Weeding robot system and working method thereof

Abstract

The invention discloses a weeding robot system and a working method thereof, and relates to the technical field of intelligent weeding equipment.The weeding robot system specifically comprises a movable vehicle body, a position control mechanism, a weed recognition module and a weeding mechanism execution end, and the weed recognition module and the weeding mechanism execution end are installed on the position control mechanism and driven by the position control mechanism to move; the position control mechanism is used for driving the weed recognition module and the weeding mechanism execution end to move when the vehicle body moves to the target weeding area and stops in a static state, so that the weed recognition module scans, recognizes and positions weeds in the target weeding area, and then the weeding mechanism execution end performs weeding operation on the positioned weeds. Identification and weeding are performed after the robot completely stops in the target area, so that interference caused by movement vibration is eliminated; dependence on expensive high-performance anti-shake hardware and a real-time processing algorithm is reduced, and control over the manufacturing cost of the whole machine is facilitated.

Description

Technical Field

[0001] This invention relates to the field of intelligent weeding equipment technology, specifically a weeding robot system and its working method. Background Technology

[0002] With the development of precision agriculture and intelligent robot technology, the use of mobile robots for automatic weeding has become an important research direction. Existing weeding robots are usually equipped with vision systems and weeding actuators. Their mainstream working mode is as follows: the robot moves continuously along a predetermined path, and during the movement, it uses the vision system to identify weeds between crops in real time, and controls the weeding actuator (such as a robotic arm, spraying device or laser emitter) to remove the identified weeds immediately.

[0003] However, the aforementioned continuous working mode of "working while moving" has inherent drawbacks. Because the robot inevitably experiences vibrations and posture changes during movement, this dynamic instability directly interferes with the imaging quality of the vision system, leading to decreased recognition accuracy and increased positioning errors. Simultaneously, vibrations during movement also affect the aiming accuracy and operational effectiveness of the weeding actuators (especially those requiring high-precision pointing, such as lasers). In other words, there is a fundamental contradiction between the robot's mobility characteristics and the high-precision recognition and execution they require. To balance operational efficiency and maneuverability, existing solutions often struggle to achieve stable and reliable precision weeding operations.

[0004] Furthermore, to maximize recognition and execution accuracy in dynamic environments, existing solutions often require more expensive vibration-resistant hardware, higher frame rate image sensors, and more complex image stabilization and motion compensation algorithms. This significantly increases the system's manufacturing costs and technological barriers. Especially when high-speed weeding is not required, such solutions can significantly increase unnecessary costs for users. Summary of the Invention

[0005] The purpose of this invention is to provide a weeding robot system and its working method to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A weeding robot system, comprising: The movable vehicle body is used to move to the target weeding area and stop. The vehicle body is stationary. After the weeding work in the target weeding area is completed, the vehicle body moves to the next target weeding area and stops. The weeding work is repeated in sequence. The position control mechanism includes an X-axis moving mechanism disposed on the vehicle body, having an X-axis moving end movable along the X-axis direction; and a Y-axis moving mechanism fixed to the X-axis moving end, the Y-axis moving mechanism having a Y-axis moving end movable along the Y-axis direction; the X-axis direction and the Y-axis direction are perpendicular to each other. Both the weed identification module and the weeding mechanism actuator are mounted on the Y-axis moving end and are driven to move by the position control mechanism. The position control mechanism is used to drive the weed identification module and the weeding mechanism execution end to move when the vehicle body moves to the target weeding area and stops in a stationary state. This allows the weed identification module to scan, identify and locate the weeds in the target weeding area, and then the weeding mechanism execution end to perform weeding operations on the located weeds.

[0007] Preferably, the weeding mechanism is one or more of the following: an electric weeding mechanism, a laser weeding mechanism, a spraying device, and a robotic weeding mechanism.

[0008] Preferably, when the weeding mechanism is an electric weeding mechanism, the Y-axis moving end of the Y-axis moving mechanism is further provided with a lifting adjustment mechanism for adjusting the height of the electric weeding mechanism's execution end, so that the execution end of the electric weeding mechanism can contact the weeds during weeding operations.

[0009] Preferably, the lifting adjustment mechanism is a Z-axis moving mechanism, which has a Z-axis moving end that can move along the Z-axis direction, and the actuating end of the electric weeding mechanism is fixedly connected to the Z-axis moving end.

[0010] Preferably, when the weeding mechanism is an electric weeding mechanism, the electric weeding mechanism includes a power supply and a retractable grounding electrode mounted on the vehicle body, and a weeding mechanism execution end mounted on the position control mechanism. Both the grounding electrode and the weeding mechanism execution end are electrically connected to the power supply. When the vehicle body stops at the target weeding area, the grounding electrode descends to contact or insert into the soil. When the weeding mechanism execution end contacts the weeds, a current loop is formed between the power supply, the grounding electrode, the soil, the weeds, and the weeding mechanism execution end, thereby achieving weeding. During the movement of the vehicle body, the grounding electrode is in a rising state and does not contact the soil.

[0011] Preferably, the vehicle also includes a pre-identification module located at the front end of the vehicle's forward direction. During the vehicle's forward movement, the module performs a preliminary identification of the current target weeding area. If no weeds are identified in the weeding area, the vehicle does not stop in the current weeding area and continues to move forward until weeds are identified. The vehicle then continues to move forward for no more than the length of the target weeding area in the vehicle's forward direction before stopping.

[0012] Preferably, the pre-identification module is also used to identify and record the location information of weeds during the vehicle's forward movement. When the vehicle stops at the target weeding area, the position control mechanism controls the execution end of the weed identification module and the weeding mechanism according to the recorded location information to scan and weed within the corresponding range containing the location information, while not performing operations on areas that do not contain weeds.

[0013] A method for operating the weeding robot system as described above includes the following steps: S1: Control the vehicle to move to the target weeding area and then stop; S2: After the vehicle stops, the vehicle is stationary. The position control mechanism controls the weed recognition module and the weeding mechanism execution end to scan, identify and locate the weeds in the target weeding area, and then perform weeding operations on the located weeds. S3: After completing the weeding operation in the current target weeding area, the vehicle starts moving to the next target weeding area, and repeats steps S1 and S2 in sequence.

[0014] Preferably, in S1, the pre-identification module performs preliminary identification of the current weeding area during the movement of the vehicle body. If no weeds are identified in the weeding area, the vehicle body will not stop in the current weeding area and will continue to move forward until weeds are identified and then stop.

[0015] Preferably, after the pre-identification module detects weeds, the vehicle body will continue to move forward for no more than the length of the target weeding area in the vehicle's forward direction before stopping.

[0016] Preferably, during the vehicle's forward movement, the pre-identification module identifies the weeds and records their location information. When the vehicle stops at the target weeding area, the position control mechanism controls the execution end of the weed identification module and the weeding mechanism based on the recorded location information to scan and weed within the corresponding range containing the location information, while not performing any operation on areas that do not contain weeds.

[0017] Preferably, in S3, the current target weeding area and the next target weeding area are continuous or partially overlapped.

[0018] Compared with the prior art, the beneficial effects of the present invention are: This invention eliminates interference from movement vibrations by allowing the robot to come to a complete stop in the target area before identifying and weeding. Furthermore, since the operation is performed while stationary, it reduces reliance on expensive high-performance anti-shake hardware and real-time processing algorithms, helping to control overall manufacturing costs. Especially when high-speed weeding is not required, this invention is more economical and cost-effective.

[0019] This invention, through the setting of the pre-identification module, can skip areas without grass, avoiding invalid parking and invalid scanning, saving time and power consumption, and effectively improving the weeding efficiency of the robot. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the structure along the Y-axis when the weeding mechanism in this invention is an electric weeding mechanism.

[0022] Figure 3 This is a block diagram of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0024] Reference Figure 1 This embodiment provides a weeding robot system, which includes a movable body 1, a position control mechanism, a weed recognition module 4, and a weeding mechanism execution end 51.

[0025] The vehicle body 1 has drive wheels, a control system and a power supply (not shown in the figure), and is configured to move autonomously or semi-autonomously in working environments such as farmland and vegetable garden.

[0026] The position control mechanism includes an X-axis moving mechanism 2 disposed on the vehicle body 1, which has an X-axis moving end 21 movable along the X-axis direction; and a Y-axis moving mechanism 3 fixed on the X-axis moving end 21, the Y-axis moving mechanism 3 having a Y-axis moving end 31 movable along the Y-axis direction; the X-axis direction and the Y-axis direction are perpendicular to each other; wherein the X-axis direction can be parallel or perpendicular to the vehicle body's forward direction, and in this embodiment, the X-axis direction is defined as parallel to the vehicle body's forward direction.

[0027] Among them, the X-axis moving mechanism 2 and the Y-axis moving mechanism 3 can be implemented using linear motion mechanisms known in the art, such as lead screw slides, linear motors, and belt guides. Their drive and control signals are provided by the control system of the vehicle body 1, which will not be elaborated here.

[0028] The weed identification module 4 and the weeding mechanism execution end 51 are both installed on the Y-axis moving end 31 and are driven to move by the position control mechanism.

[0029] When the weeding robot system is working, the vehicle body 1 moves to the target weeding area and stops. The vehicle body 1 is stationary. Then, the position control mechanism drives the weed recognition module 4 and the weeding mechanism execution end 51 to move, so that the weed recognition module 4 scans, identifies and locates the weeds in the target weeding area, and the weeding mechanism execution end 51 performs weeding operations on the located weeds. After completing the weeding operation, the vehicle body 1 moves to the next target weeding area and stops again. The weeding operation is repeated in sequence when the vehicle body 1 is stationary.

[0030] Among them, "target weeding area" refers to the weeding operation range that the position control mechanism can cover during a single parking period, driven by the weed identification module 4 and the weeding mechanism execution end 51.

[0031] In this embodiment, both the X-axis moving mechanism 2 and the Y-axis moving mechanism 3 are linear modules electrically connected to the control system and are controlled by the control system. Example 2

[0032] Based on the first embodiment, this embodiment specifies the weeding mechanism, which can be selected from any one or more combinations of the following as needed: Electric weeding mechanism: The actuator is a high-voltage discharge electrode.

[0033] Laser weeding mechanism: The actuator is a laser emitter, which uses focused heat energy to ablate the growth points of weeds.

[0034] Robotic weeding mechanism: The actuator is a mechanical gripper or rotating blade, used for physical weeding or cutting.

[0035] Spraying device: Kills weeds by spraying pesticides.

[0036] Preferably, the weeding mechanism in this embodiment is an electric weeding mechanism.

[0037] Reference Figure 2 Specifically, the electric weeding mechanism includes a power source (not shown in the figure), a height-adjustable grounding electrode 52, and a discharge electrode (i.e., the weeding mechanism execution end 51) serving as the actuating end. The power source is mounted on the vehicle body 1, and the discharge electrode is mounted on the Y-axis moving end 31, with its height adjustable by a lifting adjustment mechanism to accommodate weeds of different heights and ensure contact.

[0038] The lifting and adjusting mechanism includes electric push rods, cylinders, lead screw mechanisms, etc.

[0039] Specifically, the lifting and adjusting mechanism is a Z-axis moving mechanism 6, which has a Z-axis moving end 61 that can move along the Z-axis direction. The electric weeding mechanism execution end 51 is fixedly connected to the Z-axis moving end 61.

[0040] In this embodiment, the Z-axis direction is defined as a vertical direction perpendicular to the horizontal plane, and the Z-axis moving mechanism 6 is a linear module electrically connected to the control system, which is controlled by the control system.

[0041] The liftable grounding electrode 52 is installed insulated from the vehicle body 1 and is driven to rise and fall by an electric push rod. Specifically, the fixed end of the electric push rod is fixedly connected to the vehicle body, and the movable end is vertically downward and fixedly connected to the grounding electrode 52.

[0042] Both the grounding electrode 52 and the weeding mechanism execution end 51 are electrically connected to the power supply. When the vehicle body stops at the target weeding area, the grounding electrode descends to contact or insert into the soil. After the grounding electrode 52 is inserted into the soil, it can also be used to improve the stability of the vehicle body 1 and prevent the vehicle body 1 from shaking when it stops. When the weeding mechanism execution end 51 contacts the weeds, a current loop is formed between the power supply, the grounding electrode 52, the soil, the weeds and the weeding mechanism execution end 51 to achieve weeding. When the vehicle body 1 moves, the grounding electrode 52 is in a rising state and does not contact the soil. Example 3

[0043] Reference Figure 1 This embodiment adds a pre-identification module 7 based on the first embodiment, and explains its collaboration with the main system.

[0044] The pre-identification module 7 is located at the front end of the vehicle body 1 in the forward direction. It is a wide-angle camera or lidar. Its core function is to perform rapid and preliminary identification while the vehicle body 1 is moving, and to work in conjunction with the fine identification performed after the vehicle body 1 stops.

[0045] Its workflow is as follows: As the vehicle body 1 moves toward the target weeding area, the pre-identification module 7 continuously performs preliminary identification of the current target weeding area. If no weeds are identified in the weeding area, the vehicle body 1 will not stop in the current weeding area and will continue to move forward until weeds are identified. The vehicle body 1 will continue to move forward no more than the length of the target weeding area in the direction of the vehicle body 1's movement before stopping, thereby saving time and energy for stopping and performing fine scanning.

[0046] In addition, the vehicle body 1 identifies and records the location information of weeds during its forward movement. When the vehicle body 1 stops at the target weeding area, the position control mechanism controls the weed identification module 4 and the execution end 51 of the weeding mechanism according to the recorded location information to scan and weed within the corresponding range containing the location information, while not operating on areas that do not contain weeds, thus further improving the efficiency of operation. Example 4

[0047] The operating method of this weeding robot system is described, including the following steps: S1: Control the vehicle body 1 to move towards the target weeding area. During the movement, the pre-identification module 7 performs preliminary identification of the current weeding area. If no weeds are identified in the weeding area, the vehicle body 1 will not stop in the current weeding area and will continue to move forward until weeds are identified and then stop in the target weeding area. In addition, during the movement of the vehicle body 1, the pre-identification module 7 will also identify weeds and record their location information. When the vehicle body 1 reaches the target weeding area and stops, the position control mechanism controls the weed identification module 4 and the execution end 51 of the weeding mechanism according to the recorded location information to scan and weed within the corresponding range containing the location information, while not performing operations on areas that do not contain weeds. S2: After the vehicle body 1 stops, the vehicle body 1 is in a stationary state. The position control mechanism controls the weed identification module 4 and the weeding mechanism execution end 51 to scan, identify and locate the weeds in the target weeding area, and perform weeding operations on the located weeds. S3: After completing the weeding operation in the current target weeding area, vehicle 1 starts to move to the next target weeding area, and repeats steps S1 and S2 in sequence.

[0048] Preferably, after the pre-identification module 7 identifies weeds, the vehicle body 1 will continue to move forward for no more than the length of the target weeding area in the forward direction of the vehicle body 1 before stopping.

[0049] Preferably, in S3, the current target weeding area and the next target weeding area are continuous or partially overlapped to ensure that there are no blind spots in weeding identification.

[0050] Reference Figure 3 It should be noted that the present invention also includes a control system, which has a control center for receiving weed location information from the weed identification module and the pre-identification module, and controlling the movement of the robot body and the position control mechanism and weeding mechanism to perform weeding work based on the information. This technology is a mature existing technology and will not be described in detail here.

[0051] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention. Furthermore, the contents not described in detail in this specification are all prior art known to those skilled in the art.

Claims

1. A weeding robot system, characterized in that, include: The movable vehicle body (1) is used to move to the target weeding area and stop. The vehicle body (1) is stationary. After the weeding operation in the target weeding area is completed, the vehicle body (1) moves to the next target weeding area and stops. The weeding operation is repeated in sequence. The position control mechanism includes an X-axis movement mechanism (2) arranged on the vehicle body (1), which has an X-axis movement end (21) that can move along the X-axis direction. And a Y-axis moving mechanism (3) fixed on the X-axis moving end (21), the Y-axis moving mechanism (3) having a Y-axis moving end (31) that can move along the Y-axis direction; the X-axis direction and the Y-axis direction are perpendicular to each other; The weed identification module (4) and the weeding mechanism execution end (51) are both installed on the Y-axis moving end (31) and are driven to move by the position control mechanism; The position control mechanism is used to drive the weed identification module (4) and the weeding mechanism execution end (51) to move when the vehicle body (1) stops in a stationary state after moving to the target weeding area. This allows the weed identification module (4) to scan and identify the weeds in the target weeding area and then perform weeding operations on the located weeds through the weeding mechanism execution end (51).

2. The weeding robot system according to claim 1, characterized in that, The weeding mechanism is one or more of the following: electric weeding mechanism, laser weeding mechanism, spraying device, and robotic weeding mechanism.

3. The weeding robot system according to claim 2, characterized in that, When the weeding mechanism is an electric weeding mechanism, the Y-axis moving end (31) of the Y-axis moving mechanism (3) is also provided with a lifting adjustment mechanism for adjusting the height of the electric weeding mechanism execution end (51), so that the electric weeding mechanism execution end (51) can contact the weeds during the weeding operation.

4. The weeding robot system according to claim 3, characterized in that, The lifting and adjusting mechanism is a Z-axis moving mechanism (6). The Z-axis moving mechanism (6) has a Z-axis moving end (61) that can move along the Z-axis direction. The electric weeding mechanism execution end (51) is fixedly connected to the Z-axis moving end (61).

5. A weeding robot system according to claim 2, characterized in that, When the weeding mechanism is an electric weeding mechanism, the electric weeding mechanism includes a power supply and a liftable grounding electrode (52) installed on the vehicle body (1) and a weeding mechanism execution end (51) installed on the position control mechanism. The grounding electrode (52) and the weeding mechanism execution end (51) are both electrically connected to the power supply. When the vehicle body (1) stops at the target weeding area, the grounding electrode (52) descends to contact or insert into the soil. When the weeding mechanism execution end (51) contacts the weeds, a current loop is formed between the power supply, the grounding electrode (52), the soil, the weeds and the weeding mechanism execution end (51) to achieve weeding. When the vehicle body (1) moves, the grounding electrode (52) is in a rising state and does not contact the soil.

6. The weeding robot system according to claim 1, characterized in that, It also includes a pre-identification module (7) set at the front end of the vehicle body (1) in the forward direction. During the forward movement of the vehicle body (1), the pre-identification module (7) performs preliminary identification of the current target weeding area. If no weeds are identified in the weeding area, the vehicle body (1) will not stop in the current weeding area and will continue to move forward until weeds are identified. The vehicle body (1) will continue to move forward no more than the length of the target weeding area in the forward direction of the vehicle body (1) and then stop.

7. A weeding robot system according to claim 6, characterized in that, The pre-identification module (7) is also used to identify weeds and record their location information during the forward movement of the vehicle body (1). When the vehicle body (1) stops at the target weeding area, the position control mechanism controls the weed identification module (4) and the execution end (51) of the weeding mechanism according to the recorded location information to scan and weed within the corresponding range containing the location information, while not performing operations on areas that do not contain weeds.

8. A method of operating the weeding robot system as described in any one of claims 1-7, characterized in that, Includes the following steps: S1: Control the vehicle body (1) to move to the target weeding area and then stop; S2: After the vehicle body (1) stops, the vehicle body (1) is stationary. The position control mechanism controls the weed identification module (4) and the weeding mechanism execution end (51) to scan, identify and locate the weeds in the target weeding area, and carry out weeding operations on the located weeds. S3: After completing the weeding operation in the current target weeding area, the vehicle body (1) starts to move to the next target weeding area, and repeats the steps of S1 and S2 in sequence.

9. The working method of the weeding robot system according to claim 8, characterized in that, In S1, the vehicle body (1) is moved by the pre-identification module (7) to make a preliminary identification of the current weeding area. If no weeds are identified in the weeding area, the vehicle body (1) will not stop in the current weeding area and will continue to move forward until weeds are identified and then stop.

10. The method of operating the weeding robot system according to claim 9, characterized in that, After the pre-identification module (7) identifies weeds, the vehicle body (1) will continue to move forward for no more than the length of the target weeding area in the forward direction of the vehicle body (1) before stopping.

11. The method of operating the weeding robot system according to claim 9, characterized in that, During the forward movement of the vehicle body (1), the pre-identification module (7) identifies the weeds and records their location information. When the vehicle body (1) stops at the target weeding area, the position control mechanism controls the weed identification module (4) and the execution end (51) of the weeding mechanism according to the recorded location information to scan and weed within the corresponding range containing the location information, while not performing operations on areas that do not contain weeds.

12. The working method of the weeding robot system according to claim 8, characterized in that, In S3, the current target weeding area and the next target weeding area are either continuous or partially overlapped.

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