(de)位置(zhi)(zhi)，給(gei)(gei)(gei)(gei)機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)臂(bei)(bei)8發(fa)(fa)(fa)出(chu)控(kong)(kong)制(zhi)(zhi)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)信(xin)(xin)(xin)號(hao)，主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16給(gei)(gei)(gei)(gei)分頻器(qi)(qi)(qi)(qi)(qi)17發(fa)(fa)(fa)送(song)(song)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)信(xin)(xin)(xin)號(hao)，分頻器(qi)(qi)(qi)(qi)(qi)17給(gei)(gei)(gei)(gei)驅(qu)動器(qi)(qi)(qi)(qi)(qi)18發(fa)(fa)(fa)送(song)(song)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)信(xin)(xin)(xin)號(hao)，驅(qu)動器(qi)(qi)(qi)(qi)(qi)18給(gei)(gei)(gei)(gei)步(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)12發(fa)(fa)(fa)送(song)(song)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)信(xin)(xin)(xin)號(hao)來驅(qu)動步(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)12轉(zhuan)動，步(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)12帶(dai)動負載19，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)負載19也就是機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)臂(bei)(bei)8的(de)(de)(de)(de)(de)(de)(de)(de)(de)上臂(bei)(bei)11、前(qian)臂(bei)(bei)4、機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)(xie)(xie)(xie)(xie)手(shou)6，同時(shi)主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16發(fa)(fa)(fa)出(chu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)信(xin)(xin)(xin)號(hao)給(gei)(gei)(gei)(gei)光(guang)耦20，光(guang)耦20發(fa)(fa)(fa)送(song)(song)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)信(xin)(xin)(xin)號(hao)給(gei)(gei)(gei)(gei)繼電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)器(qi)(qi)(qi)(qi)(qi)21控(kong)(kong)制(zhi)(zhi)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)閥(fa)22，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)閥(fa)22控(kong)(kong)制(zhi)(zhi)末(mo)端(duan)執(zhi)(zhi)行(xing)(xing)(xing)(xing)器(qi)(qi)(qi)(qi)(qi)7，當電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)閥(fa)22收(shou)到主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16發(fa)(fa)(fa)出(chu)的(de)(de)(de)(de)(de)(de)(de)(de)(de)高電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)平信(xin)(xin)(xin)號(hao)時(shi)，電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)閥(fa)22不(bu)接(jie)(jie)(jie)通(tong)末(mo)端(duan)執(zhi)(zhi)行(xing)(xing)(xing)(xing)器(qi)(qi)(qi)(qi)(qi)7，當電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)閥(fa)22收(shou)到主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16發(fa)(fa)(fa)出(chu)的(de)(de)(de)(de)(de)(de)(de)(de)(de)低(di)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)平信(xin)(xin)(xin)號(hao)時(shi)，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)閥(fa)22接(jie)(jie)(jie)通(tong)末(mo)端(duan)執(zhi)(zhi)行(xing)(xing)(xing)(xing)器(qi)(qi)(qi)(qi)(qi)7，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)末(mo)端(duan)執(zhi)(zhi)行(xing)(xing)(xing)(xing)器(qi)(qi)(qi)(qi)(qi)7呈圓盤狀邊緣有(you)(you)(you)一(yi)圈(quan)鋸齒，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)末(mo)端(duan)執(zhi)(zhi)行(xing)(xing)(xing)(xing)器(qi)(qi)(qi)(qi)(qi)7開始轉(zhuan)動，外圍鋸齒狀的(de)(de)(de)(de)(de)(de)(de)(de)(de)刀片切割雜(za)(za)草(cao)(cao)。所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)還(huan)連(lian)(lian)(lian)(lian)(lian)(lian)接(jie)(jie)(jie)有(you)(you)(you)按鍵模(mo)(mo)塊13、顯(xian)(xian)示(shi)模(mo)(mo)塊14、通(tong)信(xin)(xin)(xin)模(mo)(mo)塊15、分頻器(qi)(qi)(qi)(qi)(qi)17和(he)光(guang)耦21，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)按鍵電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)可以(yi)設置(zhi)(zhi)步(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)12的(de)(de)(de)(de)(de)(de)(de)(de)(de)轉(zhuan)速(su)，通(tong)信(xin)(xin)(xin)模(mo)(mo)塊15用于主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16和(he)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)腦進(jin)(jin)(jin)(jin)(jin)行(xing)(xing)(xing)(xing)通(tong)信(xin)(xin)(xin)，以(yi)便更新主(zhu)(zhu)控(kong)(kong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)路(lu)(lu)(lu)(lu)(lu)16內部的(de)(de)(de)(de)(de)(de)(de)(de)(de)程(cheng)序(xu)(xu)，顯(xian)(xian)示(shi)屏模(mo)(mo)塊14用于顯(xian)(xian)示(shi)雜(za)(za)草(cao)(cao)相(xiang)對于機(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)的(de)(de)(de)(de)(de)(de)(de)(de)(de)位置(zhi)(zhi)。

以上結合(he)附圖對本(ben)發明(ming)的實(shi)施(shi)方式(shi)作了詳細說(shuo)明(ming)，但本(ben)發明(ming)不限于(yu)(yu)所(suo)描述的實(shi)施(shi)方式(shi)。對于(yu)(yu)本(ben)領域的技術人員而言，在不脫離本(ben)發明(ming)原理(li)和精神的情況下，對這(zhe)些(xie)實(shi)施(shi)方式(shi)進行多種(zhong)變(bian)(bian)化、修改、替換和變(bian)(bian)型，仍(reng)落入(ru)本(ben)發明(ming)的保護范圍(wei)內。

技術特征：

技術總結
本發明公開了一種低成本除草機器人，所述的機器人包括機器人本體和主控電路，所述機器人本體有一個固定底板，在固定底板下面連接有四個輪子，在固定底板上面連接有一個導航用的GPS模塊，在固定底板的前部連接有一個機械臂，所述機械臂包括機械臂固定底板，在所述機械臂固定底板的上面連接有上臂，在所述上臂上面連接有前臂，在所述前臂的前端連接有機械手，在機械手的下端連接有末端執行器，在所述前臂上連接有雜草識別攝像頭。所述主控電路以單片機為核心控制機械臂的運動，本機器人設計了適合田間除草功能的多關節機械臂，并實現了基于視覺信息的除草控制，具有識別精度高，除草效果好的特點。

技術研發人員：梁柏初
受保護的技術使用者：梁柏初
技術研發日：2017.06.01
技術公布日：2017.09.08