A field management robot

Abstract

The present application belongs to the mechanical technical field for soil tillage and weeding in agriculture or forestry, and particularly relates to a field management robot, which comprises a gantry-shaped frame, the frame comprising two side frames in parallel and opposite to each other, a top frame connected to the upper ends of the two side frames, and two walking mechanisms respectively connected to the two side frames; the inner sides of the two side frames are respectively provided with an inter-row weeding unit and an inter-plantlet weeding unit; the inner sides of the two side frames, the two walking mechanisms, the inter-row weeding unit and the inter-plantlet weeding unit are formed with a longitudinally-through plantlet passing space; the inter-plantlet weeding unit comprises a weeding tool and a transversely arranged telescopic unit; the weeding tool can move reciprocally along the transverse direction under the action of the telescopic unit, so that the weeding tools of the two inter-plantlet weeding units are close to or away from each other, the two weeding tools are transversely inserted into the plantlet passing space when close to each other, and inter-plantlet weeding is realized. The device can improve the weeding rate, has a simple structure and is convenient to control and use.

Description

Technical Field

[0001] This invention belongs to the field of mechanical technology for soil cultivation and weeding in agriculture or forestry, and specifically relates to a field management robot. Background Technology

[0002] Farmland weeds are an integral part of the agricultural ecosystem. Currently, the commonly used weeding methods are chemical weeding and physical weeding. Although chemical weeding is effective, long-term use leads to pollution problems such as weed population replacement, increased herbicide resistance, and food residue accumulation. Physical weeding includes manual weeding and mechanical weeding. Manual weeding requires a lot of labor but is not very effective and still causes crop yield reduction. It is gradually being replaced by mechanical weeding, especially for sparsely planted crops that are regularly planted and prone to weed growth. For example, common transplanted vegetables, corn, soybeans, and other crops are planted in regular rows with consistent spacing between rows and between adjacent seedlings (plants) within each row. These sparsely planted crops are particularly suitable for mechanical weeding. Traditional mechanical weeding equipment mostly travels along the rows of seedlings, primarily weeding between rows, with few having the function of weeding between seedlings. However, through technological optimization and development, existing technologies have also seen weeding robots disclosed in CN101990796A and CN114158543A, which can perform mixed weeding between rows and between seedlings. In CN101990796A, when the robot is working in the field, a field navigation device based on multi-sensor fusion guides the robot system to walk along the crop rows. A field seedling and weed recognition device based on machine vision collects information on seedlings and weeds in the field, and completes the identification of crop seedlings and the calculation of the relative positions between seedlings. By adjusting the rotation speed and angle of the hoe in real time to adapt to changes in the spacing between crop seedlings, the weeds between seedlings are removed. Its rake-shaped rotating hoe can complete the weeding work of one seedling spacing every 120° of rotation. However, the rotation speed and number of rotations of the rake-shaped rotating hoe between seedlings are limited, affecting the weeding rate. Its control logic algorithm is also relatively complex, costly, and prone to failure and maintenance. In CN114158543A, the robot's inter-plant weeding device is oscillatingly connected to both sides of the front end of the vehicle body. It enters the seedlings to weed in an oscillating manner, which may require stopping the robot to weed between seedlings, resulting in low efficiency. The arc-shaped weeding area formed by the oscillation may also have missed areas outside the arc, affecting the weeding rate. Summary of the Invention

[0003] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is to provide another field management robot, so that the mixed weeding equipment between rows and between plants can have more options, avoid the problems of overly complicated structure and low weeding rate between plants, and achieve the effect of easy control and use.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A field management robot includes a gantry-shaped frame with two parallel side frames and a top frame connected to the upper ends of the two side frames. A walking mechanism is connected to each of the two side frames. The inner sides of the two side frames are respectively provided with inter-row weeding units and inter-seedling weeding units. A longitudinally penetrating seedling passage space is formed at the midpoint between the two walking mechanisms, the inter-row weeding units, and the inter-seedling weeding units on the inner sides of the two side frames. The inter-seedling weeding unit includes weeding blades and a laterally arranged telescopic unit. The weeding blades can reciprocate laterally under the action of the telescopic unit, causing the weeding blades of the two inter-seedling weeding units to move closer or further apart. When the two weeding blades move closer together, they extend laterally into the seedling passage space to achieve inter-seedling weeding.

[0005] To further improve the above technical solution, the walking mechanism adopts a tracked structure, including a hub motor, a drive wheel, and a driven wheel. The hub motor is fixed to the side frame and outputs a drive to the drive wheel. The driven wheel is rotatably connected to the front end of the side frame. The drive wheel and the driven wheel are connected together to the track body.

[0006] Furthermore, the rear end of the side frame is connected to a horizontal fixed rotating shaft, and the inter-row weeding unit includes a rotating sleeve. Several fan-shaped blades are evenly connected to the outer side of the rotating sleeve. The rotating sleeve is rotatably mounted on the fixed rotating shaft, and a synchronously rotating driven tooth is also provided at one end of the rotating sleeve. The hub motor also outputs a drive connecting to a linkage tooth that rotates synchronously with the drive wheel. The linkage tooth is driven to the driven tooth through a chain or belt.

[0007] Furthermore, the telescopic unit includes a cylinder and a telescopic rod extending from the cylinder. The cylinder is fixedly connected to the side frame and located between the driving wheel and the driven wheel. The free end of the telescopic rod faces the inside of the side frame and is connected to the blade holder. The weeding blade is mounted on the blade holder. The weeding blade includes a drive motor and a blade body. The drive motor is fixedly connected to the blade holder. The output shaft of the drive motor is vertically arranged and drives the blade body downwards.

[0008] Furthermore, the tool holder includes an upright plate and a horizontal base plate connected below the upright plate. The free end of the telescopic rod is connected to the upper end of the upright plate. The drive motor is fixed on the base plate. The output shaft of the drive motor rotates synchronously to drive the large gear. The tool body is rotatably connected to the base plate. The tool body is provided with a synchronously rotating small gear, which meshes with the large gear. On the base plate, the blade body is located on the side closer to the seedling space, and the drive motor is located on the side farther away from the seedling space.

[0009] Furthermore, the top frame is equipped with a power supply unit, a control unit, a navigation and positioning unit, and a visual recognition unit.

[0010] Compared with the prior art, the present invention has the following beneficial effects: This invention provides another type of field management robot. In use, it straddles a row of seedlings. A passageway in the middle of the device accommodates the seedlings, preventing damage during movement. Two inter-row weeding units weed and till the soil on both sides (between rows) of the seedlings. The weeding blades of the two inter-row weeding units can move closer and further apart. When in the middle of a seedling, the two blades move closer together, extending into the passageway to weed in conjunction with the device's movement. When approaching a seedling, the two blades move further apart to avoid damage. As it passes the seedling and moves to the next middle of a seedling, the two blades extend again, repeating this process. The simultaneous movement of the blades on both sides improves the timing of weeding, increasing the weeding rate compared to unilateral operation. The robot has a simple structure and is easy to control and use. Attached Figure Description

[0011] Figure 1 A perspective view of a field management robot according to a specific embodiment; Figure 2 for Figure 1 A 3D view of a field management robot from another angle; Figure 3 A side view of a field management robot according to a specific embodiment; Figure 4 for Figure 3 A bottom view; Figure 5 for Figure 3 The left view; Figure 6 For Figure 2 Based on this, only one side (left side) is retained as a schematic diagram of the walking, inter-row weeding, and inter-seedling weeding mechanisms; Figure 7 This is a separate schematic diagram of the weeding mechanism between seedlings in the equipment of the embodiment; Figure 8 This is a schematic diagram of the telescopic unit of the seedling weeding mechanism in an embodiment; Figure 9 A schematic diagram of the weeding blades of the seedling weeding mechanism in an embodiment; The system includes: frame 1, walking mechanism 2, inter-row weeding unit 3, inter-seedling weeding unit 5, power supply unit 6, control unit 7, navigation and positioning unit 8, and visual recognition unit 9. Side frame 11, top frame 12, seedling passage space 13, fixed rotating shaft 14 Hub motor 21, drive wheel 22, driven wheel 23, track body 24, linkage gear 25. Rotating sleeve 31, fan-shaped blade 32, driven gear 33, belt 34. Weeding blade 51, drive motor 511, blade body 512, blade bracket 513, upright plate 5131, base plate 5132, large gear 514, small gear 515, telescopic unit 52, cylinder 521, telescopic rod 522. Detailed Implementation

[0012] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0013] Please see Figure 1 and Figure 2 A specific embodiment of a field management robot includes a frame 1, a walking mechanism 2, an inter-row weeding unit 3, an inter-seedling weeding unit 5, a power supply unit 6, a control unit 7, a navigation and positioning unit 8, and a vision recognition unit 9. Similar to the control logic in existing technologies, the power supply unit 6 provides power to the electronic components on the device; the navigation and positioning unit 8 acquires the navigation parameters required for the device's automatic movement and provides them to the control unit 7. It can employ dual-antenna BeiDou navigation and positioning to achieve centimeter-level high-precision positioning and heading angle calculation, supporting autonomous driving path planning; the vision recognition unit 9 can be a front-mounted binocular vision system for collecting field seedling and weed image information, identifying seedlings based on the image information, calculating seedling coordinates and spacing, as well as obstacle avoidance and pest and disease inspection, and providing the data to the control unit 7; the control unit 7 controls the operation of the walking mechanism 2, the inter-row weeding unit 3, and the inter-seedling weeding unit 5 according to the received parameters and data.

[0014] The following section describes the main improvements to the mechanical structure; please refer to [link / reference]. Figures 3-5 The frame 1 adopts a high-strength frame structure to support various functional modules and transmit the working load. Specifically, it is roughly in the form of a gantry, including two parallel and facing side frames 11, a top frame 12 connected to the upper end of the two side frames 11, and a walking mechanism 2 connected to each of the two side frames 11. The inner sides of the two side frames 11 are also provided with inter-row weeding units 3 for inter-row weeding and inter-seedling weeding units 5 for inter-seedling weeding. At the middle position between the two walking mechanisms 2, the inter-row weeding units 3, and the inter-seedling weeding units 5 on the inner side of the two side frames 11, a longitudinally penetrating seedling passage space 13 is formed. The inter-seedling weeding unit 5 includes weeding blades 51 and a laterally arranged telescopic unit 52. Under the action of the telescopic unit 52, the weeding blades 51 can move back and forth laterally, so that the weeding blades 51 of the two inter-seedling weeding units 5 move closer or further apart. When the two weeding blades 51 move closer together, they extend laterally into the inter-seedling passage space 13 to realize inter-seedling weeding.

[0015] In this embodiment, the field management robot walks across a row of seedlings. The seedling passage space 13 in the middle of the device is used to accommodate the seedlings and prevent damage to the seedlings during the device's movement. Two inter-row weeding units 3 weed and cultivate the soil on both sides (between rows) of the seedlings. The width of the device must be sufficient to ensure the distance between the two rows. The inter-row weeding units 3 have overlapping processing parts to avoid incomplete weeding between rows. The weeding blades 51 of the two inter-seedling weeding units 5 can move closer and further apart. When located between seedlings, the two weeding blades 51 move closer together and extend into the seedling passage space 13 to weed between seedlings in conjunction with the device's movement. When approaching a seedling, the two weeding blades 51 move further apart to avoid damage to the seedling. When passing over a seedling and moving to the next inter-seedling, the two weeding blades 51 extend again, and this process is repeated. The simultaneous movement of the two weeding blades 51 on both sides improves the timing of weed removal, resulting in a higher weeding rate compared to unilateral operation. The weeding blades 51 can be fixed shovel-shaped blades (blade facing forward). To enhance weeding effectiveness, rotating blades with rotational power, as used in existing technologies, are preferred. The blades can be rigid hard blades or flexible weeding ropes, as long as they effectively remove weeds. The appropriate blade type should be selected based on the crop type and corresponding weed type during implementation; further details are omitted here. To allow the two weeding blades 51 to approach each other more closely, even overlapping their treatment areas, the working parts of the blades can have a certain height difference in the vertical direction or a certain offset design dimension in the front-to-back direction. The traveling mechanism 2 and the inter-row weeding unit 3 can be selected from existing technologies. The inter-row weeding unit 3 can be arranged in front of, behind, or beside the traveling mechanism 2; the specific location is not limited.

[0016] Please see Figure 6 The walking mechanism 2 preferably adopts a tracked structure, which has a low ground pressure, better climbing ability than wheeled models, strong terrain adaptability, and is suitable for complex terrains such as mountains and hills, providing good passability and ground adhesion. Specifically, it includes a hub motor 21, a drive wheel 22, and a driven wheel 23. The hub motor 21 is fixed to the side frame 11, and its output drive is connected to the drive wheel 22. The driven wheel 23 is rotatably connected to the front end of the side frame 11. The drive wheel 22 and the driven wheel 23 are connected together to the track body 24. The structure is mature and reliable. In this embodiment, to improve structural strength, the side frame 11 also adopts a double-layer structure at the location where the hub motor 21 is fixedly connected (not limited to this location). The rear end of the side frame 11 is connected to a transverse fixed rotating shaft 14 (see...). Figure 3The machine is not transversely integrated; it is set one-to-one with the inter-row weeding unit 3 on one side. The inter-row weeding unit 3 includes a rotating sleeve 31, with several fan-shaped blades 32 evenly connected to the outer side of the rotating sleeve 31. The rotating sleeve 31 is rotatably mounted on the fixed rotating shaft 14. One end of the rotating sleeve 31 is also provided with a synchronously rotating driven tooth 33. The hub motor 21 also outputs a drive to connect the linkage tooth 25, which rotates synchronously with the drive wheel 22. The linkage tooth 25 is driven to connect the driven tooth 33 through the belt 34.

[0017] In this way, the power source is used reasonably. The hub motor 21 provides the power for walking and also provides power for the inter-row weeding unit 3. The inter-row weeding unit 3 is located at the rear. After the track passes, the weeds that have been pressed down are appropriately restored and can still be acted on by the blades of the inter-row weeding unit. In addition to inter-row weeding, considering that the whole machine may also have functions such as plowing, ditching, and fertilizing at the front, the inter-row weeding unit 3, located at the rear, can simultaneously perform the functions of cultivating and leveling the soil.

[0018] Please see Figures 7-9 The telescopic unit 52 of the inter-row weeding unit 5 includes a cylinder 521 and a telescopic rod 522 extending from the cylinder 521. The cylinder 521 is fixedly connected to the side frame 11 and located between the driving wheel 22 and the driven wheel 23. The free end of the telescopic rod 522 faces the inside of the side frame 11 and is connected to the blade holder 513. The weeding blade 51 is mounted on the blade holder 513 and includes a drive motor 511 and a blade body 512. The drive motor 511 is fixedly connected to the blade holder 513, and its output shaft is vertically oriented and drives the blade body 512 downwards. The working portion (working radial dimension) of the blade should extend beyond the drive motor 511 and the blade holder 513 in the inner direction. In this embodiment, a rotating blade with rotational power is used to ensure the weeding rate.

[0019] To increase the rotational speed of the cutter, this embodiment further adds an acceleration structure. The cutter support 513 includes a vertical plate 5131 and a horizontal base plate 5132 connected below the vertical plate 5131. The free end of the telescopic rod 522 is connected to the upper end of the vertical plate 5131. The drive motor 511 is fixed on the base plate 5132. The output shaft of the drive motor 511 rotates synchronously to drive the large gear 514. The cutter body 512 is rotatably connected to the base plate 5132. The cutter body 512 is provided with a synchronously rotating small gear 515, which meshes with the large gear 514. On the base plate 5132, the cutter body 512 is located on the side closer to the seedling space 13, and the drive motor 511 is located on the side away from the seedling space 13.

[0020] To ensure a more reliable connection and smoother extension and retraction, in this embodiment, the cylinder body 521 has two lugs on both sides connecting guide rods parallel to the telescopic rod 522. The free end of the telescopic rod 522 and the guide rods are both connected to a push plate. The upper end of the vertical plate 5131 of the tool holder 513 is bent to form a hook structure and is detachably fixed to the push plate, specifically using a bolt connection. This improves reliability and facilitates manufacturing and assembly.

[0021] This equipment allows for large-scale collaborative operations by multiple machines in open farmland. For row-sown crops such as corn, soybeans, cotton, and vegetables, the seedlings are planted in regular rows with uniform spacing between rows and plants. In terms of control, the visual recognition unit 9 can be omitted, and the driving and weeding actions between seedlings can be directly and simply controlled by parameters preset in the control unit 7. This simplifies the logic algorithm control and reduces costs.

[0022] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A field management robot, comprising a frame with a gantry-shaped cross-section, the frame including two parallel and opposite side frames, a top frame connected to the upper ends of the two side frames, and a walking mechanism connected to each of the two side frames; characterized in that: The inner sides of the two side frames are respectively provided with inter-row weeding units for weeding between rows and inter-seedling weeding units for weeding between seedlings. On the inner sides of the two side frames, at the midpoint between the two walking mechanisms, the inter-row weeding units, and the inter-seedling weeding units, a longitudinally penetrating seedling passage space is formed. The inter-seedling weeding unit includes weeding blades and a laterally arranged telescopic unit. Under the action of the telescopic unit, the weeding blades can move back and forth laterally, so that the weeding blades of the two inter-seedling weeding units move closer to each other or further apart. When the two weeding blades move closer to each other, they extend laterally into the seedling passage space to realize inter-seedling weeding.

2. The field management robot according to claim 1, characterized in that: The traveling mechanism adopts a tracked structure, including a hub motor, a drive wheel, and a driven wheel. The hub motor is fixed to the side frame and its output drive is connected to the drive wheel. The driven wheel is rotatably connected to the front end of the side frame. The track body is connected to both the drive wheel and the driven wheel.

3. The field management robot according to claim 2, characterized in that: The rear end of the side frame is connected to a horizontal fixed rotating shaft. The inter-row weeding unit includes a rotating sleeve. Several fan-shaped blades are evenly connected to the outside of the rotating sleeve. The rotating sleeve is rotatably mounted on the fixed rotating shaft. One end of the rotating sleeve is also provided with a synchronously rotating driven tooth. The hub motor also outputs a drive tooth that rotates synchronously with the drive wheel. The drive tooth is driven by a chain or belt to the driven tooth.

4. The field management robot according to claim 2, characterized in that: The telescopic unit includes a cylinder and a telescopic rod extending from the cylinder. The cylinder is fixedly connected to the side frame and located between the drive wheel and the driven wheel. The free end of the telescopic rod faces the inside of the side frame and is connected to the blade holder. The weeding blade is mounted on the blade holder. The weeding blade includes a drive motor and a blade body. The drive motor is fixedly connected to the blade holder. The output shaft of the drive motor is vertically oriented and drives the blade body downwards.

5. The field management robot according to claim 4, characterized in that: The tool holder includes an upright plate and a horizontal base plate connected below the upright plate. The free end of the telescopic rod is connected to the upper end of the upright plate. The drive motor is fixed on the base plate. The output shaft of the drive motor rotates synchronously to drive the large gear. The tool body is rotatably connected to the base plate. The tool body is provided with a synchronously rotating small gear, which meshes with the large gear. On the base plate, the blade body is located on the side closer to the seedling space, and the drive motor is located on the side farther away from the seedling space.

6. A field management robot according to any one of claims 1-5, characterized in that: The top frame is equipped with a power supply unit, a control unit, a navigation and positioning unit, and a visual recognition unit.

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