Farmland weeding robot platform

Abstract

The utility model discloses a farmland weeding robot platform which comprises a walking module and an operation module. The walking module comprises a frame, an energy supply and driving unit, wheels, a bracket and a transmission structure; the operation module comprises a supporting frame, a weeding action unit and a control unit; an operation window is arranged in the central area of the supporting frame; the weeding action unit comprises a movement module and a weeding operation arm; the weeding operation arm is connected to the movement module and penetrates through the operation window to extend into the lower portion of the supporting frame. According to the farmland weeding robot platform, farmland image data are obtained through the camera carried by the farmland weeding robot platform, weed data in images are obtained through the cascade convolutional network model and the SSD, weeds are removed through the robot weeding action unit, and the good removal effect of weeds between plants and between rows can be achieved. The weeding action unit is provided with a mechanical gripper and a spiral scraper knife, selection can be conducted according to the types of farmland weeds, and good adaptability is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural equipment, in particular to a farmland weeding robot platform. Background Technique

[0002] At present, most agricultural planting projects in China have the ability of mechanization in the whole process. At the same time, China has gradually entered the aging population period. Coupled with the influence of the urbanization process, the number of rural labor forces has greatly decreased, which makes the mechanization level in agricultural production gradually improve.

[0003] For farmland weeding operations, the operation methods are mainly divided into manual weeding, chemical weeding and mechanical weeding. Manual weeding with hoes has the advantages of low cost, good weed removal effect, and good weed removal effect between plants and rows. However, the method is relatively backward, consumes a large amount of manpower, and has a relatively slow speed. Chemical weeding has the advantages of low use cost and good effect. However, herbicides are easy to pollute the environment, and it is also easy to cause personal injuries to farmers due to non-standard operations.

[0004] At present, existing mechanical weeding equipment is easy to damage crops and is mostly used before sowing. There are also weeding robots such as laser burning types. However, the laser system has disadvantages such as high energy consumption and high cost. In addition, it cannot be well applied to the working environment of paddy fields. Content of the Utility Model

[0005] The purpose of the utility model is to provide a farmland weeding robot platform to solve the problems existing in the prior art.

[0006] To achieve the above purpose, the technical solution of the utility model provides a farmland weeding robot platform, including a walking module and an operation module; the walking module includes a vehicle frame, an energy supply and drive unit, wheels and brackets, and a transmission structure; the operation module includes a support frame, a weeding action unit, and a control unit; an operation window penetrating the support frame is arranged in the central area of the support frame; the weeding action unit includes a motion module and a weeding operation arm; the weeding operation arm includes a connecting rod, a driving part, and an acting part; the weeding operation arm is connected to the motion module and extends through the operation window into the lower part of the support frame.

[0007] Further, the energy supply and drive unit is fixed in the vehicle frame, and the energy supply and drive unit is a combination of a battery and a motor or a combination of an internal combustion engine, a transfer case and a battery; the wheels and brackets include four wheels and wheel brackets, and the wheel brackets are in an inverted L-shaped structure, with the upper part fixed to the vehicle frame and the lower cross bar rotatably connected to the wheels.

[0008] Furthermore, the transmission structure includes a horizontal transmission gear set and a vertical transmission gear set; the vertical transmission gear set includes an upper vertical transmission gear, a lower vertical transmission gear, a chain, an enclosed protective housing, and an upper transmission gear shaft; the upper vertical transmission gear is rotatably connected to the upper transmission gear shaft, and the lower vertical transmission gear is fixed to the wheel and concentric with the wheel; the horizontal transmission gear set includes a horizontal transmission gear and a chain, the horizontal transmission gear is concentric and fixedly connected to the upper vertical transmission gear, and the chain connects the horizontal transmission gears on the same side of the vehicle frame. One of the upper transmission gear shafts is fixed to the vehicle frame, and the other is fixed to the output shaft of the energy supply and drive unit.

[0009] Furthermore, the motion module is a three-axis or four-axis motion platform, and the weeding operation arm is arranged on the motion module guide rail in the direction of crossing the operation window; the weeding operation arm is one or two. When there are two, they are respectively connected to the motion module guide rails in the direction of crossing the operation window; one end of the connecting rod of the weeding operation arm is connected to the motion module, and the other end is connected to the acting part.

[0010] Furthermore, the acting part is a mechanical gripper, which includes a gripper and a driving disk. The upper part of the gripper is a T-shaped structure, one end is hinged to the driving disk, and the other end is connected to the driving steel rope through a connecting piece. The driving part is a motor that drives the driving steel rope to act. The side of the connecting piece connecting the driving steel rope is connected to the driving disk through a spring. The connecting piece includes an upper triangular plate and two connecting plates. The upper triangular plate is a plate with a narrow upper part and a wide lower part. The upper part is connected to the driving steel rope, and the two sides of the lower part are respectively hinged to the upper parts of the connecting plates. The lower parts of the connecting plates are hinged to one end of the T-shaped structure of the upper part of the gripper.

[0011] Furthermore, the acting part is a spiral shovel. The spiral shovel has a gradually changing structure with a smaller radius of the bottom spiral line than the upper part. The top is fixed to the connecting rod, and the connecting rod is rotatably connected to the motion module and rotates under the drive of the driving part.

[0012] The utility model provides a farmland weeding robot platform. The platform obtains farmland image data through the mounted camera, obtains weed data in the image through weed recognition based on a cascaded convolutional network model and weed area position detection based on SSD, and realizes the removal of weeds through the robot weeding action unit, which can achieve good removal effects for weeds between plants and between rows.

[0013] In terms of hardware structure, the overall design is modular, which is conducive to production assembly and later maintenance. For the weeding unit, mechanical grippers and spiral shovels are provided, which can be selected according to the types of farmland weeds and can also be used simultaneously. Appropriate weeding methods can be selected according to the characteristics of different weeds, showing good adaptability. Through four-wheel double-motor four-wheel drive, while reducing control costs and control difficulty, the robot has good passability and is more suitable for the muddy scenarios that may exist in paddy fields.

[0014] The farmland weeding robot provided by the present utility model is relatively small in overall size, which can reduce labor costs. Through precise control and management, waste and losses can be reduced, and the production efficiency and quality of agricultural products can be improved, adapting to southern hilly areas or small experimental fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall solution of an embodiment of the present utility model.

[0016] Figure 2 It is a schematic diagram of the walking module of an embodiment of the present utility model.

[0017] Figure 3 It is a front view of the walking module of an embodiment of the present utility model.

[0018] Figure 4 It is a schematic diagram of the top of the operation module of an embodiment of the present utility model.

[0019] Figure 5 It is a schematic diagram of the weeding operation arm of an embodiment of the present utility model.

[0020] Figure 6 It is a schematic diagram of the weeding operation arm of another embodiment of the present utility model.

[0021] Figure 7 It is a partially enlarged schematic diagram of the weeding operation arm of another embodiment of the present utility model.

[0022] Figure 8 It is a schematic diagram of the weeding operation arm of still another embodiment of the present utility model.

[0023] Figure 9 It is a partially enlarged schematic diagram of the weeding operation arm of the fourth embodiment of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0025] As shown in the Figures 1-8 accompanying drawings, a farmland weeding robot platform according to the present utility model includes a walking module 1 and an operation module 2.

[0026] As shown in the Figure 1 accompanying drawings 2 and Figure 3, the walking module 1 includes a vehicle frame 11, an energy supply and drive unit 12, wheels and brackets 13, and a transmission structure 14; the vehicle frame 11 is a frame welded by stainless steel square tubes, and a side surface for closing can be provided on the outer surface.

[0027] The energy supply and drive unit 12 is fixed inside the vehicle frame 11. The energy supply and drive unit 12 is a battery and a motor, where the motor is used to drive the wheels to rotate, and the battery is used to supply power to the motor and the operation module 2.

[0028] The energy supply and drive unit 12 can also be a combination of an internal combustion engine, a transfer case, and a battery, where the internal combustion engine is used for power generation and directly driving the wheels to rotate, and the battery is used to store the power generated by the internal combustion engine and supply power to the operation module 2.

[0029] The energy supply and drive unit 12 can also be a combination of an internal combustion engine, a transfer case, a battery, and a motor, where the internal combustion engine is used for power generation, the battery is used to store the power generated by the internal combustion engine and supply power to the operation module 2 and the motor, and the motor is used to drive the wheels to rotate.

[0030] The specific product selection and connection structure of the above energy supply and drive unit 12 are common knowledge in the field and do not belong to the protection content of this application.

[0031] The wheels and brackets 13 include four wheels 131 and wheel brackets 132. The wheels 131 include wheels and wheel hubs. Paddy field tires can be selected, which have good passability. The wheel brackets 132 are in an inverted L-shaped structure. The upper part is fixed to the vehicle frame 11, and the lower cross bar is rotatably connected to the wheels 131, thereby ensuring that there is no only axle between the wheels on both sides of the vehicle frame 11 to avoid damage to crops.

[0032] The transmission structure 14 includes a horizontal transmission gear set 141 and a vertical transmission gear set 142.

[0033] The longitudinal transmission gear set 142 includes an upper longitudinal transmission gear 1421, a lower longitudinal transmission gear 1422, a chain L, an enclosed protective housing 1423, and an upper transmission gear shaft z. The upper longitudinal transmission gear 1421 is rotatably connected to the upper transmission gear shaft z, and the lower longitudinal transmission gear 1422 is fixed to the wheel 131 and concentric with the wheel 131. The upper longitudinal transmission gear 1421 and the lower longitudinal transmission gear 1422 are connected by the chain L.

[0034] The lateral transmission gear set 141 is used to connect the upper longitudinal transmission gears 1421 on the same side of the frame 11, and includes a lateral transmission gear 1411 and a chain L. The lateral transmission gear 1411 is concentric and fixedly connected to the upper longitudinal transmission gear 1421, and the chain L connects the lateral transmission gears 1411 on the same side of the frame 11. One of the upper transmission gear shafts z is fixed to the frame 11, and the other is fixed to the output shaft of the energy supply and drive unit 12. For example, it is provided that the energy supply and drive unit 12 includes two motors, and the output shafts of the two motors are respectively connected to an upper transmission gear shaft z on both sides of the frame 11. Thus, the wheels on both sides of the frame 11 can be driven separately, and while achieving four-wheel drive, the overall steering can be realized through the differential of the wheels on both sides.

[0035] In the arrangement positions of the gears of the lateral transmission gear set 141 and the longitudinal transmission gear set 142, the upper longitudinal transmission gear 1421 and the lower longitudinal transmission gear 1422 can be arranged on one side of the wheel as shown in the appendix Figure 3 shown, and are arranged inside in the appendix Figure 3 or can also be on the outside.

[0036] As shown in the appendix Figure 1 and 3 shown, the operation module 2 includes a support frame 21, a weeding unit 22, and a control unit 23.

[0037] The support frame 21 is a frame body obtained by welding stainless steel square tubes, and a side surface for closing can be provided on the outer surface. An operation window 211 penetrating the support frame 21 is provided in the central area of the support frame 21.

[0038] As shown in the appendix Figure 1 and 4 -8 shown, the weeding unit 22 includes a motion module 221 and a weeding operation arm 222. The motion module 221 is a multi-axis motion platform and realizes actions driven by a motor. The weeding operation arm 222 is connected to the motion module 221. The motion module 221 is a common three-axis or four-axis motion platform in the mechanical field, and realizes reciprocating motions in three directions of X, Y, and Z by driving multiple lead screw guides by a motor. The direction crossing the operation window 211 is defined as the Y direction, and two lead screw guides in the X direction are respectively arranged on both sides of the operation window 211.

[0039] The weeding operation arm 222 is arranged on the Y-direction guide rail, and a rotating part can be arranged between the weeding operation arm 222 and the Y-direction guide rail to drive the weeding operation arm 222 to rotate relative to the Y-direction guide rail, so as to realize the inclination of the weeding operation arm 222.

[0040] The specific structure of the motion module 221 is a conventional technology in the field of mechanical automation. There are various types of existing products on the market at present, and it is also easy to be customized according to needs. Its specific structure and circuit connection method are common knowledge in the field and do not belong to the content protected by this application.

[0041] The weeding operation arm 222 includes a connecting rod 2221, a driving part 2222, and an acting part 2223.

[0042] The weeding operation arm 222 can be one or two. When there are two, they are respectively connected to the two Y-direction guide rails of the motion module 221.

[0043] One end of the connecting rod 2221 is connected to the motion module 221, and the other end is connected to the acting part 2223.

[0044] As Figure 6 、 7 shown, the acting part 2223 is a mechanical gripper, including a gripper a1 and a driving disc a2. The upper part of the gripper a1 is a T-shaped structure. One end is hinged to the driving disc a2, and the other end is connected to a driving steel rope a4 through a connecting member a3. The driving part 2222 is a motor, and the gripper a1 is closed by driving the steel rope to act. The side of the connecting member a3 connected to the driving steel rope is connected to the driving disc a2 through a spring a33. After the driving part 2222 motor releases the driving steel rope a4, the gripper a1 is opened under the action of the spring.

[0045] The connecting member a3 includes an upper triangular plate a31 and two connecting plates a32. The upper triangular plate a31 is a plate with a narrow upper part and a wide lower part. The upper part is connected to the driving steel rope a4, and the two sides of the lower part are respectively hinged to the upper parts of the connecting plates a32. The lower parts of the connecting plates a32 are hinged to one end of the upper T-shaped structure of the gripper a1.

[0046] The specific dimensions of the upper triangular plate a31, the connecting plates a32, and the upper T-shaped structure of the gripper a1 are adaptively set according to the size of the gripper. The up and down movement of the upper triangular plate a31 is adaptively set according to the dimensions of relevant components. It should be noted to avoid the dead point position where the upper part of the gripper a1 is a T-shaped structure and the connecting plates a32 form a double-link structure.

[0047] The driving disk a2 includes a disk body a21 and a disk cover a22. A convex surface is provided at the edge of the disk body a21, and a notch for the gripper a1 to extend out is provided on the lower convex surface. The disk cover a22 covers the disk body a21.

[0048] A clamping plate a11 is provided at the lower part of the gripper a1. The clamping plates a11 of the two grippers a1 are arranged oppositely. A number of downwardly inclined pins a12 are provided at the lower part of the clamping plates a11. The pins a12 of the two clamping plates a11 are arranged staggeredly. During use, when the two grippers a1 are closed, the pins a12 are inserted into the ground, and the roots of the weeds can be pulled out.

[0049] Appendix Figure 8 、 9 Provide two other embodiments of the mechanical gripper. Appendix Figure 8 In the illustrated embodiment, the connecting member a3 includes a guide roller a31, a traction rope a32, and a spring a33. Among them, there are two guide rollers a31, two traction ropes a32, and two springs a33. The guide rollers a31 are symmetrically arranged on both sides of the central axis of the driving disk a2. One end of the traction rope is connected to the other end of the T-shaped structure at the upper part of the gripper a1 away from the hinge with the driving disk a2, and the other end bypasses the guide roller a31 and is connected to the driving steel rope a4. One end of the spring a33 is connected to the other end of the T-shaped structure at the upper part of the gripper a1 away from the hinge with the driving disk a2, and the other end of the spring a33 is connected to the driving disk a2. When the driving steel rope a4 pulls upward to drive the traction rope a32, the gripper a1 is closed. After the driving steel rope a4 is relaxed, under the action of the spring a33, the gripper a1 opens.

[0050] Appendix Figure 9 In the illustrated embodiment, the connecting member a3 includes a connecting rod a31, a traction buckle a32, a spring a33, and a guide groove plate a34. Among them, there are two connecting rods a31 and two guide groove plates a34. One end of the connecting rod a31 is hinged to the other end of the T-shaped structure at the upper part of the gripper a1 away from the hinge with the driving disk a2, and the other ends of the two connecting rods a31 are hinged to each other. The traction buckle a32 is arranged at the hinge of the two connecting rods a31. Specifically, the traction buckle a32 includes two relatively arranged buckle plates, and a through hole is provided in the center of the buckle plate. The hinge shaft at the hinge of the two connecting rods a31 passes through the through hole in the center of the buckle plate. The upper and lower parts of the buckle plate are fixedly connected by connecting rods. The upper part of the traction buckle a32 is connected to the driving steel rope a4, and the lower part is connected to the spring a33. The hinge shaft at the hinge of the two connecting rods a31 passes through the through hole in the center of the buckle plate and extends to the central slot of the guide groove plate a34. The guide groove plate a34 limits the reciprocating movement of the traction buckle a32.

[0051] As shown in the appendix Figure 5As shown, the acting part 2223 is a spiral shovel. The spiral shovel has a tapered structure with a smaller radius of the bottom spiral line than that of the upper part. The top is fixed to the connecting rod 2221. The connecting rod 2221 is rotatably connected to the Y-direction guide rail of the motion module 221 and rotates under the drive of the motor of the driving part 2222. While the spiral shovel rotates, the motion module 221 drives the spiral shovel to move downward, thereby removing weeds on the ground. The downward movement of the motion module 221 can be controlled as needed to control the removal range.

[0052] The acting parts of the spiral shovel and the mechanical gripper can be used simultaneously or separately.

[0053] The control unit 23 is used to control the actions of the device, including walking and weeding operations. For its specific selection, those skilled in the art can make an adaptive selection according to specific technical needs. In an embodiment of the present application, an STM32 single-chip microcomputer is used as the control core.

[0054] When in use, the robot platform needs to carry an image acquisition unit T. The image acquisition unit T includes a camera and its bracket, and an image processing module. The camera and its bracket are used to collect farmland image information. The camera is fixed to the support frame 21 through the bracket. The camera is fixed to the upper part of the support frame 21 and is located above the operation window 211. Image acquisition is performed through the operation window 211, which can reduce or avoid the pollution that the soil may cause to the camera during work. The camera can be fixed to the Y-direction guide rail of the motion module 221 or the weeding operation arm 222 through the bracket. The image processing module obtains farmland image data through the camera it carries, and obtains weed data in the image through weed recognition based on the cascaded convolutional network model and weed area position detection based on SSD. Communication can be carried out between the image processing module and the control unit 23. After the control unit 2 obtains the weed data, the weeds are removed through the robot weeding unit, and a good weeding effect between plants and rows can be achieved. The specific technical solution of the image acquisition unit T does not belong to the technical scope involved in the present application. Commercially available cameras and image processing devices are used in terms of hardware, and those skilled in the art can make an adaptive selection according to needs and budgets for their hardware selection.

[0055] It should be noted that unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection", "fixation", "setting" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Claims

1. A farmland weeding robot platform, characterized in that: It includes a walking module and an operating module; the walking module includes a frame, a power supply and driving unit, wheels and brackets, and a transmission structure; the operating module includes a supporting frame, a weeding action unit, and a control unit; an operating window that passes through the supporting frame is provided in the central area of ​​the supporting frame; the weeding action unit includes a motion module and a weeding working arm; the weeding working arm includes a connecting rod, a driving part, and an acting part; the weeding working arm is connected to the motion module and extends into the lower part of the supporting frame through the operating window.

2. A farmland weeding robot platform according to claim 1, characterized in that: The energy supply and drive unit is fixed in the frame, and the energy supply and drive unit is a combination of a battery and a motor or a combination of an internal combustion engine, a transfer case and a battery; the wheels and brackets include four wheels and wheel brackets, and the wheel brackets are inverted L-shaped structures, the upper part of which fixes the frame, and the lower cross bar is rotatably connected to the wheels.

3. A farmland weeding robot platform according to claim 2, characterized in that: The transmission structure includes a transverse transmission gear set and a longitudinal transmission gear set; the longitudinal transmission gear set includes an upper longitudinal transmission gear, a lower longitudinal transmission gear, a chain, a closed protective shell, and an upper transmission gear shaft; the upper longitudinal transmission gear is rotatably connected to the upper transmission gear shaft, and the lower longitudinal transmission gear is fixed to the wheel and concentric with the wheel; the transverse transmission gear set includes a transverse transmission gear and a chain, the transverse transmission gear is concentric with the upper longitudinal transmission gear and fixedly connected, the chain connects the transverse transmission gears on the same side of the frame, one of the upper transmission gear shafts is fixed to the frame, and the other is fixed to the output shaft of the energy supply and drive unit.

4. The farmland weeding robot platform according to claim 1, characterized in that: The motion module is a three-axis or four-axis motion platform, and the weeding working arm is arranged on the motion module guide rail across the working window direction; the weeding working arm is one or two, and when there are two, they are respectively connected to the motion module guide rails of the motion module across the working window direction; one end of the connecting rod of the weeding working arm is connected to the motion module and the other end is connected to the action part.

5. The farmland weeding robot platform according to claim 4, characterized in that: The action part is a mechanical gripper, including a gripper and a driving disk. The upper part of the gripper is a T-shaped structure, one end of which is hinged to the driving disk, and the other end is connected to the driving steel rope through a connecting piece. The driving part is a motor, which drives the driving steel rope to move. The connecting piece is connected to the driving steel rope on the opposite side and is connected to the driving disk through a spring. The connecting piece includes an upper triangular plate and two connecting plates. The upper triangular plate is a plate that is narrow on the top and wide on the bottom. The upper part is connected to the driving steel rope, and the two sides of the lower part are respectively hinged to the upper part of the connecting plate, and the lower part of the connecting plate is hinged to one end of the upper structure of the gripper.

6. The farmland weeding robot platform according to claim 4, characterized in that: The action part is a spiral scraper, and the spiral scraper is a gradual structure in which the radius of the bottom spiral line is smaller than that of the upper part. The top is fixed to a connecting rod, and the connecting rod is rotatably connected to the motion module and rotates under the drive of the driving part.

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