Bionic weeding robot

Abstract

The bionic weeding robot comprises a walking trolley and a weeding mechanical claw, the walking trolley comprises a main machine frame and crawler-type walking devices on the two sides, and the main machine frame is further provided with an identification camera and a sliding device for driving the weeding mechanical claw to transversely move left and right. The weeding mechanical claw comprises a hoe-type actuator and a control console for driving the hoe-type actuator to move, the weeding mechanical claw is used for automatically removing field weeds, the influence of the weeds in crop planting is reduced, the structure is ingenious, the weeding cost is reduced, the labor intensity is relieved, the automation level of weeding is improved, and the weeding efficiency is improved. Combined power supply is achieved through the power device and the folding type solar device, the use cost is reduced, the control device controls the camera to conduct visual recognition, the control device and the bionic weeding mechanical claw work cooperatively, weeds in wide-row fields can be removed, and the weeding effect is good. And the efficiency and the accuracy of removing weeds, especially weed seedlings, are improved.

Description

Technical Field

[0001] The utility model relates to the field of intelligent equipment for agricultural machinery, in particular to a bionic weeding robot. Background Art

[0002] In crop planting and agricultural production, weeds in the field will compete with crops for nutrition and sunlight, restrict the growth and development of crops, reduce the quality of crops, and seriously affect agricultural production. At the same time, the presence of weeds is not conducive to the management and harvesting of crops. Therefore, timely removal of weeds is an extremely important task in the process of crop growth.

[0003] In recent years, in agricultural production, people have adopted manual weeding, chemical weeding, biological weeding and mechanical weeding. Manual weeding is time-consuming, labor-intensive and costly; chemical weeding will pollute the soil and crops; biological weeding is restricted and affected by climate, environment and other factors; mechanical weeding ensures weeding efficiency and reduces manual pressure.

[0004] However, mechanical weeding still has problems such as low weed recognition accuracy, inability of weeding equipment to adjust tool angles in time according to the location and posture of weeds, and high energy consumption of weeders. Existing weeding robots are still unable to effectively remove weeds while ensuring energy conservation and consumption reduction. Utility Model Content

[0005] The utility model aims at the deficiencies of the prior art and provides a bionic weeding robot.

[0006] The utility model is realized through the following technical scheme, providing a bionic weeding robot, including a walking trolley and a weeding mechanical claw, wherein the walking trolley includes a main frame and crawler-type walking devices on both sides, the main frame is also equipped with a recognition camera and a sliding device for driving the weeding mechanical claw to move horizontally left and right, and the weeding mechanical claw includes a hoe-type actuator and a control console for driving the hoe-type actuator to move.

[0007] The walking trolley of this scheme detects weeds through the recognition camera for positioning and identification during the forward movement, and moves the weeding mechanical claw horizontally to the top of the weeds through the sliding device. The control console adjusts the hoe-type actuator to the weeding posture through the articulated mechanical arm, and hoes the weeds when it is perpendicular to the roots of the weeds.

[0008] As an optimization, the main frame is also equipped with a foldable solar device, which includes a plurality of solar panels hinged to the main frame. The foldable solar device in this solution can generate electricity by itself to provide power for the robot to perform weeding work.

[0009] As an optimization, the foldable solar device also includes a plurality of rectangular fixing frames, which are hinged to the main frame through a hinge device, the front of the rectangular fixing frame is fixed with a solar panel, and the back of the rectangular fixing frame is provided with a cylindrical pad. In the shutdown state, the rectangular fixing frames can be folded around to realize the flipping and placement on the top surface of the main frame, saving space. When working, the rectangular fixing frames can be unfolded in turn, and the solar panels can be turned upwards to enable normal operation. The solar panels are isolated from each other by the cylindrical pads on the back of the rectangular fixing frames.

[0010] As an optimization, a solar panel is fixedly connected to the top of the main frame, and a rectangular fixing frame is arranged around each of the main frame. In this solution, power generation is achieved through a total of five solar panels.

[0011] As an optimization, the main frame is equipped with horizontally retractable pull rods around it. After the foldable solar device is unfolded, the retractable pull rods are extended to support the solar panel and the rectangular fixing frame. After the foldable solar device is folded, the retractable pull rods are retracted to reduce the occupied space.

[0012] As an optimization, the console includes three circumferentially evenly distributed connection brackets, on which a drive motor is mounted, and the drive motor is connected to a fixture via an articulated mechanical arm, and the articulated mechanical arm includes a power arm and two power arms, one end of the power arm is connected to the drive motor by transmission, the other end of the power arm is connected to the upper ends of the two power arms by a ball joint, the lower end of the power arms is connected to the fixture by a ball joint, and the hoe-type actuator is fixed to the lower end of the fixture. The drive motor in this solution drives the power arm to swing, and is connected to the fixture via the power arms, and the three-dimensional movement of the hoe-type actuator can be achieved through the coordinated movement of the three drive motors.

[0013] As an optimization, the sliding device includes a console connecting plate and two parallel slides, the console connecting plate is fixedly connected to the slider of the parallel slide, a ball screw is installed on the parallel slide, the nut of the ball screw is fixedly connected to the slider of the parallel slide, and the sliding device also includes a sliding motor that drives the two ball screws to rotate. In this solution, the slider of the parallel slide is driven to move by the rotation of the ball screw, thereby driving the weeding mechanical claw to move left and right.

[0014] As an optimization, a transmission shaft perpendicular to the two parallel slides is connected to the rotating shaft of the sliding motor, and the transmission shaft realizes reversing transmission through a commutator and a ball screw. The sliding motor drives the rotating shaft to rotate, and the rotation of the two ball screws is realized through the commutator.

[0015] The beneficial effects of the utility model are as follows: the utility model provides a bionic weeding robot, which is used to realize the automated removal of weeds in the field and reduce the impact of weeds on crop planting. It has an ingenious structure, reduces the cost of weeding, alleviates labor intensity, and improves the automation level of weeding. The utility model realizes joint power supply through a power device and a foldable solar device, which reduces the cost of use. The control device controls the camera for visual recognition and works in coordination with the bionic weeding mechanical claw to realize the removal of weeds in wide-row fields, thereby improving the efficiency and accuracy of removing weeds, especially weed seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the utility model weeding mechanical claw;

[0018] Figure 3 This is a schematic diagram of the structure of the utility model without the weeding mechanical claw;

[0019] Figure 4 It is a structural schematic diagram of the sliding device of the utility model;

[0020] Figure 5 is an expanded view of the foldable solar device of the present invention;

[0021] Figure 6 This is a schematic diagram of the interior of the weeding mechanical claw of the present invention;

[0022] Figure 7 It is a schematic diagram of the installation of the solar panel of the present invention;

[0023] Figure 8 It is a motion schematic diagram of the weeding mechanical claw of the present invention;

[0024] As shown in the figure:

[0025] 1. Weeding mechanical claw, 2. Walking trolley, 11. Control console, 111. Connecting bracket, 112. Driving motor, 12. Articulated mechanical arm, 121. Power arm, 122. Power arm, 123. Fixer, 13. Hoe-type actuator, 21. Main frame, 22. Crawler walking device, 23. Recognition camera, 24. Sliding device, 241. Parallel slide, 242. Ball screw, 243. Sliding motor, 244. Transmission shaft, 245. Coupling, 246. Commutator, 247. Driving bearing, 248. Control console connecting plate, 25. Control device, 26. Power device, 27. Folding solar device, 271. Solar panel, 272. Rectangular fixing frame, 273. Hinge device, 274. Cylindrical pad, 28. Triangular support plate, 29. Retractable pull rod. DETAILED DESCRIPTION

[0026] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0027] like Figures 1 to 8 As shown, a bionic weeding robot of the utility model comprises a walking trolley 2 and a weeding mechanical claw 1. The walking trolley 2 comprises a main frame 21 and crawler-type walking devices 22 on both sides. The main frame 21 is also equipped with a recognition camera 23 and a sliding device 24 for driving the weeding mechanical claw 1 to move horizontally left and right.

[0028] The main frame 21 is symmetrical on both sides, and the crawler walking device 22 is installed on the left and right sides of the main frame. The crawler travel is used as the moving mode of the weeding robot. The control device 26 is fixed on the left side of the main frame to control the travel, identification and grasping of the bionic weeding mechanical claw of the weeding robot. The power device 27 is a battery, which is fixed on the right side of the main frame and is symmetrical with the control device 26 about the center of the main frame. It serves as a backup or normal power supply for the weeding robot. The foldable solar device 27 serves as the main power supply for the weeding robot.

[0029] The weeding mechanical claw 1 includes a hoe-type actuator 13 and a control console 11 for driving the hoe-type actuator 13 to move. The hoe-type actuator 13 is used to perform weeding tasks.

[0030] The console 11 includes three connection brackets 111 evenly distributed in the circumference, that is, the connection brackets 111 are distributed in a circle at an angle of 120°. The connection brackets 111 are equipped with a drive motor 112, and the drive motor 112 is connected to the fixer 123 through the articulated mechanical arm 12.

[0031] The articulated robotic arm 12 includes a power arm 121 and two power arms 122. One end of the power arm 121 is connected to the driving motor 112. Specifically, one end of the power arm 121 is hinged to the connecting bracket 111 so that it can swing up and down. The driving motor 112 drives the power arm 121 to swing up and down through a transmission component. The transmission component can be a gear drive, a sprocket drive or a belt drive.

[0032] The other end of the power arm 121 is connected to the upper ends of the two power arms 122 by a ball hinge, the upper ends of the two power arms 122 are respectively connected to the two sides of the power arm 121 by a ball hinge, the lower end of the power arm 122 is connected to the fixture 123 by a ball hinge, and the hoe-type actuator 13 is fixed to the lower end of the fixture 123. When performing the weeding task, the fixture receives the power of the articulated mechanical arm, drives the movement of the connecting rod device, and then realizes the arc movement of the shovel surface, effectively improving the flexibility of the bionic weeding mechanical claw.

[0033] The sliding device 24 connects the weeding mechanical claw 1 and the main frame 21 to realize the left and right movement of the weeding mechanical claw 1. Figure 4 As shown, the sliding device 24 includes a console connecting plate 248 and two parallel slides 241. The parallel slides 241 are installed below the middle of the main frame 21. The parallel slides 241 extend left and right. The two parallel slides 241 are arranged in parallel and front and back. The console connecting plate 248 is fixedly connected to the slider of the parallel slides 241, so that the console connecting plate 248 is driven to move by the movement of the slider. The weeding mechanical claw 1 is fixedly connected to the lower end surface of the console connecting plate 248.

[0034] A ball screw 242 is mounted on the parallel slide 241 . The nut of the ball screw 242 is fixedly connected to the slider of the parallel slide 241 . The sliding device 24 further includes a sliding motor 243 for driving the two ball screws 242 to rotate.

[0035] The rotating shaft of the sliding motor 243 is connected to a transmission shaft 244 which is perpendicular to the two parallel slides 241. The sliding motor and the transmission shaft 244 are coaxially connected through a triple coupling 245. The sliding motor can transmit power to the transmission shaft through the triple coupling. The transmission shaft 244 realizes reversing transmission with the ball screw 242 through a commutator 246. The ball screws are fixedly mounted with driving bearings 247, which are coaxially matched with the ball screws.

[0036] The main frame 21 is also equipped with a foldable solar device 27, which includes a plurality of solar panels 271 hinged to the main frame 21. Specifically, the foldable solar device 27 also includes a plurality of rectangular fixing frames 272, each of which is provided around the main frame 21, and the rectangular fixing frames around are staggered according to their height difference. The rectangular fixing frames 272 are hinged to the main frame 21 through hinge devices 273, and the front of the rectangular fixing frames 272 is fixed with a solar panel 271, which is embedded in the rectangular fixing frames 272 of suitable size. A cylindrical pad 274 is provided on the back of the rectangular fixing frames 272.

[0037] The control device 25 and the power device 26 are respectively fixedly welded to the center positions on the left and right sides of the main frame 21, and are both reinforced by two triangular support plates 28. The top ends of the triangular support plates 28 are respectively fixedly installed on the two ends of the bottom surfaces of the control device 25 and the power device 26, and the bottom ends of the triangular support plates 28 are fixedly welded to the corresponding sides of the main frame 21.

[0038] Two triangular support plates 28 are fixedly mounted on the front and rear surfaces of the main frame 21 , respectively. The left and right widths of the triangular support plates should be slightly smaller than the left and right widths of the rectangular scaffolding 272 .

[0039] A solar panel 271 is fixedly connected to the top of the main frame 21. The rectangular fixing frames 272 installed around the main frame 21 are installed in a 180° hinge manner. When fully unfolded, they can remain parallel to the top surface of the main frame 21. After unfolding, the left and right rectangular fixing frames 272 fall on the top of the control device 25 and the power device 26 respectively. After unfolding, the front and rear rectangular fixing frames 272 are fixedly supported by two triangular support plates 28 installed on the corresponding sides.

[0040] After the foldable solar device 27 is folded, the rectangular fixing frames 272 on the four sides can be flipped over and placed on the top surface of the main frame 21 in sequence.

[0041] The main frame 21 is equipped with horizontally telescopic pull rods 29 around it. The telescopic pull rods 29 are respectively installed on the outside of the left and right side control devices 25 and the power device 26, and the front and rear side triangular support plates 28, and the top surface height is kept level with the top surface of the corresponding side parts.

[0042] like Figure 5 As shown, there are five solar panels 271 , namely solar panel a, solar panel b, solar panel c, solar panel d and solar panel f. Solar panel f is fixedly installed on the top of the trolley body 21 .

[0043] The flipping and unfolding order of the four solar panels on the four sides is solar panel a, solar panel b, solar panel c, and solar panel d. After being unfolded, the solar panel a is laid flat on the control device, the solar panel b is laid flat on the power supply device after being unfolded, the solar panel c is laid flat on the triangular support plate on the front side of the main frame after being unfolded, and the retractable pull rod installed on the outer side of the top of the triangular support plate is unfolded to enhance the supporting effect. After being unfolded, the solar panel d is laid flat on the triangular support plate on the rear side of the main frame. Similarly, the retractable pull rod installed on the outer side of the top of the triangular support plate is unfolded to enhance the supporting effect. The flipping order is opposite to the folding order, and after folding, each solar panel will be isolated and stacked with each other through the cylindrical support platform 274 on the back of the rectangular fixing frame 272, which is convenient for storage and effectively prevents damage to the solar panels.

[0044] The use of the utility model:

[0045] Before the robot works, the solar panels are unfolded in the prescribed order to realize self-generation, and the weeding robot is started to work through the control device. During the forward movement, the robot detects weeds through the recognition camera for positioning and identification, and transmits the detected positioning information to the control device of the weeding robot. The control device sends a control command to suspend the crawler walking device, thereby stopping the weeding robot, and starts the sliding device to move the weeding mechanical claw horizontally above the weeds. At the same time, the articulated mechanical arm is controlled to adjust the hoe-type actuator to the weeding posture, and the weeding operation is performed when it is perpendicular to the root of the weeds; after the camera detects that the weeding is successful, the recognition information is fed back to the control device, and then the control device controls the crawler walking device to restart until the next weeding operation. Therefore, based on the weeding robot shown in this embodiment, the resistance of the soil to the weeding tool during weeding is reduced, which can greatly improve work efficiency and reduce labor costs.

[0046] Of course, the above description is not limited to the above examples. The technical features not described in the present invention can be achieved by or by adopting the existing technology, which will not be repeated here. The above embodiments and drawings are only used to illustrate the technical scheme of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that the changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not deviate from the purpose of the present invention and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A bionic weeding robot, characterized in that: The invention comprises a walking trolley (2) and a weeding mechanical claw (1), wherein the walking trolley (2) comprises a main frame (21) and crawler-type walking devices (22) on both sides, the main frame (21) is also provided with an identification camera (23) and a sliding device (24) for driving the weeding mechanical claw (1) to move horizontally, and the weeding mechanical claw (1) comprises a hoe-type actuator (13) and a control console (11) for driving the hoe-type actuator (13) to move. The console (11) comprises three connecting brackets (111) uniformly distributed in the circumferential direction, a driving motor (112) being mounted on the connecting bracket (111), the driving motor (112) being connected to a fixer (123) via an articulated mechanical arm (12), the articulated mechanical arm (12) comprising a power arm (121) and two power arms (122), one end of the power arm (121) being transmission-connected to the driving motor (112), the other end of the power arm (121) being ball-jointed to the upper ends of the two power arms (122), the lower end of the power arms (122) being ball-jointed to the fixer (123), and the hoe-shaped actuator (13) being fixedly connected to the lower end of the fixer (123).

2. A bionic weeding robot according to claim 1, characterized in that: A foldable solar device (27) is also mounted on the main frame (21), and the foldable solar device (27) comprises a plurality of solar panels (271) hinged to the main frame (21).

3. A bionic weeding robot according to claim 2, characterized in that: The foldable solar device (27) further comprises a plurality of rectangular fixing frames (272), wherein the rectangular fixing frames (272) are hingedly connected to the main frame (21) via hinge devices (273), a solar panel (271) is fixedly connected to the front of the rectangular fixing frames (272), and a cylindrical cushion block (274) is arranged on the back of the rectangular fixing frames (272).

4. The bionic weeding robot according to claim 3, characterized in that: A solar panel (271) is fixedly connected to the top of the main frame (21), and a rectangular fixing frame (272) is provided on each of the four sides of the main frame (21).

5. The bionic weeding robot according to claim 4, characterized in that: The main frame (21) is provided with retractable pull rods (29) that are retractable horizontally outwards on all four sides.

6. The bionic weeding robot according to claim 1, characterized in that: The sliding device (24) comprises a console connecting plate (248) and two parallel slides (241); the console connecting plate (248) is fixedly connected to the sliders of the parallel slides (241); a ball screw (242) is mounted on the parallel slides (241); a nut of the ball screw (242) is fixedly connected to the sliders of the parallel slides (241); and the sliding device (24) further comprises a sliding motor (243) for driving the two ball screws (242) to rotate.

7. The bionic weeding robot according to claim 6, characterized in that: A transmission shaft (244) perpendicular to the two parallel slides (241) is connected to the rotating shaft of the sliding motor (243), and the transmission shaft (244) realizes reversing transmission through a commutator (246) and a ball screw (242).

Images