Full-automatic weeding robot

Abstract

The invention relates to the technical field of weeding robots, in particular to a full-automatic weeding robot which comprises two opposite automatic moving parts, the tops of the automatic moving parts are connected with a disassembly and assembly base through bolts, the top of the disassembly and assembly base is fixedly connected with a liquid storage bin, a lifting base is arranged over the liquid storage bin, and a power pump is fixed to the lifting base. A plurality of spraying heads are fixed to the power pump, a second transverse moving main base and a pair of first transverse moving main bases are arranged on the opposite sides of the two automatic moving parts, transverse moving auxiliary plates are arranged on the first transverse moving main bases and the second transverse moving main bases in a sliding mode, the transverse moving auxiliary plates are fixedly connected with the automatic moving parts, and a plurality of monitoring sensors are fixedly installed on the automatic moving parts. Compared with a weeding device in the prior art, by arranging the driving assembly, the lifting assembly and other components, it is ensured that the robot can flexibly cope with various complex terrain conditions, and the phenomena of medicine waste and medicine omission are effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of weeding robots, and particularly to a fully automatic weeding robot. Background Art

[0002] Plant protection plays a crucial role in agricultural production because crops inevitably face various challenges of pests and diseases during their growth cycle. To ensure that crops can grow healthily and thrive and ultimately achieve high yields, efficient pesticides, advanced spraying equipment, and scientific and reasonable pesticide application techniques have become key factors, which jointly act to improve the pesticide use efficiency and enhance the effect of pest and disease control.

[0003] Currently, the traditional methods for farmland spraying operations mainly include manual operation by relying on manpower or using an automatic mobile vehicle equipped with a large-capacity medicine tank to complete. However, due to the high labor intensity and low efficiency of manual spraying, direct contact with chemical agents may pose health risks to operators. At the same time, it is difficult for mobile spraying machines to adapt to the flexible conversion between different widths of ridges, which easily causes damage to non-target areas (such as adjacent crops). For crops with different heights, there is a lack of an effective height adjustment function in the vertical direction, resulting in uneven and incomplete drug coverage. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems in the prior art that it is difficult to adapt to the flexible conversion between different widths of ridges, which easily causes damage to non-target areas (such as adjacent crops), for weeds with different heights, there is a lack of an effective height adjustment function in the vertical direction, and the chemical herbicide residues are likely to cause harm, and to propose a fully automatic weeding robot.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A fully automatic weeding robot includes two relatively arranged automatic moving parts. The top of the automatic moving part is connected with a disassembly and assembly seat through bolts. The top of the disassembly and assembly seat is fixedly connected with a liquid storage tank. An elevating seat is arranged directly above the liquid storage tank. A power pump is fixed on the elevating seat. A plurality of spraying heads are fixed on the power pump. On the opposite sides of the two automatic moving parts, there are a transverse movement main seat two and a pair of transverse movement main seats one. Transverse movement sub-boards are slidably arranged on both the transverse movement main seat one and the transverse movement main seat two, and the transverse movement sub-boards are fixedly connected with the automatic moving parts. A plurality of monitoring sensors are fixedly installed on the automatic moving parts;

[0007] It further includes:

[0008] A driving component, which is used to adjust the relative distance between the two automatic moving parts;

[0009] A lifting component, which is used to adjust the height of the lifting seat;

[0010] A laser weeding component, which is used to emit laser for burning weeding operations;

[0011] A camera component, which is convenient for accurately identifying weeds before the pesticide spraying head sprays pesticides for weeding and the laser weeding component emits laser for weeding.

[0012] Preferably, a power supply group and two moving wheels are arranged on the automatic moving part, the power supply group is electrically connected to the moving wheels, and the power supply group provides moving power for the moving wheels.

[0013] Preferably, the driving component includes a concave bottom plate fixedly connected to the bottom of the second transverse moving main seat, an L-shaped rod is fixedly connected to the bottom of the transverse moving sub-plate, a rack is fixedly connected to the side wall of the L-shaped rod opposite to the concave bottom plate, a transverse moving rocking wheel is fixedly connected to the concave bottom plate, a gear is fixedly connected to the output end of the transverse moving rocking wheel, and the gear meshes with the rack.

[0014] Preferably, both of the two transverse moving rocking wheels are arranged on the concave bottom plate, and the output ends of the two transverse moving rocking wheels are arranged in opposite directions. The transverse moving sub-plates on the first transverse moving main seat and the second transverse moving main seat are both arranged in pairs, and the L-shaped rod is fixedly arranged on the bottom surface of one of the transverse moving sub-plates in the same pair, and a plurality of bottom teeth are arranged at the bottom of the L-shaped rod.

[0015] Preferably, sliding ports for the transverse moving sub-plates to slide are formed on both the first transverse moving main seat and the second transverse moving main seat, a retaining port is arranged at the port of the sliding port, a protrusion is arranged at the end of the transverse moving sub-plate, and the protrusion and the retaining port are arranged correspondingly.

[0016] Preferably, the lifting component includes grooves formed on the opposite side walls of the automatic moving part and the lifting seat, and the grooves are arranged in pairs. A bidirectional lead screw is rotatably connected in the grooves on the lifting seat, and limiting slide rods are fixedly connected in the remaining grooves. A moving seat slides in the grooves, and the moving seats are arranged in pairs. One pair of the moving seats is threadedly connected to the bidirectional lead screw, and the remaining three pairs of the moving seats are slidably connected to the limiting slide rods. A lifting rocking wheel for driving the bidirectional lead screw to rotate is fixedly connected to the lifting seat. A short shaft is fixedly connected to the moving seat, and a traction rod is rotatably connected to the short shaft, and the traction rods are arranged in a cross shape.

[0017] Preferably, the two cross-shaped traction rods are rotatably connected to the same limiting column, anti-disengagement blocks are fixed at both ends of the limiting column, and the two pairs of cross-shaped traction rods are respectively arranged on both sides of the liquid storage bin.

[0018] Preferably, the camera assembly includes a pair of vertical rods fixedly connected to the top of the second main cross - moving seat. A liquid - blocking plate is fixedly connected to the top of the vertical rods, and a hemispherical camera is fixedly connected to the liquid - blocking plate.

[0019] Preferably, a fixing groove for facilitating the fixation of the power pump is formed at the top of the lifting seat. A plurality of through - holes are formed in the fixing groove, and a liquid - suction pipe is fixedly and penetratingly installed at the bottom of the through - hole, and the bottom end of the liquid - suction pipe is arranged inside the liquid storage bin.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] Through the settings of the driving component and the lifting component, when performing weeding operations on ridges with different widths, the cross - moving handwheel is started to drive the two automatic moving parts to move relative to or away from each other until reaching the working position most suitable for the current ridge width. This process is not only fast but also accurate, ensuring that the robot can flexibly respond to various complex terrain conditions, automatically adjust without manual intervention, and save labor costs. At the same time, the lifting component can adjust the height of the lifting seat according to the actual height of the weeds, so that the spraying head is always in the best working position, and both tall and short vegetation can be evenly covered, effectively avoiding the occurrence of drug waste and omission phenomena. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of a full - automatic weeding robot proposed by the present invention;

[0023] Figure 2 It is a schematic diagram of the first main cross - moving seat and the cross - moving auxiliary plate in a full - automatic weeding robot proposed by the present invention;

[0024] Figure 3 It is a schematic diagram of the power supply group in a full - automatic weeding robot proposed by the present invention;

[0025] Figure 4 It is a schematic diagram of the internal structure of the second main cross - moving seat in a full - automatic weeding robot proposed by the present invention;

[0026] Figure 5 It is a schematic diagram of the bidirectional lead screw in a full - automatic weeding robot proposed by the present invention;

[0027] Figure 6 It is a schematic diagram of the fixing groove in a full - automatic weeding robot proposed by the present invention;

[0028] Figure 7 It is a schematic diagram of the hemispherical camera in a full - automatic weeding robot proposed by the present invention.

[0029] In the figure: 1. Automatic moving part; 2. Disassembly and assembly seat; 3. Liquid storage bin; 4. Lifting seat; 5. Power pump; 6. Spraying head; 7. First transverse moving main seat; 8. Transverse moving auxiliary plate; 9. Monitoring sensor; 10. Power supply group; 11. Moving wheel; 12. Second transverse moving main seat; 121. Concave bottom plate; 122. L-shaped rod; 123. Rack; 124. Transverse moving rocking wheel; 125. Gear; 126. Bottom tooth; 13. Protrusion; 14. Stopping port; 15. Liquid suction pipe; 16. Groove; 161. Bidirectional lead screw; 162. Limit slide bar; 163. Moving seat; 164. Lifting rocking wheel; 165. Short shaft; 166. Traction rod; 167. Limit post; 17. Fixed groove; 18. Through port; 19. Laser weeding component; 20. Vertical rod; 201. Liquid blocking plate; 202. Hemispherical camera. Specific embodiments

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0031] Referring to Figures 1 - 7 , a fully automatic weeding robot includes two relatively arranged automatic moving parts 1. The automatic moving part 1 can be remotely controlled under the cooperation of components such as electric drive, without manual pushing, saving manpower. The top of the automatic moving part 1 is bolted with a disassembly and assembly seat 2, and the disassembly and assembly seat 2 can be quickly disassembled and assembled, facilitating the disassembly, maintenance and repair of the liquid storage bin 3. The top of the disassembly and assembly seat 2 is fixedly connected with a liquid storage bin 3, and the liquid storage bin 3 is used to store pesticides required for spraying. A lifting seat 4 is arranged directly above the liquid storage bin 3, and a power pump 5 is fixed on the lifting seat 4. The power pump 5 provides power for spraying the spraying head 6. The power pump 5 pumps and sprays the pesticides in the liquid storage bin 3. A plurality of spraying heads 6 are fixed on the power pump 5. A second transverse moving main seat 12 and a pair of first transverse moving main seats 7 are arranged on the opposite sides of the two automatic moving parts 1. Transverse moving auxiliary plates 8 are slidably arranged on both the first transverse moving main seat 7 and the second transverse moving main seat 12, and the transverse moving auxiliary plates 8 are fixedly connected with the automatic moving part 1. A plurality of monitoring sensors 9 are fixedly installed on the automatic moving part 1; the monitoring sensors 9 are used to detect pests on crops and vegetation, and pests attached to the back of the leaves of the vegetation can also be detected. After the pests are detected, under a pre-set program, after the lifting seat 4 moves vertically, the spraying head 6 sprays pesticides to kill the pests and prevent them from harming the crops.

[0032] It further includes:

[0033] A driving component for adjusting the relative distance between the two automatic moving parts 1;

[0034] A lifting component for adjusting the height of the lifting seat 4;

[0035] The laser weeding assembly 19 is used to emit laser for burning and weeding operations. When the camera assembly detects pests, the laser weeding assembly 19 can emit laser for burning and weeding. The laser weeding assembly 19 generally consists of multiple key components, including a single-chip microcomputer control system, a laser emitter, and a power supply, etc. The single-chip microcomputer control system is responsible for receiving signals from sensors and judging whether to emit laser according to preset parameters. At the same time, it can also adjust parameters such as laser power, scanning angle, and scanning speed to meet the needs of different farmlands. The single-chip microcomputer control system, the laser emitter, and the power supply are existing mature technologies, so no more description will be given.

[0036] The camera assembly is convenient for accurately identifying weeds before the pesticide spraying head 6 sprays pesticides for weeding and the laser weeding assembly 19 emits laser for weeding.

[0037] A power supply group 10 and two moving wheels 11 are arranged on the automatic moving part 1. The power supply group 10 and the moving wheels 11 are electrically connected, and the power supply group 10 provides moving power for the moving wheels 11. The power supply group 10 includes components such as a battery, which is an existing mature technology. The main purpose is to realize the rotation of the moving wheels 11, so no more description will be given here.

[0038] The driving assembly includes a concave bottom plate 121 fixedly connected to the bottom of the second transverse moving main seat 12. An L-shaped rod 122 is fixedly connected to the bottom of the transverse moving sub-plate 8. A rack 123 is fixedly connected to the side wall of the L-shaped rod 122 opposite to the concave bottom plate 121. A transverse moving rocking wheel 124 is fixedly connected to the concave bottom plate 121. The output end of the transverse moving rocking wheel 124 is fixedly connected to a gear 125, and the gear 125 meshes with the rack 123. The transverse moving rocking wheel 124 drives the gear 125 to rotate, and the gear 125 drives the rack 123 to move horizontally. Two transverse moving rocking wheels 124 can be started simultaneously, or one of the transverse moving rocking wheels 124 can be started alone to achieve two different effects. The first is that the two automatic moving parts 1 move synchronously relatively or away from each other. The second is that one of the automatic moving parts 1 moves relative to the other automatic moving part 1, making the overall adjustment of the device more flexible.

[0039] Both of the two transverse moving rocking wheels 124 are arranged on the concave bottom plate 121, and the output ends of the two transverse moving rocking wheels 124 are arranged in opposite directions. The transverse moving sub-plates 8 on the first transverse moving main seat 7 and the second transverse moving main seat 12 are both arranged in pairs, and the L-shaped rod 122 is fixedly arranged on the bottom surface of one of the transverse moving sub-plates 8 in the same pair. Multiple bottom teeth 126 are arranged at the bottom of the L-shaped rod 122. The setting of the bottom teeth 126 is to prevent the rack 123 and the L-shaped rod 122 from touching weeds or vegetation when the automatic moving part 1 moves, making it difficult to move the whole device. The bottom teeth 126 are convenient for horizontally cutting weeds, etc., facilitating the smooth movement of the whole device.

[0040] Both the first horizontal movement main seat 7 and the second horizontal movement main seat 12 are provided with sliding openings facilitating the sliding of the horizontal movement auxiliary plate 8. A retaining opening 14 is arranged at the port of the sliding opening, and a protrusion 13 is arranged at the end of the horizontal movement auxiliary plate 8, and the protrusion 13 and the retaining opening 14 are arranged correspondingly. The retaining opening 14 and the protrusion 13 are arranged to prevent the horizontal movement auxiliary plate 8 from falling off relative to the first horizontal movement main seat 7 or the second horizontal movement main seat 12.

[0041] The lifting assembly includes grooves 16 formed on the opposite side walls of the automatic moving part 1 and the lifting seat 4, and the grooves 16 are arranged in pairs. A bidirectional lead screw 161 is rotatably connected in the groove 16 on the lifting seat 4, and a limiting slide bar 162 is fixedly connected in the remaining lifting grooves 16. The arrangement of the limiting slide bar 162 not only enables the moving seat 163 to stably move along the axial direction of the bidirectional lead screw 161, but also makes the whole lifting assembly more evenly stressed and the overall appearance more coordinated. A moving seat 163 slides in the groove 16, and the moving seats 163 are arranged in pairs. One pair of moving seats 163 is threadedly connected with the bidirectional lead screw 161, and the remaining three pairs of moving seats 163 are slidably connected with the limiting slide bar 162. A lifting handwheel 164 for driving the bidirectional lead screw 161 to rotate is fixedly connected to the lifting seat 4. A short shaft 165 is fixedly connected to the moving seat 163, and a traction rod 166 is rotatably connected to the short shaft 165, and the traction rods 166 are arranged in a cross shape.

[0042] Two cross - arranged traction rods 166 are rotatably connected to the same limiting column 167. Anti - detachment blocks are fixed at both ends of the limiting column 167. Two pairs of cross - arranged traction rods 166 are respectively arranged on both sides of the liquid storage bin 3. The arrangement of the limiting column 167 prevents the two cross - arranged traction rods 166 from deviating relatively.

[0043] The camera assembly includes a pair of vertical rods 20 fixedly connected to the top of the second horizontal movement main seat 12. A liquid - blocking plate 201 is fixedly connected to the top of the vertical rod 20. The liquid - blocking plate 201 is used to prevent impurities in the air or sprayed pesticides from adhering to the hemispherical camera 202, affecting the imaging operation of the hemispherical camera 202. The hemispherical camera 202 is fixedly connected to the liquid - blocking plate 201.

[0044] A fixing groove 17 facilitating the fixing of the power pump 5 is formed at the top of the lifting seat 4. A plurality of through - openings 18 are formed on the fixing groove 17. A liquid suction pipe 15 is fixedly and penetratingly installed at the bottom of the through - opening 18, and the bottom end of the liquid suction pipe 15 is arranged inside the liquid storage bin 3.

[0045] The functional principle of the present invention can be elaborated through the following operation modes:

[0046] First, add pesticides or herbicides to the liquid storage tank 3 according to the required ratio. Then, fix the disassembly and assembly seat 2 on the top of the automatic moving part 1 through bolts to ensure a stable structure. Next, install the power pump 5 on the lifting seat 4 and connect multiple spray heads 6 to the power pump 5. At the same time, check whether all monitoring sensors 9 are in normal working condition, including monitoring weeds, pests, and environmental conditions in the farmland, etc.

[0047] Turn on the power supply group 10 to provide power support for the two moving wheels 11, enabling the entire device to move freely.

[0048] After the hemispherical camera 202 observes and identifies weeds, the power pump 5 operates. It sprays the pesticides in the lifting seat 4 through the spray heads 6, and the pesticides are sprayed onto the weeds, thus achieving the removal of weeds. At the same time, laser weeding can also be carried out by starting the laser weeding component 19.

[0049] According to actual needs, use the driving component to adjust the relative distance between the two automatic moving parts 1; specifically: start the transverse movement handwheel 124, the transverse movement handwheel 124 drives the gear 125 to rotate, the gear 125 drives the rack 123 to move horizontally, the rack 123 drives the L-shaped rod 122 to move horizontally, the L-shaped rod 122 drives the transverse movement auxiliary plate 8 to slide horizontally on the transverse movement main seat 7, and the transverse movement auxiliary plate 8 drives the automatic moving part 1 to move horizontally, thereby flexibly adjusting the relative distance between the two automatic moving parts 1.

[0050] Use the lifting component to adjust the height of the lifting seat 4 to adapt to crops of different heights; specifically: start the lifting handwheel 164, the lifting handwheel 164 drives the bidirectional lead screw 161 to rotate, the bidirectional lead screw 161 drives the two moving seats 163 threadedly connected to it to move horizontally synchronously, drives the traction rod 166 to rotate, thereby adjusting the height of the lifting seat 4.

[0051] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A fully automatic weeding robot, comprising two automatically moving parts (1) arranged opposite to each other, characterized in that: The top of the automatic moving part (1) is connected to a disassembly seat (2) by bolts, and the top of the disassembly seat (2) is fixedly connected to a liquid storage tank (3). A lifting seat (4) is arranged directly above the liquid storage tank (3), and a power pump (5) is fixed on the lifting seat (4). A plurality of spray heads (6) are fixed on the power pump (5). A second transverse main seat (12) and a pair of first transverse main seats (7) are arranged on opposite sides of the two automatic moving parts (1). A transverse sub-plate (8) is slidably arranged on the first transverse main seat (7) and the second transverse main seat (12), and the transverse sub-plate (8) is fixedly connected to the automatic moving part (1). A plurality of monitoring sensors (9) are fixedly installed on the automatic moving part (1); Also includes: A driving assembly, the driving assembly being used to adjust the relative distance between the two automatically moving parts (1); A lifting assembly, the lifting assembly being used to adjust the height of the lifting seat (4); A laser weeding component (19), wherein the laser weeding component (19) is used to perform a burning weeding operation after emitting laser light; The camera assembly facilitates accurate identification of weeds before the spray head (6) sprays pesticides for weeding and the laser weeding assembly (19) emits laser for weeding.

2. A fully automatic weeding robot according to claim 1, characterized in that: The automatic moving part (1) is provided with a power supply group (10) and two moving wheels (11); the power supply group (10) and the moving wheels (11) are electrically connected; the power supply group (10) provides moving power for the moving wheels (11).

3. The fully automatic weeding robot according to claim 1, characterized in that: The driving assembly comprises a concave bottom plate (121) fixedly connected to the bottom of the second transverse main seat (12); an L-shaped rod (122) fixedly connected to the bottom of the transverse sub-plate (8); a rack (123) fixedly connected to the side wall of the L-shaped rod (122) relative to the concave bottom plate (121); a transverse rocker (124) fixedly connected to the concave bottom plate (121); a gear (125) fixedly connected to the output end of the transverse rocker (124); and the gear (125) meshes with the rack (123).

4. The fully automatic weeding robot according to claim 3, characterized in that: The two transverse shifting wheels (124) are both arranged on the concave bottom plate (121), and the output ends of the two transverse shifting wheels (124) are arranged opposite to each other, the transverse shifting sub-plates (8) on the transverse shifting main seat one (7) and the transverse shifting main seat two (12) are both arranged in pairs, and the L-shaped rod (122) is fixedly arranged on the bottom surface of one of the transverse shifting sub-plates (8) in the same pair, and a plurality of bottom teeth (126) are arranged at the bottom of the L-shaped rod (122).

5. The fully automatic weeding robot according to claim 4, characterized in that: The transverse moving main seat 1 (7) and the transverse moving main seat 2 (12) are both provided with a sliding opening for facilitating the sliding of the transverse moving sub-plate (8), a stopper (14) is provided at the end of the sliding opening, a protrusion (13) is provided at the end of the transverse moving sub-plate (8), and the protrusion (13) and the stopper (14) are provided correspondingly.

6. The fully automatic weeding robot according to claim 1, characterized in that: The lifting assembly comprises grooves (16) provided on the opposite side walls of the automatic moving part (1) and the lifting seat (4), and the grooves (16) are arranged in pairs, a bidirectional lead screw (161) is rotatably connected in the grooves (16) on the lifting seat (4), and the remaining grooves (16) are fixedly connected to limit sliding rods (162), a moving seat (163) is slidably provided in the grooves (16), and the moving seats (163) are arranged in pairs, one pair of which is The movable seat (163) and the bidirectional lead screw (161) are threadedly connected, and the other three pairs of the movable seats (163) and the limiting slide bars (162) are all slidably connected. The lifting seat (4) is fixedly connected with a lifting wheel (164) for driving the bidirectional lead screw (161) to rotate. The movable seat (163) is fixedly connected with a short shaft (165), and the short shaft (165) is rotatably connected with a traction rod (166), and the traction rods (166) are cross-arranged.

7. The fully automatic weeding robot according to claim 6, characterized in that: The two cross-arranged traction rods (166) are rotatably connected to the same limiting column (167), and anti-slip blocks are fixed at both ends of the limiting column (167). The two pairs of cross-arranged traction rods (166) are respectively arranged on both sides of the liquid storage bin (3).

8. The fully automatic weeding robot according to claim 1, characterized in that: The camera assembly comprises a pair of vertical rods (20) fixedly connected to the top of the second transverse main seat (12); a liquid baffle plate (201) is fixedly connected to the top of the vertical rods (20); and a hemispherical camera (202) is fixedly connected to the liquid baffle plate (201).

9. The fully automatic weeding robot according to claim 1, characterized in that: The top of the lifting seat (4) is provided with a fixing groove (17) for fixing the power pump (5), and the fixing groove (17) is provided with a plurality of through openings (18). A liquid extraction pipe (15) is fixedly installed at the bottom of the through opening (18), and the bottom end of the liquid extraction pipe (15) is arranged inside the liquid storage tank (3).

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