Automatic farmland weeding robot

Abstract

The invention discloses an automatic farmland weeding robot, and particularly relates to the technical field of robots, the automatic farmland weeding robot comprises a box body, a laser scanning sensor is arranged on the top surface of the box body, and a mobile vehicle body is arranged on the bottom surface of the box body; the device comprises a box body, a laser scanning sensor, a mobile vehicle body, a PLC controller, a bracket, a circuit board, a first mounting frame, a positioning cylinder, a sliding pipe, a water outlet pipe, a guide rod, a sealing plate, a visual camera sensor, a power supply, a Bluetooth receiving antenna, a network receiving antenna, a main control chip, a sensor chip, a power supply management chip, a Bluetooth chip and a network processing chip. According to the farmland weed cleaning device, a storage chip and a visual chip are used in cooperation, and the effect of conveniently and automatically cleaning weeds on a farmland is achieved. The first mounting frame, a photosensitive sensor, a circuit board, a power source, a light supplementing lamp and a PLC are used in cooperation; and the effect of supplementing light to the detection of the visual camera sensor under the condition of insufficient light in cloudy days is achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an automated farmland weeding robot. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Through programming and automatic control, robots can perform tasks such as work or movement. Robots are automated work devices that can be commanded by humans, run pre-programmed programs, or act according to principles established by artificial intelligence technology. Their task is to assist or replace human work. They are a product of advanced integrated cybernetics, mechatronics, computers, materials, and bionics, and have important applications in fields such as industry, medicine, agriculture, services, construction, and even the military.

[0003] In existing technologies, in order to reduce the competition of weeds for crops during agricultural cultivation, it is usually necessary to weed the farmland. Traditional weeding methods are generally carried out by manual weeding or by using weeding machinery. During the weeding process, weeders need to work continuously or move the machinery. When the farmland area is large, traditional weeding methods will result in a large labor intensity, and weeders will become tired, which will reduce weeding efficiency and affect the weeding effect. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an automated farmland weeding robot to solve the problems mentioned in the background section.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0006] An automated farmland weeding robot includes a housing, a laser scanning sensor on the top surface of the housing, a mobile vehicle on the bottom surface of the housing, a PLC controller fixedly installed inside the housing, a bracket fixedly installed inside the housing, a circuit board fixedly installed on the top surface of the bracket, the circuit board being electrically connected to the PLC controller, and the mobile vehicle being electrically connected to the PLC controller.

[0007] A first mounting bracket is fixedly installed inside the box. A positioning cylinder is rotatably connected inside the first mounting bracket. A sliding tube is slidably connected inside the positioning cylinder. A water outlet pipe is fixedly sleeved inside the sliding tube. A guide rod is fixedly installed on the outer circular wall of the sliding tube. The guide rod is slidably connected to the positioning cylinder.

[0008] A sealing plate is fixedly installed on the bottom surface of the housing, and the bottom surface of the sealing plate is fixedly installed to the mobile vehicle body. A visual camera sensor is fixedly installed on the bottom surface of the first mounting bracket. The visual camera sensor is electrically connected to the circuit board. A power supply is fixedly installed on one side of the inside of the housing. The power supply is electrically connected to the laser scanning sensor, the power supply is electrically connected to the PLC controller, the power supply is electrically connected to the circuit board, and the power supply is electrically connected to the visual camera sensor.

[0009] A Bluetooth receiving antenna and a network receiving antenna are fixedly installed on the top surface of the enclosure. Both the Bluetooth receiving antenna and the network receiving antenna are electrically connected to the circuit board.

[0010] The circuit board has a main control chip, a sensor chip, a power management chip, a Bluetooth chip, a network processing chip, a storage chip, and a vision chip fixedly mounted on its top surface.

[0011] By adopting the above technical solution, during use, workers add herbicide to the water tank. Then, they connect an external computer or mobile device to the robot via Bluetooth and network signals. The external computer or mobile device transmits the Bluetooth and network signals to the circuit board through the Bluetooth and network receiving antennas. The circuit board then feeds back electrical signals to the PLC controller, enabling remote control. The PLC controller activates the mobile vehicle, laser scanning sensor, and vision camera sensor. The mobile vehicle's wheels move, and the laser scanning sensor scans the surrounding farmland environment. The main control chip and sensor chip on the top of the circuit board process the data from the vision camera sensor and feed the processed information back to the PLC controller. Simultaneously, the information is fed back to the worker's external computer or mobile device via the Bluetooth and network receiving antennas. At this point, staff can set the weeding path. After the above steps are completed, the moving vehicle will drive the visual camera sensor to move, allowing the visual camera sensor to capture images of weeds on the farmland. The collected data will then be processed by the main control chip on the top of the circuit board, and the processed information will be fed back to the PLC controller. The PLC controller will then process the data feedback from the external device to identify crops or weeds. When the visual camera sensor detects weeds, the PLC controller will control the spraying of herbicide-containing solution through the water outlet pipe to the weed growth area, thereby achieving the weeding effect. In summary, this achieves the effect of automatically cleaning weeds on farmland.

[0012] Preferably, a water tank is fixedly installed inside the housing, and a submersible pump is fixedly installed on the bottom surface of the water tank. The submersible pump is electrically connected to the PLC controller. A connecting pipe is fixedly sleeved on the outer circular wall of the submersible pump outlet, and the inner circular wall of the outlet pipe is fixedly sleeved with the connecting pipe.

[0013] By adopting the above technical solution, it is easy to inject weed-killing liquid into the inside of the water outlet pipe.

[0014] Preferably, a first mounting plate is fixedly mounted on the top surface of the first mounting bracket, a first electric motor is fixedly mounted on the top surface of the first mounting plate, the first electric motor is electrically connected to the PLC controller, the first electric motor is electrically connected to the power supply, a first transmission gear is fixedly mounted on the bottom surface of the drive shaft of the first electric motor, a second mounting bracket is fixedly mounted on the top surface of the positioning cylinder, the second mounting bracket is slidably connected to the slide tube, the second mounting bracket is slidably connected to the guide rod, a third mounting bracket is fixedly mounted on the top surface of the second mounting bracket, a second electric motor is fixedly mounted on one side of the third mounting bracket, the second electric motor is electrically connected to the PLC controller, the second electric motor is electrically connected to the power supply, a third transmission gear is fixedly mounted on one end of the drive shaft of the second electric motor, a rack is fixedly mounted on the top surface of the slide tube, the rack meshes with the third transmission gear, and a first toothed ring is fixedly sleeved on the outer circular wall of the positioning cylinder, the first toothed ring meshes with the first transmission gear.

[0015] By adopting the above technical solution, when the visual camera sensor detects weeds, the remote external device analyzes the growth height and direction of the weeds. The analyzed data is then fed back to the circuit board via Bluetooth and network receiving antennas. The circuit board then feeds the data back to the PLC controller, which controls the start of the first and second electric motors. The rotation of the drive shaft of the first electric motor drives the first transmission gear to rotate. Under the meshing transmission of the first transmission gear and the first gear ring, the positioning cylinder and its internal water outlet pipe rotate. At this time, the spraying direction of the water outlet pipe is adjusted to be consistent with the growth direction of the weeds. Simultaneously, the rotation of the drive shaft of the second electric motor drives the third transmission gear to rotate. Under the meshing transmission of the third transmission gear and the rack, the rack drives the slide pipe and its internal water outlet pipe to slide up and down, thereby weeding weeds of different growth heights. This achieves the effect of easily adjusting the spraying direction and height of the water outlet pipe, making it convenient to weed weeds of different growth directions and heights.

[0016] Preferably, a mounting tube is rotatably connected to the top surface of the housing, the top surface of the mounting tube is fixedly installed with the laser scanning sensor, a second toothed ring is fixedly sleeved on the outer circular wall of the mounting tube, a second mounting plate is fixedly installed on the inner top surface of the housing, a third electric motor is fixedly installed on the bottom surface of the second mounting plate, the third electric motor is electrically connected to the PLC controller, the third electric motor is electrically connected to the power supply, and a second transmission gear is fixedly installed on the top surface of the drive shaft of the third electric motor, the second transmission gear meshing with the second toothed ring.

[0017] By adopting the above technical solution, when the laser scanning sensor performs detection, the PLC controller controls the start of the third electric motor. The rotation of the drive shaft of the third electric motor will drive the second transmission gear to rotate. Then, under the meshing transmission of the second transmission gear and the second gear ring, the mounting tube will drive the laser scanning sensor to rotate, thereby achieving the effect of facilitating the laser scanning sensor to perform multi-directional detection of the external farmland environment.

[0018] Preferably, a liquid level sensor is fixedly installed on one side of the inside of the water tank. The liquid level sensor is electrically connected to the circuit board and the power supply. A red and green indicator light is fixedly installed on the top surface of the tank. The red and green indicator light is electrically connected to the circuit board and the power supply.

[0019] By adopting the above technical solution, it is easy to monitor the water level inside the water tank in real time, thereby reminding staff to replenish water and herbicides in a timely manner.

[0020] Preferably, a lidar sensor is fixedly installed on each side of the housing, the lidar sensor is electrically connected to the circuit board, and the lidar sensor is electrically connected to the power supply.

[0021] By adopting the above technical solution, it is easier to further detect the external environment of the mobile vehicle and container when they are moving, thereby facilitating the accurate detection of obstacles and distances in front of them during movement and improving safety during movement.

[0022] Preferably, a photosensitive sensor is fixedly mounted on the bottom surface of the first mounting bracket. The photosensitive sensor is electrically connected to the circuit board and the power supply. Two supplementary lights are fixedly mounted on the bottom surface of the sealing plate. The two supplementary lights are spaced apart. The supplementary lights are electrically connected to the PLC controller and the power supply.

[0023] By adopting the above technical solution, it is convenient to supplement the detection light of the visual camera sensor under the condition of insufficient light on cloudy days.

[0024] Preferably, a ground detection sensor is fixedly installed on the bottom surface of the first mounting bracket. The ground detection sensor penetrates the sealing plate, is electrically connected to the circuit board, and is electrically connected to the power supply.

[0025] By adopting the above technical solution, it is easier to detect the ground condition, thereby improving the stability of the mobile vehicle during movement and the accuracy of weed removal by the water pipe.

[0026] In summary, the present invention has the following main beneficial effects:

[0027] 1. This invention achieves the effect of automating the clearing of weeds in farmland by using a combination of a housing, laser scanning sensor, mobile vehicle body, PLC controller, bracket, circuit board, first mounting bracket, positioning cylinder, slide pipe, water outlet pipe, guide rod, sealing plate, vision camera sensor, power supply, Bluetooth receiving antenna, network receiving antenna, main control chip, sensor chip, power management chip, Bluetooth chip, network processing chip, storage chip and vision chip.

[0028] 2. This invention utilizes a combination of a housing, a water tank, a submersible pump, a PLC controller, a connecting pipe, a water outlet pipe, a liquid level sensor, red and green indicator lights, a circuit board, and a power supply to facilitate the injection of herbicide into the water outlet pipe and to enable real-time monitoring of the water level inside the water tank, thereby reminding workers to replenish water and herbicide in a timely manner.

[0029] 3. The present invention utilizes a first mounting frame, a first mounting plate, a first electric motor, a PLC controller, a power supply, a first transmission gear, a positioning cylinder, a second mounting frame, a slide tube, a guide rod, a third mounting frame, a second electric motor, a third transmission gear, a rack, and a first gear ring to achieve the effect of easily adjusting the spraying direction and spraying height of the water outlet pipe, making it convenient to weed weeds with different growth directions and heights.

[0030] 4. This invention achieves the effect of facilitating multi-directional detection of the external farmland environment by using the housing, mounting tube, laser scanning sensor, second gear ring, second mounting plate, third electric motor, PLC controller, power supply and second transmission gear in cooperation.

[0031] 5. The present invention achieves the effect of providing supplementary lighting for visual camera sensor detection in the case of insufficient light on cloudy days by using the first mounting bracket, photosensitive sensor, circuit board, power supply, supplementary light lamp and PLC controller in cooperation.

[0032] 6. The present invention uses the first mounting frame, ground detection sensor, sealing plate, circuit board and power supply in cooperation to facilitate the detection of ground conditions, thereby improving the stability of the mobile vehicle when moving and the accuracy of weeding with the water pipe. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0034] Figure 2 This is a schematic diagram of the sealing plate structure of the present invention;

[0035] Figure 3 This is a schematic diagram of the box structure of the present invention;

[0036] Figure 4 This is a schematic diagram of the bracket structure of the present invention;

[0037] Figure 5 This is a schematic diagram of the first mounting bracket structure of the present invention;

[0038] Figure 6 This is a schematic diagram of the positioning cylinder structure of the present invention;

[0039] Figure 7 yes Figure 6 A magnified schematic diagram of the structure of part A in the diagram;

[0040] Figure 8 This is a schematic diagram of the installation pipe structure of the present invention;

[0041] Figure 9 This is a schematic diagram of the water tank structure of the present invention.

[0042] Reference numerals: 1. Housing; 2. Mobile vehicle; 3. PLC controller; 4. Laser scanning sensor; 5. Power supply; 6. LiDAR sensor; 7. Bluetooth receiving antenna; 8. Network receiving antenna; 9. Sealing plate; 10. Water tank; 11. First mounting bracket; 12. Mounting tube; 13. Circuit board; 14. Supplementary light; 15. Visual camera sensor; 16. Positioning cylinder; 17. Sliding tube; 18. Second mounting bracket; 19. First mounting plate; 20. Ground detection sensor ; 21. Photosensitive sensor; 22. First electric motor; 23. First transmission gear; 24. Second transmission gear; 25. First gear ring; 26. Water outlet pipe; 27. Guide rod; 28. Third mounting bracket; 29. ​​Second electric motor; 30. Third transmission gear; 31. Rack; 32. Red and green indicator lights; 33. Bracket; 34. Second mounting plate; 35. Submersible pump; 36. Connecting pipe; 37. Liquid level sensor; 38. Second gear ring; 39. Third electric motor. Detailed Implementation

[0043] 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.

[0044] Example: Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6An automated farmland weeding robot includes a housing 1, a laser scanning sensor 4 mounted on the top surface of the housing 1, a mobile vehicle 2 mounted on the bottom surface of the housing 1, a PLC controller 3 fixedly installed inside the housing 1, a bracket 33 fixedly installed inside the housing 1, a circuit board 13 fixedly installed on the top surface of the bracket 33, the circuit board 13 being electrically connected to the PLC controller 3, and the mobile vehicle 2 being electrically connected to the PLC controller 3; a first mounting frame 11 fixedly installed inside the housing 1, a positioning cylinder 16 rotatably connected inside the first mounting frame 11, a sliding tube 17 slidably connected inside the positioning cylinder 16, a water outlet pipe 26 fixedly sleeved inside the sliding tube 17, and a guide rod 27 fixedly installed on the outer circular wall of the sliding tube 17. The guide rod 27 is slidably connected to the positioning cylinder 16; a sealing plate 9 is fixedly installed on the bottom surface of the housing 1, and the bottom surface of the sealing plate 9 is fixedly installed to the mobile vehicle body 2; a visual camera sensor 15 is fixedly installed on the bottom surface of the first mounting bracket 11, and the visual camera sensor 15 is electrically connected to the circuit board 13; a power supply 5 is fixedly installed on one side inside the housing 1, and the power supply 5 is electrically connected to the laser scanning sensor 4, the PLC controller 3, the circuit board 13, and the visual camera sensor 15; a Bluetooth receiving antenna 7 and a network receiving antenna 8 are fixedly installed on the top surface of the housing 1, and both the Bluetooth receiving antenna 7 and the network receiving antenna 8 are electrically connected to the circuit board 13.The top surface of circuit board 13 is fixedly equipped with a main control chip, sensor chip, power management chip, Bluetooth chip, network processing chip, storage chip, and vision chip. During use, the operator adds herbicide to the water tank 10. Then, the operator connects an external computer or mobile device to the robot via Bluetooth and network signals. The external computer or mobile device transmits the Bluetooth and network signals to circuit board 13 through Bluetooth receiving antenna 7 and network receiving antenna 8. Circuit board 13 then feeds back electrical signals to PLC controller 3, enabling remote control. At this time, PLC controller 3 controls the activation of the mobile vehicle 2, laser scanning sensor 4, and vision camera sensor 15. The wheels of the mobile vehicle 2 then move, and the laser scanning sensor 4 scans and provides feedback on the external farmland environment during movement. The main control chip and sensor chip on the top of circuit board 13 process the data from vision camera sensor 15 and feed the processed information back to PLC controller 3. Simultaneously, the information is fed back to the operator's external computer or mobile device via Bluetooth receiving antenna 7 and network receiving antenna 8. At this point, staff can set the weeding path. After the previous step is completed, the moving vehicle 2 moves the visual camera sensor 15, allowing it to capture images of weeds on the farmland. The collected data is then processed by the main control chip on top of the circuit board 13, and the processed information is fed back to the PLC controller 3. The PLC controller 3 then uses the data feedback from external devices to distinguish between crops and weeds. When the visual camera sensor 15 detects weeds, the PLC controller 3 controls the spraying of herbicide-containing solution through the outlet pipe 26 onto the weeds, thus achieving the weeding effect. In summary, this achieves the automated weeding effect on farmland.

[0045] refer to Figure 3 , Figure 5 , Figure 6 and Figure 7A first mounting plate 19 is fixedly mounted on the top surface of the first mounting bracket 11. A first electric motor 22 is fixedly mounted on the top surface of the first mounting plate 19. The first electric motor 22 is electrically connected to the PLC controller 3 and the power supply 5. A first transmission gear 23 is fixedly mounted on the bottom surface of the drive shaft of the first electric motor 22. A second mounting bracket 18 is fixedly mounted on the top surface of the positioning cylinder 16. The second mounting bracket 18 is slidably connected to the slide tube 17 and the guide rod 27. A third mounting bracket is fixedly mounted on the top surface of the second mounting bracket 18. 28. A second electric motor 29 is fixedly installed on one side of the third mounting bracket 28. The second electric motor 29 is electrically connected to the PLC controller 3 and the power supply 5. A third transmission gear 30 is fixedly installed at one end of the drive shaft of the second electric motor 29. A rack 31 is fixedly installed on the top surface of the slide tube 17. The rack 31 meshes with the third transmission gear 30. A first toothed ring 25 is fixedly sleeved on the outer circular wall of the positioning cylinder 16. The first toothed ring 25 meshes with the first transmission gear 23. When the visual camera sensor 15 detects weeds, it remotely... The monitoring device analyzes the growth height and direction of weeds, and the analyzed data is fed back to the circuit board 13 via Bluetooth receiving antenna 7 and network receiving antenna 8. The circuit board 13 then feeds the data back to the PLC controller 3, which in turn controls the start of the first electric motor 22 and the second electric motor 29. The rotation of the drive shaft of the first electric motor 22 drives the first transmission gear 23 to rotate. Under the meshing transmission action of the first transmission gear 23 and the first gear ring 25, the positioning cylinder 16 and its internal water outlet pipe 26 can be rotated. At this time, the spraying direction of the water outlet pipe 26 is adjusted so that it is consistent with the growth direction of the weeds. At the same time, the rotation of the drive shaft of the second electric motor 29 will drive the third transmission gear 30 to rotate. Then, under the meshing transmission of the third transmission gear 30 and the rack 31, the rack 31 will drive the slide pipe 17 and the water outlet pipe 26 inside it to slide up and down, thereby weeding weeds of different growth heights. This achieves the effect of making it easy to adjust the spraying direction and spraying height of the water outlet pipe 26, so as to make it easy to weed weeds of different growth directions and growth heights.

[0046] refer to Figure 3 , Figure 4 , Figure 5 , Figure 8 and Figure 9A mounting tube 12 is rotatably connected to the top surface of housing 1. The top surface of the mounting tube 12 is fixedly installed with the laser scanning sensor 4. A second toothed ring 38 is fixedly sleeved on the outer circular wall of the mounting tube 12. A second mounting plate 34 is fixedly installed on the top surface inside housing 1. A third electric motor 39 is fixedly installed on the bottom surface of the second mounting plate 34. The third electric motor 39 is electrically connected to the PLC controller 3 and the power supply 5. A second transmission gear 24 is fixedly installed on the top surface of the drive shaft of the third electric motor 39. The second transmission gear 24 meshes with the second toothed ring 38. When the laser scanning sensor 4 performs detection, the PLC controller 3 controls the start of the third electric motor 39, and the rotation of the drive shaft of the third electric motor 39 drives the second transmission gear 38. The moving gear 24 rotates, and then, under the meshing transmission of the second transmission gear 24 and the second gear ring 38, the mounting tube 12 drives the laser scanning sensor 4 to rotate, thereby facilitating the multi-directional detection of the external farmland environment by the laser scanning sensor 4. Laser radar sensors 6 are fixedly installed on both sides of the housing 1, and are electrically connected to the circuit board 13 and the power supply 5. This facilitates further detection of the external environment when the moving vehicle 2 and housing 1 are moving, thereby enabling accurate detection of obstacles and distances during movement and improving safety. A photosensitive sensor 21 is fixedly installed on the bottom surface of the first mounting bracket 11, and the photosensitive sensor 21 is connected to the circuit board 13. Electrically connected, the photosensitive sensor 21 is electrically connected to the power supply 5. Two supplementary lights 14 are fixedly installed on the bottom surface of the sealing plate 9, with the two supplementary lights 14 spaced apart. The supplementary lights 14 are electrically connected to the PLC controller 3 and the power supply 5, which facilitates supplementary lighting for the visual camera sensor 15 in low light conditions on cloudy days. A ground detection sensor 20 is fixedly installed on the bottom surface of the first mounting bracket 11. The ground detection sensor 20 penetrates the sealing plate 9 and is electrically connected to the circuit board 13 and the power supply 5, which facilitates the detection of ground conditions, thereby improving the stability of the mobile vehicle 2 during movement and the accuracy of the water pipe 26 during weeding. A water supply is fixedly installed inside the box 1. The tank 10 has a submersible pump 35 fixedly installed on its bottom surface. The submersible pump 35 is electrically connected to the PLC controller 3. A connecting pipe 36 is fixedly sleeved on the outer circular wall of the outlet of the submersible pump 35. The inner circular wall of the outlet pipe 26 is fixedly sleeved with the connecting pipe 36, which facilitates the injection of herbicide into the outlet pipe 26. A liquid level sensor 37 is fixedly installed on one side of the tank 10. The liquid level sensor 37 is electrically connected to the circuit board 13 and the power supply 5. A red and green indicator light 32 is fixedly installed on the top surface of the tank 1. The red and green indicator light 32 is electrically connected to the circuit board 13 and the power supply 5, which facilitates real-time detection of the water level inside the tank 10, thereby reminding the staff to replenish water and herbicide in time.

[0047] Working principle: Please refer to Figures 1-9 As shown, during use, the operator adds herbicide to the water tank 10. Then, the operator connects an external computer or mobile device to the robot via Bluetooth and network signals. The external computer or mobile device transmits the Bluetooth and network signals to the circuit board 13 through the Bluetooth receiving antenna 7 and the network receiving antenna 8. The circuit board 13 then feeds back the electrical signals to the PLC controller 3, enabling remote control. At this time, the PLC controller 3 controls the activation of the mobile vehicle 2, the laser scanning sensor 4, and the vision camera sensor 15. The wheels of the mobile vehicle 2 then move, and the laser scanning sensor 4 scans and feeds back the external farmland environment during movement. The main control chip and sensor chip at the top of the circuit board 13 process the data from the vision camera sensor 15 and feed the processed information back to the PLC controller 3. Simultaneously, the information is fed back to the operator's external computer or mobile device via the Bluetooth receiving antenna 7 and the network receiving antenna 8. At this point, the staff can set the weeding path. After the previous step is completed, the visual camera sensor 15 is moved by the moving vehicle 2, which allows the visual camera sensor 15 to capture images of weeds on the farmland. The collected data is then processed by the main control chip on the top of the circuit board 13, and the processed information is fed back to the PLC controller 3. At this time, the PLC controller 3 distinguishes between crops and weeds by processing the data feedback from external devices. When the visual camera sensor 15 detects weeds, the PLC controller 3 controls the spraying of herbicide-containing solution through the water outlet pipe 26 to the weed growth area, thereby achieving the effect of weeding. In summary, this achieves the effect of automatically cleaning weeds on farmland.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automated farmland weeding robot, characterized in that, include: The enclosure has a laser scanning sensor on its top surface and a mobile vehicle on its bottom surface. A PLC controller is fixedly installed inside the enclosure, and a bracket is fixedly installed inside the enclosure. A circuit board is fixedly installed on the top surface of the bracket. The circuit board is electrically connected to the PLC controller, and the mobile vehicle is electrically connected to the PLC controller. The first mounting bracket is fixedly installed inside the box. The positioning cylinder is rotatably connected inside the first mounting bracket. The sliding tube is slidably connected inside the positioning cylinder. The water outlet pipe is fixedly sleeved inside the sliding tube. The guide rod is fixedly installed on the outer circular wall of the sliding tube. The guide rod is slidably connected to the positioning cylinder. A sealing plate is fixedly installed on the bottom surface of the housing, and the bottom surface of the sealing plate is fixedly installed on the mobile vehicle body. A vision camera sensor is fixedly installed on the bottom surface of the first mounting bracket. The vision camera sensor is electrically connected to the circuit board. A power supply is fixedly installed on one side inside the housing. The power supply is electrically connected to the laser scanning sensor, the PLC controller, the circuit board, and the vision camera sensor. A Bluetooth receiving antenna and a network receiving antenna are fixedly installed on the top surface of the enclosure. Both the Bluetooth receiving antenna and the network receiving antenna are electrically connected to the circuit board. The top surface of the circuit board is fixedly mounted with a main control chip, a sensor chip, a power management chip, a Bluetooth chip, a network processing chip, a storage chip, and a vision chip.

2. The automated farmland weeding robot according to claim 1, characterized in that: A water tank is fixedly installed inside the housing, and a submersible pump is fixedly installed on the bottom surface of the water tank. The submersible pump is electrically connected to the PLC controller. A connecting pipe is fixedly sleeved on the outer circular wall of the submersible pump outlet, and the inner circular wall of the outlet pipe is fixedly sleeved with the connecting pipe.

3. The automated farmland weeding robot according to claim 1, characterized in that: A first mounting plate is fixedly mounted on the top surface of the first mounting bracket, and a first electric motor is fixedly mounted on the top surface of the first mounting plate. The first electric motor is electrically connected to the PLC controller and to a power supply. A first transmission gear is fixedly mounted on the bottom surface of the drive shaft of the first electric motor. A second mounting bracket is fixedly mounted on the top surface of the positioning cylinder. The second mounting bracket is slidably connected to the slide tube and to the guide rod. A third mounting bracket is fixedly mounted on the top surface of the second mounting bracket. A second electric motor is fixedly mounted on one side of the third mounting bracket. The second electric motor is electrically connected to the PLC controller and to a power supply. A third transmission gear is fixedly mounted on one end of the drive shaft of the second electric motor. A rack is fixedly mounted on the top surface of the slide tube and meshes with the third transmission gear. A first toothed ring is fixedly sleeved on the outer circular wall of the positioning cylinder and meshes with the first transmission gear.

4. The automated farmland weeding robot according to claim 1, characterized in that: The top surface of the housing is rotatably connected to a mounting tube, the top surface of which is fixedly installed with a laser scanning sensor. A second toothed ring is fixedly sleeved on the outer circular wall of the mounting tube. A second mounting plate is fixedly installed on the inner top surface of the housing. A third electric motor is fixedly installed on the bottom surface of the second mounting plate. The third electric motor is electrically connected to the PLC controller and to the power supply. A second transmission gear is fixedly installed on the top surface of the drive shaft of the third electric motor, and the second transmission gear meshes with the second toothed ring.

5. An automated farmland weeding robot according to claim 2, characterized in that: A liquid level sensor is fixedly installed on one side of the inside of the water tank. The liquid level sensor is electrically connected to the circuit board and the power supply. A red and green indicator light is fixedly installed on the top surface of the tank. The red and green indicator light is electrically connected to the circuit board and the power supply.

6. An automated farmland weeding robot according to claim 1, characterized in that: A laser radar sensor is fixedly installed on each side of the housing. The laser radar sensor is electrically connected to the circuit board and the power supply.

7. An automated farmland weeding robot according to claim 1, characterized in that: A photosensitive sensor is fixedly installed on the bottom surface of the first mounting bracket. The photosensitive sensor is electrically connected to the circuit board and the power supply. Two supplementary lights are fixedly installed on the bottom surface of the cover plate. The two supplementary lights are spaced apart. The supplementary lights are electrically connected to the PLC controller and the power supply.

8. An automated farmland weeding robot according to claim 1, characterized in that: A ground detection sensor is fixedly installed on the bottom surface of the first mounting bracket. The ground detection sensor penetrates the sealing plate and is electrically connected to the circuit board and the power supply.

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