Moving system of laser weeding robot for steep slope mountain terrain
By combining horizontal and vertical guide rail systems, the laser weeding robot achieves stable movement and efficient weeding on steep slopes and embankments, solving the adaptability and safety issues of existing technologies and improving operational efficiency and equipment utilization.
Patent Information
- Application Number
- CN202511748081.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-26
- Publication Date
- 2026-01-02
AI Technical Summary
Existing laser weeding robots have poor adaptability to steep slopes and embankments, are prone to tipping over or sliding down, and are inaccurate in their operation, with high energy consumption, making them difficult to apply effectively in hilly and mountainous areas.
It adopts a detachable design combining horizontal and vertical guide rail systems, including the main body of the laser weeding robot, the robot's wheeled walking system, the horizontal guide rail movement system, the folding joints, the vertical guide rail system and the grounding chassis. It achieves multi-dimensional movement and stable support through servo motor drive, and can adapt to complex terrain.
It improves the safety and accuracy of operations on steep slopes, reduces energy consumption and operating costs, expands the operating range and flexibility, and solves the problem of relocation in hilly and mountainous areas.
Smart Images
Figure CN121246735A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of agricultural information system management, and in particular to a steep slope mountainous terrain laser weeding robot moving system. BACKGROUND
[0002] In the field of agricultural robots, laser weeding robots have shown excellent performance in plains, fields and forests, but have poor adaptability to steep slopes and steep terrain. China's hilly and mountainous areas account for more than 50% of the cultivated land area, and are subject to various environmental factors such as steep roads, small plots, complex topography and other environmental factors. There are practical problems such as "no machine available, no good machine available" in various production links, and there is a lack of theoretical support for the development of large-slope agricultural equipment suitable for hilly and mountainous areas.
[0003] Secondly, the current agricultural laser weeding robot is mainly wheel type, which controls the forward direction and site transfer through tires, and is convenient, fast and controllable. The terrain requirement for site transfer through tires is too high, and when the slope is more than 10°, the traction efficiency decreases by 40%; when the slope continues to increase, the tire type chassis cannot smoothly complete the advance; the crawler type can be increased to 18 degrees, but requires more energy consumption. At the same time, both types of chassis are difficult to perform work in areas with loose soil, and are prone to accidents due to sliding.
[0004] Thirdly, the slope causes the terrain to have a large height difference, and the existing SLAM algorithm has a large mapping error, which can easily cause damage to crops or inaccurate weeding during laser weeding, and multiple corrections are required during travel. The workload of the computer in calculating the position is large and prone to errors.
[0005] In summary, it is necessary to develop a weeding robot system suitable for steep slopes, steep canals, terraces and other terrains. SUMMARY
[0006] OBJECTIVE The purpose of the present application is to provide a steep slope mountainous terrain laser weeding robot moving system, which can solve the problem that the existing ordinary wheel type robot cannot complete weeding work on steep slopes and steep terrains. The laser weeding robot does not have a center of gravity instability, skidding or even overturning on steep slopes and steep terrains, and can safely and efficiently complete weeding work.
[0007] TECHNICAL SCHEME In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: A steep slope mountainous terrain laser weeding robot moving system, characterized in that it comprises a laser weeding robot main body, a robot wheel type walking system, a main body detachable device, a transverse guide rail moving system, a folding joint, a vertical guide rail system and a ground contact chassis. Furthermore, the main body of the laser weeding robot is fixedly connected to the robot's wheeled walking system on both sides, and the bottom is connected to the horizontal guide rail moving system through a detachable device of the main body; the horizontal guide rail moving system is hinged to the vertical guide rail system through a folding joint, and the folding joint is equipped with a servo motor to achieve 90° opening and closing; the bottom of the vertical guide rail system is connected to the grounded chassis; both the horizontal guide rail moving system and the vertical guide rail system are equipped with servo motors to achieve bidirectional movement.
[0008] Furthermore, shock-absorbing linkages are fixedly connected to the four corners of the bottom of the laser weeding robot body, and the ends of the shock-absorbing linkages are connected to a crossbeam. The wheeled walking system is connected to both sides of the crossbeam; a control box is located under the main body of the laser weeding robot.
[0009] Furthermore, the robot's wheeled walking system includes four connecting columns with impact-resistant springs. The lower ends of the connecting columns are connected to a π-shaped beam, and the outer side of the lower part of the π-shaped beam is connected to the walking wheels. The walking wheels are detachable small-radius tires, and the impact-resistant springs are used to buffer the impact of uneven ground.
[0010] Furthermore, the main detachable device includes four screw rods, which are pre-fixed to the bottom of the laser weeding robot body. After passing through the pre-set screw holes of the transverse guide rail movement system, they are fixed by anchor nuts and rubber washers.
[0011] Furthermore, the lateral guide rail movement system includes a lateral movement basic block, a lateral sliding servo motor, a precision ball screw, and a lateral movement beam; the lateral movement basic block has pre-set screw holes to be anchored to the main body of the laser weeding robot via a detachable main body device, and has slots extending outward on both sides, with bidirectional servo motors and precision ball screws installed in the slots; the lateral movement rod is placed on the precision ball screw, and its outer end is connected to the vertical guide rail system via a folding joint.
[0012] Furthermore, the folding joint includes a joint, a vertical joint, and a rotating shaft; the horizontal joint is connected to the horizontal moving beam, and the vertical joint is connected to the vertical guide rail system. Both are comb-tooth slotted structures and are hinged by the rotating shaft; the rotating shaft is equipped with damping pads and a servo motor to achieve stable 90° rotation.
[0013] Furthermore, the vertical guide rail system includes a solid base section, a bidirectional servo motor, a precision ball screw, and a lifting rod; the upper end of the solid base section is hinged to the folding joint, and the lower end is slotted and has a built-in bidirectional servo motor and precision ball screw; the lifting rod is placed on the precision ball screw, and its lower end is connected to the grounded chassis.
[0014] Furthermore, the grounding chassis includes a base plate, grounding claws, and fine-tuning screws; the base plate has pre-drilled screw holes, and the grounding claws pass through the screw holes via screw posts and are connected to the fine-tuning screws; the fine-tuning screws can adjust the vertical distance between the grounding claws and the base plate, and the grounding claws can be replaced with a barbed structure to adapt to loose soil.
[0015] Beneficial technical effects: Through the horizontal and vertical lifting system, the weeding robot can be lifted to the corresponding platform before it can start weeding. It can adapt to most mountainous and hilly terrains and is not limited by terrain, which greatly expands the working area of the weeding robot.
[0016] In this invention, the weeding robot is always in a near-horizontal working state. Compared with common weeding robots, it is less likely to tip over or slide down when facing steep terrain, greatly improving the safety factor.
[0017] The horizontal and vertical lifting systems of this invention can be disassembled. If the weeding operation area is large, the horizontal and vertical lifting systems can be disassembled to reduce the weight of the weeding robot itself, save energy consumption, and reduce the cost of weeding operations.
[0018] After the horizontal and vertical lifting system of this invention is dismantled, it can be retracted and folded, and when not needed, it can be loaded onto other vehicles for transport, reducing the difficulty of relocation operations. If necessary, wheels can also be installed at the grounded chassis for relocation and transportation by other means of towing. Attached Figure Description Figure 1 is a three-dimensional structural schematic diagram of the present invention; Figure 2 is a schematic diagram of the robot body, wheeled walking system, and detachable device of the present invention; Figure 3 is a schematic diagram of the transverse guide rail moving system of the present invention; Figure 4 is a schematic diagram of the folding joint of the present invention; Figure 5 is a schematic diagram of the vertical guide rail system of the present invention; Figure 6 is a schematic diagram of the grounding chassis of the present invention.
[0019] The system comprises: 1. Laser weeding robot body; 2. Detachable body assembly; 3. Robot wheeled walking system; 4. Lateral guide rail movement system; 5. Folding joint; 6. Vertical guide rail system; 7. Grounding chassis; 11. Robot body; 12. Bottom fixing steel plate; 21. Screw post; 22. Screw post anchor nut; 31. Impact-resistant spring connecting post; 32. π-shaped beam; 33. Walking wheel; 41. Lateral movement basic block; 42. Pre-drilled screw hole; 43. Outer beam; 44. Outer beam connecting beam; 45. Lateral movement beam; 46. Lateral sliding servo motor; 47. Precision ball screw; 51. Lateral joint; 52. Vertical joint; 53. Folding joint motor; 54. Rotary shaft housing; 55. Damping pad; 56. Rotary shaft; 61. Solid basic section; 62. Vertical sliding servo motor; 63. Vertical sliding precision ball screw; 64. Lifting rod; 71. Base plate; 72. Grounding claw; 73. Fine-tuning screws. Detailed Implementation
[0020] Example 1 To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.
[0021] As shown in Figures 1 to 6, a laser weeding robot suitable for use in steep slopes and embankments according to one embodiment of the present invention includes a laser weeding robot body, a wheeled walking system, a lateral walking system, and a vertical walking system.
[0022] I. System Composition and Functional Description This laser weeding robot mobile system for steep slope mountainous terrain consists of a laser weeding robot body 1, a detachable body device 2, a robot wheeled walking system 3, a horizontal guide rail moving system 4, a folding joint 5, a vertical guide rail system 6, and a grounding chassis 7. All parts work together to achieve stable movement and efficient weeding on steep slope terrain.
[0023] The main body 1 of the laser weeding robot is fixedly connected to the robot's wheeled walking system 2 on both sides, and connected to the horizontal guide rail moving system 4 at the bottom via a detachable main body device 3, forming the core moving frame. The horizontal guide rail moving system 4 is hinged to the vertical guide rail system 6 via folding joints 5. The folding joints 5 are equipped with servo motors, which can achieve precise opening and closing of 90° to meet the structural shape adjustment needs under different terrains. The bottom of the vertical guide rail system 6 is connected to the grounding chassis 7, providing stable support for the entire system. Both the horizontal guide rail moving system 4 and the vertical guide rail system 6 are equipped with servo motors, which can drive the main body 1 of the laser weeding robot to complete bidirectional movement in the horizontal and vertical directions, respectively. Combined with the planar movement capability of the robot's wheeled walking system 2, it ultimately achieves three-way movement in the horizontal, vertical, and horizontal directions.
[0024] The main body 1 of the laser weeding robot has fixed steel plates 12 at its four corners. A wheeled walking system 2 is connected beneath these steel plates, forming a stable walking control unit in conjunction with the control box below the main body. The robot's wheeled walking system 2 includes four shock-resistant spring connecting columns 31, with a π-shaped beam 32 at the lower end and walking wheels 33 on the outer lower part. The walking wheels 33 are detachable small-radius tires, and the shock-resistant springs effectively buffer the impact from uneven ground, improving the stability of the main body.
[0025] The main detachable device 3 uses four screw rods pre-fixed to the bottom steel plate 12 of the laser weeding robot main body 1. After passing through the pre-drilled screw holes 42 of the transverse guide rail movement system 4, it is fixed with anchoring nuts and rubber washers, enabling quick assembly and disassembly of the main body and the guide rail system. The transverse guide rail movement system 4 consists of a transverse movement base block 41, an extended beam connecting beam 44, a transverse beam 45, a transverse sliding servo motor 46, and a precision ball screw 47. The pre-drilled screw holes of the transverse movement base block 41 are anchored to the main detachable device 2. The transverse sliding servo motor 46 and the precision ball screw 47 in the extended slots on both sides drive the transverse beam 45 to move. The folding joint 5 drives the vertical guide rail system 6 to adjust its transverse position. The transverse sliding servo motor 46 and the precision ball screw 47 are installed inside the extended beam. The transverse beam 45 is placed on the ball screw. The transverse sliding servo motor 46 and the precision ball screw 47 drive the transverse beam 45 to move in both directions.
[0026] The folding joint 5 includes a horizontal joint 51, a vertical joint 52, a folding joint motor 53, and a rotating shaft 56. The horizontal joint 51 is connected to the horizontal moving beam 45, and the vertical joint 52 is connected to the vertical guide rail system 6. The two are hinged together by the rotating shaft 56. The rotating shaft 56 is equipped with a damping pad 55 and a folding joint motor 53 to achieve a stable 90° rotation and ensure the reliability of the structure's unfolding and folding.
[0027] The vertical guide rail system 6 consists of a solid basic section 61, a vertical sliding servo motor 62, a vertical sliding precision ball screw 63, and a lifting rod 64. The upper end of the solid basic section 61 is hinged to the folding joint 5, and the vertical sliding servo motor 62 and the vertical sliding precision ball screw 63 are placed in the groove at the lower end to drive the lifting rod 64 to move up and down. The vertical support height is adjusted through the grounded chassis 7.
[0028] The grounding chassis 7 includes a base plate 71, grounding claws 72, and fine-tuning screws 73. The base plate 71 has pre-drilled screw holes. The grounding claws 72 are connected to the fine-tuning screws 73 by passing through the screw holes with screw posts. The fine-tuning screws 73 can adjust the vertical distance between the grounding claws 72 and the base plate 71. The grounding claws 72 can be replaced with a barbed structure to adapt to loose soil and further enhance the system's grip on complex terrain.
[0029] In existing technologies, the traction efficiency of ordinary wheeled laser weeding robots decreases by 40% when the slope exceeds 10°, and they cannot move smoothly if the slope continues to increase. Tracked robots can adapt to slopes up to 18°, but their energy consumption increases significantly, and both types are prone to slipping in loose soil areas, posing safety hazards. This system, through the coordinated action of the lateral guide rail movement system 4 and the vertical guide rail system 6, can easily handle steep slopes and steep embankments. Combined with the barbed structure design of the grounding chassis 7, it can operate stably even in loose soil areas, increasing the applicable slope range to over 35°. This breaks through the geographical limitations of traditional robots, enabling approximately 23% of the world's arable land that cannot use traditional equipment to utilize intelligent weeding technology, significantly expanding the application scenarios of laser weeding.
[0030] Traditional wheeled or tracked robots are prone to tipping over and sliding when operating on steep slopes due to difficulty in controlling their center of gravity. Furthermore, the terrain elevation differences caused by the slope increase the mapping error of the SLAM algorithm, leading to accidental damage or inaccurate weeding. This system, through precise adjustment of the lateral and vertical guide rail system, ensures that the laser weeding robot body 1 remains nearly horizontal during operation, fundamentally solving the problem of unstable center of gravity. Compared to existing technologies, its anti-tipping ability on steep terrain is improved by more than 80%, and the risk of slippage is reduced by 90%. Simultaneously, the horizontal operating state reduces the impact of terrain elevation differences on laser positioning, increasing weeding accuracy to over 95%, significantly reducing the workload of repeated corrections and the error rate.
[0031] Existing tracked robots consume more energy to adapt to slightly steeper slopes, resulting in high operating costs. Furthermore, traditional robots have a fixed structure and cannot adjust their weight according to the work area, leading to significant energy waste during large-scale operations. This system's lateral and vertical lifting systems can be quickly disassembled via the detachable main body device 3. When working over a large area, only the robot's wheeled walking system 2 remains, reducing equipment weight by over 30% and energy consumption by 40%, significantly lowering the unit cost of weeding operations. In addition, the detachable design allows the system to be adapted to agricultural robots with different functions, achieving multi-purpose use, further improving equipment utilization and reducing overall investment.
[0032] Existing large agricultural machinery, due to its fixed structure, faces difficulties in relocating in hilly and mountainous areas with steep slopes and narrow roads, often requiring the assistance of large transport equipment, which increases preparation time and costs. This system's lateral and vertical lifting systems can be retracted and folded via folding joints 5 after disassembly, reducing the volume to only 40% of its unfolded state. This allows it to be transported on ordinary vehicles without the need for large transport equipment. For short-distance relocations, wheels can be installed at the grounding chassis 7 for towing, increasing relocation efficiency by over 60% and solving the pain point of "difficult relocation" for agricultural machinery in hilly and mountainous areas.
[0033] Traditional robots have a limited mobility, making it difficult to adjust their working position in complex terrains such as steep slopes and terraced fields, thus restricting their operating range. This system, with its horizontal, vertical, and lateral movement capabilities, allows for flexible adjustment of the laser weeding robot's working position and angle. In special terrains such as terraced ridges and steep slopes, the lateral guide rail system 4 can expand the working radius, while the vertical guide rail system 6 can adapt to terrain elevation differences. The operating coverage area is more than 50% larger than existing technologies. Furthermore, the system can adjust the support status of the grounding chassis 7 in real time according to the terrain, ensuring stable operation on uneven ground and achieving all-round, blind-spot-free weeding in complex terrains.
[0034] This mobile laser weeding robot system for steep slope and mountainous terrain achieves breakthroughs and surpasses existing technologies in terms of terrain adaptability, operational stability, energy consumption control, ease of relocation, and operational flexibility through innovative structural design and multi-dimensional adjustment capabilities. It provides a practical solution for intelligent weeding in complex terrains such as hilly and mountainous areas, and promotes the technological advancement of agricultural robots in the field of special terrain operations.
[0035] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. A mobile system for a laser weeding robot in steep mountainous terrain, comprising a laser weeding robot body (1), a detachable body device (2), a robot wheeled walking system (3), a lateral guide rail moving system (4), folding joints (5), a vertical guide rail system (6), and a grounding chassis (7), characterized in that, The main body (1) of the laser weeding robot is fixedly connected to the robot wheel walking system (2) on both sides. The bottom is connected to the horizontal guide rail moving system (4) through the main body detachable device (3). The horizontal guide rail moving system (4) is hinged to the vertical guide rail system (6) through the folding joint (5). The folding joint (5) is equipped with a servo motor to achieve 90° opening and closing. The bottom of the vertical guide rail system (6) is connected to the ground chassis (7). Both the horizontal guide rail moving system (4) and the vertical guide rail system (6) are equipped with servo motors to achieve bidirectional movement.
2. The system according to claim 1, characterized in that, The bottom of the laser weeding robot body (1) is connected to a bottom fixed steel plate (12), and a wheeled walking system (3) is connected under the steel plate; a control box is provided below the laser weeding robot body (1).
3. The system according to claim 1, characterized in that, The main detachable device (2) includes four screw rods. The screw rods are pre-fixed to the bottom of the main body (1) of the laser weeding robot. After passing through the screw holes of the transverse guide rail moving system (4), they are fixed by anchor nuts and rubber gaskets.
4. The system according to claim 1, characterized in that, The robot wheeled walking system (3) includes four impact-resistant spring connecting columns (31), the lower end of which is connected to a π-shaped beam (32), and the lower outer side of the π-shaped beam (32) is connected to a walking wheel (33); the walking wheel (33) is a detachable small-radius tire wheel.
5. The system according to claim 1, characterized in that, The transverse guide rail moving system (4) comprises a transverse moving basic block (41), a pre-drilled screw hole (42), an extension beam (43), an extension beam connecting beam (44), a transverse moving beam (45), a transverse sliding servo motor (46), and a precision ball screw (47); the transverse moving beam (45) is placed on the precision ball screw (47).
6. The system according to claim 1, characterized in that, The folding joint (5) includes a horizontal connector (51), a vertical connector (52), a folding joint motor (53), and a rotating shaft (56); the horizontal connector (51) is connected to the horizontal beam (45), and the vertical connector (52) is connected to the vertical guide rail system (6). Both are comb-shaped slotted structures and are hinged by the rotating shaft (56); the rotating shaft (56) is equipped with a damping pad (55) and a folding joint motor (53) to achieve a stable 90° rotation.
7. The system according to claim 1, characterized in that, The vertical guide rail system (6) includes a solid basic section (61), a vertical sliding servo motor (62), a vertical sliding precision ball screw (63), and a lifting rod (64). The upper end of the solid basic section (61) is hinged to the folding joint (5), and the lower end is slotted and has the vertical sliding servo motor (62) and the vertical sliding precision ball screw (63) built in. The lifting rod (64) is placed on the vertical sliding precision ball screw (63), and the lower end is connected to the grounding chassis (7).
8. The system according to claim 1, characterized in that, The grounding chassis (7) includes a base plate (71), a grounding claw (72), and a fine-tuning screw (73); the base plate (71) has a pre-set screw hole, and the grounding claw (72) passes through the screw hole via a screw post and is connected to the fine-tuning screw (73); the fine-tuning screw (73) can adjust the vertical distance between the grounding claw (72) and the base plate (71), and the grounding claw (72) can be replaced with a barbed structure to adapt to loose soil.