Weeding and film covering integrated robot

Abstract

The utility model provides a weeding and film mulching integrated robot, and particularly relates to the technical field of agricultural equipment. The robot comprises a robot body; the robot body comprises an electric control box, two groups of crawler belt moving mechanisms and an image acquisition mechanism; the electric control box is arranged above the two sets of crawler belt moving mechanisms through the rack. A motor box is arranged at the bottom of the electric control box; a solar panel and two groups of lead screw mechanisms are arranged at the top of the electric cabinet; a control system, a laser assembly, a GPS positioning system and a power supply device are arranged in the electric control box; the rear end of the electric control box is connected with the film covering mechanism through a telescopic pull rod; the telescopic pull rod can drive the film covering mechanism to ascend and descend through the lead screw mechanism. Two groups of rotating bases are symmetrically arranged at the bottom of the motor box; the bottom of the rotating base is connected with a laser transmitter through a telescopic mechanical arm. The laser weeding and film covering device has the functions of laser weeding and film covering, does not need chemical agents, is compact in structure, accurate, efficient and safer and healthier.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural equipment, in particular to a weeding and film-covering integrated robot. Background Art

[0002] As a common component of natural ecosystems, the existence of weeds is a manifestation of biodiversity, but their competition for nutrients, water and sunlight seriously damages the growth and development of crops. In traditional agricultural production concepts, completely removing weeds and avoiding competition with crops is the basic practice of field operation management; modern weed control concepts do not advocate the complete elimination of weeds, but rather the state in which weeds coexist with the main crops without affecting the growth and yield formation of crops. This concept has been widely accepted in modern agriculture.

[0003] At present, technologies such as manual weeding and chemical weeding have been widely used in agriculture. Manual weeding is the most traditional weeding method, which has the disadvantages of high labor intensity, low labor efficiency and high cost; chemical herbicides mainly refer to the use of chemical herbicides for weeding. Although chemical herbicides are more effective and economically advantageous than manual herbicides, the widespread use of herbicides may lead to excessive residues of harmful substances in agricultural products, causing harm to soil quality and the environment, and hindering the green and healthy development of the agricultural industry.

[0004] In addition, traditional operations generally require a separate laminating machine, which increases costs while also increasing labor costs.

[0005] Therefore, a safe, efficient and low-pollution weeding and film covering device is very necessary. Utility Model Content

[0006] In order to overcome the deficiencies of the above-mentioned prior art, the traditional manual weeding method has low efficiency and chemical herbicides easily cause harmful substances to remain in crops or soil and cause harm, and a separate film covering machine is required, which leads to high production and labor costs.

[0007] The utility model provides an integrated weeding and film covering robot, and the specific technical scheme is as follows:

[0008] A weeding and film covering integrated robot comprises a robot body; the robot body comprises an electric control box, two sets of crawler moving mechanisms and an image acquisition mechanism; the electric control box is arranged above the two sets of crawler moving mechanisms through a frame; an electric box is arranged at the bottom of the electric control box; a solar panel and two sets of lead screw mechanisms are arranged on the top of the electric control box; a control system, a laser component, a GPS positioning system and a power supply device are arranged in the electric control box; the rear end of the electric control box is connected to the film covering mechanism through a telescopic pull rod; the telescopic pull rod drives the film covering mechanism to rise and fall through the lead screw mechanism; two sets of rotating bases are symmetrically arranged at the bottom of the motor box; the bottom of the rotating base is connected to a laser transmitter through a telescopic mechanical arm.

[0009] Preferably, the film coating mechanism includes a fixed frame, which is provided with a film roller, a film spreading roller, a film pressing wheel and a covering plate; the film roller is arranged on a side close to the electric control box; the covering plate is fixed on a side away from the electric control box; the film spreading roller is arranged between the film roller and the film pressing wheel; the roller shaft of the film roller, the roller shaft of the film spreading roller and the wheel shaft of the film pressing wheel are all rotatably connected to the fixed frame; there are two film pressing wheels and two covering plates, which are symmetrically arranged on the left and right sides of the fixed frame; the film pressing wheel is in contact with the ground; there is a gap between the covering plate and the ground; the surface of the film roller is covered with a ground film; the height of the film spreading roller from the ground is lower than the height of the film roller from the ground; the inner spacing between the two film pressing wheels is less than the width of the ground film; the inner spacing between the two covering plates is greater than the width of the ground film, and the ends of the two covering plates away from the electric control box are inclined inward.

[0010] Preferably, the two groups of the screw mechanisms are symmetrically arranged on the left and right sides of the top of the electric control box and at the rear position; the screw mechanism includes a lifting motor and a screw; the output shaft of the lifting motor is connected to one end of the screw; the other end of the screw is provided with a first gear; one end of the telescopic pull rod is connected to the fixed frame, and the other end is provided with a second gear; the first gear is meshed with the second gear.

[0011] Preferably, the image acquisition mechanism includes a main camera and two sub-cameras; the main camera is installed on a mounting plate at the front end of the robot body; warning lights are symmetrically arranged on both sides of the mounting plate; the sub-cameras are installed on the side of the laser transmitter close to the crawler track moving mechanism; the shooting direction of the main camera faces forward, and the shooting direction of the sub-camera faces downward; a lighting lamp is also arranged along the length direction on the side of the sub-camera close to the crawler track moving mechanism.

[0012] Preferably, the power supply device includes a mobile power supply, a filter, a voltage stabilizer and a power control cabinet; the solar panel converts light energy into electrical energy and stores it in the mobile power supply; the mobile power supply supplies power to the robot body through processing by the filter and the voltage stabilizer.

[0013] Also preferably, the track moving mechanism includes a drive motor and a track; the drive motor is installed in a motor box; the track is supported by a driving wheel, a driven wheel and a plurality of supporting wheels; the driving wheel, the driven wheel and a plurality of supporting wheels are all engaged with the track; the output shaft of the drive motor is connected to the wheel axle of the driving wheel.

[0014] Also preferably, two shading plates are provided at the bottom of the frame; the two shading plates are respectively located at the front and rear sides of the motor box; there is a gap between the shading plates and the ground and the distance between the bottom of the shading plates and the ground is smaller than the distance between the bottom of the motor box and the ground.

[0015] Further preferably, a shock absorber is installed at the radiation end of the laser transmitter; and the laser transmitter is controlled by a laser assembly.

[0016] Still further preferably, the left and right side walls of the electric control box are also provided with a control switch cabinet, a touch screen and a heat sink; the control switch cabinet is electrically connected to the power control cabinet.

[0017] Further preferably, the control system includes a command control terminal, a data processor, a data receiver, a data storage device and a circuit board; the touch screen, main camera, auxiliary camera, lifting motor, drive motor, data processor, data receiver, data storage device, laser assembly, laser transmitter, rotating base, telescopic robotic arm, GPS positioning system, warning light and lighting are all controlled by the command control terminal.

[0018] The beneficial effects of the utility model are:

[0019] 1. Compared with the traditional film covering and weeding split machine, the utility model has a compact structure, convenient and more accurate operation, greatly reduces manpower and production costs, and greatly improves production efficiency;

[0020] 2. The robot plans its route through the main camera and identifies and locates weeds through the auxiliary camera. It can select appropriate laser parameters according to the type and size of weeds, which is more accurate.

[0021] 3. The utility model adjusts the light around the laser transmitter by setting a lighting lamp or a shading plate, so that the image taken by the auxiliary camera is not affected by light or weather, and is clearer and more stable;

[0022] 4. The utility model can store the collected data and images as historical data by setting up a data processor and a data storage device, so that the operator can adjust the parameters in time, which is more convenient for reference. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting the specification of this application are used to provide further understanding of this application and do not constitute improper limitations on this application.

[0024] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0025] Figure 2 It is a side view of the utility model;

[0026] Figure 3 It is a front view of the utility model;

[0027] Figure 4 It is a top view of the interior of the electric control box in the utility model;

[0028] Figure 5 It is a bottom view of the utility model;

[0029] In the figure, 1-electric control box; 11-screw mechanism; 12-telescopic pull rod; 13-control switch cabinet; 14-heat sink; 15-touch screen; 16-command control terminal; 17-GPS positioning system; 18-data processor; 19-data receiver; 20-data storage; 21-laser component; 22-mobile power supply; 23-circuit board; 24-filter; 25-voltage stabilizer; 26-power control cabinet; 2-solar panel; 3-mounting plate; 31-main camera; 32-warning light; 4-crawler moving mechanism; 41-crawler; 42-driving wheel; 43-driven wheel; 44-support wheel; 45-drive motor; 5-film coating mechanism; 51-fixed frame; 52-film roller; 53-film spreading roller; 54-film pressing wheel; 55-covering plate; 6-motor box; 61-shading plate; 62-auxiliary camera; 63-lighting lamp; 7-laser transmitter. DETAILED DESCRIPTION

[0030] The specific implementation of the integrated weeding and film covering robot provided by the utility model is further described in conjunction with the accompanying drawings and embodiments.

[0031] like Figure 1 As shown, a weeding and film covering integrated robot includes a robot body; the robot body includes an electric control box 1, two sets of crawler moving mechanisms 4 arranged side by side, and an image acquisition mechanism. Among them, a frame is arranged between the two sets of crawler moving mechanisms 4; the electric control box 1 is installed on the top of the frame, which is convenient for centrally setting various equipment on the one hand, and is conducive to balancing the distribution of the weight of the vehicle body on the other hand. A motor box 6 is arranged at the bottom of the electric control box 1; a solar panel 2 and two sets of screw mechanisms 11 are arranged on the top of the electric control box 1; the two sets of screw mechanisms 11 are symmetrically arranged on the left and right sides of the top of the electric control box 1 and close to the rear side of the electric control box 1.

[0032] Preferably, the electric control box 1 is provided with a control system, a laser assembly 21, a GPS positioning system 17 and a power supply device.

[0033] Preferably, the rear end of the electric control box 1 is connected to the film coating mechanism 5 through a telescopic pull rod 12. It is worth noting that the telescopic pull rod 12 can drive the film coating mechanism 5 to be raised and lowered through the screw mechanism 11. Two sets of rotating bases are symmetrically arranged at the bottom of the motor box 6; the bottom of the rotating base is connected to the laser emitter 7 through a telescopic mechanical arm. The cooperation between the rotating base and the telescopic mechanical arm can realize the angle adjustment of the laser emitter 7 in the bottom space of the motor box 6, so that the weeding range is larger and the weeding target is more accurate; in order to facilitate laser focusing, the radiation end of the laser emitter 7 is also installed with a shock absorber.

[0034] like Figure 2 As shown, the crawler moving mechanism 4 includes a crawler 41, a driving wheel 42, a driven wheel 43, a plurality of supporting wheels 44 and a driving motor 45; wherein the driving motor 45 is installed in the motor box 6; the crawler 41 is jointly supported by the driving wheel 42, the driven wheel 43 and a plurality of supporting wheels 44; and the driving wheel 42, the driven wheel 43 and a plurality of supporting wheels 44 are all engaged with the crawler 41; the output shaft of the driving motor 45 is connected to the wheel axle of the driving wheel 42; when walking, the movement and steering of the crawler moving mechanism 4 are realized by controlling the rotation speed of the two driving motors 45 or installing a differential at the driving motor 45, thereby realizing the precise displacement of the robot body.

[0035] Preferably, the film coating mechanism 5 comprises a fixed frame 51, and the fixed frame 51 is provided with a film roller 52, a film spreading roller 53, a film pressing wheel 54 and a soil covering plate 55. The film roller 52 is arranged on the side close to the electric control box 1; the soil covering plate 55 is fixed on the side away from the electric control box 1; the film spreading roller 53 is arranged between the film roller 52 and the film pressing wheel 54. The roller shaft of the film roller 52, the roller shaft of the film spreading roller 53, and the wheel shaft of the film pressing wheel 54 are all rotatably connected to the fixed frame 51; the two film pressing wheels 54 and the two soil covering plates 55 are symmetrically arranged on the left and right sides of the fixed frame 51; preferably, the surface of the film roller 52 is covered with a ground film.

[0036] It is worth noting that the film spreading roller 53 plays the role of flattening and pressing down the ground film. The height of the film spreading roller 53 from the ground is slightly lower than the height of the film roller 52 from the ground, but it cannot be too close to the ground to prevent the ground soil from scratching the ground film. The inner spacing between the two film pressing wheels 54 should be slightly smaller than the width of the ground film and in contact with the ground. When the ground film is laid on the ground surface as the robot body moves, the film pressing wheels 54 initially roll and fix both sides of the ground film; there is a gap between the covering plate 55 and the ground to prevent the ground from causing damage to the covering plate 55; the inner spacing between the two covering plates 55 should be larger than the width of the ground film, and the ends of the two covering plates 55 away from the electric control box 1 are both tilted inward. As the robot body moves forward, the covering plate 55 collects part of the soil inward and presses it on the surface of the ground film that has been initially rolled and fixed by the film pressing wheels 54 for secondary fixation.

[0037] It is also preferred that the screw mechanism 11 includes a lifting motor and a screw; the output shaft of the lifting motor is connected to one end of the screw; the other end of the screw is provided with a first gear; one end of the telescopic pull rod 12 is connected to the fixed frame 51, and the other end is provided with a second gear; the first gear is meshed with the second gear, and when lamination is not required, the lifting motor can be controlled to lift the laminating mechanism 5 as a whole upward and off the ground.

[0038] like Figure 3 , Figure 5 As shown, the image acquisition mechanism includes a main camera 31 and two sub-cameras 62. The main camera 31 is mounted on the mounting plate 3 at the front end of the robot body, and the shooting direction of the main camera 31 faces forward; the main camera 31 is mainly used to capture images or videos of the surrounding environment to achieve the functions of obstacle avoidance, navigation, and visual feedback; the sub-camera 62 is mounted on the side of the laser transmitter 7 close to the crawler track moving mechanism 4; the shooting direction of the sub-camera 62 faces downward, and the sub-camera 62 is mainly used to identify weeds and crops in the target area and obtain the position information of weeds in the target area; warning lights 32 are symmetrically arranged on the left and right sides of the mounting plate 3; the side of the sub-camera 62 close to the crawler track moving mechanism 4 is also provided with an illumination lamp 63 along the length direction, and by adjusting the luminance of the illumination lamp 63, it can be ensured that the clarity of the image collected by the sub-camera 62 is always not affected by light or illumination at night or in bad weather. Two shading plates 61 are also provided at the bottom of the frame; and the two shading plates 61 are respectively located on the front and rear sides of the motor box 6; it is worth noting here that there is a gap between the shading plate 61 and the ground and the distance between the bottom of the shading plate 61 and the ground is smaller than the distance between the bottom of the motor box 6 and the ground, thereby effectively isolating the strong sunlight from the outside from interfering with the recognition function of the auxiliary camera 63.

[0039] Further preferably, the left and right side walls of the electric control box 1 are also provided with a control switch cabinet 13, a heat sink 14 and a touch screen 15; wherein the control switch cabinet 13 is electrically connected to the power control cabinet 26; the heat sink 14 contributes to ventilation and heat dissipation inside the electric control box 1; and the touch screen 15 facilitates the staff to modify, set parameters or operate.

[0040] like Figure 4 As shown, the power supply device includes a mobile power supply 22, a filter 24, a voltage stabilizer 25 and a power control cabinet 26; wherein the solar panel 2 converts light energy into electrical energy and stores it in the mobile power supply 22; the mobile power supply 22 outputs a stable current to each component of the robot body after being processed by the filter 24 and the voltage stabilizer 25.

[0041] The control system includes a command control terminal 16, a data processor 18, a data receiver 19, a data storage 20 and a circuit board 23;

[0042] It is worth mentioning that the touch screen 15, GPS positioning system 17, data processor 18, data receiver 19, data storage device 20, laser assembly 21, main camera 31, warning light 32, auxiliary camera 62, lifting motor, drive motor 45, rotating base, telescopic robotic arm, laser transmitter 7 and lighting lamp 63 are all controlled by the command control terminal 16, thereby realizing the linkage between the various components, which is more intelligent.

[0043] When covering the film, first pull one end of the ground film from the film roller 52, and spread it through the bottom of the film spreading roller 53 to the desired film laying route. As the robot body moves forward, the film pressing wheel 54 will initially press over the left and right sides of the ground film, and the covering plate 55 will collect part of the loose soil on the ground to the surface of the ground film for compaction, thereby completing the laying and fixing of the ground film.

[0044] When weeding, the weeds are first located and the types and sizes of the weeds are identified by using the GPS positioning system 17 through the auxiliary camera 62, and then appropriate laser parameters are selected, and the laser parameters and positioning data are transmitted to the command control terminal 16 and stored in the data storage 20 as historical data. The command control terminal 16 transmits the signal to the crawler moving mechanism 4 and the laser component 21 in sequence; the crawler moving mechanism 4 uses the main camera 31 to move along the predetermined route, capture images or videos of the surrounding environment, avoid obstacles while completing the collection of visual feedback data, and upload it to the data receiver 19, which is processed by the data processor 18 and saved in the data storage 20. After reaching the area where the weeds are located, the crawler moving mechanism 4 stops, and the laser component 21 accurately controls the rotating base and the telescopic mechanical arm through the image acquisition information provided by the auxiliary camera 62, so that the laser transmitter 7 is aimed at the area where the weeds are located, and controls its burning intensity. When the laser transmitter 7 moves to the top of the grass root, it will emit a certain amount of energy at the top of the grass root, reduce the cell vitality of the grass root, inhibit the growth of the grass root, reduce the growth rate of the weeds, and achieve no chemical agent pollution, which is more in line with the green energy saving requirements.

[0045] Furthermore, the present invention is also equipped with a remote control device, which can manually operate the robot to complete designated tasks.

[0046] The utility model can obtain real-time information on the working status and distribution of farmland weeds and store it as historical data. The operator can choose a suitable working mode, including an autonomous positioning and navigation mode or a manual operation mode. The utility model has both weeding and film covering functions, has a simple and compact structure and is convenient and accurate to operate, which saves labor costs and greatly improves work efficiency.

[0047] In the present utility model, the directions or positional relationships indicated by terms such as "upper", "lower", "bottom", "top", etc. are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or components of the present utility model. They do not specifically refer to the parts or components of the present utility model and cannot be understood as limitations on the present utility model. Terms such as "connected" and "connected" should be understood in a broad sense, indicating that they can be fixedly connected, integrally connected, or detachably connected; they can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meanings of the above terms in the present utility model can be determined according to specific circumstances, and they cannot be understood as limitations on the present utility model.

[0048] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A weeding and film covering integrated robot, comprising a robot body; characterized in that: The robot body includes an electric control box, two sets of crawler moving mechanisms and an image acquisition mechanism; The electric control box is arranged above the two sets of crawler moving mechanisms through a frame; a motor box is arranged at the bottom of the electric control box; The top of the electric control box is provided with a solar panel and two sets of lead screw mechanisms; the electric control box is provided with a control system, a laser component, a GPS positioning system and a power supply device; the rear end of the electric control box is connected to the laminating mechanism through a telescopic pull rod; the telescopic pull rod drives the laminating mechanism to rise and fall through the lead screw mechanism; Two groups of rotating bases are symmetrically arranged at the bottom of the motor box; the bottom of the rotating base is connected to the laser transmitter through a telescopic mechanical arm.

2. The integrated weeding and film covering robot according to claim 1, characterized in that: The film coating mechanism comprises a fixed frame, and the fixed frame is provided with a film roller, a film spreading roller, a film pressing wheel and a soil covering plate; The film roller is arranged on a side close to the electric control box; the surface of the film roller is covered with a ground film; the soil covering plate is fixed on a side away from the electric control box; the film spreading roller is arranged between the film roller and the film pressing wheel; the roller shaft of the film roller, the roller shaft of the film spreading roller, and the wheel shaft of the film pressing wheel are all rotatably connected to the fixed frame; The two film pressing wheels and the two soil covering plates are symmetrically arranged on the left and right sides of the fixing frame; the film pressing wheels are in contact with the ground; and there is a gap between the soil covering plate and the ground; The height of the film spreading roller from the ground is lower than the height of the film roller from the ground; The inner distance between the two film pressing wheels is smaller than the width of the ground film; The inner distance between the two soil covering plates is greater than the width of the ground film, and the ends of the two soil covering plates away from the electric control box are inclined inwards.

3. The integrated weeding and film covering robot according to claim 2, characterized in that: The two sets of lead screw mechanisms are symmetrically arranged on the left and right sides of the top of the electric control box and at the rear position; The screw mechanism includes a lifting motor and a screw; the output shaft of the lifting motor is connected to one end of the screw; the other end of the screw is provided with a first gear; one end of the telescopic pull rod is connected to the fixed frame, and the other end is provided with a second gear; the first gear is meshed with the second gear.

4. The integrated weeding and film covering robot according to claim 3, characterized in that: The image acquisition mechanism includes a main camera and two auxiliary cameras; The main camera is mounted on a mounting plate at the front end of the robot body; warning lights are symmetrically arranged on both sides of the mounting plate; The auxiliary camera is mounted on a side of the laser transmitter close to the crawler track moving mechanism; The shooting direction of the main camera faces forward, and the shooting direction of the auxiliary camera faces downward; A lighting lamp is also arranged along the length direction on one side of the auxiliary camera close to the crawler moving mechanism.

5. The integrated weeding and film covering robot according to claim 4, characterized in that: The power supply device includes a mobile power supply, a filter, a voltage stabilizer and a power supply control cabinet; The solar panel converts light energy into electrical energy and stores it in a mobile power source; the mobile power source supplies power to the robot body through processing by a filter and a voltage stabilizer.

6. The integrated weeding and film covering robot according to claim 5, characterized in that: The crawler moving mechanism comprises a driving motor and a crawler; the driving motor is installed in a motor box; the crawler is supported by a driving wheel, a driven wheel and a plurality of supporting wheels; the driving wheel, the driven wheel and the plurality of supporting wheels are all meshed with the crawler; The output shaft of the driving motor is connected to the wheel axle of the driving wheel.

7. The integrated weeding and film covering robot according to claim 1, characterized in that: Two shading plates are arranged at the bottom of the frame; the two shading plates are respectively located at the front and rear sides of the motor box; there is a gap between the shading plates and the ground, and the distance between the bottom of the shading plates and the ground is smaller than the distance between the bottom of the motor box and the ground.

8. The integrated weeding and film covering robot according to claim 1, characterized in that: A shock absorber is installed at the radiation end of the laser transmitter; and the laser transmitter is controlled by a laser component.

9. The integrated weeding and film covering robot according to claim 6, characterized in that: The left and right side walls of the electric control box are also provided with a control switch cabinet, a touch screen and a heat sink; the control switch cabinet is electrically connected to the power control cabinet.

10. The integrated weeding and film covering robot according to claim 9, characterized in that: The control system includes a command control terminal, a data processor, a data receiver, a data storage device and a circuit board; The touch screen, main camera, auxiliary camera, lifting motor, driving motor, data processor, data receiver, data storage device, laser assembly, laser transmitter, rotating base, telescopic mechanical arm, GPS positioning system, warning light and lighting lamp are all controlled by the command control terminal.

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