Intelligent identification type sealwort field precise weeding robot system

Abstract

The intelligent identification type sealwort field precise weeding robot system comprises a rack, a connecting frame is installed at the front end of the rack, and the rack is connected with an agricultural machine through the connecting frame; two groups of telescopic frames are symmetrically arranged at the top of the rack; the weeding mechanism comprises a multi-degree-of-freedom mechanical arm and a weeding mechanical claw installed at the end of the multi-degree-of-freedom mechanical arm, and the multi-degree-of-freedom mechanical arm is installed at the top of the telescopic frame; the recognition mechanism comprises a plurality of sets of panoramic cameras, and the panoramic cameras are installed at the ends of the two multi-degree-of-freedom mechanical arms correspondingly; an image processing module is integrated on the control system; wherein two sets of recycling boxes are installed on the machine frame, and the two sets of recycling boxes correspond to the two sets of weeding mechanical claws respectively. According to the device, weeds are cleaned in a mode of matching visual sense with mechanical execution, so that the weed cleaning effect is improved, and meanwhile, damage to seedlings in the cleaning process is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an intelligent recognition type polygonatum field precision weeding robot system. Background Art

[0002] In the field of modern agriculture, with the rapid development of science and technology, intelligent robot technology is gradually changing the way traditional agriculture works, especially in field management. As an important Chinese medicinal material and raw material for health products, weeding is a key link in the planting process of Polygonatum sibiricum. However, traditional manual weeding is not only inefficient and costly, but also the large-scale use of chemical herbicides may pollute the soil and ecological environment.

[0003] The weeding devices in the prior art are mostly used for field operations and can only remove weeds in ridges, but cannot achieve precise weeding operations. Therefore, the present invention provides an intelligent recognition type polygonatum field precise weeding robot system. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent recognition type polygonatum field precision weeding robot system to solve the problems existing in the prior art.

[0005] To achieve the above object, the present invention provides the following solution: The present invention provides an intelligent recognition type polygonatum field precision weeding robot system, comprising:

[0006] A frame, a connecting frame is installed at the front end of the frame, and the frame is connected to the agricultural machine through the connecting frame;

[0007] Telescopic frames, wherein two groups of telescopic frames are symmetrically arranged on the top of the frame;

[0008] A weeding mechanism, the weeding mechanism comprising a multi-degree-of-freedom mechanical arm and a weeding mechanical claw installed at the end of the multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm is installed on the top of the telescopic frame;

[0009] An identification mechanism, wherein the identification mechanism comprises a plurality of groups of panoramic cameras, wherein the plurality of groups of panoramic cameras are respectively mounted at the ends of the two multi-degree-of-freedom mechanical arms;

[0010] A control system, wherein the control system is integrated with an image processing module, the panoramic camera is signal-connected to the image processing module, and the multi-degree-of-freedom mechanical arm, the weeding mechanical claw, and the telescopic frame are all electrically connected to the control system;

[0011] Wherein, two groups of recycling boxes are installed on the frame, and the two groups of recycling boxes are respectively arranged corresponding to the two groups of weeding mechanical claws.

[0012] According to the intelligent identification type Polygonatum sibiricum field precision weeding robot system provided by the present invention, the telescopic frame includes a slide rail symmetrically fixedly connected to the top surface of the frame, a slider is slidably connected to the slide rail, a first electric telescopic rod is fixedly connected to the frame, the output end of the first electric telescopic rod is fixedly connected to the bottom of the slider, and the recovery box is arranged between the two slide rails.

[0013] According to the intelligent identification type polygonatum field precision weeding robot system provided by the present invention, the multi-degree-of-freedom mechanical arm includes a mounting seat, the mounting seat is fixedly connected to the top of the slider, the top of the mounting seat is rotatably connected to a first support arm, the first support arm is vertically arranged, the top of the first support arm is rotatably connected to a second support arm, the end of the second support arm is rotatably connected to a telescopic arm, the weeding mechanical claw is installed at the end of the telescopic arm, the side wall of the first support arm is hinged with a second electric telescopic rod, and one end of the second electric telescopic rod is hinged to the middle of the second support arm;

[0014] Wherein, a mounting groove is provided in the mounting seat, and an angle adjustment motor is fixedly connected to the mounting groove, and the angle adjustment motor is coaxially fixedly connected to the bottom of the first support arm.

[0015] According to the intelligent identification type Polygonatum sibiricum field precision weeding robot system provided by the present invention, the telescopic arm includes a support plate rotatably connected to the end of the second support arm, a tooth plate is slidably connected to the support plate, a first drive motor is fixedly connected to the support plate, and the output shaft of the first drive motor is fixedly connected to a drive gear, and the drive gear is meshed with the tooth plate.

[0016] According to the intelligent identification type Polygonatum sibiricum field precision weeding robot system provided by the present invention, the end of the second support arm is rotatably connected to the mounting shaft, the support plate is fixedly connected to the mounting shaft, the end of the second support arm is fixedly connected to the second drive motor, and the second drive motor is axially connected to the mounting shaft.

[0017] According to the intelligent identification type Polygonatum sibiricum field precision weeding robot system provided by the present invention, the weeding mechanical claw includes a mounting plate fixedly connected to the end of the tooth plate, a third electric telescopic rod is rotatably connected to the mounting plate, one side of the mounting plate is fixedly connected to a support plate through a support rod, the support plate and the mounting plate are arranged in parallel, a pad plate is slidably connected between the support plate and the mounting plate, the third electric telescopic rod passes through the mounting plate and is fixedly connected to the pad, a plurality of pull rods are fixedly connected to the pad, the pull rods pass through the support plate, a plurality of clamps are equidistantly installed on the support plate, and the clamps are hinged to the pull rods.

[0018] According to the intelligent identification type Polygonatum sibiricum field precision weeding robot system provided by the present invention, the clamp includes a clamp arm and a claw head rotatably connected to the end of the clamp arm, the end of the pull rod is rotatably connected to the first connecting rod, the first connecting rod is rotatably connected to the clamp arm, the end of the first connecting rod is rotatably connected to the second connecting rod, the end of the second connecting rod is rotatably connected to a V-shaped connecting rod, one end of the V-shaped connecting rod is slidably connected to the clamp arm, and the other end of the V-shaped connecting rod is rotatably connected to the claw head via a third connecting rod.

[0019] According to the intelligent recognition type polygonatum field precision weeding robot system provided by the present invention, an electric slip ring is installed on the mounting plate, and the rotor of the electric slip ring is fixedly connected to the fixed end of the third electric telescopic rod.

[0020] The present invention discloses the following technical effects:

[0021] In the present invention, the image processing module adopts a convolutional neural network, and the panoramic camera collects images of the Polygonatum cyrtonema seedlings from multiple angles at different time periods, and integrates the images to obtain the images of the seedlings under different lighting conditions, and uses the images as a reference library. After that, the panoramic camera takes real-time images and transmits the images to the control system. The weeds and seedlings are judged by the control system, the weeds are marked and located, and the device travel route and the weeding route of the weeding mechanism are planned to avoid damage to the seedlings on the weeding route. After that, the positioning information is transmitted to the weeding mechanism. The weeding mechanism serves as the execution end, and the weeding mechanism adjusts the length of each part according to the path planned by the control system. After that, the weeding mechanical claws are used to remove the weeds, and the weeds are recovered into the recycling box to achieve complete removal of the weeds.

[0022] The present invention uses visual and mechanical execution to clean weeds, which improves the weed removal effect and avoids damage to seedlings during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is a schematic diagram of the structure of the intelligent recognition type polygonatum field precision weeding robot system of the present invention;

[0025] Figure 2 The schematic diagram of the structure of the weeding mechanism of the present invention is

[0026] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0027] Figure 4 for Figure 2 Enlarged view of point B in the middle.

[0028] Among them, 1. rack; 2. connecting frame; 3. recycling box; 4. slide rail; 5. slider; 6. first electric telescopic rod; 7. mounting seat; 8. first support arm; 9. second support arm; 10. second electric telescopic rod; 11. support plate; 12. tooth plate; 13. first drive motor; 14. second drive motor; 15. mounting plate; 16. third electric telescopic rod; 17. support plate; 18. pad; 19. pull rod; 20. clamping claw arm; 21. claw head; 22. first connecting rod; 23. second connecting rod; 24. V-shaped connecting rod; 25. third connecting rod. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Reference Figure 1-Figure 4 The present invention provides an intelligent recognition type polygonatum field precision weeding robot system, comprising:

[0032] A frame 1, a connecting frame 2 is installed at the front end of the frame 1, and the frame 1 is connected to the agricultural machine through the connecting frame 2;

[0033] Telescopic racks, two sets of telescopic racks are symmetrically arranged on the top of the rack 1;

[0034] The weeding mechanism comprises a multi-degree-of-freedom mechanical arm and a weeding mechanical claw installed at the end of the multi-degree-of-freedom mechanical arm, and the multi-degree-of-freedom mechanical arm is installed on the top of the telescopic frame;

[0035] The identification mechanism includes a plurality of panoramic cameras, and the plurality of panoramic cameras are respectively installed at the ends of two multi-degree-of-freedom mechanical arms;

[0036] A control system, wherein an image processing module is integrated in the control system, a panoramic camera is connected to the image processing module by signal, and a multi-degree-of-freedom robotic arm, a weeding mechanical claw, and a telescopic frame are all electrically connected to the control system;

[0037] Among them, two groups of recycling boxes 3 are installed on the frame 1, and the two groups of recycling boxes 3 are respectively arranged corresponding to the two groups of weeding mechanical claws.

[0038] The control system can be set according to the specific use environment, for example, it can be controlled by a single chip microcomputer or by using PLC, ARM (Advanced RISC Machine: high-end reduced instruction set machine), FPGA (Field-Programmable Gate Array: Field Programmable Gate Array) and other methods, which are not specifically limited in this embodiment;

[0039] In this embodiment, the image processing module adopts a convolutional neural network, and the panoramic camera collects images of the Polygonatum sibiricum seedlings from multiple angles at different time periods, and integrates the images to obtain the images of the seedlings under different lighting conditions, and uses the images as a reference library. After that, the panoramic camera takes real-time images and transmits the images to the control system. The control system judges weeds and seedlings, marks and locates the weeds, and plans the device's route and the weeding route of the weeding mechanism to avoid damage to the seedlings on the weeding route. After that, the positioning information is transmitted to the weeding mechanism. The weeding mechanism serves as the execution end. The weeding mechanism adjusts the length of each part according to the path planned by the control system, and then uses a weeding mechanical claw to remove the weeds, and recycles the weeds into the recycling box 3 to achieve complete removal of the weeds.

[0040] The present invention uses visual and mechanical execution to clean weeds, which improves the weed removal effect and avoids damage to seedlings during the cleaning process.

[0041] A further optimized solution is that the telescopic frame includes a slide rail 4 symmetrically fixedly connected to the top surface of the frame 1, a slider 5 is slidably connected to the slide rail 4, a first electric telescopic rod 6 is fixedly connected to the frame 1, an output end of the first electric telescopic rod 6 is fixedly connected to the bottom of the slider 5, and the recovery box 3 is arranged between the two slide rails 4.

[0042] Further optimized solution, the multi-degree-of-freedom mechanical arm includes a mounting seat 7, the mounting seat 7 is fixedly connected to the top of the slider 5, the top of the mounting seat 7 is rotatably connected to the first support arm 8, the first support arm 8 is vertically arranged, the top of the first support arm 8 is rotatably connected to the second support arm 9, the end of the second support arm 9 is rotatably connected to the telescopic arm, the weeding mechanical claw is installed at the end of the telescopic arm, the side wall of the first support arm 8 is hinged with a second electric telescopic rod 10, and one end of the second electric telescopic rod 10 is hinged to the middle of the second support arm 9;

[0043] Among them, a mounting groove is opened in the mounting seat 7, and an angle adjustment motor is fixedly connected to the mounting groove. The angle adjustment motor is coaxially fixedly connected to the bottom of the first support arm 8.

[0044] The angle of the overall multi-degree-of-freedom robotic arm can be adjusted by setting the angle adjustment motor, the angle between the first support arm 8 and the second support arm 9 can be controlled by the second electric telescopic rod 10, and the angle between the telescopic arm and the second support arm 9 can be adjusted by setting the second drive motor 14, thereby making the overall multi-degree-of-freedom robotic arm more flexible. The length of the telescopic arm can be adjusted by the cooperation of the first drive motor 13 and the tooth plate 12, so that the length of the forearm position of the robotic arm can be adjusted according to actual needs.

[0045] A further optimized solution is that the telescopic arm includes a support plate 11 rotatably connected to the end of the second support arm 9, a tooth plate 12 is slidably connected to the support plate 11, a first drive motor 13 is fixedly connected to the support plate 11, and the output shaft of the first drive motor 13 is fixedly connected to a drive gear, which meshes with the drive gear and the tooth plate 12.

[0046] According to a further optimization scheme, the end of the second support arm 9 is rotatably connected to a mounting shaft, the support plate 11 is fixedly connected to the mounting shaft, the end of the second support arm 9 is fixedly connected to a second drive motor 14, and the second drive motor 14 is axially connected to the mounting shaft.

[0047] A further optimized solution is that the weeding mechanical claw includes a mounting plate 15 fixedly connected to the end of the tooth plate 12, and a third electric telescopic rod 16 is rotatably connected to the mounting plate 15. One side of the mounting plate 15 is fixedly connected to a support plate 11 through a support rod. The support plate 11 and the mounting plate 15 are arranged in parallel, and a pad 18 is slidably connected between the support plate 11 and the mounting plate 15. The third electric telescopic rod 16 passes through the mounting plate 15 and is fixedly connected to the pad 18. A plurality of pull rods 19 are fixedly connected to the pad 18, and the pull rods 19 pass through the support plate 11. A plurality of clamps are installed on the support plate 11 at equal intervals, and the clamps are hinged to the pull rods 19.

[0048] A further optimized solution is that the clamp includes a clamp arm 20 and a claw head 21 rotatably connected to the end of the clamp arm 20, the end of the pull rod 19 is rotatably connected to the first connecting rod 22, the first connecting rod 22 is rotatably connected to the clamp arm 20, the end of the first connecting rod 22 is rotatably connected to the second connecting rod 23, the end of the second connecting rod 23 is rotatably connected to a V-shaped connecting rod 24, one end of the V-shaped connecting rod 24 is slidably connected to the clamp arm 20, and the other end of the V-shaped connecting rod 24 is rotatably connected to the claw head 21 via a third connecting rod 25.

[0049] The pull rod 19 pulls the first connecting rod 22, and the angle of the first connecting rod 22 changes, thereby pulling the second connecting rod 23, and the second connecting rod 23 pulls the V-shaped connecting rod 24, and the third connecting rod 25 and the claw head 21 are pushed by the V-shaped connecting rod 24, so that the claw head 21 contracts or opens, thereby achieving the picking of weeds. In conjunction with the telescopic arm, the weeding machine claw can be extended to the part below the soil to facilitate the removal of the weed roots. It should be noted that since some weeds are close to the seedlings, the electric slip ring can be used to control the seedlings to be in the part between multiple clamps.

[0050] Further optimizing the scheme, an electric slip ring is installed on the mounting plate 15, and the rotor of the electric slip ring is fixedly connected to the fixed end of the third electric telescopic rod 16. The setting of the electric slip ring can control the rotation of the weeding mechanical claw, which is convenient for weeding operations.

[0051] In this embodiment, the mounting plate 15 is connected in a rotational manner. The mounting plate 15 and the tooth plate 12 are rotationally connected via a rotating shaft. The rotating shaft is connected to the third drive motor shaft. The third drive motor is installed on the tooth plate 12. In this way, the angle of the claw wrist of the weeding machine can be adjusted.

[0052] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0053] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. Intelligent recognition type polygonatum field precision weeding robot system, characterized by: include: A frame (1), a connecting frame (2) being installed at the front end of the frame (1), and the frame (1) being connected to the agricultural machine via the connecting frame (2); Telescopic frames, wherein two groups of telescopic frames are symmetrically arranged on the top of the frame (1); A weeding mechanism, the weeding mechanism comprising a multi-degree-of-freedom mechanical arm and a weeding mechanical claw installed at the end of the multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm is installed on the top of the telescopic frame; An identification mechanism, wherein the identification mechanism comprises a plurality of groups of panoramic cameras, wherein the plurality of groups of panoramic cameras are respectively mounted at the ends of the two multi-degree-of-freedom mechanical arms; A control system, wherein the control system is integrated with an image processing module, the panoramic camera is signal-connected to the image processing module, and the multi-degree-of-freedom mechanical arm, the weeding mechanical claw, and the telescopic frame are all electrically connected to the control system; Wherein, two groups of recovery boxes (3) are installed on the frame (1), and the two groups of recovery boxes (3) are respectively arranged corresponding to the two groups of weeding mechanical claws.

2. The intelligent recognition type polygonatum field precision weeding robot system according to claim 1 is characterized by: The telescopic frame comprises a slide rail (4) symmetrically fixedly connected to the top surface of the frame (1); a slider (5) is slidably connected to the slide rail (4); a first electric telescopic rod (6) is fixedly connected to the frame (1); an output end of the first electric telescopic rod (6) is fixedly connected to the bottom of the slider (5); and the recovery box (3) is arranged between the two slide rails (4).

3. The intelligent recognition type polygonatum field precision weeding robot system according to claim 2 is characterized by: The multi-degree-of-freedom mechanical arm comprises a mounting seat (7), the mounting seat (7) is fixedly connected to the top of the slider (5), the top of the mounting seat (7) is rotatably connected to a first support arm (8), the first support arm (8) is vertically arranged, the top of the first support arm (8) is rotatably connected to a second support arm (9), the end of the second support arm (9) is rotatably connected to a telescopic arm, the weeding mechanical claw is mounted on the end of the telescopic arm, the side wall of the first support arm (8) is hingedly connected to a second electric telescopic rod (10), and one end of the second electric telescopic rod (10) is hingedly connected to the middle of the second support arm (9); Wherein, a mounting groove is provided in the mounting seat (7), an angle adjustment motor is fixedly connected to the mounting groove, and the angle adjustment motor is coaxially fixedly connected to the bottom of the first support arm (8).

4. The intelligent recognition type polygonatum field precision weeding robot system according to claim 3 is characterized by: The telescopic arm comprises a support plate (11) rotatably connected to the end of the second support arm (9), a toothed plate (12) is slidably connected to the support plate (11), a first drive motor (13) is fixedly connected to the support plate (11), an output shaft of the first drive motor (13) is fixedly connected to a drive gear, and the drive gear is meshed with the toothed plate (12).

5. The intelligent recognition type polygonatum field precision weeding robot system according to claim 4 is characterized in that: The end of the second support arm (9) is rotatably connected to a mounting shaft, the support plate (11) is fixedly connected to the mounting shaft, the end of the second support arm (9) is fixedly connected to a second drive motor (14), and the second drive motor (14) is axially connected to the mounting shaft.

6. The intelligent recognition type polygonatum field precision weeding robot system according to claim 4 is characterized by: The weeding mechanical claw comprises a mounting plate (15) fixedly connected to the end of the tooth plate (12); a third electric telescopic rod (16) is rotatably connected to the mounting plate (15); one side of the mounting plate (15) is fixedly connected to a support plate (11) via a support rod; the support plate (11) and the mounting plate (15) are arranged in parallel; a pad (18) is slidably connected between the support plate (11) and the mounting plate (15); the third electric telescopic rod (16) passes through the mounting plate (15) and is fixedly connected to the pad (18); a plurality of pull rods (19) are fixedly connected to the pad (18); the pull rods (19) pass through the support plate (11); a plurality of clamping jaws are evenly spaced and are hinged to the pull rods (19).

7. The intelligent recognition type polygonatum field precision weeding robot system according to claim 6 is characterized by: The clamp comprises a clamp arm (20) and a claw head (21) rotatably connected to the end of the clamp arm (20); the end of the pull rod (19) is rotatably connected to a first connecting rod (22); the first connecting rod (22) is rotatably connected to the clamp arm (20); the end of the first connecting rod (22) is rotatably connected to a second connecting rod (23); the end of the second connecting rod (23) is rotatably connected to a V-shaped connecting rod (24); one end of the V-shaped connecting rod (24) is slidably connected to the clamp arm (20); the other end of the V-shaped connecting rod (24) is rotatably connected to the claw head (21) via a third connecting rod (25).

8. The intelligent recognition type polygonatum field precision weeding robot system according to claim 6 is characterized by: An electric slip ring is mounted on the mounting plate (15), and a rotor of the electric slip ring is fixedly connected to a fixed end of the third electric telescopic rod (16).

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