Unmanned aerial vehicle laser-based high and steep slope weeding device and system

Abstract

The application discloses a high and steep slope weeding device based on unmanned aerial vehicle laser in the field of slope weeding, which comprises a chassis with a double-layer structure, a walking assembly arranged on both sides of the chassis, a side-tilting assembly arranged between the double-layer structure of the chassis, an equipment box body arranged on the upper-layer structure of the chassis through a sliding assembly, a cutting assembly arranged on the lower-layer structure of the chassis, and a controller arranged in the equipment box body and electrically connected with the walking assembly, the side-tilting assembly and the sliding assembly, wherein the controller is electrically connected with the unmanned aerial vehicle through wireless communication. The application also discloses a weeding system. The application has the advantages that the side-tilting assembly and the sliding assembly are arranged, and only one side-tilting motor is used for driving, so that the overturning of the top plate and the sliding of the equipment box body can be simultaneously performed, the risk of overturning of the device on the slope can be greatly reduced, and the overturning and the sliding no longer need two driving devices, so that the structure is more reasonable and energy is more saved.

Description

Technical Field

[0001] This invention relates to the field of slope weed control, specifically to a device and system for weed control on steep slopes based on UAV lasers. Background Technology

[0002] In highway, railway, water conservancy slope and mine restoration projects, there are a large number of steep soil and soil-rock mixed slopes. If weeds and shrubs on the slope are allowed to grow for a long time, their roots will continuously damage the slope spraying protection layer, grid structure and three-dimensional net soil stabilization system. Rainwater seeps down along the gaps in the weed roots, which can easily induce shallow landslides and soil erosion, seriously threatening the overall stability of the slope. Therefore, weeding and maintenance operations need to be carried out regularly on steep slopes.

[0003] Currently, slope weeding mainly employs three methods: manual suspended brush cutting, drone spraying of herbicides, and ground operation with tracked weeding machines. Among these, manual suspended operation carries extremely high safety risks and low efficiency; drone chemical weeding easily pollutes surrounding water bodies and native soil-stabilizing vegetation, and faces numerous environmental restrictions; remote-controlled tracked weeding machines, with their advantages of mechanized operation, no pesticide pollution, and continuous and stable operation, have become the mainstream equipment for weeding medium to large areas of steep slopes, and are widely used in roadbed and reservoir area grid slope maintenance construction.

[0004] Existing conventional tracked weeding equipment relies on the friction between rubber tracks and the slope for movement, using fixed counterweights and widened tracks to improve slope adhesion. However, steep slopes typically range from 30° to 45°, with uneven surfaces containing gravel, ridges, and weeds. When the equipment moves laterally along contour lines or traverses slope potholes, one track is prone to slippage or suspension. Furthermore, the fixed center of gravity of the machine cannot be adaptively adjusted, and the overturning moment generated by lateral slope tilting cannot be counteracted, making the entire machine highly susceptible to tipping and overturning accidents. Once the equipment overturns, it not only damages the weeding cutter head and hydraulic walking mechanism, but the rolling machine body can also impact slope protection structures, damage slope topsoil, and even pose significant hazards such as falling down the slope and damaging road infrastructure, endangering workers below.

[0005] While existing technologies include solutions to improve equipment stability by installing a traction winch at the top of the slope and adding hydraulic leveling cylinders, winch traction relies on a pre-installed anchor base at the top of the slope, which limits the construction site. Furthermore, the wire rope is prone to tangling with weeds on the slope, causing the equipment to jam. Hydraulic leveling structures have numerous cylinders and pipelines, making them susceptible to jamming by loose stones. The increased weight and higher center of gravity further exacerbate the risk of tipping over on steep slopes. Negative pressure adsorption structures, on the other hand, cannot maintain a sealed negative pressure due to the presence of weeds and loose soil on the slope, leading to adsorption failure and failing to fundamentally solve the technical problem of tipping over on steep slopes.

[0006] In summary, existing tracked slope weeding devices are difficult to adapt to complex terrain conditions on steep slopes and have the drawback of being prone to rollover during operation.

[0007] To address this, we propose a device and system for weeding steep slopes based on UAV laser technology. Summary of the Invention

[0008] To address the aforementioned shortcomings of existing technologies, this invention provides a device and system for weeding steep slopes based on UAV laser technology.

[0009] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows: A drone-based laser-driven weeding device for steep slopes includes: a chassis with a double-layer structure; a walking assembly located on both sides of the chassis, which moves the entire device via a tracked structure; a tilting assembly located between the two layers of the chassis, which adjusts and limits the tilt of the device in the left and right directions on the upper layer of the chassis; a housing that slides on the upper layer of the chassis via a sliding assembly, which is fixedly connected to the tilting assembly and drives the housing to slide in the tilting direction synchronously with the tilting assembly; a cutting assembly located on the lower layer of the chassis, which cuts and removes weeds at the bottom of the chassis; and a controller located inside the housing, which is electrically connected to the walking assembly, tilting assembly, and sliding assembly, and is electrically connected to the drone via wireless communication.

[0010] By incorporating a tracked walking mechanism, the device gains stronger traction against the slope and weeds. Furthermore, the tilting and sliding components allow the heavy equipment housing, along with its upper chassis, to tilt towards the top of the slope. Simultaneously, the tilting component moves the sliding component, causing the equipment housing to slide synchronously towards the top of the slope. This shifts the overall center of gravity of the device towards the top, effectively reducing the risk of tipping over towards the bottom of the slope and significantly improving stability. Electrically connected to a drone via a controller, the drone's laser scans the terrain and weeds, enabling more thorough slope weed removal.

[0011] Further defining the chassis, it includes a base plate and a top plate. The front and rear end faces of the base plate and the top plate are connected by a connecting plate. The bottom end of the connecting plate is fixedly connected to the base plate, and the top end is rotatably connected to the center of the end face of the top plate. This connection between the base plate and the top plate via the connecting plate allows the top plate to rotate only around the connection point between the connecting plate and the top plate.

[0012] Further defined, the roll assembly includes a mounting block, a roll screw, a guide rod, a roll slide, a roll motor, a first hinge seat, a second hinge seat, and a roll linkage. Two pairs of mounting blocks are provided on the base plate, and the two pairs of mounting blocks are arranged in parallel and spaced apart. The tilting screw is rotatably connected between one pair of mounting blocks, and the guide rod is fixedly connected between the other pair of mounting blocks. The tilting motor is fixedly connected to the mounting block where the tilting screw is located. One end of the tilting screw passes through the mounting block where the tilting motor is located and is fixedly connected to the output shaft of the tilting motor. The tilting slide is threadedly connected to the tilting screw and slidably connected to the guide rod. Two first hinge seats are provided on the top surface of the tilting slide. The two first hinge seats are symmetrically arranged about the central axis of the tilting slide. Two second hinge seats are also provided, symmetrically arranged on the bottom surface of the top plate corresponding to the first hinge seats. The two ends of the tilting connecting rod are rotatably connected to the first hinge seat and the second hinge seat on the same side, respectively. When the central axis of the tilting slide coincides with the horizontal projection of the central axis of the connecting plate, the top plate is in a horizontal state.

[0013] The tilt motor drives the tilt screw to rotate, and the tilt slide slides on the tilt screw and guide rod, thereby causing the position of the first hinge seat to translate. The tilt linkage will then realize the flipping of the top plate. The tilt motor can flip the top plate in different directions to adapt to different walking directions. The structure is simple and the price is low.

[0014] Further defining the sliding assembly, it includes a slide rail, a slider, a first rack, a driven gear, and a second rack. The second rack is parallel to the tilting screw and is located on the tilting slide block in the middle of the tilting screw and guide rod. Two slide rails are provided, parallel and spaced apart on the top plate. One slide rail is located directly above the second rack. The slider is slidably locked in the slide rail and its top is fixedly connected to the bottom surface of the equipment housing. A sliding groove is provided on the top plate directly above the second rack, which is vertically connected for the sliding of the first rack. The first rack is fixed to the bottom surface of the slider corresponding to the position of the sliding groove. The driven gear is rotatably connected to the bottom surface of the top plate through mounting lugs. The top of the driven gear meshes with the first rack and the bottom meshes with the second rack. When the top plate is in a horizontal state, the horizontal projections of the midpoints of the first rack and the second rack are both located on the central axis of the tilting slide block.

[0015] When the tilting motor drives the tilting slide to slide, the tilting slide will simultaneously drive the second rack to move horizontally. The second rack will drive the driven gear to rotate, and the driven gear will drive the first rack to move in the opposite direction to the second rack. This will enable the slider and the equipment box to move synchronously in the direction of the top plate flipping, thereby realizing the transfer of the equipment's center of gravity and improving the stability of the device when moving on the slope.

[0016] Further specifying, the cutting assembly includes a cutting motor, a cutting drive gear, a cutting reversing gear, and a cutting blade; The cutting motor is horizontally mounted on the base plate and its direction is perpendicular to the guide rod. The cutting drive gear is fixedly connected to the output shaft of the cutting motor. A through slot is provided on the base plate for the cutting drive gear to pass through. The cutting reversing gear is horizontally rotatably connected to the bottom surface of the base plate through a rotating shaft. The cutting blade is horizontally fixedly connected to the bottom end of the rotating shaft. The cutting reversing gear is an end face gear and meshes with the cutting drive gear.

[0017] This design of the cutting motor avoids the vertical mounting of the motor affecting the rotation of the top plate. The cutting reversing gear of the end face gear structure can convert the vertical rotation of the cutting motor into the horizontal rotation of the cutting blade, thereby achieving the cutting and weeding of weeds.

[0018] Further specifying, the traveling assembly includes a traveling frame, a driving pulley, a driven pulley, a tensioner, tracks, and a traveling motor; The traveling frame is fixedly connected to both sides of the base plate. The driving pulley is rotatably connected to one end of the traveling frame through a single-sided bracket, and the driven pulley is rotatably connected to the other end of the traveling frame on the same side through double-sided brackets. The tensioning pulley can be upgraded to be located in the middle of the top surface of the traveling frame. The traveling motor is horizontally mounted on the base plate along the left and right direction of the device, with its output axis pointing outward. The driving pulley is connected to the output shaft of the traveling motor through a transmission assembly. The track is meshed with the driving pulley, driven pulley, and tensioning pulley.

[0019] This design, with two walking motors driving the tracks on both sides respectively, results in a simpler structure. It eliminates the need for complex transmission structures to synchronize and separate the power on both sides, leading to lower costs and better economic efficiency.

[0020] Further specifying, the transmission assembly includes a driving gear and a reduction gear; the driving gear is fixedly connected to the output shaft of the driving motor, and a through slot is provided on the base plate for the driving gear to pass through and penetrate the end face; the reduction gear is fixedly connected to the axle of the drive pulley and meshes with the driving gear.

[0021] By setting up a driving gear and a reduction gear, the torque can be increased and the speed reduced, making the device more stable when traveling on slopes.

[0022] Further specifying, each slide includes two opposing baffles, the baffles being inverted L-shapes, and the slide block being convex.

[0023] Furthermore, the main power supply for both the controller and the device is located inside the equipment housing, and the controller is electrically connected to the walking motor, the cutting motor, and the tilting motor.

[0024] The controller controls the walking motor, cutting motor, and tilt motor based on the terrain data scanned by the drone's laser, making its path and vehicle posture more suitable for slope weeding and greatly reducing the risk of rollover.

[0025] The beneficial effects of the present invention are as follows: by setting up a tilting component and a sliding component, and driving it with only one tilting motor, the flipping of the top plate and the sliding of the equipment box can be carried out synchronously, which can greatly reduce the risk of the device overturning on the slope. The flipping and sliding no longer require two driving devices, the structure is more reasonable, and it saves more energy. Attached Figure Description

[0026] Figure 1 This is a partial rear view of the present invention; Figure 2 This is a partial top view of the present invention before the top plate is installed and in its structural state; Figure 3 This is a simplified structural diagram of the roll assembly; Figure 4 This is a simplified structural diagram of some of the walking components; Figure 5 This is a top view of the top plate; Figure 6 Right view showing the fit between the top plate and the equipment enclosure; Figure 7 This is a diagram showing the connection relationships of electrical components.

[0027] The symbols for each component are as follows: Chassis 1, Base Plate 11, Top Plate 12, Connecting Plate 13, Walking Assembly 2, Walking Frame 21, Drive Pulley 22, Driven Pulley 23, Tensioner 24, Track 25, Walking Motor 26, Transmission Assembly 27, Walking Drive Gear 271, Reduction Gear 272, Side Tilt Assembly 3, Mounting Block 31, Side Tilt Screw 32, Guide Rod 33, Side Tilt Slide 34, Side Tilt Motor 35, First Hinge Seat 36, Second Hinge Seat 37, Side Tilt Link 38, Equipment Housing 4, Sliding Assembly 5, Slide Rail 51, Slider 52, First Rack 53, Driven Gear 54, Second Rack 55, Sliding Groove 56, Cutting Assembly 6, Cutting Motor 61, Cutting Drive Gear 62, Cutting Reversing Gear 63, Cutting Blade 64, Controller 7. Detailed Implementation

[0028] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0029] Example: like Figures 1-7As shown, a drone-based laser-based weeding device for steep slopes includes a chassis 1, a walking assembly 2, a tilting assembly 3, an equipment housing 4, a sliding assembly 5, a cutting assembly 6, and a controller 7. The chassis 1 has a double-layer structure; the chassis 1 includes a bottom plate 11 and a top plate 12. The front and rear end faces of the bottom plate 11 and the top plate 12 are connected by a connecting plate 13. The bottom end of the connecting plate 13 is fixedly connected to the bottom plate 11, and the top end is rotatably connected to the end face center of the top plate 12. The walking assembly 2 enables the overall device to move via the track 25 structure. The walking assembly 2 includes a walking frame 21, a drive pulley 22, a driven pulley 23, a tension pulley 24, a track 25, and a walking motor 26. The walking frame 21 is fixedly connected to both sides of the base plate 11. The drive pulley 22 is rotatably connected to one end of the walking frame 21 via a single-sided bracket. The driven pulley 23 is rotatably connected to the other end of the walking frame 21 on the same side via double-sided brackets. The tension pulley 24 can be upgraded to be located in the middle of the top surface of the walking frame 21. The walking motor 26 is horizontally mounted on the base plate 11 along the left-right direction of the device, and its output shaft is outward. The drive pulley 22 is connected to the output shaft of the walking motor 26 via a transmission assembly 27. The track 25 is meshed with the drive pulley 22, the driven pulley 23, and the tension pulley 24. The transmission assembly 27 includes a driving gear 271 and a reduction gear 272. The driving gear 271 is fixedly connected to the output shaft of the driving motor 26. A through slot is provided on the base plate 11 for the driving gear 271 to pass through and penetrate the end face. The reduction gear 272 is fixedly connected to the axle of the driving pulley 22 and meshes with the driving gear 271. The tilt assembly 3 is used to adjust and limit the tilt of the upper structure of the chassis 1 in the left and right directions. The tilt assembly 3 includes a mounting block 31, a tilt screw 32, a guide rod 33, a tilt slide 34, a tilt motor 35, a first hinge seat 36, a second hinge seat 37, and a tilt connecting rod 38. Two pairs of mounting blocks 31 are provided on the base plate 11, and the two pairs of mounting blocks 31 are arranged in parallel and spaced apart. The tilt screw 32 is rotatably connected between one pair of mounting blocks 31, and the guide rod 33 is fixedly connected between the other pair of mounting blocks 31. The tilt motor 35 is fixedly connected to one of the mounting blocks 31 where the tilt screw 32 is located, and one end of the tilt screw 32 passes through the tilt motor. The mounting block 31 where the machine 35 is located is fixedly connected to the output shaft of the tilting motor 35. The tilting slide 34 is threadedly connected to the tilting screw 32 and slidably connected to the guide rod 33. Two first hinge seats 36 are provided on the top surface of the tilting slide 34. The two first hinge seats 36 are symmetrically arranged about the central axis of the tilting slide 34. Two second hinge seats 37 are also provided, symmetrically arranged on the bottom surface of the top plate 12 corresponding to the first hinge seats 36. The two ends of the tilting connecting rod 38 are rotatably connected to the first hinge seat 36 and the second hinge seat 37 on the same side, respectively. When the central axis of the tilting slide 34 coincides with the horizontal projection of the central axis of the connecting plate 13, the top plate 12 is in a horizontal state. The equipment housing 4 is slidably mounted on the top plate 12 of the chassis 1 in the left-right direction via the sliding assembly 5; The sliding assembly 5 includes a slide rail 51, a slider 52, a first rack 53, a driven gear 54, and a second rack 55. The second rack 55 is parallel to the tilting screw 32 and is located on the tilting slide block 34 in the middle of the tilting screw 32 and the guide rod 33. There are two slide rails 51, which are parallel and spaced apart on the top plate 12. One slide rail 51 is located directly above the second rack 55. The slider 52 is slidably engaged in the slide rail 51 and its top is fixedly connected to the bottom surface of the equipment housing 4. Each slide rail 51 includes two opposing baffles, which are inverted L-shaped. The slider 52 is convex in shape; a sliding groove 56 is provided on the top plate 12 directly above the second rack 55, which is vertically connected and used for the sliding of the first rack 53. The first rack 53 is fixed on the bottom surface of the slider 52 corresponding to the position of the sliding groove 56. The driven gear 54 is rotatably connected to the bottom surface of the top plate 12 through the mounting lug. The top of the driven gear 54 meshes with the first rack 53 and the bottom meshes with the second rack 55. When the top plate 12 is in a horizontal state, the horizontal projection of the midpoints of the first rack 53 and the second rack 55 are both located on the central axis of the tilting slide 34. The cutting assembly 6 is used to cut and remove weeds at the bottom of the chassis 1. The cutting assembly 6 includes a cutting motor 61, a cutting drive gear 62, a cutting reversing gear 63, and a cutting blade 64. The cutting motor 61 is horizontally mounted on the base plate 11 and its direction is perpendicular to the guide rod 33. The cutting drive gear 62 is fixedly connected to the output shaft of the cutting motor 61. A through slot is provided on the base plate 11 for the cutting drive gear 62 to pass through. The cutting reversing gear 63 is horizontally rotatably connected to the bottom surface of the base plate 11 via a rotating shaft. The cutting blade 64 is horizontally fixedly connected to the bottom end of the rotating shaft. The cutting reversing gear 63 is an end face gear and meshes with the cutting drive gear 62. In other embodiments, both the cutting drive gear 62 and the cutting reversing gear 63 can be bevel gears. The controller 7 is electrically connected to the UAV via wireless communication; the main power supply for the controller 7 and the device is located inside the equipment housing 4, and the controller 7 is electrically connected to the walking motor 26, the cutting motor 61, and the tilting motor 35.

[0030] By incorporating a walking mechanism with tracked tracks 25, the device gains stronger traction against the weeds and slopes. Furthermore, through the tilting assembly 3 and the sliding assembly 5, the tilting assembly 3 can cause the heavy equipment housing 4, along with the upper structure of the chassis 1, to tilt towards the top of the slope. Simultaneously, the tilting assembly 3 will cause the sliding assembly 5 to move, which in turn will cause the equipment housing 4 to slide synchronously towards the top of the slope. This shifts the overall center of gravity of the device towards the top of the slope, effectively reducing the risk of the device tipping over towards the bottom of the slope and significantly improving stability. The device is electrically connected to the drone via the controller 7, and the drone's... Laser scanning of terrain and weeds allows for more thorough slope weed control. Connecting the floor and roof 12 via a connecting plate 13 allows the roof 12 to rotate only around the connection point between the connecting plate 13 and the roof 12. A tilting motor 35 drives a tilting screw 32, causing the tilting slide 34 to slide on the tilting screw 32 and guide rod 33, thus translating the position of the first hinge seat 36. The tilting linkage 38 then flips the roof 12. The tilting motor 35 can rotate the roof 12 in different directions to adapt to different walking directions. The structure is simple and inexpensive. When the tilting slide 34 slides, it synchronously drives the second rack 55 to move horizontally. The second rack 55 drives the driven gear 54 to rotate, and the driven gear 54 drives the first rack 53 to move in the opposite direction to the second rack 55. This enables the slider 52 and the equipment housing 4 to move synchronously in the direction of the top plate 12's flip, thus shifting the equipment's center of gravity and improving the stability of the device on the slope. This arrangement of the cutting motor 61 avoids the vertical mounting of the motor affecting the flipping of the top plate 12. The cutting reversing gear 63 with the end face gear structure can convert the vertical rotation of the cutting motor 61 into a cutting blade. The horizontal rotation of motor 64 enables the cutting and weeding of weeds. This arrangement of two walking motors 26 driving the tracks 25 on both sides simplifies the structure, eliminating the need for complex transmission mechanisms to synchronize and separate power on both sides, resulting in lower costs and better economic efficiency. By incorporating a walking drive gear 271 and a reduction gear 272, torque is increased and speed is reduced, making the device more stable on slopes. The controller 7 controls the walking motors 26, cutting motor 61, and tilt motor 35 based on terrain data scanned by the drone's laser, making their path and vehicle posture more suitable for slope weeding and greatly reducing the risk of rollover.

Claims

1. A drone-based laser-based weeding device for steep slopes, characterized in that, include: The chassis (1) has a double-layer structure; The walking component (2) is located on both sides of the chassis (1) and the walking of the whole device is realized through the track (25) structure; The tilting assembly (3) is located between the two layers of the chassis (1) and adjusts and limits the tilting of the upper layer of the chassis (1) in the left and right directions. The equipment housing (4) is slidably mounted on the upper structure of the chassis (1) along the left and right directions of the device via the sliding assembly (5). The sliding assembly (5) is fixedly connected to the tilting assembly (3). The tilting assembly (3) synchronously drives the sliding assembly (5) to drive the equipment housing (4) to slide in the tilting direction. The cutting component (6) is disposed on the lower structure of the chassis (1) and cuts and removes the weeds at the bottom of the chassis (1). The controller (7) is located inside the equipment housing (4) and is electrically connected to the walking component (2), the tilting component (3), and the sliding component (5). The controller (7) is electrically connected to the UAV via wireless communication.

2. The high-steep slope weeding device based on UAV laser as described in claim 1, characterized in that, The chassis (1) includes a bottom plate (11) and a top plate (12). The front and rear end faces of the bottom plate (11) and the top plate (12) are connected by a connecting plate (13). The bottom end of the connecting plate (13) is fixedly connected to the bottom plate (11), and the top end is rotatably connected to the end face center of the top plate (12).

3. The high-steep slope weeding device based on UAV laser according to claim 2, characterized in that, The tilt assembly (3) includes a mounting block (31), a tilt screw (32), a guide rod (33), a tilt slide (34), a tilt motor (35), a first hinge seat (36), a second hinge seat (37), and a tilt link (38). Two pairs of mounting blocks (31) are provided on the base plate (11), and the two pairs of mounting blocks (31) are arranged in parallel and spaced apart. The tilting screw (32) is rotatably connected between one pair of mounting blocks (31), and the guide rod (33) is fixedly connected between the other pair of mounting blocks (31). The tilting motor (35) is fixedly connected to one of the mounting blocks (31) where the tilting screw (32) is located. One end of the tilting screw (32) passes through the mounting block (31) where the tilting motor (35) is located and is fixedly connected to the output shaft of the tilting motor (35). The tilting slide (34) is threaded to the tilting screw (32). The first hinge seat (36) is slidably connected to the guide rod (33). Two first hinge seats (36) are provided on the top surface of the tilting slide (34). The two first hinge seats (36) are symmetrically arranged about the central axis of the tilting slide (34). Two second hinge seats (37) are also provided, which are symmetrically arranged on the bottom surface of the top plate (12) corresponding to the first hinge seats (36). The two ends of the tilting connecting rod (38) are rotatably connected to the first hinge seat (36) and the second hinge seat (37) on the same side. When the central axis of the tilting slide (34) coincides with the horizontal projection of the central axis of the connecting plate (13), the top plate (12) is in a horizontal state.

4. The drone-based laser-driven weeding device for steep slopes according to claim 3, characterized in that, The sliding assembly (5) includes a slide rail (51), a slider (52), a first rack (53), a driven gear (54), and a second rack (55); The second rack (55) is parallel to the tilting screw (32) and is located on the tilting slide (34) in the middle of the tilting screw (32) and the guide rod (33). Two slide rails (51) are provided, parallel and spaced apart on the top plate (12). One slide rail (51) is located directly above the second rack (55). The slider (52) is slidably engaged within the slide rail (51) and its top is fixedly connected to the bottom surface of the equipment housing (4). A through-hole opening is provided on the top plate (12) directly above the second rack (55) for the... The first rack (53) slides through the sliding groove (56). The first rack (53) is fixed to the bottom surface of the slider (52) corresponding to the position of the sliding groove (56). The driven gear (54) is rotatably connected to the bottom surface of the top plate (12) through the mounting lug. The top of the driven gear (54) meshes with the first rack (53) and the bottom meshes with the second rack (55). When the top plate (12) is in the horizontal state, the horizontal projection of the midpoints of the first rack (53) and the second rack (55) are both located on the central axis of the tilting slide (34).

5. The drone-based laser-based weeding device for steep slopes according to claim 4, characterized in that, The cutting assembly (6) includes a cutting motor (61), a cutting drive gear (62), a cutting reversing gear (63), and a cutting blade (64). The cutting motor (61) is horizontally mounted on the base plate (11) and its direction is perpendicular to the guide rod (33). The cutting drive gear (62) is fixedly connected to the output shaft of the cutting motor (61). The base plate (11) has a through slot for the cutting drive gear (62) to pass through. The cutting reversing gear (63) is horizontally rotatably connected to the bottom surface of the base plate (11) via a rotating shaft. The cutting blade (64) is horizontally fixedly connected to the bottom end of the rotating shaft. The cutting reversing gear (63) is an end face gear and meshes with the cutting drive gear (62).

6. The drone-based laser-based weeding device for steep slopes according to claim 5, characterized in that, The walking assembly (2) includes a walking frame (21), a driving pulley (22), a driven pulley (23), a tensioning pulley (24), a track (25), and a walking motor (26). The walking frame (21) is fixedly connected to both sides of the base plate (11). The driving pulley (22) is rotatably connected to one end of the walking frame (21) through a single-sided bracket. The driven pulley (23) is rotatably connected to the other end of the walking frame (21) on the same side through a double-sided bracket. The tension wheel (24) can be upgraded to be located in the middle of the top surface of the walking frame (21). The walking motor (26) is horizontally arranged on the base plate (11) along the left and right direction of the device and its output axis is outward. The driving pulley (22) is connected to the output shaft of the walking motor (26) through the transmission assembly (27). The track (25) is meshed with the driving pulley (22), the driven pulley (23), and the tension wheel (24).

7. The drone-based laser-based weeding device for steep slopes according to claim 6, characterized in that, The transmission assembly (27) includes a driving gear (271) and a reduction gear (272); the driving gear (271) is fixedly connected to the output shaft of the driving motor (26), and a through groove is provided on the base plate (11) for the driving gear (271) to pass through and penetrate the end face; the reduction gear (272) is fixedly connected to the axle of the driving pulley (22) and meshes with the driving gear (271).

8. The drone-based laser-based weeding device for steep slopes according to claim 4, characterized in that, Each of the slides (51) includes two opposing baffles, the baffles being inverted L-shapes, and the slide block (52) being convex.

9. The drone-based laser-driven weeding device for steep slopes according to claim 7, characterized in that, The controller (7) and the main power supply of the device are both located inside the equipment housing (4). The controller (7) is electrically connected to the walking motor (26), the cutting motor (61), and the tilting motor (35).

10. A weeding system, characterized in that, This includes the drone-based laser-based weeding device for steep slopes as described in claim 9, and drones used for terrain scanning and surveying.

Images