Laser topping robot and method

Abstract

The invention provides a laser topping robot. The laser topping robot comprises a mounting frame, a mounting framework is arranged in the mounting frame, a mounting plate is arranged in the mounting framework, a Delta parallel robot is mounted on the bottom surface of the mounting plate, laser equipment is arranged on the Delta parallel robot, and a camera module is arranged on one side of the Delta parallel robot; two installation supports are arranged at one end of the bottom face of the installation framework, a universal matching wheel is arranged at the bottom end of each installation support, two matching connecting pieces are arranged on one side of each installation support, a driving support is installed in the other end of each matching connecting piece, a driving hub is installed at the bottom end of each driving support, and a hub motor is installed in each driving hub. A T-shaped barrel is arranged on the mounting framework, a steering connecting mechanism is arranged on the T-shaped barrel, a steering driving mechanism is arranged on the mounting framework, and the steering driving mechanism is connected with the steering connecting mechanism. Through cooperative arrangement of all the structures, accurate positioning and topping can be conveniently achieved on the top of cotton, operation is easy, and popularization is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field related to agricultural equipment, and in particular to a laser topping robot and method. Background Art

[0002] With the development of production technology, the scale of cotton planting has gradually expanded. The efficiency of cotton topping is an important factor affecting agricultural production efficiency. The traditional cotton topping process is very dependent on the agricultural population, which makes the manual topping cycle long, and it is easy to miss the topping time, resulting in increased labor costs and a decline in economic benefits. On the other hand, in addition to traditional manual topping, it can be divided into mechanical topping and chemical topping according to the topping method. Chemical topping is easily affected by many factors such as drugs and weather. When chemical drugs control the apical dominance of cotton, they will also inhibit the growth of the entire cotton plant and reduce cotton yield, and it is easy to pollute the environment. Mechanical topping will inevitably cause damage to cotton buds and bolls, sacrificing the yield of the crop top. Therefore, realizing the intelligentization, automation, and physicalization of cotton topping is one of the key issues in the current research on the topping process. Therefore, based on the above problems, the present invention provides a laser topping robot. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a laser topping robot and method, which solve the problems mentioned in the background technology.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0005] A laser topping robot comprises a mounting frame, a mounting skeleton is fixedly arranged in the mounting frame, a solar photovoltaic panel is detachably mounted on the top surface of the mounting skeleton, an industrial computer and a battery pack are fixedly mounted on the inner top surface of the mounting skeleton, and the battery pack performs power storage and power supply operations;

[0006] A mounting plate is fixedly arranged in the mounting frame, a Delta parallel robot is fixedly arranged on the bottom surface of the mounting plate, a laser device is installed on the Delta parallel robot, and a laser topping is adopted to burn the top buds of cotton to suppress the apical dominance of cotton and increase the cotton yield, and a camera module is arranged on one side of the Delta parallel robot, and the camera module is used to identify and shoot the image of the cotton top;

[0007] Two mounting brackets are fixedly provided at one end of the bottom surface of the mounting frame, and a universal mating wheel is installed at the bottom end of each mounting bracket, and two mating connectors are provided on one side of each mounting bracket, and one end of each mating connector is connected to the mounting frame, and a driving bracket is rotatably installed in the other end of each mating connector, and a driving hub is installed in the bottom end of each driving bracket, and a hub motor is installed in each driving hub, and the driving hub is driven to move by the hub motor, and a T-shaped cylinder is fixedly installed on the mounting frame, and a steering connection mechanism is provided on the T-shaped cylinder, and the steering connection mechanism is connected to the two driving brackets, and a steering drive mechanism is fixedly installed on the mounting frame, and the steering drive mechanism is connected to the steering connection mechanism.

[0008] Furthermore, a plurality of weight-reducing holes are provided on the mounting plate.

[0009] Furthermore, the Delta parallel robot has four control axes and is electrically driven. During the topping process, precise topping of the cotton top is achieved through the movement of the Delta parallel robot.

[0010] Furthermore, the camera module includes a fixed connecting plate, which is fixedly connected to the bottom surface of the mounting plate and is located on one side of the Delta parallel robot, and a camera is fixedly mounted on the fixed connecting plate.

[0011] Furthermore, the steering connection mechanism includes a fixed link, which is slidably arranged in a T-shaped cylinder, and connecting rods are fixed at both ends of the fixed link, and mounting pins are fixed at the opposite ends of the two connecting rods, and each mounting pin is rotatably installed on the corresponding drive bracket. A plurality of tooth grooves are evenly arranged on the fixed link, and an adjusting gear is arranged on one side of the fixed link, and the adjusting gear is meshed and connected with the plurality of tooth grooves, and the adjusting gear is connected to the steering drive mechanism.

[0012] Furthermore, the steering drive mechanism includes a matching connecting plate, which is fixedly connected to the mounting frame, and a steering motor is fixedly mounted on the matching connecting plate. A steering connecting shaft is fixedly provided at the power output end of the steering motor, and one end of the steering connecting shaft away from the steering motor extends into the T-shaped cylinder and is fixedly connected to the adjusting gear.

[0013] Furthermore, a matching installation cylinder is installed at the top end of the T-shaped cylinder, and the top end of the matching installation cylinder is fixedly connected to the installation frame.

[0014] The present invention also provides a method of a laser topping robot, comprising the following steps:

[0015] Step 1: Start the hub motor to drive the driving hub and the universal wheel to move, so that the whole device moves to the cotton topping position;

[0016] Step 2: When the steering operation is required for cotton topping, the steering connection mechanism cooperates with the steering drive mechanism, and the steering function is realized by controlling the rotation angle of the steering motor. The robot will automatically turn after topping the top buds of cotton in one ridge. The steering angle is the maximum by default. When the body is level with the width of the next ridge, the hub motor returns to the center, and the robot continues to move forward to facilitate the cotton topping operation;

[0017] Step 3: Identify the coordinates of the cotton apical buds through the camera module, manipulate the Delta parallel robot to move to the top of the apical buds, control the laser equipment to burn the apical buds, and complete the laser cotton topping operation of the overall device.

[0018] The present invention provides a laser topping robot and method. Compared with the prior art, it has the following beneficial effects:

[0019] 1. The present invention uses a depth camera as an identification terminal, completes the identification and positioning of the cotton top by synchronous movement with the wheel hub of the topping robot, completes the processing and transmission of the cotton top information, and realizes the laser topping function through a series of devices such as a delta parallel robot, a laser device, and a steering motor. It has the characteristics of high recognition success rate, real-time accurate positioning, low topping damage rate, etc., and can realize cotton top identification and positioning and laser topping;

[0020] 2. The present invention can accurately and real-timely identify and locate the terminal buds of cotton, thus overcoming the inefficiency of manual topping and the pollution of chemical topping, achieving efficient, green and physical topping of cotton, increasing economic benefits, and improving the quality and yield of cotton production. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 or the description of the prior art 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.

[0022] Figure 1 It shows a three-dimensional connection schematic diagram of part of the structure after removing the installation frame of the present invention;

[0023] Figure 2 A three-dimensional connection schematic diagram of the overall structure of the present invention is shown;

[0024] Figure 3A three-dimensional schematic diagram of the structure of the steering connection mechanism, the mounting frame, the driving bracket, the driving wheel hub and the universal wheel of the present invention is shown;

[0025] Figure 4 It shows a two-dimensional connection schematic diagram of a part of the structure of the present invention after removing the installation frame;

[0026] Figure 5 The three-dimensional connection diagram of the structure of the T-shaped cylinder, the matching connecting piece, the mounting frame and the steering drive mechanism of the present invention is shown;

[0027] Figure 6 The schematic diagram of the three-dimensional connection of the camera, laser equipment and Delta parallel robot of the present invention is shown;

[0028] Figure 7 A three-dimensional connection schematic diagram of the steering connection mechanism of the present invention is shown;

[0029] As shown in the figure: 1. Solar photovoltaic panel; 2. Mounting frame; 3. Drive bracket; 4. Hub motor; 5. Drive hub; 6. Mounting bracket; 7. Universal mating wheel; 8. Steering connection mechanism; 81. Mounting pin; 82. Connecting rod; 83. Fixed connecting rod; 84. Tooth groove; 85. Adjusting gear; 9. Delta parallel robot; 10. Mating connecting piece; 11. Mounting plate; 12. Mounting frame; 13. Battery pack; 14. Industrial computer; 15. Laser equipment; 16. Steering motor; 17. Mating connecting plate; 18. Camera; 19. T-shaped cylinder; 20. Steering coupling. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are 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.

[0031] Example

[0032] In order to solve the technical problems in the background technology, a laser topping robot is provided as follows:

[0033] Combination Figure 1-7As shown, a laser topping robot provided by the present invention comprises an installation frame 2, an installation skeleton 12 is fixedly arranged in the installation frame 2, a solar photovoltaic panel 1 is detachably installed on the top surface of the installation skeleton 12, the solar photovoltaic panel 1 converts solar energy into electrical energy for storage through a battery pack 13, an industrial computer 14 and a battery pack 13 are fixedly installed on the inner top surface of the installation skeleton 12, and the battery pack 13 performs electricity storage and power supply operations; the battery pack 13 performs power supply operations for the industrial computer 14, the Delta parallel robot 9, the hub motor 4, the steering motor 16, and the camera 18;

[0034] The core control system of the present invention is based on the industrial computer 14 as the main control chip. It is powered by a 48V lithium battery and is directly connected to the Delta parallel robot 14, the hub motor 4, the steering motor 16, and the laser equipment 15 through a step-down module, and these devices are operated by the industrial computer 14.

[0035] The mounting frame 12 is fixed with a mounting plate 11, and a plurality of weight-reducing holes are provided on the mounting plate 11. A Delta parallel robot 9 is fixedly mounted on the bottom surface of the mounting plate 11, and a laser device 15 is installed on the Delta parallel robot 9. The laser topping is used to burn the cotton buds to suppress the apical dominance of cotton and increase cotton yield. A camera module is provided on one side of the Delta parallel robot 9. The camera module is used to identify and shoot the cotton bud image; the camera module includes a binocular structured light infrared depth camera with a 3D resolution of 1280x 720 and an RGB resolution of 1920x 1080. RealSense TM Camera D435 and its connected peripherals use USB cables and industrial computers 14 for serial communication and USB transmission to achieve visualization of the operation interface.

[0036] Two mounting brackets 6 are fixedly provided at one end of the bottom surface of the mounting frame 12, and a universal mating wheel 7 is installed at the bottom end of each mounting bracket 6. Two mating connectors 10 are provided on one side of each mounting bracket 6, and one end of each mating connector 10 is connected to the mounting frame 12. A driving bracket 3 is rotatably installed in the other end of each mating connector 10, and a driving wheel hub 5 is installed in the bottom end of each driving bracket 3. A wheel hub motor 4 is installed in each driving wheel hub 5, and the driving wheel hub 5 is driven to move by the wheel hub motor 4. A T-shaped cylinder 19 is fixedly installed on the mounting frame 12, and a mating mounting cylinder is installed at the top end of the T-shaped cylinder 19, and the top end of the mating mounting cylinder is fixedly connected to the mounting frame 12. A steering connection mechanism 8 is provided on the T-shaped cylinder 19, and the steering connection mechanism 8 is connected to the two driving brackets 3, and a steering drive mechanism is fixedly installed on the mounting frame 12, and the steering drive mechanism is connected to the steering connection mechanism 8.

[0037] The Delta parallel robot 9 has four control axes and is electrically driven. During the topping process, the Delta parallel robot 9 moves to achieve accurate topping of the cotton top. The Delta parallel robot 9 is electrically connected to the industrial computer 14.

[0038] The camera module includes a fixed connecting plate, which is fixedly connected to the bottom surface of the mounting plate 11 and is located on one side of the delta parallel robot 9 , and a camera 18 is fixedly mounted on the fixed connecting plate. The camera 18 is electrically connected to the industrial computer 14 .

[0039] The steering connection mechanism 8 includes a fixed link 83, which is slidably arranged in the T-shaped cylinder 19. Connecting rods 82 are fixedly arranged at both ends of the fixed link 83. The ends of the two connecting rods 82 that are away from each other are fixedly provided with mounting pins 81. Each mounting pin 81 is rotatably mounted on the corresponding driving bracket 3. A plurality of tooth grooves 84 are evenly arranged on the fixed link 83. An adjusting gear 85 is arranged on one side of the fixed link 83. The adjusting gear 85 is meshed and connected with the plurality of tooth grooves 84, and the adjusting gear 85 is connected to the steering drive mechanism.

[0040] The steering drive mechanism includes a matching connecting plate 17, which is fixedly connected to the mounting frame 12. A steering motor 16 is fixedly mounted on the matching connecting plate 17. The steering motor 16 is electrically connected to the industrial computer 14. A steering connecting shaft 20 is fixedly provided at the power output end of the steering motor 16. One end of the steering connecting shaft 20 away from the steering motor 16 extends through the T-shaped cylinder 19 and is fixedly connected to the adjusting gear 85.

[0041] The present invention also provides a method of a laser topping robot, comprising the following steps:

[0042] Step 1: Start the hub motor 4 to drive the driving hub 5 and the universal wheel 7 to move, so that the whole device moves to the cotton topping position;

[0043] Step 2: When the steering operation is required for cotton topping, the steering connection mechanism 8 cooperates with the steering drive mechanism, and the steering function is realized by controlling the rotation angle of the steering motor 16. The robot will automatically turn after beating the top buds of cotton in one ridge. The steering angle is set to the maximum by default. When the body is level with the width of the next ridge, the hub motor 4 returns to the center, and the robot continues to move forward to facilitate the cotton topping operation.

[0044] Step 3: Identify the coordinates of the cotton terminal buds through the camera module, manipulate the Delta parallel robot 9 to move to the top of the terminal buds, control the laser device 15 to burn the terminal buds, and complete the laser cotton topping operation of the overall device.

[0045] In summary, the present invention realizes accurate and real-time identification and positioning of cotton terminal buds through the coordinated setting between various structures, overcomes the inefficiency of manual topping and the pollution of chemical topping, realizes efficient, green, physical topping of cotton, increases economic benefits, and improves cotton production quality and yield.

[0046] 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. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0047] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser topping robot, characterized in that: The invention comprises a mounting frame (2), wherein a mounting frame (12) is fixedly arranged inside the mounting frame (2), a solar photovoltaic panel (1) is detachably mounted on the top surface of the mounting frame (12), an industrial computer (14) and a battery pack (13) are fixedly mounted on the inner top surface of the mounting frame (12), and the battery pack (13) performs power storage and power supply operations; A mounting plate (11) is fixedly arranged in the mounting frame (12), a delta parallel robot (9) is fixedly arranged on the bottom surface of the mounting plate (11), a laser device (15) is installed on the delta parallel robot (9), and a laser topping is used to burn the top buds of cotton to suppress the apical dominance of cotton and increase cotton yield. A camera module is arranged on one side of the delta parallel robot (9), and the camera module is used to identify and shoot images of cotton tops; Two mounting brackets (6) are fixedly provided at one end of the bottom surface of the mounting frame (12), and a universal mating wheel (7) is installed at the bottom end of each mounting bracket (6). Two mating connecting pieces (10) are provided on one side of each mounting bracket (6), and one end of each mating connecting piece (10) is connected to the mounting frame (12). A driving bracket (3) is rotatably installed in the other end of each mating connecting piece (10). A driving wheel hub (5) is installed in the bottom end of each driving bracket (3), and a wheel hub motor (4) is installed in each driving wheel hub (5). The wheel hub motor (4) drives the driving wheel hub (5) to move. A T-shaped cylinder (19) is fixedly provided on the mounting frame (12), and a steering connection mechanism (8) is provided on the T-shaped cylinder (19). The steering connection mechanism (8) is connected to the two driving brackets (3), and a steering drive mechanism is fixedly provided on the mounting frame (12), and the steering drive mechanism is connected to the steering connection mechanism (8).

2. A laser topping robot according to claim 1, characterized in that: The mounting plate (11) is provided with a plurality of weight-reducing holes.

3. A laser topping robot according to claim 1, characterized in that: The Delta parallel robot (9) has four control axes and is electrically driven. During the topping process, accurate topping of the cotton top is achieved through the movement of the Delta parallel robot (9).

4. A laser topping robot according to claim 1, characterized in that: The camera module comprises a fixed connecting plate, the fixed connecting plate is fixedly connected to the bottom surface of the mounting plate (11) and is located on one side of the Delta parallel robot (9), and a camera (18) is fixedly mounted on the fixed connecting plate.

5. A laser topping robot according to claim 1, characterized in that: The steering connection mechanism (8) comprises a fixed connecting rod (83), the fixed connecting rod (83) is slidably arranged in a T-shaped cylinder (19), connecting rods (82) are fixedly arranged at both ends of the fixed connecting rod (83), mounting pins (81) are fixedly arranged at the opposite ends of the two connecting rods (82), each mounting pin (81) is rotatably mounted on a corresponding driving bracket (3), a plurality of tooth grooves (84) are evenly arranged on the fixed connecting rod (83), an adjusting gear (85) is arranged on one side of the fixed connecting rod (83), the adjusting gear (85) is meshedly connected with the plurality of tooth grooves (84), and the adjusting gear (85) is connected to the steering drive mechanism.

6. A laser topping robot according to claim 5, characterized in that: The steering drive mechanism comprises a matching connecting plate (17), the matching connecting plate (17) being fixedly connected to the mounting frame (12), a steering motor (16) being fixedly mounted on the matching connecting plate (17), a steering connecting shaft (20) being fixedly provided at the power output end of the steering motor (16), and an end of the steering connecting shaft (20) away from the steering motor (16) extending through the T-shaped cylinder (19) and being fixedly connected to the adjusting gear (85).

7. A laser topping robot according to claim 1, characterized in that: A matching installation cylinder is installed at the top end of the T-shaped cylinder (19), and the top end of the matching installation cylinder is fixedly connected to the installation frame (12).

8. The method of a laser topping robot according to claim 1, characterized in that: The steps include: Step 1: Start the hub motor (4) to drive the driving hub (5) and the universal matching wheel (7) to move, so that the entire device moves to the cotton topping position; Step 2: When a steering operation is required for cotton topping, the steering connection mechanism (8) cooperates with the steering drive mechanism, and the steering function is realized by controlling the rotation angle of the steering motor (16). The robot will automatically turn after topping the top buds of cotton in one ridge. The steering angle is set to the maximum by default. When the body of the robot is level with the width of the next ridge, the hub motor (4) returns to the center, and the robot continues to move forward to facilitate the cotton topping operation. Step 3: Identify the coordinates of the cotton apical buds through the camera module, manipulate the Delta parallel robot (9) to move above the apical buds, control the laser device (15) to burn the apical buds, and complete the laser cotton topping operation of the overall device.

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