Multi-legged robot with laser weeding function
By designing a multi -foot robot with laser weeding function, the problem of weeding robot wheels in existing technologies cannot be adjusted and adapting to the adaptation of walking posture, and the ability to avoid obstacles and obstacles is achieved. Well, and have the function of automatic return and designated positions for automatic energy returning and designated positions.
Patent Information
- Application Number
- CN202411486500.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-23
- Publication Date
- 2025-01-24
AI Technical Summary
The wheels of existing weeding robots cannot be adjusted in multiple directions and adapted to their walking posture, resulting in poor adaptability of the working environment, unable to specify crops for removal, poor weeding effect, and lack of automatic return and surveying and mapping functions.
A multi-legged robot with laser weeding function is designed, including a base, forefoot component, rear foot component, steering component, energy storage component, main camera and laser weeder, with the functions of obstacle avoidance, obstacle surmounting, plant identification, and pan/tilt Radar ranging, automatic return to home and surveying and mapping functions.
The ability to avoid obstacles and obstacles in multiple directions can be cleared according to the designated crops. The websites are good, and the automatic energy return and designated position automatic energy filling function can be improved, which improves the operating environment adaptability and weeding efficiency.
Smart Images
Figure CN119348735A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of agricultural equipment, and specifically refers to a multi-legged robot with a laser weeding function. Background Art
[0002] Modern weeding machines mainly weed by rotating blades, which can quickly and efficiently clear weeds in the field, but it is easy to cause mechanical damage to crop seedlings. In recent years, laser weeding has gradually attracted attention as a new environmentally friendly weeding method. Laser weeding uses laser beams to directly irradiate weeds and burn the leaves of weeds at high temperatures to achieve the weeding effect. This method does not require chemical agents, does not generate noise and air pollution, has little impact on soil and water sources, is highly environmentally friendly and sustainable, and is expected to become an important technology in future agricultural production.
[0003] However, the wheels of existing weeding robots cannot adjust in multiple directions and walking postures, and have poor adaptability to the working environment; they cannot specify crops to remove foreign plants, resulting in poor weeding effects; they cannot map and do not have an automatic return function, which affects weeding work. Therefore, a new multi-legged robot with laser weeding function is urgently needed to solve the above problems. Summary of the invention
[0004] In order to solve the above-mentioned existing problems, the present invention provides a multi-legged robot with laser weeding function, which has obstacle avoidance and obstacle crossing functions, adjustable laser power, good weeding effect and no waste of resources.
[0005] The technical solution adopted by the present invention is as follows: The multi-legged robot with laser weeding function of the present invention includes a base, a front foot assembly, a rear foot assembly, a steering assembly, an energy storage assembly, a main camera and a laser weeder, the front foot assembly and the rear foot assembly are symmetrically arranged below the two ends of the base, the steering assembly is arranged above one end of the base and above the front foot assembly, the energy storage assembly is arranged above the base and on one side of the steering assembly, the main camera is fixedly arranged on the outside of the base and on one side of the forefoot assembly, the laser weeder is fixedly arranged below the base and between the front foot assembly and the rear foot assembly, and an auxiliary camera is arranged on one side of the laser weeder.
[0006] Furthermore, the front foot assembly includes an I-shaped support plate, a front mechanical foot and a steering shaft. The I-shaped support plate is arranged below the base. Four front mechanical feet are provided. The four front mechanical feet are respectively arranged below the four ends of the I-shaped support plate. The steering shaft is fixed above the I-shaped support plate and connected to the steering assembly.
[0007] Furthermore, the rear foot assembly includes a support plate and a rear mechanical foot, wherein the support plate is fixedly arranged below one end of the base away from the I-shaped support plate, and the rear mechanical foot is symmetrically arranged below both ends of the support plate.
[0008] Furthermore, the steering assembly includes a steering box, a steering half gear, a steering gear and a steering motor, the steering box is fixedly arranged above the base, the upper end of the steering shaft passes through the base and is rotatably arranged in the steering box, the steering half gear is fixedly arranged at the upper end of the steering shaft, the steering gear is rotatably arranged on one side of the steering half gear, the steering half gear is meshed with the steering gear, the steering motor is fixedly arranged in the steering box, and the output end of the steering motor is connected to the steering half gear.
[0009] Furthermore, the laser weed remover includes an adjustment platform and a laser generator. The adjustment platform is fixed to the bottom wall of the base, and the laser generator is connected to the adjustment platform.
[0010] Furthermore, the main camera and the auxiliary camera are both equipped with an obstacle avoidance module, a plant recognition module, and a gimbal radar ranging module; the steering assembly is equipped with an operation control module, an obstacle avoidance module, a surveying and mapping module, a navigation module, and an automatic return module; the laser weeder is equipped with a laser emission module; the operation control module is connected to the obstacle avoidance module, the surveying and mapping module, the navigation module, and the automatic return module; and the laser emission module is connected to the plant recognition module and the gimbal radar ranging module.
[0011] The beneficial effects achieved by the present invention using the above structure are as follows:
[0012] 1. Multi-legged robot with obstacle avoidance and obstacle crossing functions.
[0013] 2. The plant identification module facilitates the removal of foreign plants according to designated crops.
[0014] 3. The PTZ radar ranging module facilitates the measurement of target distance.
[0015] 4. It has the function of automatic return to home when power is insufficient and automatic charging at a designated location. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 A three-dimensional image of the multi-legged robot with laser weeding function proposed in this scheme;
[0017] Figure 2 This is a side view of the multi-legged robot with laser weeding function proposed in this scheme;
[0018] Figure 3 Bottom view of the multi-legged robot with laser weeding function proposed in this scheme;
[0019] Figure 4Schematic diagram of the switching component structure of the multi-legged robot with laser weeding function proposed in this scheme;
[0020] Figure 5 System block diagram of the multi-legged robot with laser weeding function proposed in this scheme.
[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: 1. Base, 2. Front foot assembly, 3. Rear foot assembly, 4. Steering assembly, 5. Energy storage assembly, 6. Main camera, 7. Laser weeder, 8. Auxiliary camera, 9. I-shaped support plate, 10. Front mechanical foot, 11. Steering shaft, 12. Support plate, 13. Rear mechanical foot, 14. Steering box, 15. Steering half gear, 16. Steering gear, 17. Steering motor, 18. Adjustment pan / tilt, 19. Laser generator. DETAILED DESCRIPTION
[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
[0023] like Figure 1 to Figure 4 As shown, the multi-legged robot with laser weeding function proposed in this scheme includes a base 1, a front foot component 2, a rear foot component 3, a steering component 4, an energy storage component 5, a main camera 6 and a laser weeder 7. The front foot component 2 and the rear foot component 3 are symmetrically arranged below the two ends of the base 1, the steering component 4 is arranged above one end of the base 1 and above the front foot component 2, the energy storage component 5 is arranged above the base 1 and on one side of the steering component 4, the main camera 6 is fixedly arranged on the outside of the base 1 and on one side of the forefoot component 2, the laser weeder 7 is fixedly arranged below the base 1 and between the front foot component 2 and the rear foot component 3, and an auxiliary camera 8 is arranged on one side of the laser weeder 7.
[0024] like Figure 1 to Figure 3 As shown, the front foot assembly 2 includes an I-shaped support plate 9, a front mechanical foot 10 and a steering shaft 11. The I-shaped support plate 9 is arranged below the base 1. There are four front mechanical feet 10, and the four front mechanical feet 10 are respectively arranged below the four ends of the I-shaped support plate 9. The steering shaft 11 is fixed above the I-shaped support plate 9 and connected to the steering assembly 4. The rear foot assembly 3 includes a support plate 12 and a rear mechanical foot 13. The support plate 12 is fixed below one end of the base 1 away from the I-shaped support plate 9, and the rear mechanical foot 13 is symmetrically arranged below both ends of the support plate 12.
[0025] like Figure 2 and Figure 4 As shown, the steering assembly 4 includes a steering box 14, a steering half gear 15, a steering gear 16 and a steering motor 17. The steering box 14 is fixedly arranged above the base 1, the upper end of the steering shaft 11 passes through the base 1 and is rotatably arranged in the steering box 14, the steering half gear 15 is fixedly arranged at the upper end of the steering shaft 11, the steering gear 16 is rotatably arranged on one side of the steering half gear 15, the steering half gear 15 is meshed with the steering gear 16, and the steering motor 17 is fixedly arranged in the steering box 14, and the output end of the steering motor 17 is connected to the steering half gear 15.
[0026] like Figure 2 As shown, the laser weed remover 7 includes an adjustment platform 18 and a laser generator 19 . The adjustment platform 18 is fixed to the bottom wall of the base 1 , and the laser generator 19 is connected to the adjustment platform 18 .
[0027] like Figure 1 to Figure 5 As shown, the main camera 6 and the auxiliary camera 8 are both equipped with an obstacle avoidance module, a plant recognition module, and a gimbal radar ranging module. The steering component 4 is equipped with an operation control module, an obstacle avoidance module, a surveying and mapping module, a navigation module, and an automatic return module. The laser weeder 7 is equipped with a laser emission module. The operation control module is connected to the obstacle avoidance module, the surveying and mapping module, the navigation module, and the automatic return module. The laser emission module is connected to the plant recognition module and the gimbal radar ranging module.
[0028] During specific use, the front mechanical foot 10 and the rear mechanical foot 13 drive the robot to move as a whole. The main camera 6 has the function of identifying obstacles. When encountering obstacles and need to avoid or turn, the steering motor 17 drives the rotating gear to rotate, and the rotating steering gear 16 drives the steering shaft 11 to rotate through the steering half gear 15. The steering shaft 11 drives the I-shaped support plate 9 to rotate, causing the front mechanical foot 10 to turn, thereby changing the robot's linear motion trajectory, making it easier for the robot to avoid obstacles.
[0029] The main camera 6 and the auxiliary camera 8 are equipped with a plant recognition module, which is convenient for removing foreign plants according to designated crops. When non-crops are identified, the pan-tilt head 18 is controlled to rotate to drive the laser generator 19 to lock the non-crops. The laser generator 19 emits laser to burn the leaves of non-crops at high temperature, thereby completing the weeding work. The main camera 6 and the auxiliary camera 8 are equipped with a pan-tilt radar ranging module, which is convenient for adjusting the power of the laser generator 19 according to the distance between the non-crops and the base 1 to prevent energy waste.
[0030] It has mapping function and is equipped with a navigation module. It can automatically return home when energy is insufficient and automatically charge at a designated location.
[0031] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.
[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A multi-legged robot with laser weeding function, characterized in that: The utility model comprises a base, a front foot component, a rear foot component, a steering component, an energy storage component, a main camera and a laser weeder. The front foot component and the rear foot component are symmetrically arranged below the two ends of the base. The steering component is arranged above one end of the base and above the front foot component. The energy storage component is arranged above the base and on one side of the steering component. The main camera is fixedly arranged on the outside of the base and on one side of the forefoot component. The laser weeder is fixedly arranged below the base and between the front foot component and the rear foot component. An auxiliary camera is arranged on one side of the laser weeder.
2. A multi-legged robot with laser weeding function according to claim 1, characterized in that: The front foot assembly includes an I-shaped support plate, a front mechanical foot and a steering shaft. The I-shaped support plate is arranged below the base. There are four front mechanical feet, and the four front mechanical feet are respectively arranged below the four ends of the I-shaped support plate. The steering shaft is fixed above the I-shaped support plate and connected to the steering assembly.
3. The multi-legged robot with laser weeding function according to claim 2, characterized in that: The rear foot assembly includes a support plate and a rear mechanical foot. The support plate is fixedly arranged below one end of the base away from the I-shaped support plate, and the rear mechanical foot is symmetrically arranged below both ends of the support plate.
4. The multi-legged robot with laser weeding function according to claim 2, characterized in that: The steering assembly includes a steering box, a steering half gear, a steering gear and a steering motor. The steering box is fixedly arranged above the base, the upper end of the steering shaft passes through the base and is rotatably arranged in the steering box, the steering half gear is fixedly arranged at the upper end of the steering shaft, the steering gear is rotatably arranged on one side of the steering half gear, the steering half gear is meshed with the steering gear, the steering motor is fixedly arranged in the steering box, and the output end of the steering motor is connected to the steering half gear.
5. The multi-legged robot with laser weeding function according to claim 1, characterized in that: The laser weed remover comprises an adjusting platform and a laser generator. The adjusting platform is fixed on the bottom wall of the base, and the laser generator is connected to the adjusting platform.
6. The multi-legged robot with laser weeding function according to claim 1, characterized in that: The main camera and the auxiliary camera are both equipped with an obstacle avoidance module, a plant recognition module, and a gimbal radar ranging module. The steering assembly is equipped with an operation control module, an obstacle avoidance module, a surveying and mapping module, a navigation module, and an automatic return module. The laser weeder is equipped with a laser emission module. The operation control module is connected to the obstacle avoidance module, the surveying and mapping module, the navigation module, and the automatic return module. The laser emission module is connected to the plant recognition module and the gimbal radar ranging module.