An intelligent weeding robot and a weeding control method
Patent Information
- Application Number
- CN202611342154.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-09-01
- Publication Date
- 2026-10-30
AI Technical Summary
现有除草设备主要分为手推式小型除草机与大型自动驾驶除草机器人两类，但在实际应用中均存在明显缺陷，无法兼顾复杂地形适应性、作业安全性与智能化水平：
本发明的整机结构紧凑、转向半径小，可在果园行间、庭院边角等狭窄区域灵活作业；后驱大直径驱动轮抓地力强，配合后置重心布局，可适应山地坡地、颠簸草坪等复杂地形，相比大型除草机器人场景适配性显著提升。
Smart Images
Figure CN122996918A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of garden machinery and intelligent agricultural equipment technology, specifically relating to an intelligent weeding robot and a weeding control method. Background Technology
[0002] Weeding is a fundamental part of landscaping, orchard management, and farmland maintenance. Weeding robots can replace manual labor in large-scale weeding, significantly improving efficiency and reducing labor intensity. Existing weeding equipment is mainly divided into two categories: small, hand-push weeders and large, autonomous weeding robots. However, both have significant shortcomings in practical applications, failing to simultaneously address adaptability to complex terrain, operational safety, and a high level of automation. Traditional push-type lawnmowers rely on manual pushing and operation, making them suitable only for small-area flat lawn operations. When facing complex terrains such as orchards and slopes, the labor intensity for operators is extremely high, and the work efficiency is low. Furthermore, the weeding height is entirely dependent on manual control, resulting in poor weeding uniformity. The blades are prone to hitting stones on the ground and causing damage, and the exposed blades at high speeds can easily throw out gravel, making the operation unsafe.
[0003] Existing large-scale autonomous weeding robots are mostly wheeled or tracked heavy structures, which are only suitable for large-area flat farmland operations and cannot adapt to narrow and complex terrains such as orchard rows, mountain slopes, and courtyard corners; in addition, they are large in size and have a large turning radius, resulting in weak precision weeding ability and easy damage to cash crops, which cannot meet the needs of small-scale, high-precision weeding.
[0004] Most weeding equipment has exposed blades without any protective structure. During operation, gravel and debris are easily thrown out by the blades at high speed, posing a safety hazard. At the same time, the blade height adjustment mechanism is rudimentary and cannot keep up with the ground in real time according to the terrain. When encountering raised terrain, the blades are prone to hitting the ground, causing them to roll or break. When encountering depressed terrain, weeding is not thorough, resulting in large fluctuations in the quality of operation.
[0005] To address the aforementioned technical deficiencies, this invention proposes an intelligent weeding robot and a weeding control method. By optimizing the overall machine structure layout, setting up a weeding mechanism with a protective disc and a floating auxiliary wheel structure, and combining it with an intelligent hierarchical control method, the technical problems of poor terrain adaptability, rapid blade wear, low level of intelligence, and insufficient operational safety of existing weeding equipment are solved. Summary of the Invention
[0006] To address the problems raised in the background art, the purpose of this invention is to provide an intelligent weeding robot and a weeding control method. The control method of this solution sequentially includes environmental information acquisition and path planning, walking drive and steering control, weeding parameter matching and adjustment, real-time weeding operation, and graded safety protection steps. This invention can improve adaptability to complex terrain and weeding uniformity, reduce blade wear, and achieve efficient and safe intelligent weeding operations. It is suitable for various scenarios such as orchard rows, landscaping, and courtyard lawns. To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows: An intelligent weeding robot includes an engine assembly, a chassis, a weeding mechanism, a walking mechanism, and a control assembly; The walking mechanism includes drive wheels and steering wheels. The drive wheels are symmetrically arranged on the left and right sides of the rear of the chassis, and the steering wheels are symmetrically arranged on the left and right sides of the front of the chassis. The weeding mechanism is located in the lower middle part of the chassis. The weeding mechanism includes a weeding blade, a blade protection disc, and a rotating shaft. The engine assembly is fixed to the rear of the chassis and is connected to the walking mechanism and the weeding mechanism respectively. The control assembly includes a seat and a joystick. The seat is fixed to the rear area of the upper part of the chassis. The joystick is located on the side of the seat and connected to the control end of the walking mechanism and the weeding mechanism. Weeding auxiliary wheels are provided on the lower front part of the chassis and on the front side of the weeding mechanism. The engine assembly and the weeding mechanism are connected by a transmission belt.
[0007] Further specified, the diameter of the drive wheel is larger than that of the steering wheel, the two drive wheels are respectively hinged to the left and right sides of the rear of the chassis through wheel axle supports, the steering wheel is a universal steering wheel, the two steering wheels are respectively hinged to the left and right sides of the front of the chassis through steering brackets, and the upper end of the steering bracket is linked to the steering control end of the control lever.
[0008] Further specified, the rotating shaft is vertically inserted through the center of the weeding blade and the blade protection disc, and the upper end of the rotating shaft is connected to the transmission belt via a pulley; The weeding blades are provided in multiple pieces, and the multiple weeding blades are evenly fixed on the lower surface of the blade protection disc along the circumference of the blade protection disc. The outer diameter of the blade protection disc is larger than the rotational outer diameter of all the weeding blades.
[0009] Further specified, the transmission belt is arranged longitudinally along the chassis, and the rear end of the transmission belt is sleeved on the output shaft of the engine assembly; The weeding auxiliary wheels are provided in five pairs and are symmetrically arranged on the left, right and front sides of the weeding mechanism. The weeding auxiliary wheels are connected to the lower surface of the chassis and are used to support the weeding mechanism and conform to the ground to limit the weeding height.
[0010] Further specifying, the seat is a backrest seat, with the backrest extending upward to form a back support structure, and the control lever is provided in two parts, respectively located on the left and right sides of the seat.
[0011] A method for controlling the weeding of an intelligent weeding robot includes the following steps: S1 collects information on terrain undulations, obstacle locations, and weed distribution in the work area through a sensing unit located at the front of the chassis, identifies and classifies weed density levels, and generates a global weeding path covering the entire work area based on terrain and obstacle avoidance requirements. S2 controls the robot's speed by adjusting the output speed of the drive wheels through the engine assembly based on the generated global weeding path, and controls the robot's direction of travel by adjusting the deflection angle of the steering wheels through the steering control mechanism, so that the robot can travel continuously along the planned path. S3 adjusts the ground clearance of the weeding mechanism by adjusting the height of the support arm according to the type and height of the weeds in the work area, and adjusts the rotation speed of the weeding blades according to the density level of the weeds on the path, so that the weeding intensity is adapted to the weeding conditions. As the S4 robot travels along the planned path, the rotating shaft drives the weeding blades to continuously rotate and cut the weeds on the ground. The blade protection disc rotates synchronously with the rotating shaft and shields the flying gravel and debris generated during cutting. The weeding auxiliary wheels float with the undulations of the ground to maintain the stability of the weeding height in real time. The S5 system collects real-time data on weeding blade speed, engine component load, and distance to obstacles throughout the entire operation, identifies and determines the level of abnormal operating conditions, and executes corresponding graded safety handling strategies.
[0012] Further specifying, step S1 specifically includes the following sub-steps: The S11 uses a sensing unit located at the front of the chassis to collect information on the terrain slope, ground protrusions and depressions, and the location of rocks and fixed obstacles in the work area, and constructs a terrain obstacle map of the work area. S12 captures ground images through a sensing unit, distinguishes between weeds and crops using an image recognition algorithm, classifies weeds into three levels: high density, medium density, and low density, and marks the distribution area of each level of weeds. S13 is based on a full-coverage serpentine path planning algorithm. It combines terrain obstacle maps with weed distribution areas, prioritizes covering areas with high-density weeds, and reserves safe obstacle avoidance distances to generate the final global weeding operation path.
[0013] Further specifying, step S2 specifically includes the following sub-steps: S21 outputs different engine component speed commands according to the weed density level of the corresponding area on the planned path, and adjusts the linear speed of the drive wheels. The higher the weed density, the lower the driving speed. When the robot reaches the turning point of the path, it calculates the target deflection angle of the steering wheel based on the curvature of the turning point, controls the steering tie rod to drive the steering bracket to deflect, and automatically returns the steering wheel to the center after completing the steering. When the sensing unit detects that the slope of the working slope is greater than the set threshold, the S23 automatically reduces the driving speed and increases the output torque of the engine components to enhance the grip of the drive wheels and prevent slipping.
[0014] Further specifying, S3 and S4 specifically include the following sub-steps: Before starting the S31 operation, adjust the height of the weeding auxiliary wheel support arm manually or automatically according to the root depth and growth height of the target weeds, and set the ground clearance of the weeding mechanism. S32 matches and sets the target rotation speed of the weeding blades according to the weed density level of the corresponding area of the path. High density weeds correspond to high rotation speed, and low density weeds correspond to low rotation speed. The rotation speed is linked and matched with the driving speed. During the movement of the S41 robot, the engine assembly drives the rotating shaft and weeding blades to rotate continuously via the transmission belt, continuously cutting the weeds within the path range. During S42 operation, the weeding auxiliary wheel always stays in contact with the ground, and moves the weeding mechanism up and down with the unevenness of the ground, dynamically maintaining a stable height of the weeding blades off the ground.
[0015] Further specifying, S5 includes the following sub-steps: The S51 collects real-time operating parameters such as the real-time rotation speed of the weeding blades, the workload of the engine components, and the distance to obstacles ahead. S52 classifies abnormal operating conditions into minor and severe abnormalities. Slight overload of engine components and distant obstacles are classified as minor abnormalities, while stuck weeding blades and sudden drop in speed and nearby obstacles are classified as severe abnormalities. When the S53 exhibits a minor anomaly, it reduces the robot's speed and issues an audible and visual alert, continuously monitoring changes in its status. When a severe anomaly occurs, it immediately cuts off the power transmission to the weeding mechanism, raises the weeding mechanism, and simultaneously stops the robot and triggers an alarm signal.
[0016] The beneficial effects of this invention are: The invention features a compact overall structure and a small turning radius, allowing for flexible operation in narrow areas such as between rows in orchards and corners of courtyards. The large-diameter rear-drive wheels provide strong grip, and the rear-mounted center of gravity layout enables it to adapt to complex terrains such as mountain slopes and bumpy lawns, significantly improving its adaptability compared to large weeding robots.
[0017] In addition, the weeding auxiliary wheel can adaptively float with the undulation of the ground, keeping the weeding blade at a stable height off the ground and ensuring uniform weeding depth, thus preventing missed weeds and blades from hitting the ground; the blade protection disc can block flying gravel, which not only improves operational safety but also reduces the impact of debris on the blade.
[0018] By linking the walking speed with the blade rotation speed, and adaptively adjusting according to weed density, low speed and high rotation speed ensure weeding effectiveness in high-density areas, while high speed and low rotation speed reduce energy consumption in sparse areas, thus improving overall operating efficiency and significantly reducing energy consumption per unit area. Furthermore, a tiered handling strategy is implemented for different abnormal operating conditions such as blade jamming, obstacles, and engine overload. This avoids frequent shutdowns that affect operating efficiency and can quickly protect the equipment in the event of severe abnormalities, reducing failure losses and greatly improving the reliability and safety of equipment operation. Attached Figure Description
[0019] The present invention can be further illustrated by the non-limiting embodiments given in the accompanying drawings; Figure 1 This is a schematic diagram of an embodiment of an intelligent weeding robot and weeding control method according to the present invention; Figure 2 This is a schematic diagram of the bottom structure of an embodiment of an intelligent weeding robot and weeding control method according to the present invention; Figure 3 This is a top view of an embodiment of an intelligent weeding robot and weeding control method according to the present invention; Figure 4 This is a side view of an embodiment of an intelligent weeding robot and weeding control method according to the present invention.
[0020] The symbols for the main components are as follows: 1-Drive wheel, 2-Steering wheel, 3-Weeding blade, 4-Blade protection disc, 5-Shaft, 6-Engine assembly, 7-Chassis, 8-Seat, 9-Control lever, 10-Weeding mechanism, 11-Weeding auxiliary wheel, 12-Drive belt, 13-Steering bracket, 14-Sensing unit. Detailed Implementation
[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0022] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.
[0023] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
[0024] like Figure 1 As shown, an intelligent weeding robot of the present invention includes an engine assembly 6, a chassis 7, a weeding mechanism 10, a walking mechanism, and a control assembly. The walking mechanism includes a drive wheel 1 and a steering wheel 2. The drive wheel 1 is symmetrically arranged on the left and right sides of the rear of the chassis 7, and the steering wheel 2 is symmetrically arranged on the left and right sides of the front of the chassis 7. The weeding mechanism 10 is located in the lower middle part of the chassis 7. The weeding mechanism 10 includes a weeding blade 3, a blade protection disc 4, and a rotating shaft 5. The engine assembly 6 is fixed to the rear of the chassis 7 and is connected to the walking mechanism and the weeding mechanism 10 respectively. The control assembly includes a seat 8 and a joystick 9. The seat 8 is fixed to the rear area of the upper part of the chassis 7. The joystick 9 is located on the side of the seat 8 and is connected to the control end of the walking mechanism and the weeding mechanism 10. A weeding auxiliary wheel 11 is provided on the lower front part of the chassis 7 and the front side of the weeding mechanism 10. The engine assembly 6 and the weeding mechanism 10 are connected by a transmission belt 12.
[0025] In the practical application of this embodiment, the diameter of the drive wheel 1 is larger than that of the steering wheel 2. The two drive wheels 1 are respectively hinged to the left and right sides of the rear of the chassis 7 through wheel axle supports. The steering wheel 2 is a universal steering wheel. The two steering wheels 2 are respectively hinged to the left and right sides of the front of the chassis 7 through steering brackets 13. The upper end of the steering bracket 13 is linked to the steering control end of the control lever 9.
[0026] In the practical application of this embodiment, the rotating shaft 5 is vertically inserted at the center of the weeding blade 3 and the blade protection disc 4, and the upper end of the rotating shaft 5 is connected to the transmission belt 12 through a pulley; The weeding blade 3 has multiple blades, which are evenly fixed to the lower surface of the blade protection disk 4 along the circumference of the blade protection disk 4. The outer diameter of the blade protection disk 4 is larger than the rotational outer diameter of all the weeding blades 3.
[0027] In the practical application of this embodiment, the transmission belt 12 is arranged longitudinally along the chassis 7, and the rear end of the transmission belt 12 is sleeved on the output shaft of the engine assembly 6. Five weeding auxiliary wheels 11 are provided and symmetrically arranged on the left, right and front sides of the weeding mechanism 10. The weeding auxiliary wheels 11 are connected to the lower surface of the chassis 7 and are used to support the weeding mechanism 10 and conform to the ground to limit the weeding height.
[0028] In the practical application of this embodiment, the seat 8 is a backrest seat, the backrest of the seat 8 extends upward to form a back support structure, and there are two control levers 9, which are respectively located on the left and right sides of the seat 8.
[0029] A method for controlling the weeding of an intelligent weeding robot includes the following steps: S1 collects information on terrain undulations, obstacle locations, and weed distribution in the work area through the sensing unit 14 located at the front of the chassis 7, identifies and classifies weed density levels, and generates a global weeding path covering the entire work area in combination with terrain and obstacle avoidance requirements. S2 adjusts the output speed of the drive wheel 1 through the engine component 6 to control the robot's speed based on the generated global weeding path, and adjusts the deflection angle of the steering wheel 2 through the steering control mechanism to control the robot's direction of travel, so that the robot can travel continuously along the planned path. S3 adjusts the ground clearance of the weeding mechanism 10 by adjusting the height of the support arm according to the type and height of the weeds in the work area, and adjusts the rotation speed of the weeding blade 3 according to the density level of the weeds on the path, so that the weeding intensity is adapted to the weeding conditions. As the S4 robot travels along the planned path, the rotating shaft 5 drives the weeding blade 3 to rotate continuously and cut the weeds on the ground. The blade protection disc 4 rotates synchronously with the rotating shaft 5 and blocks the flying gravel and debris generated during cutting. The weeding auxiliary wheel 11 floats with the undulation of the ground to maintain the stability of the weeding height in real time. The S5 system collects real-time data on the weeding blade speed (3), engine component load (6), and distance to obstacles ahead throughout the entire operation. It identifies and judges the level of abnormal operating conditions and executes corresponding graded safety handling strategies.
[0030] In practical applications of this embodiment, step S1 specifically includes the following sub-steps: S11 uses a sensing unit 14 located at the front of the chassis 7 to collect information on the terrain slope, ground protrusions and depressions, and the location of rocks and fixed obstacles in the work area, and constructs a terrain obstacle map of the work area; the sensing unit 14 includes a tilt sensor, an ultrasonic sensor and a vision sensor. S12 captures ground images through sensing unit 14, distinguishes weeds from crops through image recognition algorithm, divides weeds into three levels: high density, medium density, and low density, and marks the distribution area of each level of weeds. S13 is based on a full-coverage serpentine path planning algorithm. It combines terrain obstacle maps with weed distribution areas, prioritizes covering areas with high-density weeds, and reserves safe obstacle avoidance distances to generate the final global weeding operation path.
[0031] In practical applications of this embodiment, step S2 specifically includes the following sub-steps: S21 outputs different engine component 6 speed commands according to the weed density level of the corresponding area on the planned path, and adjusts the linear speed of drive wheel 1. The higher the weed density, the lower the driving speed. S22 When the robot travels to the turning point of the path, it calculates the target deflection angle of the steering wheel 2 according to the curvature of the turning point, controls the steering tie rod to drive the steering bracket 13 to deflect, and automatically returns the steering wheel 2 to the center after completing the steering. When the sensing unit 14 detects that the slope of the working slope is greater than the set threshold, it automatically reduces the driving speed and increases the output torque of the engine component 6 to enhance the grip of the drive wheel 1 and prevent slipping on the slope.
[0032] In practical applications of this embodiment, steps S3 and S4 specifically include the following sub-steps: Before starting the S31 operation, adjust the height adjustment arm of the weeding auxiliary wheel 11 manually or automatically according to the root depth and growth height of the target weeds, and set the ground clearance of the weeding mechanism 10. S32 matches and sets the target rotation speed of the weeding blade 3 according to the weed density level of the corresponding area of the path. High density weeds correspond to high rotation speed, and low density weeds correspond to low rotation speed. The rotation speed is linked and matched with the driving speed. During the movement of the S41 robot, the engine assembly 6 drives the rotating shaft 5 and the weeding blade 3 to rotate continuously via the transmission belt 12, thereby continuously cutting the weeds within the path range. During the S42 operation, the weeding auxiliary wheel 11 always keeps in contact with the ground, and the weeding mechanism 10 moves up and down with the unevenness of the ground, dynamically maintaining the stable height of the weeding blade 3 off the ground.
[0033] In practical applications of this embodiment, S5 includes the following sub-steps: S51 collects real-time operating parameters such as the real-time rotation speed of the weeding blade 3, the working load of the engine assembly 6, and the distance to obstacles ahead. S52 classifies abnormal operating conditions into minor and severe abnormalities. Slight overload of engine component 6 and distant obstacles are considered minor abnormalities, while jamming and sudden drop in speed of weeding blade 3 and nearby obstacles are considered severe abnormalities. When S53 experiences a minor anomaly, it reduces the robot's speed and issues an audible and visual alert, while continuously monitoring changes in its status. When a severe anomaly occurs, it immediately cuts off the power transmission to the weeding mechanism 10, raises the weeding mechanism 10, and simultaneously controls the robot to stop and triggers an alarm signal.
[0034] This weeding robot adopts a rear-wheel drive, front-steering wheeled chassis layout. The engine assembly serves as a unified power source, driving both the walking system and the weeding mechanism 10 via a transmission belt, resulting in a simple and efficient transmission path. During operation, the operator sits on the seat 8 and controls steering and power output via the control levers 9 on both sides, making operation convenient. The weeding mechanism 10 employs a rotating cutting structure with a blade protection disc 4. The blade protection disc 4 covers the weeding blades 3, blocking debris and gravel thrown out by the high-speed rotating blades 3, preventing injury to personnel or damage to surrounding crops, and improving operational safety. Two weeding auxiliary wheels 11 are located at the front of the weeding mechanism 10. On one hand, they support the front end of the weeding mechanism 10, keeping the weeding blades 3 at a stable ground clearance. On the other hand, they can adaptively float by adjusting the support arm according to ground undulations, ensuring uniform weeding depth and preventing blades from hitting the ground and causing damage. The machine's center of gravity is concentrated in the middle and rear of the chassis, providing stronger traction on slopes and reducing the risk of tipping over. Its compact size and flexible steering make it suitable for narrow spaces such as orchard rows and courtyards.
[0035] The specific steps for controlling the weeding of a weeding robot are as follows: The ultrasonic and tilt sensors at the front of the S11 chassis collect data on the terrain undulations, rock and obstacle locations in the work area to build a terrain map. The S12 vision camera captures ground images and uses image recognition algorithms to distinguish between weeds and crops, marking weed density levels and distribution areas. S13 is based on a full-coverage path planning algorithm, which combines obstacle location and weed density to generate a serpentine full-coverage operation path, prioritizing coverage of high-density weed areas while reserving a safe distance for obstacle avoidance.
[0036] The S21 controller outputs a speed adjustment signal to the engine based on the density level of weeds along the path. The driving speed is set to 2 km / h in areas with high weed density, 3.5 km / h in areas with medium density, and 5 km / h in areas with low density. When S22 reaches the turning point of the path, it controls the steering wheel to deflect by the corresponding angle, and returns to the center after completing the steering. When the S23 tilt sensor detects a slope greater than 10°, it automatically reduces the driving speed, increases the engine output torque, and prevents slippage.
[0037] Before operation, the S31 adjusts the height of the weeding mechanism foundation off the ground by adjusting the height of the support arm according to the type and height of the weeds. During operation, the weeding auxiliary wheels float with the ground and the weeding height is finely adjusted in real time. The S32 engine outputs power via belt drive. The blade speed is set to 3000 rpm in the high-density weed zone, 2500 rpm in the medium-density zone, and 1800 rpm in the low-density zone, synchronized with the walking speed.
[0038] The S4 real-time weeding robot travels along the planned path, with the weeding blades continuously rotating to cut weeds, and the blade protection disc preventing flying debris; the weeding auxiliary wheels always keep in contact with the ground to maintain a stable weeding height; when encountering crop rows, the weeding mechanism is automatically raised briefly to avoid accidentally damaging the crops.
[0039] The S51 continuously collects parameters such as blade rotation speed, engine current, travel speed, and obstacle distance; S52 determines an abnormal operating condition when the engine overload is greater than 120%, the blade speed drops by more than 30%, and the distance to the obstacle in front is less than 0.5m. When the S53 is slightly overloaded, it reduces its travel speed and issues an audible and visual warning; when the blade gets stuck or there is an obstacle nearby, it immediately cuts off the power to the weeding mechanism, raises the weeding mechanism, stops the robot, triggers an alarm, and waits for manual inspection.
[0040] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.
Claims
1. An intelligent weeding robot, characterized by: Includes engine assembly (6), chassis (7), weeding mechanism (10), walking mechanism and control assembly; The walking mechanism includes a drive wheel (1) and a steering wheel (2). The drive wheel (1) is symmetrically arranged on the left and right sides of the rear of the chassis (7), and the steering wheel (2) is symmetrically arranged on the left and right sides of the front of the chassis (7). The weeding mechanism (10) is located in the lower middle part of the chassis (7). The weeding mechanism (10) includes a weeding blade (3), a blade protection disc (4) and a rotating shaft (5). The engine assembly (6) is fixed to the rear of the chassis (7). The engine assembly (6) is connected to the walking mechanism and the weeding mechanism (10) respectively. The control assembly includes a seat (8) and a joystick (9). The seat (8) is fixed to the rear area of the upper part of the chassis (7). The joystick (9) is located on the side of the seat (8) and connected to the control end of the walking mechanism and the weeding mechanism (10). Weeding auxiliary wheels (11) are provided on the lower front part of the chassis (7) and the front side of the weeding mechanism (10). The engine assembly (6) and the weeding mechanism (10) are connected by a transmission belt (12).
2. The intelligent weeding robot according to claim 1, characterized in that, The diameter of the drive wheel (1) is larger than that of the steering wheel (2). The two drive wheels (1) are respectively hinged to the left and right sides of the rear of the chassis (7) through wheel axle supports. The steering wheel (2) is a universal steering wheel. The two steering wheels (2) are respectively hinged to the left and right sides of the front of the chassis (7) through steering brackets (13). The upper end of the steering bracket (13) is linked to the steering control end of the control lever (9).
3. The intelligent weeding robot according to claim 1, characterized in that, The rotating shaft (5) is vertically inserted at the center of the weeding blade (3) and the blade protection disc (4), and the upper end of the rotating shaft (5) is connected to the transmission belt (12) through a pulley; The weeding blade (3) is provided with multiple blades, and the multiple weeding blades (3) are evenly fixed on the lower surface of the blade protection disk (4) along the circumference. The outer diameter of the blade protection disk (4) is larger than the rotational outer diameter of all the weeding blades (3).
4. The intelligent weeding robot according to claim 1, characterized in that, The transmission belt (12) is arranged longitudinally along the chassis (7), and the rear end of the transmission belt (12) is sleeved on the output shaft of the engine assembly (6). Five weeding auxiliary wheels (11) are provided and symmetrically arranged on the left and right sides and the front side of the weeding mechanism (10). The weeding auxiliary wheels (11) are connected to the lower surface of the chassis (7) to support the weeding mechanism (10) and conform to the ground to limit the weeding height.
5. The intelligent weeding robot according to claim 1, characterized in that, The seat (8) is a backrest seat, and the backrest of the seat (8) extends upward to form a back support structure. There are two control levers (9), which are respectively located on the left and right sides of the seat (8).
6. A weeding control method for an intelligent weeding robot, characterized in that, Includes the following steps: S1 collects information on terrain undulations, obstacle locations and weed distribution in the work area through a sensing unit (14) set at the front of the chassis (7), identifies and classifies weed density levels, and generates a global weeding path covering the entire work area in combination with terrain and obstacle avoidance requirements. S2 adjusts the output speed of the drive wheel (1) through the engine assembly (6) to control the robot's driving speed according to the generated global weeding path, and adjusts the deflection angle of the steering wheel (2) through the steering control mechanism to control the robot's driving direction, so that the robot can drive continuously along the planned path. S3 adjusts the ground clearance of the weeding mechanism (10) by adjusting the height of the weeding arm according to the type and height of the weeds in the work area, and adjusts the rotation speed of the weeding blade (3) according to the density level of the weeds on the path, so that the weeding intensity is adapted to the weeding conditions. As the S4 robot travels along the planned path, the rotating shaft (5) drives the weeding blade (3) to continuously rotate and cut the weeds on the ground. The blade protection disc (4) rotates synchronously with the rotating shaft (5) and blocks the flying gravel and debris generated by the cutting. The weeding auxiliary wheel (11) floats with the undulation of the ground to maintain the stability of the weeding height in real time. The S5 system collects real-time data on the speed of the weeding blades (3), the load of the engine components (6), and the distance to obstacles in front of the machine throughout the entire operation. It identifies and judges the level of abnormal working conditions and executes corresponding graded safety handling strategies.
7. The weed control method according to claim 6, characterized in that, S1 specifically includes the following sub-steps: S11 collects information on the terrain slope, ground protrusions and depressions, and the location of rocks and fixed obstacles in the work area through the sensing unit (14) located at the front of the chassis (7), and constructs a terrain obstacle map of the work area. S12 captures ground images through the sensing unit (14), distinguishes weeds from crops through image recognition algorithms, divides weeds into three levels: high density, medium density, and low density, and marks the distribution area of each level of weeds; S13 is based on a full-coverage serpentine path planning algorithm. It combines terrain obstacle maps with weed distribution areas, prioritizes covering areas with high-density weeds, and reserves safe obstacle avoidance distances to generate the final global weeding operation path.
8. The weed control method according to claim 6, characterized in that, S2 specifically includes the following sub-steps: S21 outputs different engine component (6) speed commands according to the weed density level of the corresponding area on the planned path, and adjusts the linear speed of the drive wheel (1). The higher the weed density, the lower the driving speed. When the robot travels to the turning point of the path, it calculates the target deflection angle of the steering wheel (2) based on the curvature of the turning point, controls the steering tie rod to drive the steering bracket (13) to deflect, and automatically returns the steering wheel (2) to center after completing the steering. When the sensing unit (14) detects that the slope of the working slope is greater than the set threshold, it automatically reduces the driving speed and increases the output torque of the engine assembly (6) to enhance the grip of the drive wheel (1) and prevent slipping.
9. The weed control method according to claim 6, characterized in that, S3 and S4 specifically include the following sub-steps: Before starting the S31 operation, adjust the height adjustment arm of the weeding auxiliary wheel (11) manually or automatically according to the root depth and growth height of the target weeds, and set the ground clearance of the weeding mechanism (10). S32 matches and sets the target rotation speed of the weeding blade (3) according to the weed density level of the area corresponding to the path. High density weeds correspond to high rotation speed, and low density weeds correspond to low rotation speed. The rotation speed is linked and matched with the driving speed. During the operation of the S41 robot, the engine assembly (6) drives the rotating shaft (5) and the weeding blade (3) to rotate continuously via the transmission belt (12) to continuously cut the weeds within the path range; During the S42 operation, the weeding auxiliary wheel (11) always stays in contact with the ground, and the weeding mechanism (10) moves up and down with the unevenness of the ground, dynamically maintaining the stable height of the weeding blade (3) off the ground.
10. The weed control method according to claim 6, characterized in that, S5 includes the following sub-steps: The S51 collects real-time operating parameters such as the real-time rotation speed of the weeding blade (3), the working load of the engine assembly (6), and the distance to obstacles in front; S52 classifies abnormal operating conditions into mild and severe abnormalities. Slight overload of engine component (6) and distant obstacles are considered mild abnormalities. Weeding blade (3) jamming and sudden drop in speed and nearby obstacles are considered severe abnormalities. When S53 experiences a minor anomaly, it reduces the robot's speed and issues an audio-visual alert, continuously monitoring changes in status. When it experiences a severe anomaly, it immediately cuts off the power transmission of the weeding mechanism (10), raises the weeding mechanism (10), and simultaneously controls the robot to stop and triggers an alarm signal.