Single-track paddy field adaptive weeding robot

Abstract

The present invention discloses a single-track adaptive paddy field weeding robot, comprising a non-coaxial steering track, a steering chassis main frame, a drive wheel module, a six-rod inter-row weeding device, and the like. The non-coaxial steering track is composed of a plurality of track units connected end to end, which are installed around the steering chassis main frame and the outside of the drive wheel module and mesh with the drive wheel module; the push rod in the steering chassis main frame differentially drives the entire machine to turn, and the vertical bending joint of the track unit can make the track bend vertically. The steering ring and the track plate can rotate non-coaxially to avoid mutual interference between the track plates and realize relative rotation between the track units, thereby ensuring that the machine is flexible in turning in the field and has a sufficiently large contact area with the ground, and is not prone to sinking and damaging seedlings. The six-rod inter-row weeding device utilizes the quick return characteristics of the six-rod mechanism. After the telescopic rod is extended to complete the weeding action, it quickly retracts, so that the seedlings will not be damaged during the high-speed rotation of the movable sickle. The present invention has good environmental adaptability and can realize low-loss and high-efficiency paddy field weeding operations.

Description

Technical Field

[0001] The invention relates to the technical field of paddy field weeding, and in particular to a single-track paddy field self-adaptive weeding robot. Background Art

[0002] Rice is a vital strategic resource for ensuring world food security. In the past five years, my country's rice yield loss rate due to weed pests has reached approximately 13%. Efficient, sustainable, and scientific weed control has become a crucial guarantee for achieving high-quality rice yields and a crucial solution to global food supply conflicts.

[0003] Paddy field weeding operations are complex, characterized by high levels of silt. The spatial distribution of paddy field seedlings is irregular, and weeds can grow between rows. Precise weed control within paddy field plants has always placed the highest demands on machine performance. During field operations, weeding equipment and personnel can easily become mired in mud. Existing tracked paddy field machines are typically large. Due to the small spacing between seedlings, inflexible steering and excessive bulk can easily cause crop crushing and damage, resulting in property damage. A single-track chassis offers the common advantages of a tracked chassis: a large contact patch and low ground pressure. It also offers greater flexibility when maneuvering between rows, minimizing crop damage. Conventional single-track chassis require steering wheels in front or behind the tracks to achieve cornering, increasing overall machine length and reducing maneuverability. When used in paddy field soils with soft, loose soil, steering wheel slippage and mud becoming trapped between the tracks and steering wheels are common problems. Existing improvements to single-track chassis have not been designed for paddy field applications. For example, a four-way single crawler track assembly (CN202411244051.9) consists of a driving wheel, a steering mechanism, a driven wheel, a bracket, and a track shoe assembly. The track shoe assembly includes a floating support, a connecting member, and a track shoe. The lower end of the floating support is in an inverted T-shape, slidingly engaging with the double-ended convex groove of the bracket. The connecting member has horizontal and vertical hinge holes, to which the track shoe is fixed. The floating support is connected to the connecting member via a horizontal hinge shaft. This is then connected to another connecting member and the floating support via an articulated block and a vertical hinge shaft, and this cycle repeats to form a closed crawler track assembly. This crawler track assembly can bend in four directions.

[0004] While the aforementioned prior art solutions can achieve steering with a single track, the need to avoid interference between track shoes during steering reduces the area of ​​each track shoe, reducing the advantage of tracked implements in reducing ground pressure. Furthermore, due to the soft, thin soil in paddy fields, tracked implements are prone to sinking and sticking when used in paddy fields. Their steering mechanism directly deflects the driving wheel, leaving the driven wheel without any steering function. This results in limited flexibility and insufficient maneuverability in narrow paddy field rows. The track support structure, located between the driving and driven wheels, is heavy and unsuitable for paddy fields, where overall weight requirements are low. Furthermore, the support members are designed to float, making them difficult to withstand heavy loads. A key challenge urgently needs to be addressed: how to adapt a single-track system to paddy fields while maintaining the advantages of a single-track chassis with flexible travel and a large ground contact area, while also avoiding the drawbacks of a single track shoe with a small turning area and a high, inflexible steering mechanism that can easily sink and damage crops in paddy fields, thereby achieving efficient weed control in paddy fields. Summary of the Invention

[0005] To address the existing problems of single track shoes with limited turning area and a high and inflexible steering system, which easily cause them to sink and damage crops in paddy fields, the present invention provides a single-track adaptive paddy field weeding robot. While navigating paddy fields, it uses automatically planned paths to control dual-push rod differential steering on a single non-coaxial steering track to achieve turning. The robot is compact, has no interference between track shoes, and has a large ground contact area, making it less prone to sinking, further enhancing its practicality. While simultaneously crushing inter-row weeds, a six-rod inter-row weeding device also cuts weeds between rows, further enhancing its automation and range of action.

[0006] The present invention is achieved in that:

[0007] The present invention provides a single-track paddy field adaptive weeding robot, comprising a non-coaxial steering track, a steering chassis main frame, a driving wheel module, a six-rod inter-row weeding device, a navigation and identification front compartment, a power supply and power rear compartment, and a load platform;

[0008] The steering chassis main frame comprises a front chassis, a rear chassis and a driving wheel frame;

[0009] Each of the six-rod inter-row weeding devices is provided with a universal flexible shaft;

[0010] The load platform includes a front load platform and a rear load platform;

[0011] The non-coaxial steering crawler is installed around the steering chassis main frame and the outer side of the driving wheel module;

[0012] There are two sets of drive wheel modules, which are respectively fixed to the drive wheel frames in front and behind the steering chassis main frame. The drive wheel modules are engaged with the non-coaxial steering crawler, output torque and provide power to the non-coaxial steering crawler;

[0013] The front load platform is fixedly mounted on the front chassis, and the rear load platform is fixedly mounted on the rear chassis;

[0014] The navigation and identification front compartment is fixed on the front load platform, with a binocular camera embedded in the front to obtain information about the grass, soil, and obstacles in the field; cameras are embedded on both sides to obtain information about the grass on both sides of the forward direction;

[0015] The power supply and power rear compartment are fixedly installed on the rear load platform, and the power supply and power rear compartment are equipped with a complete machine power supply, two flexible shaft matching motors, and two six-rod inter-row weeding device drive motors;

[0016] The power supply is electrically connected to the power rear compartment and the drive wheel module;

[0017] There are two sets of six-rod inter-row weeding devices, which are fixed in parallel on the rear load platform. The front six-rod inter-row weeding device is installed to the left of the forward direction of the machine, and the rear six-rod inter-row weeding device is installed to the right of the forward direction of the machine; the universal flexible shaft chuck is connected to the power supply and the flexible shaft matching motor built into the power rear compartment.

[0018] The non-coaxial steering crawler is composed of multiple groups of crawler units connected end to end, and each crawler unit also includes a track shoe, a transverse direction-changing tail section, a transverse direction-changing start section, a steering ring, a transverse rotating shaft, a vertical bending section, a double pin, and an end connector;

[0019] The track shoe is fixedly connected to the transverse direction-changing tail section, which is rotatably mounted on the transverse direction-changing start section; the transverse direction-changing start section is fixedly connected to the tail end of the transverse rotating shaft; the vertically opposed steering rings are coaxially rotatably mounted on the transverse rotating shaft; the two vertical bending sections are connected to the end connectors via double pins; one of the vertical bending sections is hinged to the steering ring opposite to the direction of track movement;

[0020] In the two adjacent crawler units, the vertical bending section at the tail of the front crawler unit relative to the travel direction of the machine is hinged to the steering ring at the front of the rear crawler unit, connecting all the crawler units of the entire machine one by one to form a non-coaxial steering crawler.

[0021] The steering chassis main frame also includes a steering rod frame, a steering rod, a push rod, a push rod bracket, a folding hinge front plate, an articulated shaft locking ring, a folding hinge shaft, a folding hinge rear plate, a load bracket, and a bottom wheel assembly;

[0022] The folding waist articulated shaft and the matching articulated shaft locking ring are fixedly connected, and the folding waist articulated front plate and the folding waist articulated rear plate are both rotatably mounted on the folding waist articulated shaft; the folding waist articulated front plate is fixedly connected to the front chassis; the folding waist articulated rear plate is fixedly connected to the rear chassis; the front chassis and the rear chassis are each fixed with two drive wheel frames, two load brackets and four bottom wheel assemblies; the drive wheel frame is fixedly connected to the drive wheel module;

[0023] There are two groups of push rod brackets, both of which are fixed to the left and right sides of the inner wall of the rear chassis; the rear end of the push rod is fixed to the push rod bracket; the push rod brackets are fixed to the two sides of the inner wall of the front chassis, and steering rods are set on both sides; the front end of the steering rod is hinged to the push rod bracket; the rear end of the steering rod is hinged to the moving end of the push rod; the push rod is electrically connected to the power supply and the power rear warehouse.

[0024] The driving wheel module also includes a pulley, a DC hub motor, and a driving wheel shaft;

[0025] Each group of the driving wheel modules has two DC hub motors, and the square holes of the DC hub motors form installation positions with the square shoulders on the driving wheel shafts; the pulleys are interference-fitted on the outside of the DC hub motors and driven to rotate by the DC hub motors; the two ends of the driving wheel shafts are respectively fixed to the driving wheel frame.

[0026] The six-rod inter-row weeding device has two symmetrically installed groups, each of which also includes a six-rod weeding bracket, a rocker, an L-rod, a middle connecting rod, a telescopic rod, a telescopic rod guide frame, an input rod, an input shaft, a coupling, a power shaft, a universal flexible shaft, a fixed sickle, and a movable sickle;

[0027] In the single-group six-rod inter-row weeding device, the six-rod weeding brackets are respectively hinged to the rocker and the input rod, and the telescopic rod guide frame is fixedly installed on the six-rod weeding bracket; the rocker is hinged to the corner end of the L rod 4; the input rod is hinged to the end of the L rod; the middle connecting rod is respectively hinged to the L rod and the telescopic rod, the telescopic rod is fixed to the fixed sickle, and the output end of the universal flexible shaft is connected to the moving sickle to provide torque for it; the input end of the universal flexible shaft is connected to the power supply and the built-in motor of the power rear compartment; the power shaft is connected to the power supply and the matching drive motor built into the power rear compartment; the coupling connects the power shaft and the input shaft.

[0028] The track shoe centerline length is L1, the track shoe width is L2, the center contour of the track shoe upper surface is a 60° arc with R1 as radius and P0 as origin, and P0 is on the center axis of the center contour of the track shoe upper surface; the line connecting the two end points of the center contour is the center line of the track shoe; the track shoe leading edge contour is an arc with R2 as radius and P2 as origin, and P2 is located on the center axis of the track shoe leading edge contour; the track shoe trailing edge contour is an arc with R3 as radius, P3 as origin, and angle A, and P3 is located on P2 of the track shoe. Point P0 is located at a distance R1 backward along the center line of the track shoe; P3 is located on the central axis of the contour of the rear edge of the track shoe; P2 and P3 are both located on the rear extension line of the center line, P1 is the projection of P0 on the center line of the track shoe, and P1 is located at the midpoint of the center line; L2=3L1, L1=R1=R2=R3, A=53°; the two ground contact ribs are located on the upper surface of the track shoe; among them, the track shoe width L2 is 240mm, which is 0.8 times the rice planting row spacing in Northeast China. The robot can move flexibly in the field without damaging the seedlings.

[0029] During the steering action of the robot, the push rod on one side of the steering chassis main frame extends, and the push rod on the other side of the steering chassis main frame shortens by the same length to achieve differential steering; after the steering chassis main frame completes the bending, the upper and lower steering rings of the crawler unit that are not engaged with the pulley will rotate around the lateral rotation axis, and at the same time, the lateral change of direction tail section in the crawler unit will rotate relative to the lateral change of direction starting section, and the lateral change of direction tail section drives the fixed track shoe to rotate; the movement trend of the components contained in the adjacent crawler unit is the same as the above-mentioned crawler unit; the steering ring rotation axis, the track shoe rotation axis, and the adjacent track shoe rotation axis form a triangle, the distance between the steering ring rotation axis and the adjacent track shoe rotation axis 1 is 3 / 2R1, the distance between the steering ring rotation axis and the track shoe rotation axis is 1 / 2R1, and the distance between the track shoe rotation axis and the adjacent track shoe rotation axis is greater than R1; the centerline length of adjacent track shoes is R1, and the non-coaxial steering crawler can complete the turning action together with the steering chassis without interference;

[0030] During the travel, when the crawler unit is engaged with the drive wheel module, the center axis of the center contour of the upper surface of the crawler shoe coincides with the rotation axis of the drive wheel module during travel;

[0031] When traveling straight, for the track shoe in the track unit that is not engaged with the drive wheel module, the projection P1 of P0 on the center line of the track shoe coincides with the rotation axis of the steering ring; the central axis of the track shoe leading edge contour coincides with the rotation axis; the central axis of the track shoe trailing edge contour coincides with the rotation axis of the adjacent track unit; the distance between the rotation axes of the track shoes and the adjacent track shoes is R1.

[0032] Compared with the prior art, the advantages of the present invention are:

[0033] 1. Achieve flexible field steering operations with a single-track chassis. The single-track adaptive paddy field weeding robot provided by this invention features a track shoe fixed to the lateral turning tail section. The track shoe and steering ring are both rotatable and non-coaxial, preventing interference between the front and rear track shoes during steering. This results in a large track shoe area, reduced sag resistance, and flexible steering for the entire machine. Two narrow, high contact ribs are provided on the upper surface of each track shoe to crush and cut weeds as it moves between rows. This ensures sufficient ground contact area in paddy fields to reduce pressure, enable flexible steering, and achieve inter-row weeding.

[0034] 2. Achieve weeding with low seedling damage. The six-bar inter-row weeding device's actuators consist of a fixed sickle and a movable sickle. The movable sickle rotates at high speed at the end of the fixed sickle via a flexible shaft, and together they shear the weed stems between the rows. The six-bar mechanism utilizes its quick-return feature, allowing the telescopic rod to quickly retract after extending to complete the weeding operation, preventing the seedlings from being damaged during the high-speed rotation of the movable sickle. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is an overall schematic diagram of the single-track paddy field adaptive weeding robot in an example of the present invention;

[0036] Figure 2 1. It is a cross-sectional view of a track unit of a single-track paddy field adaptive weeding robot in an example of the present invention;

[0037] Figure 3 This is an exploded view of the track unit of the single-track paddy field adaptive weeding robot in an example of the present invention;

[0038] Figure 4 This is a connection diagram of two track units of the single-track paddy field adaptive weeding robot in an example of the present invention;

[0039] Figure 5 This is an overall schematic diagram of the steering chassis main frame of the single-track paddy field adaptive weeding robot in an example of the present invention;

[0040] Figure 6 This is an exploded view of the steering chassis main frame of the single-track paddy field adaptive weeding robot in an example of the present invention;

[0041] Figure 7 This is an overall schematic diagram and a cross-sectional view of the driving wheel module of the single-track paddy field adaptive weeding robot in an example of the present invention;

[0042] Figure 8 This is an exploded view of the drive wheel module and drive wheel frame of the single-track paddy field adaptive weeding robot in an example of the present invention;

[0043] Figure 9 This is an overall schematic diagram of the six-rod inter-row weeding device of the single-track paddy field adaptive weeding robot in an example of the present invention;

[0044] Figure 10 Schematic diagram of the payload compartment and payload platform of the single-tracked paddy field adaptive weeding robot in an example of the present invention;

[0045] Figure 11 Schematic diagram of the appearance of the track shoe of the non-coaxial steering track of the single-track paddy field adaptive weeding robot in an example of the present invention;

[0046] Figure 12 Schematic diagram of the non-coaxial steering crawler of the single-track paddy field adaptive weeding robot in an example of the present invention;

[0047] Figure 13 This is a schematic diagram of the single-track paddy field adaptive weeding robot moving straight ahead with non-coaxial steering tracks in an example of the present invention.

[0048] Figure symbols: 1 non-coaxial steering crawler; 2 steering chassis main frame; 3 driving wheel module; 4 six-rod inter-row weeding device; 5 navigation and identification front compartment; 6 power supply and power rear compartment; 7 load platform; 1-1-1 track shoe; 1-1-1-C ground contact rib; 1-1-2 lateral direction change tail section; 1-1-3 lateral direction change start section; 1-1-4 steering ring; 1-1-5 lateral rotation axis; 1-1-6 vertical bending section; 1-1-7 double pin; 1-1-8 end connector; 1-1-4-A1 steering ring 1-1-4 rotation axis; 1-1-1-A2 track shoe 1-1-1 rotation axis; 2-1 front chassis; 2-2 steering rod frame; 2-3 steering rod; 2-4 push rod; 2-5 push rod bracket; 2-6 driving wheel frame; 2-7 2-8 Articulated front plate; 2-9 Articulated shaft lock ring; 2-10 Articulated rear plate; 2-11 Rear chassis; 2-12 Load bracket; 2-13 Bottom wheel assembly; 3-1 Pulley; 3-2 DC hub motor; 3-3 Drive wheel shaft; 4-1 Six-bar weeding bracket; 4-2 Rocker; 4-3 L-bar; 4-4 Middle link; 4-5 Telescopic rod; 4-6 Telescopic rod guide frame; 4-7 Input rod; 4-8 Input shaft; 4-9 Coupling; 4-10 Power shaft; 4-11 Universal flexible shaft; 4-12 Fixed sickle; 4-13 Moving sickle; 5-1 Binocular camera; 5-2 Camera; 5-3 Antenna; 7-1 Rear load platform; 7-2 Front load platform; 7-3 Platform bracket;

[0049] Geometric feature identification and description:

[0050] P0: Origin of the center contour arc of the upper surface of the track shoe; P1: Projection of P0 on the center line of the track shoe; P2: Rear endpoint of the center contour of the upper surface (center point of rotation of the track shoe); P3: Center point of the track shoe's trailing edge contour; AX1: Center axis of the center contour of the upper surface of the track shoe; AX2: Center axis of the track shoe's leading edge contour; AX3: Center axis of the track shoe's trailing edge contour; Distance between the rotation axis 1-1-4-A1 of the LA12-12 steering ring 1-1-4 and the rotation axis 1-1-1-A2 of the adjacent track shoe 1-1-1; Distance between the rotation axis 1-1-4-A1 of the LA12 steering ring 1-1-4 and the rotation axis 1-1-1-A2 of the track shoe 1-1-1; Distance between the rotation axis 1-1-1-A2 of the LA22-12 track shoe 1-1-1 and the rotation axis 1-1-1-A2 of the adjacent track shoe 1-1-1. DETAILED DESCRIPTION

[0051] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0052] Example 1, as Figures 1-10 ,This example provides a single-track paddy field adaptive weeding robot, such as Figure 1-11 As shown, it includes a non-coaxial steering track 1, a steering chassis main frame 2, a driving wheel module 3, a six-rod inter-row weeding device 4, a navigation and identification front compartment 5, a power supply and power rear compartment 6, and a load platform 7;

[0053] The driving wheel module 3 is mounted on the driving wheel frames 2 - 6 in front and behind the steering chassis main frame 2 .

[0054] The steering chassis main frame 2 includes a front chassis 2-1, a rear chassis 2-11 and a driving wheel frame 2-6.

[0055] Each of the six-rod inter-row weeding devices 4 is provided with a universal flexible shaft 4-11.

[0056] The load platform 7 includes a front load platform 7-2 and a rear load platform 7-1.

[0057] The non-coaxial steering track 1 is installed around the steering chassis main frame 2 and the outer side of the driving wheel module 3.

[0058] The driving wheel module 3 is fixed to the driving wheel frame 2-6 in front and behind the steering chassis main frame 2, engages with the non-coaxial track, outputs torque and provides power to the non-coaxial steering track 1.

[0059] The front load platform 7-2 is fixed to the front chassis 2-1, and the rear load platform 7-1 is fixed to the rear chassis 2-11.

[0060] The navigation and identification front warehouse 5 is fixed on the front load platform 7-2, and a binocular camera 5-1 is embedded in the front to obtain information about seedlings, grass, water, soil and obstacles in the field; cameras 5-2 are embedded on both sides to obtain information about seedlings and grass on both sides of the forward direction.

[0061] The power supply and power rear compartment 6 is fixedly mounted on the rear load platform 7 - 1 , and the power supply and power rear compartment 6 has a built-in power supply for the entire machine, two flexible shaft matching motors, and two six-rod weeding devices 4 drive motors.

[0062] The power supply is electrically connected to the power rear compartment 6 and the driving wheel module 3 .

[0063] There are two sets of the six-rod inter-row weeding devices (4), which are fixed in parallel on the rear load platform 7-1. The front six-rod inter-row weeding device 4 is installed to the left of the forward direction of the machine, and the rear six-rod inter-row weeding device 4 is installed to the right of the forward direction of the machine; the universal flexible shaft 4-11 chuck thereon is connected to the power supply and the flexible shaft matching motor built into the power rear compartment 6.

[0064] Example 2, as Figure 2-4 The single-track paddy field adaptive weeding robot provided in this example has a non-coaxial steering track 1 composed of multiple groups of track units connected end to end, each track unit also including a track shoe 1-1-1, a lateral direction-changing tail section 1-1-2, a lateral direction-changing starting section 1-1-3, a steering ring 1-1-4, a lateral rotating shaft 1-1-5, a vertical bending section 1-1-6, a double pin 1-1-7, and an end connector 1-1-8;

[0065] The track shoe 1-1-1 is fixedly connected to the lateral change tail section 1-1-2, and the lateral change tail section 1-1-2 is rotatably mounted on the lateral change starting section 1-1-3; the lateral change starting section 1-1-3 is fixedly connected to the tail end of the lateral rotating shaft 1-1-5; the vertically opposite steering rings 1-1-4 are coaxially rotatably mounted on the lateral rotating shaft 1-1-5; the two vertical bending sections 1-1-6 are connected to the end connector 1-1-8 through double pins 1-1-7; one of the vertical bending sections 1-1-6 is hinged to the steering ring 1-1-4 opposite to the direction of track movement.

[0066] Among the two adjacent track units, taking track unit 1-1 and track unit 1-2 as an example, the vertical bending section 1-1-6 at the tail of the track unit at the front end relative to the direction of travel of the machine is hinged with the steering ring 1-1-4 at the front end of the track unit at the rear end, connecting all the track units of the entire machine one by one to form a non-coaxial steering track 1.

[0067] Example 3, as Figure 5-6The single-track paddy field adaptive weeding robot provided in this example, the steering chassis main frame 2 also includes a push rod frame 2-2, a steering rod 2-3, a push rod 2-4, a push rod bracket 2-5, a folding hinged front plate 2-7, an articulated shaft locking ring 2-8, a folding hinged shaft 2-9, a folding hinged rear plate 2-10, a load bracket 2-12, and a bottom wheel assembly 2-13;

[0068] The bending waist articulated shaft 2-9 and the matching articulated shaft locking ring 2-8 are fixedly connected, and the folding waist articulated front plate 2-7 and the folding waist articulated rear plate 2-10 can be rotatably installed on the folding waist articulated shaft 2-9; the folding waist articulated front plate 2-7 is fixedly connected to the front base frame 2-1; the folding waist articulated rear plate 2-10 is fixedly connected to the rear base frame 2-11; the front base frame 2-1 and the rear base frame 2-11 are each fixedly connected to two driving wheel frames 2-6, two load brackets 2-12 and four bottom wheel assemblies 2-13; the driving wheel frame 2-6 is fixedly connected to the driving wheel module 3.

[0069] There are two groups of push rod brackets 2-5, both of which are fixed to the left and right sides of the inner wall of the rear chassis 2-11; the rear end of the push rod 2-4 is fixed to the push rod bracket 2-5; the steering rod bracket 2-2 is fixed to both sides of the inner wall of the front chassis 2-1, and steering rods 2-3 are set on both sides; the front end of the steering rod 2-3 is hinged to the steering rod bracket 2-2; the rear end of the steering rod 2-3 is hinged to the moving end of the push rod 2-4; the push rod 2-4 is electrically connected to the power supply and the power rear compartment 6.

[0070] Example 4, as Figure 7-8 The single-track paddy field adaptive weeding robot provided in this example is characterized in that the driving wheel module 3 also includes a pulley 3-1, a DC hub motor 3-2, and a driving wheel shaft 3-3; wherein the outer ring of the selected DC hub motor 3-2 and the pulley 3-1 are made of rubber.

[0071] Each group of the driving wheel modules 3 has two DC hub motors 3-2, and the square holes of the DC hub motors 3-2 form mounting positions with the square shoulders on the driving wheel shaft 3-3; the pulley 3-1 is interference fit on the outside of the DC hub motor 3-2 and is driven to rotate by the DC hub motor 3-2; the two ends of the driving wheel shaft 3-3 are respectively fixed to the driving wheel frame 2-6.

[0072] Example 5, as Figure 9-10 The single-track paddy field adaptive weeding robot provided in this example has two symmetrically installed six-rod inter-row weeding devices 4, each of which also includes a six-rod weeding bracket 4-1, a rocker 4-2, an L rod 4-3, a middle connecting rod 4-4, a telescopic rod 4-5, a telescopic rod guide frame 4-6, an input rod 4-7, an input shaft 4-8, a coupling 4-9, a power shaft 4-10, a universal flexible shaft 4-11, a fixed sickle 4-12, and a movable sickle 4-13.

[0073] In the single-group six-rod inter-row weeding device 4, the six-rod weeding bracket 4-1 is hinged to the rocker 4-2 and the input rod 4-7 respectively, and the telescopic rod guide frame 4-6 is fixed to the six-rod weeding bracket 4-1; the rocker 4-2 is hinged to the corner end of the L rod 4-3; the input rod 4-7 is hinged to the end of the L rod; the middle connecting rod 4-4 is hinged to the L rod 4-3 and the telescopic rod 4-5 respectively, the telescopic rod 4-5 is fixed to the fixed sickle 4-12, and the output end of the universal flexible shaft 4-11 is connected to the movable sickle 4-13 to provide torque for it; the input end of the universal flexible shaft 4-11 is connected to the power supply and the built-in motor of the power rear compartment 6; the power shaft 4-10 is connected to the power supply and the built-in matching drive motor of the power rear compartment 6; the coupling 4-9 connects the power shaft 4-10 and the input shaft 4-8.

[0074] Example 6: Figure 11 In this example, a single-track adaptive paddy field weeding robot is provided, wherein the centerline length of the track shoe 1-1-1 is L1, the width of the track shoe 1-1-1 is L2, the center contour of the upper surface of the track shoe 1-1-1 is a 60° arc with R1 as the radius and P0 as the origin, and P0 is on the center axis AX1 of the center contour of the upper surface of the track shoe; the line connecting the two end points of the center contour is the center line of the track shoe 1-1-1; the leading edge contour of the track shoe 1-1-1 is an arc with R2 as the radius and P2 as the origin, and P2 is located on the center axis AX2 of the trailing edge contour of the track shoe; the trailing edge contour of the track shoe 1-1-1 is an arc with R3 as the radius and P3 as the origin. The arc is the origin and the angle is A. P3 is located on the track shoe 1-1-1 at R1 to the rear of point P2 along the center line of the track shoe; P3 is located on the central axis AX3 of the contour of the rear edge of the track shoe; P2 and P3 are both located on the rear extension line of the center line, P1 is the projection of P0 on the center line, and P1 is located at the midpoint of the center line; L2=3L1, L1=R1=R2=R3, A=53°; two ground contact ribs 1-1-1-C are located on the upper surface of the track shoe 1-1-1; among them, the track shoe width L2 is 240mm, which is 0.8 times the rice planting row spacing in Northeast China. The robot can move flexibly in the field without damaging the seedlings.

[0075] Example 7, as Figure 12-13In the single-track adaptive paddy field weeding robot provided in this example, during the steering action, the push rod 2-4 on one side of the steering chassis main frame 2 extends, and the push rod 2-4 on the other side of the steering chassis main frame 2 shortens by the same length, thereby realizing differential steering. After the steering chassis main frame 2 completes the bending, the upper and lower steering rings 1-1-4 of the crawler unit 1-1 that are not engaged with the pulley 3-1 will rotate around the transverse rotation axis 1-1-5, and the rotation axis is 1-1-4-A1. At the same time, the transverse direction-changing tail section 1-1-2 in the crawler unit 1-1 will rotate together with the transverse direction-changing starting section 1-1-3 around the rotation axis 1-1-1-A2, and the transverse direction-changing tail section 1-1-2 drives the track shoe 1-1-1 to which it is fixed to rotate around the rotation axis 1-1-1-A2. Rotation; The movement trend of the components contained in the adjacent crawler unit 1-1 is the same as that of the above crawler unit 1-1. The rotation axis of the adjacent track shoe 1-1-1 is 1-1-1-A2. The rotation axis 1-1-4-A1 of the steering ring 1-1-4, the rotation axis 1-1-1-A2 of the track shoe 1-1-1, and the rotation axis 1-1-1-A2 of the adjacent track shoe 1-1-1 form a triangle. The distance between the rotation axis 1-1-4-A1 of the steering ring 1-1-4 and the rotation axis 1-1-1-A2 of the adjacent track shoe 1-1-1 is LA12-12=3 / 2R1, and the distance between the rotation axis 1-1-4-A1 of the steering ring 1-1-4 and the rotation axis 1-1-1-A2 of the track shoe 1-1-1 is LA12=1 / 2R1. The distance LA22-12 between the rotation axis 1-1-1-A2 of the track shoe 1-1-1 and the rotation axis 1-1-1-A2 of the adjacent track shoe 1-1-1 is greater than R1. The centerline length of the adjacent track shoe 1-1-1 is R1. Because LA22-12 is greater than R1, the non-coaxial steering track can complete the turning action together with the steering chassis without interference.

[0076] During the travel, when the crawler unit 1-1 is engaged with the drive wheel module 3, the central axis AX1 of the central contour of the upper surface of the track shoe 1-1-1 coincides with the rotation axis of the drive wheel module during travel;

[0077] When traveling straight, for the track shoe 1-1-1 in the track unit 1-1 that is not engaged with the drive wheel module 3, the projection P1 of P0 on the centerline of the track shoe coincides with the rotation axis 1-1-4-A1 of the steering ring 1-1-4; the center axis AX2 of the contour of the leading edge of the track shoe coincides with the rotation axis 1-1-1-A2; the center axis AX3 of the contour of the trailing edge of the track shoe 1-1-1 coincides with the rotation axis 1-1-1-A2 of the adjacent track unit 1-1; the distance between the rotation axis 1-1-1-A2 of the track shoe 1-1-1 and the rotation axis 1-1-1-A2 of the adjacent track shoe 1-1-1 is R1.

[0078] The specific implementation principle process is as follows:

[0079] The navigation and recognition front compartment 5 is responsible for the movement control of the single-track adaptive paddy field weeding robot. It uses a front-mounted binocular camera 5-1 to obtain information about the soil, grass, and obstacles in the field. This information is then transmitted to a host computer for path planning, allowing the robot to navigate the rugged field. The front and rear drive wheel modules 3 provide power to the robot. The power supply and rear power compartment supply power to the front and rear drive wheel modules 3. Opposite-mounted hub motors in the drive wheel modules 3 rotate the pulleys, which engage with the non-coaxial steering tracks, driving the tracks and enabling the robot to move forward and backward. When turning is required, the front and rear frames are deflected by the telescopic movement of the push rod 2-4, and the front frame 2-1 rotates a certain angle around the steering hinge point where the folding hinge shaft 2-9 is located, while the rear frame 2-11 does not deflect as a whole, wherein the push rod 2-4 on one side of the steering chassis main frame 2 is extended, and the push rod 2-4 on the other side of the steering chassis main frame 2 is shortened by the same length to achieve differential steering; the steering of the crawler unit that is not engaged with the pulley 3-1 rotates around the transverse rotating shaft 1-1-5, and the upper steering ring and the lower steering ring form an angle, at the same time, the lateral change of direction starting section is stationary relative to the transverse rotating shaft, and the lateral change of direction tail section drives the track plate to rotate due to the overall turning of the non-coaxial steering crawler, and the steering chassis drives the non-coaxial steering crawler to complete the turning action, and there is no interference between the crawler units.

[0080] The single-track adaptive paddy field weeding robot primarily performs weeding operations using a six-rod inter-row weeding mechanism. The navigation and identification front compartment 5 uses two side cameras 5-2 to acquire information about weeds on either side of the robot's forward direction. This information is then identified. After weeds are identified, a motor within the power and power rear compartment 6 rotates the six-rod inter-row weeding mechanism 4, based on whether the integral of the robot's travel speed and time satisfies the distance between the cameras and the weeding mechanism. This causes the telescopic rod 4-5 to extend, and the fixed sickle 4-12 and movable sickle 4-13 to reach a position where they will cut weeds during forward movement. The rotation center of the movable sickle 4-13 approaches parallelism with the shortest line connecting the weed stems and the robot's forward direction. The motor driving the universal flexible shaft 4-11 in the power and power rear compartment 6 rotates, rotating the movable sickle 4-13 and, together with the fixed sickle 4-12, cuts the weeds. The power shaft 4-10 continues to rotate, and the telescopic rod 4-5 is quickly retracted using the six-rod mechanism's quick-return feature to prevent scratches or accidental damage to the crop.

[0081] The above embodiments are only used to illustrate the present invention, wherein the structures and connection modes of the components are subject to change. Any equivalent transformations and improvements based on the technical solutions of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A single-track adaptive weeding robot for paddy fields, characterized in that: It includes a non-coaxial steering crawler (1), a steering chassis main frame (2), a driving wheel module (3), a six-rod inter-row weeding device (4), a navigation and identification front compartment (5), a power supply and power rear compartment (6), and a load platform (7); The steering chassis main frame (2) comprises a front chassis (2-1), a rear chassis (2-11) and a driving wheel frame (2-6); Each of the six-rod inter-row weeding devices (4) is provided with a universal flexible shaft (4-11); The load platform (7) comprises a front load platform (7-2) and a rear load platform (7-1); The non-coaxial steering crawler (1) is mounted around the steering chassis main frame (2) and the outside of the driving wheel module (3); There are two sets of driving wheel modules (3), which are respectively fixed to the driving wheel frames (2-6) at the front and rear of the steering chassis main frame (2). The driving wheel modules (3) are engaged with the non-coaxial steering crawler (1), output torque and provide power to the non-coaxial steering crawler (1); The front load platform (7-2) is fixedly mounted on the front chassis (2-1), and the rear load platform (7-1) is fixedly mounted on the rear chassis (2-11); The navigation and identification front compartment (5) is fixedly mounted on the front load platform (7-2), and a binocular camera (5-1) is embedded in the front to obtain information on seedlings, grass, soil, and obstacles in the field; Cameras (5-2) are embedded on both sides to obtain information about the grass on both sides of the forward direction; The power supply and power rear compartment (6) is fixedly mounted on the rear load platform (7-1), and the power supply and power rear compartment (6) has a built-in power supply for the entire machine, two flexible shaft matching motors, and two six-rod inter-row weeding devices (4) drive motors; The power supply is electrically connected to the power rear compartment (6) and the drive wheel module (3); There are two sets of the six-rod inter-row weeding devices (4), which are fixedly mounted on the rear load platform (7-1) in parallel. The front six-rod inter-row weeding device (4) is installed to the left of the forward direction of the machine, and the rear six-rod inter-row weeding device (4) is installed to the right of the forward direction of the machine. The universal flexible shaft (4-11) chuck is connected to the power supply and the flexible shaft matching motor built into the power rear compartment (6).

2. The single-track paddy field adaptive weeding robot according to claim 1, characterized in that: The non-coaxial steering crawler (1) is composed of a plurality of crawler units (1-1) connected end to end, and each crawler unit (1-1) further comprises a crawler shoe (1-1-1), a lateral direction-changing tail section (1-1-2), a lateral direction-changing start section (1-1-3), a steering ring (1-1-4), a lateral rotating shaft (1-1-5), a vertical bending section (1-1-6), a double pin (1-1-7), and an end connector (1-1-8); The track shoe (1-1-1) is fixedly connected to the transverse direction-changing tail section (1-1-2), and the transverse direction-changing tail section (1-1-2) is rotatably mounted on the transverse direction-changing start section (1-1-3); the transverse direction-changing start section (1-1-3) is fixedly connected to the tail end of the transverse rotating shaft (1-1-5); the vertically opposed steering rings (1-1-4) are coaxially rotatably mounted on the transverse rotating shaft (1-1-5); the two vertical bending sections (1-1-6) are connected to the end connector (1-1-8) via double pins (1-1-7); and one of the vertical bending sections (1-1-6) is hinged to the steering ring (1-1-4) opposite to the direction of movement of the track; In two adjacent crawler units (1-1), a vertical bending joint (1-1-6) at the tail of the front crawler unit (1-1) relative to the moving direction of the machine is hinged to a steering ring (1-1-4) at the front of the rear crawler unit (1-1), and all crawler units (1-1) of the entire machine are connected one by one in sequence to form a non-coaxial steering crawler (1).

3. The single-track paddy field adaptive weeding robot according to claim 2, characterized in that: The steering chassis main frame (2) further comprises a steering rod frame (2-2), a steering rod (2-3), a push rod (2-4), a push rod bracket (2-5), a folding hinge front plate (2-7), an articulated shaft locking ring (2-8), a folding hinge shaft (2-9), a folding hinge rear plate (2-10), a load bracket (2-12), and a bottom wheel assembly (2-13); The folding hinge shaft (2-9) and the matching hinge shaft locking ring (2-8) are fixedly connected, and the folding hinge front plate (2-7) and the folding hinge rear plate (2-10) are both rotatably mounted on the folding hinge shaft (2-9); the folding hinge front plate (2-7) is fixedly connected to the front chassis (2-1); the folding hinge rear plate (2-10) is fixedly connected to the rear chassis (2-11); the front chassis (2-1) and the rear chassis (2-11) are each fixedly connected to two drive wheel frames (2-6), two load brackets (2-12) and four bottom wheel assemblies (2-13); the drive wheel frames (2-6) are respectively fixedly connected to the drive wheel modules (3); There are two groups of push rod brackets (2-5), both of which are fixed to the left and right sides of the inner wall of the rear chassis (2-11); the rear end of the push rod (2-4) is fixed to the push rod bracket (2-5); the two sides of the inner wall of the front chassis (2-1) are fixed to the steering rod bracket (2-2), and steering rods (2-3) are arranged on both sides; the front end of the steering rod (2-3) is hinged to the steering rod bracket (2-2); the rear end of the steering rod (2-3) is hinged to the moving end of the push rod (2-4); the push rod (2-4) is electrically connected to the power supply and the power rear compartment (6).

4. The single-track paddy field adaptive weeding robot according to claim 3, characterized in that: The driving wheel module (3) further comprises a pulley (3-1), a DC hub motor (3-2), and a driving wheel shaft (3-3); Each group of the driving wheel modules (3) has two DC hub motors (3-2), and the square holes of the DC hub motors (3-2) respectively form mounting positions with the square shaft shoulders on the driving wheel shaft (3-3); the pulley (3-1) is interference-mounted on the outside of the DC hub motor (3-2) and is driven to rotate by the DC hub motor (3-2); and the two ends of the driving wheel shaft (3-3) are respectively fixedly connected to the driving wheel frame (2-6).

5. The single-track paddy field adaptive weeding robot according to claim 4, characterized in that: The six-rod inter-row weeding device (4) comprises two symmetrically installed groups, each group further comprising a six-rod weeding bracket (4-1), a rocker (4-2), an L-rod (4-3), a middle connecting rod (4-4), a telescopic rod (4-5), a telescopic rod guide frame (4-6), an input rod (4-7), an input shaft (4-8), a coupling (4-9), a power shaft (4-10), a universal flexible shaft (4-11), a fixed sickle (4-12), and a movable sickle (4-13); In the single-group six-rod inter-row weeding device (4), the six-rod weeding bracket (4-1) is hinged to the rocker (4-2) and the input rod (4-7) respectively; the telescopic rod guide frame (4-6) is fixed to the six-rod weeding bracket (4-1); the rocker (4-2) is hinged to the corner end of the L rod (4-3); the input rod (4-7) is hinged to the end of the L rod; the middle connecting rod (4-4) is hinged to the L rod (4-3) and the telescopic rod (4-5) respectively, the telescopic rod (4-5) is fixed to the fixed sickle (4-12), the output end of the universal flexible shaft (4-11) is connected to the movable sickle (4-13) to provide torque for it; the input end of the universal flexible shaft (4-11) is connected to the power supply and the built-in motor of the power rear compartment (6); the power shaft (4-10) is connected to the power supply and the built-in matching drive motor of the power rear compartment (6); and the coupling (4-9) connects the power shaft (4-10) and the input shaft (4-8).

6. The single-track paddy field adaptive weeding robot according to claim 5, characterized in that: The track shoe (1-1-1) has a centerline length of L1, a track shoe (1-1-1) width of L2, a center profile of the upper surface of the track shoe (1-1-1) is a 60° arc with R1 as a radius and P0 as an origin, and P0 is on the center axis AX1 of the center profile of the upper surface of the track shoe; a line connecting the two end points of the center profile is the centerline of the track shoe (1-1-1); a front edge profile of the track shoe (1-1-1) is an arc with R2 as a radius and P2 as an origin, and P2 is located on the center axis AX2 of the front edge profile of the track shoe; a rear edge profile of the track shoe (1-1-1) is an arc with R3 as a radius, P3 as an origin, an angle A, and P3 is located on the track shoe. Point P2 on the track shoe (1-1-1) is located at a distance R1 rearward along the centerline of the track shoe; P3 is located on the central axis AX3 of the contour of the rear edge of the track shoe; P2 and P3 are both located on the rearward extension line of the centerline, P1 is the projection of P0 on the rearward extension line of the centerline of the track shoe (1-1-1), and P1 is located at the midpoint of the centerline; L2=3L1, L1=R1=R2=R3, A=53°; two ground contact ribs (1-1-1-C) are located on the upper surface of the track shoe (1-1-1); among them, the track shoe width L2 is 240mm, which is 0.8 times the rice planting row spacing in Northeast China. The robot can flexibly move through the field without damaging the seedlings.

7. The single-track paddy field adaptive weeding robot according to claim 6, characterized in that: During the steering action of the robot, the push rod (2-4) on one side of the steering chassis main frame (2) is extended, and the push rod (2-4) on the other side of the steering chassis main frame (2) is shortened by the same length to realize differential steering; after the steering chassis main frame (2) is bent, the upper and lower steering rings (1-1-4) of the crawler unit (1-1) that are not engaged with the pulley (3-1) will rotate around the transverse rotation axis (1-1-5), and the rotation axis is the steering ring rotation axis (1-1-4-A1); at the same time, the transverse direction-changing tail section (1-1-2) in the crawler unit (1-1) will rotate with the transverse direction-changing start section (1-1-3) around the adjacent track shoe rotation axis (1-1-1-A2); the adjacent crawlers The movement trend of the components contained in the unit (1-1) is the same as that of the above-mentioned crawler unit (1-1). The rotation axis of the adjacent track shoes (1-1-1) is the rotation axis of the adjacent track shoes (1-1-1-A2); the rotation axis of the steering ring (1-1-4-A1), the rotation axis of the track shoe (1-1-1-A2), and the rotation axis of the adjacent track shoes (1-1-1-A2) form a triangle. The distance between the rotation axis of the steering ring (1-1-4-A1) and the rotation axis of the adjacent track shoe (1-1-1-A2) is LA12-12=3 / 2R1, and the distance between the rotation axis of the steering ring (1-1-4-A1) and the rotation axis of the track shoe (1-1-1-A2) is LA12=1 / 2R1 The distance between the track shoe rotation axis (1-1-1-A2) and the adjacent track shoe rotation axis (1-1-1-A2) is LA22-12>R1; the centerline length of the adjacent track shoes (1-1-1) is R1. Because LA22-12 is greater than R1, the non-coaxial steering track can complete the turning action together with the steering chassis without interference; During the travel, when the crawler unit (1-1) is engaged with the driving wheel module (3), the central axis AX1 of the central contour of the upper surface of the crawler shoe (1-1-1) coincides with the rotation axis of the driving wheel module (3) during travel; When traveling straight, for the track shoe (1-1-1) in the track unit (1-1) that is not engaged with the drive wheel module (3), the projection P1 of P0 on the track shoe centerline coincides with the turning ring rotation axis (1-1-4-A1); the center axis AX2 of the track shoe leading edge profile coincides with the adjacent track shoe rotation axis (1-1-1-A2); the center axis AX3 of the track shoe (1-1-1) trailing edge profile coincides with the adjacent track shoe rotation axis (1-1-1-A2); and the distance between the track shoe rotation axis (1-1-1-A2) and the adjacent track shoe rotation axis (1-1-1-A2) is R1.

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