Intelligent weeding robot and control method

Abstract

The application discloses an intelligent weeding robot and a control method, wherein the intelligent weeding robot comprises a mobile chassis, a visual perception unit, a mechanical arm and a control unit. The mobile chassis is provided with a plurality of walking mechanisms, the walking mechanism comprises a wheel frame, a planetary wheel mechanism and a plurality of tensioning wheels, a track belt is wrapped around the outer periphery of each wheel and forms an inclined part between the tensioning wheels, and the passability of narrow and complex terrains is improved. The mechanical arm has a plurality of degrees of freedom and is provided with a clamping unit and a shearing unit at the tail end. The control unit identifies weeds according to image information collected by the visual perception unit, controls the mobile chassis to move to a position first, drives the clamping unit to clamp the weeds, and finally drives the shearing unit to perform low-speed shearing, so that low-noise 'clamping before shearing' operation is realized. The intelligent weeding robot can flexibly shuttle in extreme narrow areas such as corners and narrow lanes, realize precise, low-noise and automatic weed removal and recovery, and improve weeding efficiency and operation safety.

Description

Technical Field

[0001] This invention relates to the field of weeding equipment technology, and in particular to an intelligent weeding robot, as well as a control method using the intelligent weeding robot. Background Technology

[0002] Extremely narrow areas in cities, such as neglected corners and narrow passageways between buildings, become ideal breeding grounds for Aedes mosquitoes due to their long-term overgrowth of weeds and damp, concealed environments. Traditional manual weeding methods are limited by space constraints or complex terrain, such as mud, slipperiness, and the presence of sharp objects. Workers find it difficult to bend over or squeeze into narrow gaps for thorough cleaning, resulting in high labor intensity, low efficiency, and safety risks such as slipping and cuts.

[0003] In related technologies, mechanical weeding equipment or chemical weeding methods are commonly used. Mechanical weeding equipment is large in size and has a large turning radius, making it difficult to flexibly adapt to irregular terrain. Furthermore, it often uses a one-piece tracked walking structure, which is prone to slipping and getting stuck on muddy or slippery surfaces, resulting in poor maneuverability. At the same time, traditional equipment generally lacks intelligent recognition capabilities, failing to distinguish between weeds and beneficial green plants, often resorting to a "one-size-fits-all" approach to removal, leading to the unintended destruction of green space resources. While chemical weeding methods are less labor-intensive, they easily leave pesticide residues, pollute the environment, and are difficult to cover in hard-to-reach areas. Long-term use can also lead to weed resistance. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an intelligent weeding robot, which has the advantages of flexible movement and high weeding efficiency.

[0005] The present invention also proposes a control method for the above-mentioned intelligent weeding robot.

[0006] The intelligent weeding robot according to the present invention includes: A mobile chassis, including a support frame and multiple walking mechanisms, wherein the multiple walking mechanisms are disposed on the support frame; A visual sensing unit is disposed on the mobile chassis, and the visual sensing unit is used to collect image information of the work area; A robotic arm is mounted on the mobile chassis. The robotic arm is equipped with a weeding component and has multiple degrees of freedom. The weeding component includes a clamping unit and a cutting unit. The control unit is electrically connected to the walking mechanism, the robotic arm, and the vision sensing unit, respectively. The control unit is used to identify weeds based on the image information, control the walking mechanism to drive the mobile chassis to move, control the clamping unit to clamp the weeds, and control the cutting unit to perform cutting operations.

[0007] The intelligent weeding robot of the present invention has at least the following beneficial effects: By setting up a mobile chassis and multiple walking mechanisms, the robot can flexibly shuttle through extremely narrow areas such as corners and narrow passages, and can enter narrow spaces that are difficult for humans to operate in, thereby realizing automated and precise operation of the weeding area, cutting off the breeding environment of mosquito-borne infectious diseases from the source, and improving weeding efficiency and operational safety. At the same time, in conjunction with the visual perception unit to collect images of the work area in real time, the control unit identifies weeds and controls the movement of the walking mechanism accordingly, reducing the drawbacks of traditional equipment that may accidentally remove beneficial green plants, and protecting the ecological environment. The robotic arm has multiple degrees of freedom and is equipped with a weeding component, which includes a clamping unit and a cutting unit. The clamping-then-cutting method can achieve low-noise weed cutting, prevent weeds from flying, and provide convenience for subsequent collection, making it suitable for residential areas, campuses, and other scenarios that require a quiet environment.

[0008] According to some embodiments of the present invention, the intelligent weeding robot has a walking mechanism including a wheel frame and a track. The wheel frame is provided with a planetary gear mechanism and a plurality of tensioning wheels. The track surrounds the outer periphery of the plurality of tensioning wheels and the planetary gear mechanism. The planetary gear mechanism meshes with the inner side of the track to drive the track to rotate.

[0009] According to some embodiments of the present invention, the intelligent weeding robot includes two first rotating wheels and two second rotating wheels. The two second rotating wheels are disposed at the bottom of the wheel frame, and the two first rotating wheels are disposed between the planetary gear mechanism and the second rotating wheels. The track forms an inclined portion between the first rotating wheels and the second rotating wheels, and the inclined portion is inclined toward one side of the planetary gear mechanism.

[0010] According to some embodiments of the present invention, the intelligent weeding robot includes a robotic arm comprising a rotating base, a first arm and a second arm. The rotating base is rotatably connected to the mobile chassis. One end of the first arm is rotatably connected to the rotating base. One end of the second arm is rotatably connected to the other end of the first arm. The weeding component is disposed at the other end of the second arm.

[0011] According to some embodiments of the present invention, the intelligent weeding robot includes a cutting unit comprising a first blade, a second blade, and a drive assembly. The first blade is fixed to a second arm, the second blade is disposed opposite to the first blade and is rotatable relative to the first blade, and the drive assembly drives the second blade to rotate so as to form a cutting action with the first blade.

[0012] According to some embodiments of the present invention, the intelligent weeding robot includes a control unit comprising a vision processing unit, a main controller, and a drive controller. The vision processing unit acquires images, identifies the weeds, and outputs the position information of the weeds. The main controller generates movement control commands and robotic arm control commands based on the position information. The drive controller drives the walking mechanism and the robotic arm based on the movement control commands and the robotic arm control commands.

[0013] According to some embodiments of the intelligent weeding robot of the present invention, the control unit is further configured to respond to the visual perception unit, when the visual perception unit collects a preset number of consecutive image frames that all identify the same weed, the control unit controls the mobile chassis to move a preset distance so that the weed is within the working range of the weeding execution component.

[0014] According to some embodiments of the present invention, the intelligent weeding robot further includes a positioning sensor and an attitude sensor disposed on the mobile chassis. The positioning sensor is used to acquire the position information of the mobile chassis, and the attitude sensor is used to acquire the attitude information of the mobile chassis. The control unit is also used to perform closed-loop correction of the movement path of the mobile chassis based on the position information and the attitude information.

[0015] According to some embodiments of the present invention, the intelligent weeding robot has a mobile chassis equipped with a weed storage bin for storing the weeds.

[0016] According to the control method of the present invention, the intelligent weeding robot of the present invention is used, and the control method includes the following steps: Image acquisition: Image information of the work area is acquired through a visual perception unit; Weed identification: The control unit identifies weeds in the image information. When the same weed is identified in a consecutive preset number of consecutive image frames and the preset confidence level is reached, the control unit generates a movement control command based on the identification result. Motion control: According to the motion control command, the walking mechanism is controlled to move the mobile chassis to the identified weeds, and the heading angle of the mobile chassis is adjusted according to the feedback of the attitude sensor so that the weeds are located directly below the clamping unit and the cutting unit; Clamping and cutting: The control unit generates control commands for the robotic arm, and controls the robotic arm to drive the clamping unit to clamp the weeds according to the control commands. The control unit controls the cutting unit to perform cutting operations on the clamped weeds and collects the cut weeds into the hay storage bin.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of the intelligent weeding robot according to an embodiment of the present invention; Figure 2 for Figure 1 The diagram shows the structure of the drive component; Figure 3 This is another structural schematic diagram of the intelligent weeding robot according to an embodiment of the present invention; Figure 4 for Figure 1 The diagram shows the structure of the shearing unit; Figure 5 for Figure 1 The diagram shows the structure of the clamping unit; Figure 6 This is a schematic diagram of the structure of an intelligent weeding robot according to another embodiment of the present invention.

[0019] Explanation of icon numbers: Mobile chassis 100; support frame 110; walking mechanism 120; wheel frame 121; track 122; inclined part 1221; planetary gear mechanism 123; tension wheel 124; first rotating wheel 1241; second rotating wheel 1242; Robotic arm 200; rotating base 210; first arm component 220; second arm component 230; Weeding assembly 300; clamping unit 310; second drive gear 311; second driven gear 312; shearing unit 320; first blade 321; second blade 322; first drive gear 323; first driven gear 324; Visual perception unit 400; Hay storage bin 500; Drive component 600; first driven large spur bevel gear 610; driving small spur bevel gear 620; second driven large spur bevel gear 630; driven small spur bevel gear 640; shock absorber 650. Detailed Implementation

[0020] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0021] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0022] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0024] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0025] In related technologies, mechanical weeding equipment or chemical weeding methods are commonly used. Mechanical weeding equipment is large in size and has a large turning radius, making it difficult to flexibly adapt to irregular terrain. Furthermore, it often uses a one-piece tracked walking structure, which is prone to slipping and getting stuck on muddy or slippery surfaces, resulting in poor maneuverability. At the same time, traditional equipment generally lacks intelligent recognition capabilities, failing to distinguish between weeds and beneficial green plants, often resorting to a "one-size-fits-all" approach to removal, leading to the unintended destruction of green space resources. While chemical weeding methods are less labor-intensive, they easily leave pesticide residues, pollute the environment, and are difficult to cover in hard-to-reach areas. Long-term use can also lead to weed resistance.

[0026] Therefore, such as Figures 1 to 6As shown, the intelligent weeding robot proposed in this invention includes a mobile chassis 100, a vision sensing unit 400, a robotic arm 200, a weeding component 300, and a control unit. The mobile chassis 100 includes a support frame 110 and multiple walking mechanisms 120, which are mounted on the support frame 110. By setting multiple walking mechanisms 120, the intelligent weeding robot can flexibly navigate through extremely narrow areas such as corners and narrow passages, entering confined spaces that are difficult for humans to operate in, thereby achieving automated coverage of the weeding area and improving weeding efficiency and operational safety. The control unit is electrically connected to the walking mechanisms 120, the robotic arm 200, and the vision sensing unit 400 to coordinate the movements of each part.

[0027] Specifically, the walking mechanism 120 includes a wheel frame 121 and a track 122. The wheel frame 121 is equipped with a planetary gear mechanism 123 and multiple tension wheels 124. The track 122 surrounds the outer periphery of the multiple tension wheels 124 and the planetary gear mechanism 123. The planetary gear mechanism 123 meshes with the inner side of the track 122 to drive the track 122 to rotate. The tracked walking mechanism 120 increases the ground contact area, reduces the pressure on muddy and slippery surfaces, and is less prone to sinking, thereby improving the robot's passability and anti-slip ability in complex terrain. Further, the multiple tension wheels 124 include two first rotating wheels 1241 and two second rotating wheels 1242. The two second rotating wheels 1242 are located at the bottom of the wheel frame 121, and the two first rotating wheels 1241 are located between the planetary gear mechanism 123 and the second rotating wheels 1242. The distance between the two first rotating wheels 1241 is greater than the distance between the two second rotating wheels 1241. The track 122 forms an inclined section 1221 between the first wheel 1241 and the second wheel 1242, with the inclined section 1221 tilting towards one side of the planetary gear mechanism 123. The track 122 has an approximately pentagonal travel path with inclined sections on both sides, which can better conform to uneven ground, improve climbing and obstacle crossing ability, and prevent the track from falling off when turning in narrow passages.

[0028] In a further embodiment of the present invention, such as Figures 1 to 3As shown, the mobile chassis 100 is equipped with two drive units 600, and there are a total of four walking mechanisms 120. The two walking mechanisms 120 located on the same side of the mobile chassis 100 are controlled by the same drive unit 600. Specifically, the output end of the drive unit 600 is fixedly connected to a driving small spur bevel gear 620. Two first driven large spur bevel gears 610 mesh with each other on both sides of the driving small spur bevel gear 620. The two first driven large spur bevel gears 610 correspond to the two walking mechanisms 120 on the same side. When the drive unit 600 rotates, the driving small spur bevel gear 620 simultaneously drives the two first driven large spur bevel gears 610 to rotate, thereby diverting power to the two walking mechanisms 120 on the same side. Each first driven large spur bevel gear 610 is fixedly connected to a driven small spur bevel gear 640 via a connecting rod. The driven small spur bevel gear 640 meshes with a second driven large spur bevel gear 630, which is fixedly connected to the planetary gear mechanism 123 of the walking mechanism 120. Through the gear transmission chain, the power output by the drive unit 600 is transmitted sequentially through the driving small spur bevel gear 620, the first driven large spur bevel gear 610, the driven small spur bevel gear 640, and the second driven large spur bevel gear 630 to the planetary gear mechanism 123, ultimately driving the track 122 to rotate. By using the same drive unit 600 to control the two walking mechanisms 120 on the same side, the rotation speed of the track 122 on the same side is synchronized, avoiding swaying caused by speed differences. At the same time, the vertical reversal and splitting of power are achieved through the bevel gear set, making the transmission structure more compact and reducing the lateral width of the mobile chassis 100, thereby improving the robot's ability to pass through narrow passages. In addition, the two drive units 600 independently control the walking mechanisms 120 on the left and right sides respectively. The control unit can achieve differential steering by adjusting the speed difference between the drive units 600 on the left and right sides, enabling the robot to turn on the spot or turn with a very small radius in narrow spaces, further enhancing its flexibility.

[0029] It should be noted that the drive unit 600 uses a 42ZDT48A stepper motor, with a fixed driving small spur bevel gear 620 at its output end. First driven large spur bevel gears 610 mesh with each side of the driving small spur bevel gear 620, forming a first-stage reduction. Each first driven large spur bevel gear 610 is connected to a driven small spur bevel gear 640 via a connecting rod. The driven small spur bevel gear 640 meshes with a second driven large spur bevel gear 630, forming a second-stage reduction with a total transmission ratio of 1:4. The second driven large spur bevel gear 630 is fixedly connected to the drive wheel 123, transmitting power to the track 122. Each gear has a module of 1, is made of 45# steel, and has a hardened tooth surface. The wheel axle and drive wheel 123 are connected via a coupling to achieve angular transmission. The drive shaft and axle are fixed to the bracket 110 by a vertical bearing seat. A U-shaped frame is provided in the middle of the drive shaft to provide support for the first driven large straight bevel gear 610. The structure is compact and improves the robot's climbing ability and narrow passage ability.

[0030] In a further embodiment of the present invention, a planetary gear mechanism is provided within the wheel frame 121. The planetary gear mechanism includes a sun gear, three planet gears, and a gear ring, which has internal and external teeth. The sun gear is coaxially and fixedly connected to the second driven large spur bevel gear 630, and the gear ring is rotatably connected to the wheel frame 121. The three planet gears mesh simultaneously with the sun gear and the gear ring. When the second driven large spur bevel gear 630 drives the sun gear to rotate, the sun gear drives the three planet gears to rotate around their own axes. Simultaneously, the three planet gears revolve around the sun gear's revolution axis under the drive of the sun gear, thereby driving the gear ring to rotate. The planet gears both rotate on their own axes and revolve around the sun gear, with a transmission ratio of 1:3.6. This converts the high-speed, low-torque input from the second driven large spur bevel gear 630 into a low-speed, high-torque output from the gear ring, improving the climbing and obstacle-crossing capabilities of the walking mechanism 120.

[0031] In a further embodiment of the invention, a shock-absorbing device 650 is provided between each walking mechanism 120 and the support 110 of the mobile chassis 100. The shock-absorbing device 650 includes a spring. Specifically, the shock-absorbing device 650 may be a spring sleeved on a guide rod, one end of which is hinged to the wheel frame 121, and the other end is connected to the mobile base 110. When the robot travels on uneven ground, the walking mechanism 120 is subjected to ground impact force, the spring is compressed or stretched, absorbing the impact energy, causing the wheel frame 121 to generate a buffer displacement relative to the support 110, thereby reducing the vibration transmitted to the mobile chassis 100 body.

[0032] In some embodiments of the present invention, such as Figure 1 and Figure 3As shown, the robotic arm 200 is mounted on a mobile chassis 100 and has multiple degrees of freedom for precise weed positioning. The robotic arm 200 includes a rotating base 210, a first arm 220, and a second arm 230. The rotating base 210 is rotatably connected to the mobile chassis 100. One end of the first arm 220 is rotatably connected to the rotating base 210, and one end of the second arm 230 is rotatably connected to the other end of the first arm 220. A weeding component 300 is located at the end of the second arm 230. The rotating base 210 allows for 360° horizontal rotation, which, combined with the pitching motion of the first and second arms 220, enables the weeding component 300 to reach weed positions at different heights and angles, adapting to weeds in various growth stages and improving operational flexibility. The weeding component 300 includes a clamping unit 310 and a cutting unit 320. The clamping unit 310 clamps the weeds, and the cutting unit 320 performs the cutting action. The clamping-then-cutting method can fix the weeds in place before cutting, preventing weeds from flying around. It also avoids the huge noise generated by traditional high-speed rotating blades, achieving low-noise operation, which is especially suitable for residential areas, campuses and other scenarios that require a quiet environment.

[0033] In some specific embodiments of the present invention, reference is made to... Figures 1 to 5 Each joint of the robotic arm 200 uses a servo motor as its drive element. Specifically, the rotating base 210 is driven by a first servo motor, which is fixed to the bracket 110 of the movable chassis 100. The output shaft of the first servo motor is directly connected to the rotating base 210, and the rotation of the first servo motor drives the rotating base 210 to rotate at any angle within a 360° horizontal range. A second servo motor is installed between one end of the first arm 220 and the rotating base 210, driving the first arm 220 to pitch around a horizontal axis. A third servo motor is installed between the other end of the first arm 220 and the second arm 230, driving the second arm 230 to pitch relative to the first arm 220 around another horizontal axis. Through the coordinated control of the three servos, the robotic arm 200 can be flexibly positioned in three-dimensional space, allowing the weeding component 300 located at the end of the second arm 230 to reach weeds in different positions and postures. The servo motor integrates a position feedback unit, which enables the control unit to acquire the angle information of each joint in real time, thereby achieving closed-loop control of the movement trajectory of the robotic arm 200. This avoids the step loss problem that may occur with traditional open-loop stepper motors, improves positioning accuracy, and helps ensure that the weeding component 300 can be aligned with the roots of weeds, avoiding accidental damage to surrounding beneficial vegetation.

[0034] In some embodiments of the present invention, such as Figure 4As shown, the shearing unit 320 includes a first blade 321, a second blade 322, and a drive assembly. The first blade 321 is fixed to the second arm 230. The second blade 322 is disposed opposite to the first blade 321 and can rotate relative to the first blade 321. The drive assembly drives the second blade 322 to rotate, thereby forming a shearing action with the first blade 321. The drive assembly may include a first drive gear 323 and a first driven gear 324. The first drive gear 323 is driven by a servo motor, and the first driven gear 324 is fixedly connected to the second blade 322. Through gear meshing, the rotational motion of the servo motor is converted into the oscillation of the second blade 322, realizing low-speed, high-torque shearing, further reducing working noise and improving shearing reliability. The clamping unit 310 may include two clamping plates disposed opposite to each other. Each clamping plate is driven by another servo motor through a second drive gear 311 and a second driven gear 312. Corrugated stripes may be provided on the clamping surface of the clamping plates to increase friction and ensure that weeds are clamped tightly.

[0035] Furthermore, referring to Figures 3 to 5 The clamping unit 310 and shearing unit 320 of the weeding assembly 300 are also driven by servo motors. The clamping unit 310 includes a first clamp and a second clamp arranged opposite each other. The first clamp is fixed to the end bracket of the second arm 230, and the second clamp is driven by a fourth servo motor. Specifically, a second drive gear 311 is fixed on the output shaft of the fourth servo motor, and a second driven gear 312 is fixedly connected to the second clamp. The second drive gear 311 and the second driven gear 312 are externally meshed. When the fourth servo motor rotates, the second drive gear 311 drives the second driven gear 312 to rotate in the opposite direction, thereby causing the second clamp to open and close relative to the first clamp. To make the clamping more stable, corrugated stripes are provided on the opposing surfaces of the first and second clamps to increase the friction between them and the stems of the weeds. The shearing unit 320 includes a first blade 321 fixed to the end bracket of the second arm 230 and a rotatable second blade 322. A first drive gear 323 is fixed to the output shaft of the fifth servo motor, and a first driven gear 324 is fixedly connected to the second blade 322. The first drive gear 323 and the first driven gear 324 are externally meshed. When the fifth servo motor rotates, the first drive gear 323 drives the first driven gear 324 to rotate, thereby causing the second blade 322 to perform a shearing motion relative to the first blade 321. Through the independent control of the fourth and fifth servo motors, the clamping unit 310 can first clamp the weeds, and then the shearing unit 320 can complete the shearing, realizing the operation sequence of clamping before shearing. The shearing frequency driven by the servo motor is usually less than 5 times / second, while the traditional swivel blade can reach thousands of revolutions per minute, so there is almost no wind noise or impact noise, achieving low-noise operation.

[0036] In a further embodiment of the invention, the control unit controls the drive of the aforementioned servos using PWM pulse width modulation signals. The main controller sends PWM signals to each servo via the GPIO interface. The comparator inside the servo compares the pulse width of the input PWM signal with the current position signal fed back by the potentiometer, generating a deviation voltage that drives the motor to rotate until the deviation is zero, thereby achieving precise angle positioning. The drive controller can simultaneously output multiple PWM signals to control the coordinated movement of the first, second, third, fourth, and fifth servos. The control unit also stores a preset weeding trajectory library, calling different robotic arm movement trajectories for different types of weeds. For example, for weeds with thicker stems, the control unit increases the PWM duty cycle of the fourth servo, causing the clamping unit 310 to output a greater clamping force; for weeds with deeper roots, the control unit controls the third servo to increase the downward pressure of the second arm 230, causing the shearing unit 320 to cut closer to the ground. By combining servo motors with PWM control, the weeding action can be precisely adjusted, which further improves the thoroughness of weeding and its adaptability to different weeds, while avoiding the problem of the robotic arm getting stuck or damaged due to excessive clamping force or improper cutting position.

[0037] In some embodiments of the present invention, a visual perception unit 400 is mounted on a mobile chassis 100 for acquiring image information of the work area. The visual perception unit 400 may employ a Raspberry Pi V2 camera equipped with an IMX219 8-megapixel sensor and connected to the main controller of the control unit via a CSI interface. The camera is mounted at an appropriate height in front of the mobile chassis 100, with the lens tilted downwards at a certain angle to cover a ground area of ​​0.2 to 1.5 meters in front. The control unit includes a main controller and a drive controller. The main controller runs path planning and image recognition algorithms to generate movement control commands and control commands for the robotic arm 200 based on image information. The drive controller communicates with the main controller and drives the walking mechanism 120 according to the movement control commands and the robotic arm 200 according to the control commands. The main controller may be a Raspberry Pi running the ROS system, and the drive controller may be an STM32 microcontroller. This hierarchical control architecture ensures both the computational power requirements for image processing and path planning and the real-time performance and stability of the underlying motor and servo drives.

[0038] Specifically, in some embodiments of the present invention, the visual perception unit 400 includes a K230 integrated development board, which carries a lightweight YOLOv8n model as the image recognition algorithm. A camera is mounted in front of the mobile chassis 100 at a height of 25 cm, with the lens tilted downwards at 15° to cover a ground area of ​​0.2 m to 1.5 m in front, with an inference frame rate stable at 12 to 15 frames per second. When the robot is in operation, the visual perception unit 400 acquires images of the work area in real time, and the K230 development board identifies weeds in each frame and outputs the recognition confidence score. The control unit is configured to only recognize a weed as a valid target when three consecutive frames of images identify the same weed and the recognition confidence score of each frame is not less than 70%. After the target is confirmed, the control unit calculates the position and distance of the weeds relative to the robot based on the pixel coordinates of the weeds in the image. Then, it controls the walking mechanism 120 to drive the mobile chassis 100 forward a preset distance, which is pre-calibrated to 10 cm to 15 cm, to ensure that the weeds are precisely within the working range directly below the clamping unit 310 and the shearing unit 320 of the weeding component 300. Simultaneously, the control unit also performs closed-loop movement control based on the travel distance feedback from the wheel encoders, avoiding positioning deviations caused by ground slippage or motor differences. Through this multi-frame confirmation and fixed-distance calibration mechanism, interference from non-weed targets such as fallen leaves and pebbles is effectively eliminated, eliminating ranging errors from monocular vision and improving the accuracy of the robotic arm's alignment, thereby ensuring the reliability and precision of the weeding operation.

[0039] During operation, the control unit identifies weeds based on image information collected by the visual perception unit 400. To improve recognition accuracy and avoid misjudgment, the control unit is configured such that when the same weed is identified in three consecutive frames of images collected by the visual perception unit 400 with a recognition confidence level of not less than 70%, the control unit confirms the weed as a target and then controls the moving chassis 100 to move a preset distance, such as 10 to 15 centimeters, so that the weed is precisely within the working range of the weeding component 300. This helps to eliminate interference such as fallen leaves and stones, significantly improving weeding accuracy; at the same time, fixed-distance calibration eliminates visual positioning errors, ensuring that the clamping unit 310 can clamp the roots of the weeds.

[0040] In some embodiments of the present invention, the intelligent weeding robot further includes a positioning sensor and an attitude sensor disposed on the mobile chassis 100. The positioning sensor is used to acquire the position information of the mobile chassis 100, specifically using GPS or odometer data. The attitude sensor may be a gyroscope, used to acquire the attitude information of the mobile chassis 100, such as heading angle, pitch angle, and roll angle. The control unit is also used to perform closed-loop correction of the movement path of the mobile chassis 100 based on the position and attitude information. It can be understood that the control unit compares the actual travel path with the planned path, calculates the deviation, and then adjusts the rotation speed of the left and right walking mechanisms 120 through the drive controller to achieve differential steering compensation, thereby ensuring that the robot can travel along the predetermined trajectory, avoiding path deviation caused by uneven ground or slippage, and thus improving the work coverage and repeatability accuracy.

[0041] Specifically, in some embodiments of the present invention, after the mobile chassis 100 transports the weeding component 300 to the target location of the weeds, the control unit first drives the servo motor of the clamping unit 310 to move the two clamping plates towards each other to clamp the stems or roots of the weeds; then it drives the servo motor of the cutting unit 320 to rotate the second blade 322 relative to the first blade 321 to cut the weeds. After cutting, the control unit drives the robotic arm 200 to move the clamping unit 310 above the grass storage bin 500, and controls the clamping unit 310 to release, allowing the weeds to fall into the grass storage bin 500. The grass storage bin 500 is set on the mobile chassis 100 to collect the cut weeds, avoiding the trouble of secondary cleaning of weeds scattered on the ground, realizing automatic weed recovery, and keeping the working area clean.

[0042] In some embodiments of the present invention, reference is made to... Figure 6 As shown, a protective cover is provided at the bottom of the mobile chassis 100. This cover completely covers the drive component 600, the driving small spur bevel gear 620, the first driven large spur bevel gear 610, the driven small spur bevel gear 640, and the second driven large spur bevel gear 630, among other transmission components. The protective cover is bolted to the bracket 110 to prevent foreign objects such as mud, gravel, and weed debris from entering the gear meshing area, thus preventing gear jamming or excessive wear, and also preventing operators from accidentally contacting high-speed moving parts. In addition, flexible protective covers are provided at the base of the rotating base 210 of the robotic arm 200 and at the base of the rotating joints of the clamping unit 310 and the shearing unit 320 in the weeding assembly 300. These covers are used to shield the rotation gaps and prevent weed stems, leaves, mud, or dust from entering the servo motor output shaft and gear meshing area. The combination of the protective cover and the protective shield improves the long-term operational reliability of the robot in extreme road conditions such as mud, dust, and debris, reduces the failure rate of the transmission mechanism and servo motor, and extends the maintenance cycle of the whole machine.

[0043] According to the control method of the present invention, an intelligent weeding robot according to the present invention is used, including the following steps: an image acquisition step, in which image information of the work area is acquired by a visual perception unit 400; a weed identification step, in which the control unit identifies the weeds in the image information and generates a movement control command based on the identification result; a movement control step, in which the walking mechanism 120 is controlled to drive the moving chassis 100 to move to the identified weeds according to the movement control command; and a clamping and cutting step, in which the control unit generates a control command for the robotic arm 200, and controls the robotic arm 200 to drive the clamping unit 310 to clamp the weeds according to the control command, while controlling the cutting unit 320 to perform cutting operations on the clamped weeds, and storing the cut weeds in the grass storage bin 500.

[0044] According to the control method of this invention, the intelligent weeding robot of this invention achieves full automation from image acquisition to weed removal, eliminating the need for manual intervention and significantly improving weeding efficiency. The mobile chassis 100 precisely moves to the weed location based on the recognition results, avoiding ineffective navigation; the robotic arm 200 employs a clamping-then-cutting sequence, preventing weed scattering and avoiding the loud noise generated by traditional rotary cutting; the cut weeds are automatically collected into the weed storage bin 500, eliminating the need for secondary manual cleaning and reducing operating costs. The entire control method, guided by visual recognition, based on precise movement, and centered on low-noise cutting, can thoroughly, efficiently, and environmentally friendly remove weeds from narrow areas.

[0045] In an embodiment of the present invention, the weed identification step in the above control method may further include: the control unit tracks and identifies the same weed in multiple consecutively acquired image frames. Only when the same weed is identified in a preset number of consecutive image frames and the confidence level exceeds a threshold is the weed target confirmed, and the orientation and distance of the weed relative to the mobile chassis 100 are calculated. The preset number of image frames can be, for example, three frames. In the movement control step, the control unit generates a movement path based on the orientation and distance of the weed, and adjusts the trajectory of the mobile chassis 100 in real time through closed-loop correction, so that the robot can accurately stop at the weeding operation position. In the clamping and cutting step, the control unit first drives the servo motor of the clamping unit 310 to close the clamping plates and clamp the weed, and then drives the servo motor of the cutting unit 320 to make the blades complete the cutting action. Throughout the process, the clamping force can be detected by a pressure sensor to prevent damage to the weed, resulting in breakage or loose clamping. After cutting is completed, the control unit drives the robotic arm 200 to lift and rotate the weed to the top of the grass storage bin 500, and releases the clamping plates to complete the storage.

[0046] In some embodiments of the present invention, the intelligent weeding robot is also equipped with a 2.4G wireless remote control as a redundancy guarantee for the automated control mode. The remote control is communicatively connected to a 2.4G wireless receiver module mounted on the mobile chassis 100. The remote control is equipped with directional control keys, function selection keys, and multiple servo adjustment keys. When the robot is in manual mode, the operator can control the stepper motor of the walking mechanism 120 via the directional keys to drive the robot forward, backward, left, or right; switch different joints of the robotic arm 200 via the function keys; and adjust the rotation angles of the rotating base 210, the first arm 220, and the second arm 230 via the color buttons or the L1 / R1 and L2 / R2 keys, respectively, as well as control the opening and closing of the clamping unit 310 and the cutting action of the shearing unit 320. In manual mode, the control unit will prioritize responding to the commands of the remote control, while the automatic recognition function of the visual perception unit 400 can be selectively enabled or disabled. The wireless remote control serves as a backup operation solution for automated operations, enabling the operator to directly intervene and complete the weeding operation in cases of visual recognition failure, algorithm anomalies, or special complex terrain.

[0047] Other configurations and operations of the control method according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0048] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An intelligent weeding robot, characterized in that, include: A mobile chassis, including a support frame and multiple walking mechanisms, wherein the multiple walking mechanisms are disposed on the support frame; A visual sensing unit is disposed on the mobile chassis, and the visual sensing unit is used to collect image information of the work area; A robotic arm is mounted on the mobile chassis. The robotic arm is equipped with a weeding component and has multiple degrees of freedom. The weeding component includes a clamping unit and a cutting unit. The control unit is electrically connected to the walking mechanism, the robotic arm, and the vision sensing unit, respectively. The control unit is used to identify weeds based on the image information, control the walking mechanism to drive the mobile chassis to move, control the clamping unit to clamp the weeds, and control the cutting unit to perform cutting operations.

2. The intelligent weeding robot according to claim 1, characterized in that: The traveling mechanism includes a wheel frame and a track. The wheel frame is provided with a planetary gear mechanism and a plurality of tensioning wheels. The track surrounds the outer periphery of the plurality of tensioning wheels and the planetary gear mechanism. The planetary gear mechanism meshes with the inner side of the track to drive the track to rotate.

3. The intelligent weeding robot according to claim 2, characterized in that: The plurality of tensioning wheels includes two first rotating wheels and two second rotating wheels. The two second rotating wheels are disposed at the bottom of the wheel frame, and the two first rotating wheels are disposed between the planetary gear mechanism and the second rotating wheels. The track forms an inclined portion between the first rotating wheels and the second rotating wheels, and the inclined portion is inclined toward one side of the planetary gear mechanism.

4. The intelligent weeding robot according to claim 1, characterized in that: The robotic arm includes a rotating base, a first arm, and a second arm. The rotating base is rotatably connected to the mobile chassis. One end of the first arm is rotatably connected to the rotating base. One end of the second arm is rotatably connected to the other end of the first arm. The weeding component is disposed at the other end of the second arm.

5. The intelligent weeding robot according to claim 4, characterized in that: The shearing unit includes a first blade, a second blade, and a drive assembly. The first blade is fixed to the second arm, and the second blade is disposed opposite to the first blade and can rotate relative to the first blade. The drive assembly drives the second blade to rotate so as to form a shearing action with the first blade.

6. The intelligent weeding robot according to claim 1, characterized in that, The control unit includes a vision processing unit, a main controller, and a drive controller. The vision processing unit acquires images, identifies the weeds, and outputs the location information of the weeds. The main controller generates movement control commands and robotic arm control commands based on the location information. The drive controller drives the walking mechanism and the robotic arm based on the movement control commands and robotic arm control commands.

7. The intelligent weeding robot according to claim 6, characterized in that, The control unit is also configured to respond to the visual perception unit, and when the visual perception unit collects a preset number of consecutive image frames that all identify the same weed, the control unit controls the mobile chassis to move a preset distance so that the weed is within the working range of the weeding execution component.

8. The intelligent weeding robot according to claim 1, characterized in that, The intelligent weeding robot also includes a positioning sensor and an attitude sensor installed on the mobile chassis. The positioning sensor is used to acquire the position information of the mobile chassis, and the attitude sensor is used to acquire the attitude information of the mobile chassis. The control unit is also used to perform closed-loop correction of the movement path of the mobile chassis based on the position information and the attitude information.

9. The intelligent weeding robot according to claim 1, characterized in that: The mobile chassis is equipped with a hay storage bin, which is used to store the weeds.

10. A control method, characterized in that, The control method for the intelligent weeding robot as described in any one of claims 1 to 9 includes the following steps: Image acquisition: Image information of the work area is acquired through a visual perception unit; Weed identification: The control unit identifies weeds in the image information. When the same weed is identified in a consecutive preset number of consecutive image frames and the preset confidence level is reached, the control unit generates a movement control command based on the identification result. Motion control: According to the motion control command, the walking mechanism is controlled to move the mobile chassis to the identified weeds, and the heading angle of the mobile chassis is adjusted according to the feedback of the attitude sensor so that the weeds are located directly below the clamping unit and the cutting unit; Clamping and cutting: The control unit generates control commands for the robotic arm, and controls the robotic arm to drive the clamping unit to clamp the weeds according to the control commands. The control unit controls the cutting unit to perform cutting operations on the clamped weeds and collects the cut weeds into the hay storage bin.

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