Weeding robot system and weeding method thereof

[0033] The specific embodiments of the present invention will be described in further detail below in conjunction with the drawings and embodiments. The following examples are used to illustrate the present invention, but not to limit the scope of the present invention.

[0034] figure 1 It is a schematic diagram of the mechanical structure of the weeding robot system according to an embodiment of the present invention. Such as figure 1 As shown, the illustrated weeding robot system includes a walking device 100, a vision device 200, a control device and a weeding device 400. The control device shown further includes: an upper control unit 301 and a lower control unit 302.

[0035] The walking device 100 is a tractor for driving the weeding robot system to walk, and hydraulically drives the weeding device 400 to weed. The upper control unit 301 is installed in the control room of the tractor, the weeding device 400 is suspended and installed at the front end of the tractor, and the visual device 200 is installed directly above the weeding device 400, so that Wider visual field of vision, and the end effector operation space is larger. The walking device 100 may also be other mechanical vehicles such as agricultural tricycles and walking tractors.

[0036] The vision device 200 is a CCD camera with a viewing width of 1.2m×1.2m, which can effectively cover the working range of the weeding device 400, and is used to collect images of field seedlings and grass The image is sent to the upper control unit 301.

[0037] The upper control unit 301 is an on-board computer, which is used to calculate the position coordinate information of the crop seedlings, the trend information of the discrete crop seedlings along the forward direction of the tractor and the tractor And send these three types of information to the lower control unit 302.

[0038] The lower control unit 302 is an embedded computer set on the weeding device 400, and is used to generate control information according to the received three types of information to control the tractor to walk along the navigation path and control The weeding device 400 weeds weeds.

[0039] The weeding device 400 further includes: a hydraulic profiling lifting frame 401, an electro-hydraulic servo unit 402, a weeding unit 403, a fifth wheel 404, a speed sensor 405, a displacement speed sensor 406 and a profiling wheel 407. In this embodiment, the weeding device 400 includes two weeding units 403, and the weeding unit 403 further includes a hoe 4031 and a hydraulic motor 4032.

[0040] The hydraulic profiling lifting frame 401 is suspended from the front end of the tractor, the camera is fixed in front of the hydraulic profiling lifting frame 401, the lower control unit 302, the electro-hydraulic servo unit 402, and the weeding unit 403, the fifth wheel 404 and the profiling wheel 407 are all installed on the hydraulic profiling lifting frame 401. The hydraulic profiling lifting frame 401 can perform lifting and hydraulic profiling actions according to the control of the electro-hydraulic servo unit 402.

[0041] The electro-hydraulic servo unit 402 fine-tunes the distance between the weeding unit 403 and the seedling row according to the control information of the lower-level control unit 302 to avoid accidentally injuring the crop seedlings; the electro-hydraulic servo unit 402 is also based on the lower-level control The control information of the unit 302 controls the rotation angle and the rotation speed of the hoe 4031 by controlling the rotation speed of the hydraulic motor 4032; the electro-hydraulic servo unit 402 also controls the hoe according to the control information of the lower control unit 302 The tillage depth of the knife 4031 is to control the depth of the hoe 4031 into the soil, thereby effectively damaging the roots of weeds and ensuring effective removal of weeds; the electro-hydraulic servo unit 402 is also based on the control information of the lower control unit 302 , Controlling the hydraulic profiling lifting frame 401 to perform lifting and hydraulic profiling actions.

[0042] There are two weeding units 403, which are respectively arranged on the left and right sides of the front end of the hydraulic profiling lifting frame 401. By providing two weeding units 403, two rows of crop seedlings can be weeded at the same time, which improves the efficiency of weeding. The hoe 4031 is fan-shaped, and its center is connected to the output shaft of the hydraulic motor 4032, and can be rotated by the hydraulic motor 4032, so that it can avoid seedlings and remove weeds by adjusting its rotation angle. The hoe 4031 may also have a sheet shape or other shapes.

[0043] The fifth wheel 404 is fixedly connected to the left rear end of the hydraulic profiling lifting frame 401, and the speed sensor 405 is arranged on the output shaft of the fifth wheel 404 for real-time measurement of the weeding robot system And send the measurement result to the lower control unit 302.

[0044] There are two displacement speed sensors 406, which are respectively arranged on the output shafts of the hydraulic motors 4032 of the two weeding units 403, and are used to measure the rotation angle and speed of the hoe 4031 in real time, and send the measurement results to The lower control unit 302. The lower control unit 302 will compensate the control information sent to the electro-hydraulic servo unit 402 according to the feedback of the displacement speed sensor 406, thereby forming a closed-loop control loop to ensure that the hoe 4031 avoids following a predetermined trajectory. Seedlings and weeding.

[0045] There are four profiling wheels 407, two of which are arranged at the front end of the hydraulic profiling lifting frame 401, close to the position of the weeding unit 403; the other two are provided on the hydraulic profiling lifting frame 401 Left and right sides. The profiling wheel 407 runs close to the ground and can be used to assist in controlling the tilling depth of the hoe 4031.

[0046] figure 2 It is a flow chart of the weeding method of the weeding robot system according to the embodiment of the present invention, such as figure 2 As shown, the method includes:

[0047] Step A: The vision device 200 collects the field seedling and grass image and sends it to the upper control unit 301;

[0048] Step B: The upper control unit 301 processes the image of the seedlings and grass to obtain the position coordinate information of the crop seedlings, the trend information of the discrete crop seedlings along the advancing direction of the walking device 100, and the navigation path information of the walking device 100, and Send these three kinds of information to the lower control unit 302;

[0049] Step C: The lower control unit 302 generates control information according to the received three types of information, sends the control information to the electro-hydraulic servo unit 402, and controls the walking device 100 to walk according to the control information;

[0050] Step D: The electro-hydraulic servo unit 402 receives the control information, controls the distance between the weeding unit 403 and the seedling row according to the control information, controls the rotation angle, speed and tillage depth of the hoe 4031, and controls the hydraulic profiling lift The frame 401 performs lifting and hydraulic profiling actions.

[0051] The weeding robot system and the weeding method thereof according to the embodiment of the present invention acquire the image information of the field seedlings through the visual device, and realize the automatic navigation of the walking device through the control device and the avoidance and weeding of the weeding device, thereby achieving Mechanical automatic weeding improves the efficiency of weeding while avoiding pollution, and reduces the labor intensity of weeding. At the same time, the tractor is used as the walking device, which provides centralized power supply, high system integration, and is easy to implement in rural areas; the two weeding units operate in parallel and are driven independently, which further improves the work efficiency.

[0052] The above embodiments are only used to illustrate the present invention, not to limit the present invention. Those of ordinary skill in the relevant technical fields can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all The equivalent technical solutions also belong to the scope of the present invention, and the patent protection scope of the present invention should be defined by the claims.