Path recognition device and method for intelligent weeding robot
By designing a path recognition device for an intelligent weeding robot, the left and right swings of the sponge strips and the scraping function of the scraping strips are solved, and the problem of inaccurate path recognition of the robot and the need for regular cleaning of clean objects is achieved, efficient dirt removal and convenient maintenance are achieved.
Patent Information
- Application Number
- CN202510280980.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2025-04-11
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
During the work process, the intelligent weeding robot has the cut grass blades and dust sticking to the camera mirror, resulting in inaccurate path identification. At the same time, water stains and dirt are easily left during manual cleaning, and the objects need to be cleaned regularly.
A path identification device is designed, including a push rod, a spring, a slider and a wave groove, so that the sponge strips swing left and right when moving, push dirt to both ends, and scrape away water stains and dirt on the mirror surface through the scraper.
It effectively avoids dirt residue in the middle of the mirror, improves cleaning efficiency, enhances the self-cleaning ability of the sponge strips, reduces the maintenance process, and improves convenience.
Smart Images
Figure CN119790814A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of identification technology, and in particular to a path identification device and method for an intelligent weeding robot. Background Art
[0002] The smart weeding robot is a robotic device that uses advanced technology and algorithms to automatically perform weeding operations.
[0003] The intelligent weeding robot needs to use a camera to identify the surrounding environment and identify the path during work. During the operation of the weeding robot, grass juice, cut fibers, grass leaves and dust on the grass leaves will be scattered into the air from the cross section. The cut fibers and dust will adhere to the mirror of the camera under the action of grass juice, thus hindering the robot's accurate identification. At the same time, water stains are likely to remain during manual cleaning, and dirt is likely to adhere to the cleaning objects, so the cleaning objects need to be cleaned regularly. For this reason, we propose a path recognition device and method for an intelligent weeding robot. Summary of the invention
[0004] The purpose of the present invention is to provide a path recognition device and method for an intelligent weeding robot, so as to solve the problem raised in the above background technology that during the operation of the weeding robot, the cut grass leaves will have grass juice, cut fibers, grass leaves and dust on the grass leaves dissipated into the air from their cross sections. Because the cut fibers and dust adhere to the mirror of the camera under the action of grass juice, the robot's accurate recognition is hindered. At the same time, water stains are likely to remain during manual cleaning, and dirt is likely to adhere to the cleaning objects, so the cleaning objects need to be cleaned regularly. To achieve the above purpose, the present invention provides the following technical solutions: a path recognition device and method for an intelligent weeding robot, including a mounting seat; A moving assembly, wherein the moving assembly comprises a fixing member, wherein a sliding rod is fixedly connected to one side opposite to two adjacent fixing members, a driving motor is fixedly connected to the top of one of the fixing members, an output terminal of the driving motor penetrates the fixing member and is movably connected, a threaded rod is fixedly connected to the end of the output shaft end of the driving motor, and the other end of the threaded rod is movably connected to the top of one of the fixing members through a bearing; A swing assembly, the swing assembly comprising a moving part, a slide groove is provided on one side of the moving part, a slide bar is slidably connected inside the slide groove, a connecting plate is fixedly connected to one side of the slide bar, an end of the slide bar away from the slide bar is fixedly connected to a push rod, a spring is movably connected to the side of the slide bar opposite to the slide groove, the spring is movably sleeved on the push rod, a wave groove is provided on one side of the mounting seat, and the end of the push rod abuts against the curved surface of the wave groove; A cleaning component, the cleaning component includes a liquid storage bin, a top side of the liquid storage bin is fixedly connected to a liquid filling port, a bottom side of one side of the liquid storage bin is fixedly connected to a connecting plate, a connecting plate has a connecting groove on one side, a fixing ring is fixedly connected to one side of the connecting plate along the edge of the connecting groove, a sponge strip is fixedly sleeved inside the fixing ring, one side of the sponge strip extends to the interior of the liquid storage bin, and a scraper strip is fixedly connected to the top of one side of the movable part.
[0005] Further preferably, a camera is fixedly sleeved inside the mounting seat, a mirror is fixedly connected to one side of the camera, and one side of the mounting seat, one side of the camera and one side of the mirror are coplanar.
[0006] Further preferably, the plurality of fixing members are respectively fixedly connected to the four corners of one side of the mounting seat, the interior of the moving member is threadedly connected to the threaded rod via a thread, and the sliding rod penetrates one side of the interior of the moving member for sliding connection.
[0007] Further preferably, the other side of the sponge strip extends to a side on which the mounting seat, the camera and the mirror are coplanar, and the other side of the scraper strip extends to a side on which the mounting seat, the camera and the mirror are coplanar.
[0008] Further preferably, the sponge strip is V-shaped, and the tip of the V-shape of the sponge strip is in the cleaning direction.
[0009] Further preferably, the liquid filling port is used to add cleaning liquid and soak the sponge strip, and the spring is used to provide a force to the push rod so that the end of the push rod fits with the curved surface of the wave groove.
[0010] Further preferably, the scraper strip is used to scrape off residual water stains on the mirror surface, and the scraper strip is made of elastically deformable silicone material.
[0011] Further preferably, the top of the moving member abuts against the bottom of the two topmost fixed members and the position of the moving member is an initial position at this time.
[0012] Further preferably, the moving member moves to the point where the moving member abuts against the tops of the two bottom fixed members, and this point is the end position.
[0013] A method for using a path recognition device of an intelligent weeding robot comprises the following steps: S1: When in use, initialize the device to restore it to the default state, and add cleaning liquid through the liquid filling port until the sponge strip is completely soaked; S2: Then, the driving motor is started, so that the driving motor drives the threaded rod to rotate, and the moving part is threadedly connected with the threaded rod, so that the moving part moves downward under the limiting action of the sliding rod; S3: When the moving part moves downward, the push rod and the curved surface of the wave groove are always in contact under the action of the spring, so that the push rod, the slide bar, the connecting plate and the liquid storage tank swing back and forth when the moving part moves downward. At this time, the sponge bar swings back and forth while moving downward. Since the sponge bar is in an inverted V shape, the outer inclined surfaces on both sides of the V shape of the sponge bar push the dirt on the mirror surface to the two ends of the sponge bar, and the sponge bar swings left and right, so that the dirt will not adhere to the sponge bar; S4: The scraper then moves downward in a straight line to scrape off the water stains and dirt on the mirror surface until the bottom of the moving part fits with the tops of the two lowest fixed parts, completing the cleaning task.
[0014] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, the sponge bar is made to swing left and right while moving by means of a push rod, a spring, a slide bar and a wave groove, so that dirt is pushed to both ends of the sponge bar, thereby preventing dirt from remaining in the middle of the mirror surface. At the same time, the sponge bar swings while moving, thereby improving the cleaning efficiency.
[0015] In the present invention, the V-shaped sponge bar pushes dirt to both ends while swinging left and right, thereby preventing dirt from adhering to the sponge bar, so that the sponge bar has a certain self-cleaning ability, thereby reducing the maintenance process and improving convenience. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ; Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ; Figure 3 It is a schematic diagram of the explosion structure of the present invention; Figure 4 The local cross-sectional structure of the present invention is schematically shown. Figure 1 ; Figure 5 The local cross-sectional structure of the present invention is schematically shown. Figure 2 ; Figure 6 It is a schematic diagram of the cross-sectional structure of the present invention.
[0017] In the figure: 1, mounting base; 2, moving component; 3, swinging component; 4, cleaning component; 5, camera; 6, mirror; 201, fixing part; 202, driving motor; 203, threaded rod; 204, sliding rod; 301, moving part; 302, sliding groove; 303, sliding bar; 304, connecting plate; 305, pushing rod; 306, spring; 307, wave groove; 402, liquid storage tank; 403, liquid filling port; 404, connecting groove; 405, sponge bar; 406, fixing ring; 407, scraper bar. DETAILED DESCRIPTION
[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technical personnel in this field without creative work are within the scope of protection of the present invention.
[0019] See also Figure 1-Figure 6 ,The present invention provides a technical solution: a path recognition device for an intelligent weeding robot, comprising a mounting seat 1; The moving assembly 2 includes a fixing member 201, wherein a sliding rod 204 is fixedly connected to one side opposite to two adjacent fixing members 201, a driving motor 202 is fixedly connected to the top of one of the fixing members 201, an output terminal of the driving motor 202 passes through the fixing member 201 and is movably connected, a threaded rod 203 is fixedly connected to the end of the output shaft end of the driving motor 202, and the other end of the threaded rod 203 is movably connected to the top of one of the fixing members 201 through a bearing; The swing assembly 3 includes a moving member 301, a slide groove 302 is provided on one side of the moving member 301, a slide bar 303 is slidably connected inside the slide groove 302, a connecting plate 304 is fixedly connected to one side of the slide bar 303, a push rod 305 is fixedly connected to one end of the slide bar 303 away from the slide bar 204, a spring 306 is movably connected to the side of the slide bar 303 opposite to the slide groove 302, the spring 306 is movably sleeved on the push rod 305, a wave groove 307 is provided on one side of the mounting seat 1, and the end of the push rod 305 abuts against the curved surface of the wave groove 307; The cleaning component 4 includes a liquid storage bin 402, a liquid filling port 403 is fixedly connected to one side of the top of the liquid storage bin 402, a bottom of one side of the liquid storage bin 402 is fixedly connected to the connecting plate 304, a connecting groove 404 is provided on one side of the connecting plate 304, a fixing ring 406 is fixedly connected to one side of the connecting plate 304 along the edge of the connecting groove 404, a sponge strip 405 is fixedly sleeved inside the fixing ring 406, one side of the sponge strip 405 extends to the interior of the liquid storage bin 402, and a scraper strip 407 is fixedly connected to the top of one side of the movable part 301.
[0020] In this embodiment, Figure 1 , Figure 2 and Figure 3 As shown, a camera 5 is fixedly sleeved inside the mounting base 1, a mirror 6 is fixedly connected to one side of the camera 5, and one side of the mounting base 1, one side of the camera 5 and one side of the mirror 6 are coplanar.
[0021] In this embodiment, Figure 1 , Figure 2 and Figure 3 As shown, a plurality of fixing members 201 are respectively fixedly connected to the four corners of one side of the mounting base 1 , the interior of the moving member 301 is threadedly connected to the threaded rod 203 via threads, and the sliding rod 204 penetrates one side of the interior of the moving member 301 for sliding connection.
[0022] In this embodiment, Figure 1 , Figure 2 and Figure 3 As shown, the other side of the sponge strip 405 extends to the side where the mounting base 1, the camera 5 and the mirror 6 are coplanar, and the other side of the scraper strip 407 extends to the side where the mounting base 1, the camera 5 and the mirror 6 are coplanar.
[0023] In this embodiment, Figure 1 , Figure 2 and Figure 3 As shown, the sponge strip 405 is V-shaped, and the tip of the V-shaped sponge strip 405 is in the cleaning direction.
[0024] In this embodiment, Figure 1 , Figure 2 and Figure 3 As shown, the liquid filling port 403 is used to add cleaning liquid and soak the sponge strip 405 , and the spring 306 is used to provide a force to the push rod 305 so that the end of the push rod 305 fits with the curved surface of the wave groove 307 .
[0025] In this embodiment, Figure 1 , Figure 2 and Figure 3 As shown, the scraper strip 407 is used to scrape off the residual water stains on the mirror surface 6, and the scraper strip 407 is made of elastically deformable silicone material.
[0026] In this embodiment, Figure 1 , Figure 2 and Figure 3 As shown, the top of the moving member 301 abuts against the bottom of the two topmost fixed members 201 and the moving member 301 is at the initial position at this time.
[0027] In this embodiment, Figure 1 , Figure 2 and Figure 3 As shown, the moving member 301 moves to the point where the moving member 301 fits the tops of the two bottom fixing members 201 , and this point is the end position.
[0028] A method for using a path recognition device of an intelligent weeding robot comprises the following steps: S1: When in use, the device is initialized to restore the device to a default state, and cleaning liquid is added through the liquid filling port 403 until the sponge strip 405 is completely soaked; S2: Then, the driving motor 202 is started, so that the driving motor 202 drives the threaded rod 203 to rotate, and the moving member 301 is threadedly connected with the threaded rod 203, so that the moving member 301 moves downward under the limiting action of the sliding rod 204; S3: When the moving member 301 moves downward, the push rod 305 and the curved surface of the wave groove 307 are always in contact with each other under the action of the spring 306, so that the push rod 305, the slide bar 303, the connecting plate 304 and the liquid storage tank 402 swing back and forth when the moving member 301 moves downward. At this time, the sponge bar 405 swings back and forth while moving downward. Since the sponge bar 405 is in an inverted V shape, the outer inclined surfaces on both sides of the V shape of the sponge bar 405 push the dirt on the mirror surface 6 to the two ends of the sponge bar 405, and the sponge bar 405 swings left and right, so that the dirt will not adhere to the sponge bar 405; S4: Then the scraper bar 407 moves downward in a straight line to scrape off the water stains and dirt on the mirror surface 6 until the bottom of the movable member 301 is in contact with the tops of the two lowest fixed members 201, and the cleaning task is completed.
[0029] The use method and advantages of the present invention: When the path recognition device and method of the intelligent weeding robot are used, the working process is as follows: like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, when in use, the device is initialized to restore the device to the default state, and cleaning liquid is added through the liquid filling port 403 until the sponge strip 405 is completely soaked, and then the driving motor 202 is started, so that the driving motor 202 drives the threaded rod 203 to rotate, and the moving part 301 is threadedly connected with the threaded rod 203, so that the moving part 301 moves downward under the limiting action of the sliding rod 204. When the moving part 301 moves downward, the push rod 305 and the curved surface of the wave groove 307 are always in contact under the action of the spring 306, so that the push rod 305, the sliding bar 303, and the connecting plate 30 4 and the liquid storage bin 402 swing back and forth left and right when the movable member 301 moves downward, and at this time, the sponge bar 405 swings back and forth left and right while moving downward. Since the sponge bar 405 is in an inverted V-shape, the outer inclined surfaces on both sides of the V-shape of the sponge bar 405 push the dirt on the mirror surface 6 to the two ends of the sponge bar 405, and the sponge bar 405 swings left and right, so that the dirt will not adhere to the sponge bar 405, and then the scraper bar 407 moves downward in a straight line to scrape off the water stains and dirt on the mirror surface 6 until the bottom of the movable member 301 fits with the tops of the two lowest fixed members 201, and the cleaning task is completed.
[0030] The above shows and describes the basic principles, main features and advantages of the present invention. Technical personnel in this industry should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.
Claims
1. A path recognition device for an intelligent weeding robot, characterized in that: comprising a mounting base (1); A moving assembly (2), the moving assembly (2) comprising a fixing member (201), wherein a sliding rod (204) is fixedly connected to one side opposite to two adjacent fixing members (201), a driving motor (202) is fixedly connected to the top of one of the fixing members (201), an output terminal of the driving motor (202) passes through the fixing member (201) and is movably connected, a threaded rod (203) is fixedly connected to the end of the output shaft end of the driving motor (202), and the other end of the threaded rod (203) is movably connected to the top of one of the fixing members (201) via a bearing; A swing assembly (3), the swing assembly (3) comprising a moving member (301), a slide groove (302) being provided on one side of the moving member (301), a slide bar (303) being slidably connected inside the slide groove (302), a connecting plate (304) being fixedly connected to one side of the slide bar (303), a push rod (305) being fixedly connected to one end of the slide bar (303) away from the slide rod (204), a spring (306) being movably connected to the push rod (305) on the side of the slide bar (303) opposite to the slide groove (302), the spring (306) being movably sleeved on the push rod (305), a wave groove (307) being provided on one side of the mounting seat (1), and a distal end of the push rod (305) being in contact with a curved surface of the wave groove (307); A cleaning component (4), the cleaning component (4) comprising a liquid storage bin (402), a top side of the liquid storage bin (402) being fixedly connected to a liquid filling port (403), a bottom side of one side of the liquid storage bin (402) being fixedly connected to a connecting plate (304), a connecting groove (404) being provided on one side of the connecting plate (304), a fixing ring (406) being fixedly connected to one side of the connecting plate (304) along an edge of the connecting groove (404), a sponge strip (405) being fixedly sleeved inside the fixing ring (406), one side of the sponge strip (405) extending into the interior of the liquid storage bin (402), and a scraper strip (407) being fixedly connected to the top side of one side of the moving member (301).
2. The path recognition device of the intelligent weeding robot according to claim 1, characterized in that: A camera (5) is fixedly sleeved inside the mounting seat (1), a mirror (6) is fixedly connected to one side of the camera (5), and one side of the mounting seat (1), one side of the camera (5) and one side of the mirror (6) are coplanar.
3. The path recognition device of the intelligent weeding robot according to claim 1, characterized in that: The plurality of fixing members (201) are respectively fixedly connected to the four corners of one side of the mounting seat (1); the interior of the moving member (301) is threadedly connected to the threaded rod (203) via a thread; and the sliding rod (204) penetrates one side of the interior of the moving member (301) for sliding connection.
4. The path recognition device of the intelligent weeding robot according to claim 1, characterized in that: The other side of the sponge strip (405) extends to a side on which the mounting seat (1), the camera (5) and the mirror surface (6) are coplanar, and the other side of the scraping strip (407) extends to a side on which the mounting seat (1), the camera (5) and the mirror surface (6) are coplanar.
5. The path recognition device of the intelligent weeding robot according to claim 1, characterized in that: The sponge strip (405) is in a V-shape, and the tip of the V-shape of the sponge strip (405) is in the cleaning direction.
6. The path recognition device of the intelligent weeding robot according to claim 1, characterized in that: The liquid filling port (403) is used to add cleaning liquid and soak the sponge strip (405), and the spring (306) is used to provide a force to the push rod (305) so that the end of the push rod (305) fits the curved surface of the wave groove (307).
7. The path recognition device of the intelligent weeding robot according to claim 1, characterized in that: The scraper strip (407) is used to scrape off water stains remaining on the mirror surface (6); the scraper strip (407) is made of elastically deformable silicone material.
8. The path recognition device of the intelligent weeding robot according to claim 1, characterized in that: The top of the moving member (301) abuts against the bottoms of the two topmost fixed members (201), and the position of the moving member (301) is at an initial position at this time.
9. The path recognition device of the intelligent weeding robot according to claim 1, characterized in that: The moving member (301) moves to the point where the moving member (301) is in contact with the tops of the two bottom fixed members (201), and this point is the end position.
10. A method for using a path recognition device of an intelligent weeding robot according to any one of claims 1 to 9, characterized in that: The steps include: S1: When in use, the device is initialized to restore the device to a default state, and cleaning liquid is added through the liquid filling port (403) until the sponge strip (405) is completely soaked; S2: Then, the driving motor (202) is started, so that the driving motor (202) drives the threaded rod (203) to rotate, and the moving member (301) is threadedly connected to the threaded rod (203), so that the moving member (301) moves downward under the limiting action of the sliding rod (204); S3: When the moving member (301) moves downward, the push rod (305) and the curved surface of the wave groove (307) are always in contact under the action of the spring (306), so that the push rod (305), the slide bar (303), the connecting plate (304) and the liquid storage tank (402) swing back and forth when the moving member (301) moves downward. At this time, the sponge bar (405) swings back and forth while moving downward. Since the sponge bar (405) is in an inverted V shape, the outer inclined surfaces on both sides of the V shape of the sponge bar (405) push the dirt on the mirror surface (6) to the two ends of the sponge bar (405), and the sponge bar (405) swings left and right, so that the dirt does not adhere to the sponge bar (405); S4: The scraper bar (407) then moves downward in a straight line to scrape off the water stains and dirt on the mirror surface (6) until the bottom of the movable member (301) is in contact with the tops of the two lowest fixed members (201), thus completing the cleaning task.