Weed monitoring robot

Abstract

The utility model discloses a weed monitoring robot, and belongs to the technical field of robots. A weed monitoring robot comprises a chassis, wheels are rotationally installed on the two sides of the chassis, the weed monitoring robot further comprises a mechanical arm fixedly installed on the top of the chassis, and an electric clamping jaw used for collecting weeds is fixedly installed at the end of the mechanical arm; through the cooperation of the motor, the driving wheel A, the driving wheel B, the crawler belt and other structures, the crawler belt can adapt to rugged terrains and has excellent trafficability, the triangular front wheel crawler belt can better adapt to uneven and complex terrains, such as rock, muddy and snowfield environments, and the crawler belt provides a larger grounding area, is not prone to rollover, and has a good application prospect. Therefore, the cross-country performance and the gradeability of the robot are improved, the vehicle is more stable when climbing a steep slope, the risk of rollover is reduced, and the robot is suitable for monitoring in an environment with complex geographical conditions.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially, relate to a kind of weed monitoring robot. BACKGROUND

[0002] With the acceleration of economic globalization, the problem of invasive alien species is becoming increasingly serious. According to statistics, nearly 800 invasive alien species have been found in China, of which 638 have been confirmed to invade agro-ecosystems. Plant invasion is particularly prominent, accounting for nearly 60%. Although China has attached great importance to this problem, the pathways of invasive alien plants are complex and diverse, and the grassroots prevention and control forces are relatively weak, posing a huge challenge to prevention and control and management, and posing a serious threat to the ecological environment and agricultural production.

[0003] Currently, early weed monitoring and early warning technology is an important means of protecting agricultural production. In the process of monitoring weeds, weed monitoring personnel still use manual inspection as the main monitoring method for harmful weeds.

[0004] However, in the existing monitoring method, manual inspection is time-consuming and labor-intensive, and it is difficult for manual inspection to carry out monitoring work in some complex environments. It is not possible to accurately quantify the distribution and harm of early weed plants, which reduces the monitoring efficiency of harmful weeds. Therefore, in order to solve the above-mentioned problems, a weed monitoring robot is provided. UTILITY MODEL CONTENT

[0005] The utility model aims at solving the problem that the staff is not convenient to monitor weeds in the prior art, thereby reducing the monitoring efficiency of harmful weeds, and provides a weed monitoring robot.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solutions:

[0007] A weed monitoring robot, comprising a chassis, the two sides of the chassis are rotatably installed with wheels, further comprising: a mechanical arm fixedly installed on the top of the chassis, wherein the end of the mechanical arm is fixedly installed with an electric claw for collecting weeds; a spray gun mounted on the mechanical arm, wherein the chassis is provided with a liquid supply part for delivering liquid medicine to the spray gun, and the mechanical arm is provided with an adjusting member for adjusting the spraying direction of the spray gun.

[0008] In order to make the robot can smoothly drive to the need to monitor the weed area, preferably, the wheel comprises a driving shaft A and a driving shaft B rotatably connected on both sides of the chassis, a driving part for driving the driving shaft A and the driving shaft B to rotate is arranged in the chassis, a driving wheel A is fixedly connected on the driving shaft A, wherein a driven wheel A is rotatably connected on the side of the chassis, and the driving wheel A and the driven wheel A are connected through a track; a gear A is fixedly connected on the driving shaft B, wherein a support is fixedly installed on the chassis, a plurality of driving wheels B arranged in a triangular shape are rotatably connected on the support, the plurality of driving wheels B are connected through a track, and the gear A and the driving wheels B are connected through a time rule belt.

[0009] In order to provide driving force for the wheel, further, the driving part comprises a motor fixedly installed on the chassis, a double shaft transmission is fixedly installed in the chassis, the output end of the motor is fixedly connected with the input end of the double shaft transmission, wherein the output end of the double shaft transmission is fixedly connected with one end of the driving shaft A, a gear B is fixedly connected on the driving shaft A and the driving shaft B, a gear C is rotatably connected in the chassis, and the gear B and the gear C are connected through a time rule belt.

[0010] In order to monitor and collect the weed information in the environment, preferably, a central controller is further arranged and connected to the chassis through a fastener, wherein the mechanical arm and the electric clamping jaw are electrically connected with the central controller; an identification assembly is arranged on the chassis and used for monitoring weeds, wherein the identification assembly comprises a sound sensor and a smell detector fixedly installed on the central controller, a camera is fixedly installed on the mechanical arm, and the camera, the sound sensor and the smell detector are electrically connected with the central controller.

[0011] In order to provide illumination for the robot, further, symmetrical illumination lamps are fixedly connected on both sides of the camera.

[0012] In order to supply liquid to the spray gun, preferably, the liquid supply part comprises a solution tank fixedly connected on the top of the chassis, a liquid pumping pump is fixedly installed in the solution tank, the liquid delivery end of the liquid pumping pump is connected in communication with the liquid inlet end of the spray gun through an elastic hose, and the liquid pumping pump is electrically connected with the central controller.

[0013] In order to facilitate the observation of the storage capacity of the liquid in the solution tank, further, an observation window is fixedly installed on the solution tank, and a scale line is arranged on the surface of the observation window.

[0014] In order to facilitate the adjustment of the spraying direction of the spray gun, preferably, the adjusting part comprises an electric turntable fixedly installed on the mechanical arm, the spray gun is rotationally connected to the top of the electric turntable, and the top of the electric turntable is rotationally connected with an electric push rod, wherein the output end of the electric push rod is rotationally connected with the bottom of the spray gun, and the electric turntable and the electric push rod are electrically connected with the central controller.

[0015] In order to facilitate the collection of the sampled weeds, preferably, the traveling end of the chassis is fixedly connected with a collection box, and the collection box is located below the electric clamping jaw.

[0016] In order to facilitate the disassembly and maintenance of the central controller, further, the fastener comprises mounting plates fixedly connected on both sides of the central controller, and bolts are fixedly connected on the chassis, the bolts pass through the through holes of the mounting plates and are screwed with nuts.

[0017] Compared with the prior art, the utility model provides a kind of weed monitoring robot, with the following beneficial effects:

[0018] 1、The weed monitoring robot, through the cooperation of motor, driving wheel A, driving wheel B and track structure, can adapt to rugged terrain, has excellent passability, and the triangular front wheel track can better adapt to uneven and complex terrain, such as rock, muddy, snow environment, which provides larger ground contact area and is not easy to roll over, thereby increasing the off-road performance and climbing ability of the robot, the vehicle is more stable when climbing steep slope, reduces the risk of rollover, is suitable for complex geographical conditions to carry out monitoring work, so that the robot can smoothly drive to the weed area to be monitored.

[0019] 2、The weed monitoring robot, through the cooperation of central controller, camera, sound sensor and odor detector, can facilitate staff to remotely monitor outdoor weeds, without manual outdoor inspection, and can accurately reflect the visual effect in real environment of human eye, accurately identify the position, category and confidence of weed plants, monitor the distribution, quantity and growth condition of specific weeds, so that workers can more easily and conveniently monitor outdoor weeds, thereby improving the monitoring efficiency of harmful weeds.

[0020] 3、The weed monitoring robot, through the cooperation of mechanical arm and electric clamping jaw, can also collect sample weeds and put them into collection box for unified collection, which is beneficial for subsequent staff to check and analyze the collected weeds.

[0021] 4. This weed monitoring robot, by activating the liquid pump, enables the spray gun to accurately spray herbicides or other agents onto the identified weed locations, thus greatly improving the robot's practicality and contributing to ecological maintenance. By activating the electric turntable and electric push rod, the spraying direction of the spray gun can be adjusted, greatly improving the flexibility of the spray gun's use.

[0022] The parts of this device not covered herein are the same as or can be implemented using existing technologies. This utility model solves the problem in the prior art that it is inconvenient for staff to monitor weeds, thereby reducing the efficiency of monitoring harmful weeds. Attached Figure Description

[0023] Figure 1 This is an isometric structural diagram of a weed monitoring robot proposed in this utility model;

[0024] Figure 2 This is a schematic diagram of the cross-sectional structure of the solution tank of a weed monitoring robot proposed in this utility model;

[0025] Figure 3 This is a schematic diagram of the central controller structure of a weed monitoring robot proposed in this utility model;

[0026] Figure 4 The present invention proposes a localized explosion for a weed monitoring robot. Figure 1 ;

[0027] Figure 5 The present invention proposes a localized explosion for a weed monitoring robot. Figure 2 ;

[0028] Figure 6 This is a partial isometric structural diagram of a weed monitoring robot proposed in this utility model.

[0029] In the diagram: 1. Chassis; 2. Drive wheel A; 21. Driven wheel A; 22. Bracket; 23. Drive wheel B; 25. Gear A; 26. Drive shaft A; 27. Drive shaft B; 3. Robotic arm; 31. Electric gripper; 4. Motor; 41. Dual-shaft gearbox; 42. Gear B; 43. Gear C; 5. Central controller; 51. Camera; 52. Sound sensor; 53. Odor detector; 6. Mounting plate; 61. Bolt; 62. Nut; 7. Spray gun; 71. Electric turntable; 72. Electric push rod; 8. Solution tank; 81. Liquid pump; 82. Telescopic hose; 10. Observation window; 11. Collection box; 12. Lighting. Detailed Implementation

[0030] Clearly and completely describe the technical scheme in the embodiments of the utility model with reference to the drawings in the embodiments of the utility model, obviously, the described embodiments are only some embodiments of the utility model, not all embodiments.

[0031] In the description of the utility model, it needs to be understood that the orientation or position relation indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and the like is the orientation or position relation based on the orientation or position relation shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the utility model.

[0032] Embodiment:

[0033] With reference to Figures 1-6 The utility model embodiment provides a kind of weed monitoring robot, including chassis 1, both sides of chassis 1 are rotatably installed with wheel, still include: mechanical arm 3, it is fixedly installed at the top of chassis 1, wherein, the end of mechanical arm 3 is fixedly installed with the electric gripper 31 for gathering weed, mechanical arm 3 can simulate human arm movement, to control electric gripper 31 or the component relevant to it complete various complex tasks, electric gripper 31 is angle opening-closing type gripper, can simulate human finger action, to a certain angle around a point rotates to close or open, it is applicable to different shape weed grabbing, the end of chassis 1 is fixedly connected with collection box 11, collection box 11 is below electric gripper 31, can collect the weed sampled by electric gripper 31;Spray gun 7 is installed on mechanical arm 3, wherein, liquid supply part is equipped on chassis 1, and liquid supply part is used to transport liquid medicine into spray gun 7, adjusting member for adjusting the spraying direction of spray gun 7 is equipped on mechanical arm 3.

[0034] Specifically, in use, through the setting of track type wheel, rugged terrain can be adapted, with outstanding passability, and the front wheel track of triangular pattern can better adapt to uneven and complex terrain, such as rock, muddy, snow environment, which provides greater ground contact area, not easy to roll over, thereby increasing the off-road performance and climbing ability of robot, vehicle is more stable when climbing steep slope, reduces the risk of rollover, is suitable for complex geographical conditions environment to carry out monitoring work, so that robot can smoothly travel to the weed area needing monitoring, through the setting of liquid supply part and adjusting member, spray gun 7 can accurately spray herbicide or other medicaments to the identified weed position, to greatly improve the practicability of robot, help ecological maintenance.

[0035] The wheels in the monitoring robot include driving shaft A 26 and driving shaft B 27 rotatably connected on both sides of chassis 1, and a driving part is arranged in chassis 1 for driving driving shaft A 26 and driving shaft B 27 to rotate, driving shaft A 26 is fixedly connected with driving wheel A 2, wherein a driven wheel A 21 is rotatably connected on the side of chassis 1, and driving wheel A 2 and driven wheel A 21 are connected through a track; gear A 25 is fixedly connected on driving shaft B 27, wherein a support 22 is fixedly installed on chassis 1, a plurality of driving wheels B 23 arranged in a triangular shape are rotatably connected on support 22, the plurality of driving wheels B 23 are connected through a track, and gear A 25 and driving wheels B 23 are connected through a time rule belt.

[0036] Specifically, in use, driving shaft A 26 and driving shaft B 27 are driven to rotate by the driving part, and driving wheel A 2, driven wheel A 21, gear A 25 and driving wheels B 23 are driven to rotate, so that the track-driven robot walks on the road surface, and through the cooperation of chassis 1, driving wheel A 2, driven wheel A 21, gear A 25, driving wheels B 23 and the track, the robot can adapt to the rugged terrain and has excellent passability, and is suitable for monitoring work in complex geographical conditions, so that the robot can smoothly travel to the weed area to be monitored.

[0037] The above-mentioned driving part includes a motor 4 fixedly installed on chassis 1, a double shaft transmission 41 is fixedly installed in chassis 1, the output end of motor 4 is fixedly connected with the input end of double shaft transmission 41, wherein the output end of double shaft transmission 41 is fixedly connected with one end of driving shaft A 26, gear B 42 is fixedly connected on driving shaft A 26 and driving shaft B 27, gear C 43 is rotatably connected in chassis 1, and gear B 42 and gear C 43 are connected through a time rule belt.

[0038] Specifically, by starting motor 4, the two transmission shafts of double shaft transmission 41 are driven to rotate and driving shaft A 26 is driven to rotate, and through the cooperation of gear B 42, gear C 43 and the time rule belt, driving shaft B 27 can also be driven to rotate, so as to provide driving force for the wheels, and the rotation speed of the two output shafts can be changed through double shaft transmission 41, thereby realizing differential steering of the wheels on both sides.

[0039] The weed monitoring robot also comprises a central controller 5 connected to the chassis 1 by fasteners, wherein the mechanical arm 3 and the electric clamping jaw 31 are electrically connected to the central controller 5; an identification assembly arranged on the chassis 1 is used for monitoring weeds, wherein the identification assembly comprises a sound sensor 52 and an odor detector 53 fixedly installed on the central controller 5, a camera 51 is fixedly installed on the mechanical arm 3, the camera 51, the sound sensor 52 and the odor detector 53 are electrically connected to the central controller 5, the central controller 5 is provided with a weed identification database and a 5G communication module, which are used for comprehensively analyzing the monitored weeds and transmitting the weed data to a remote service terminal through the 5G communication module, so that the staff can remotely monitor the outdoor weeds, and the two sides of the camera 51 are fixedly connected with symmetrically distributed illuminating lamps 12, which can provide illumination for the robot and enable it to monitor weeds in a dim environment.

[0040] Specifically, through the cooperation of the central controller 5, the camera 51, the sound sensor 52 and the odor detector 53, the visual image of the weeds can be captured, the sound of the surrounding environment can be monitored, and some types of weeds or plant diseases can be identified, thereby realizing the collection of weed information in the environment, facilitating the staff to remotely monitor the outdoor weeds, without the need for manual outdoor inspection, and accurately reflecting the visual effect in the real environment of the human eye, accurately identifying the position, category and confidence of the weed plants, monitoring the distribution, quantity and growth status of specific weeds, making the outdoor weed monitoring work of the workers more convenient, and thereby improving the monitoring efficiency of harmful weeds.

[0041] The above-mentioned liquid supply part comprises a solution tank 8 fixedly connected to the top of the chassis 1, an observation window 10 is fixedly installed on the top of the solution tank 8, and the surface of the observation window 10 is provided with scale lines, which can facilitate the staff to check the storage capacity of the liquid in the solution tank 8, and an extraction pump 81 is fixedly installed in the solution tank 8, the liquid outlet end of the extraction pump 81 is connected in communication with the liquid inlet end of the spray gun 7 through an extension hose 82, and the extraction pump 81 is electrically connected to the central controller 5.

[0042] Specifically, in use, the extraction pump 81 is started to extract the liquid in the solution tank 8 and deliver it to the spray gun 7 through the extension hose 82, so that the spray gun 7 can accurately spray herbicides or other medicaments on the weeds.

[0043] The above-mentioned adjusting member comprises an electric turntable 71 fixedly installed on the mechanical arm 3, the spray gun 7 is rotationally connected to the top of the electric turntable 71, and an electric push rod 72 is rotationally connected to the top of the electric turntable 71, wherein the output end of the electric push rod 72 is rotationally connected to the bottom of the spray gun 7, and the electric turntable 71 and the electric push rod 72 are electrically connected to the central controller 5.

[0044] Specifically, by starting the electric rotary disc 71, the spraying direction of the spray gun 7 can be adjusted in a small range, and by starting the electric push rod 72, the angle of the spray gun 7 can be adjusted, further changing the spraying direction, which can greatly improve the flexibility of the spray gun 7.

[0045] The fastener includes the mounting plate 6 fixedly connected on both sides of the central controller 5, the chassis 1 is fixedly connected with the bolt 61, the bolt 61 passes through the through hole of the mounting plate 6 and is screwed with the nut 62, the top of the central controller 5 is provided with an access hole, and the top of the central controller 5 is fixedly connected with the access cover plate for shielding the access hole through screws.

[0046] Specifically, by providing the mounting plate 6, the bolt 61, the nut 62, the access hole and the access cover plate, the central controller 5 can be conveniently disassembled and assembled, so that the module assembly in the central controller 5 can be conveniently maintained and repaired.

[0047] Working principle: In the use process of the weed monitoring robot, the motor 4 is started under the control of the central controller 5, so that the two conveying shafts of the double-shaft transmission 41 rotate and drive the driving shaft A 26 to rotate, and the driving shaft B 27 can also be driven to rotate through the cooperation of the gear B 42, the gear C 43 and the time rule belt. Through the rotation of the driving shaft A 26 and the driving shaft B 27, the driving wheel A 2, the driven wheel A 21, the gear A 25 and the driving wheel B 23 can be driven to rotate, so that the tracked robot can walk on the road surface. Through the cooperation of the motor 4, the driving wheel A 2, the driving wheel B 23 and the track, the robot can adapt to the rugged terrain, has excellent passability, and the triangular front wheel track can better adapt to uneven and complex terrain, such as rocks, mud, snow and other environments, which provides a larger ground contact area and is not easy to overturn, thereby increasing the off-road performance and climbing ability of the robot. The vehicle is more stable when climbing steep slopes, reduces the risk of rollover, is suitable for complex geographical conditions, and can smoothly drive to the weed area to be monitored.

[0048] And, in use, through the cooperation of the camera 51, the sound sensor 52 and the odor detector 53, the visual image of the weeds can be captured, the sound of the surrounding environment can be monitored, and some types of weeds or plant diseases can be identified, thereby realizing the collection of weed information in the environment, and transmitting the information to the central controller 5, then receiving the information data by the central controller 5, and comprehensively analyzing in combination with the information in the weed identification database, then the central controller 5 will transmit the monitored weed data to the remote service terminal in combination with the 5G communication module, which can facilitate the staff to remotely monitor the outdoor weeds, and can accurately reflect the visual effect of the real environment in the human eye, accurately identify the position, category and confidence of the weed plants, monitor the distribution, quantity and growth condition of the specific weeds, so that the workers can more easily and conveniently monitor the outdoor weeds.

[0049] And, by starting the mechanical arm 3 and the electric clamping jaw 31, the sample weeds can also be collected and placed in the collection box 11 for unified collection, which is beneficial for the subsequent workers to view and analyze the collected weeds.

[0050] On the other hand, during use, when the central controller 5 determines that the liquid needs to be sprayed, the liquid pump 81 is started to extract the liquid in the solution tank 8 and deliver it to the spray gun 7 through the telescopic hose 82, so that the spray gun 7 can accurately spray herbicides or other agents on the weeds, which is helpful for ecological maintenance, and in use, by starting the electric turntable 71 and the electric push rod 72, the spraying direction of the spray gun 7 can be adjusted, which can greatly improve the flexibility of the spray gun 7.

[0051] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A weed monitoring robot comprising a chassis (1), characterized in that, Both sides of the chassis (1) are rotatably installed with wheels, further comprising: A mechanical arm (3) is fixedly installed on the top of the chassis (1), Wherein, the end of the mechanical arm (3) is fixedly installed with an electric clamp (31) for collecting weeds; A spray gun (7) is installed on the mechanical arm (3), Wherein, the chassis (1) is provided with a liquid supply part for conveying liquid medicine into the spray gun (7), and the mechanical arm (3) is provided with an adjusting part for adjusting the spraying direction of the spray gun (7).

2. The weed monitoring robot of claim 1, wherein, The wheels comprise drive shaft A (26) and drive shaft B (27) rotatably connected to both sides of the chassis (1), the chassis (1) is provided with a driving part for driving the rotation of the drive shaft A (26) and the drive shaft B (27), the drive shaft A (26) is fixedly connected with a driving wheel A (2), Wherein, the side of the chassis (1) is rotatably connected with a driven wheel A (21), and the driving wheel A (2) and the driven wheel A (21) are connected through a track; A gear A (25) is fixedly connected to the drive shaft B (27), Wherein, the chassis (1) is fixedly installed with a bracket (22), the bracket (22) is rotatably connected with a plurality of driving wheels B (23) arranged in a triangular shape, the plurality of driving wheels B (23) are connected through a track, and the gear A (25) and the driving wheel B (23) are connected through a time rule belt.

3. The weed monitoring robot of claim 2, wherein, The driving part comprises a motor (4) fixedly installed on the chassis (1), a double shaft transmission (41) fixedly installed in the chassis (1), and the output end of the motor (4) is fixedly connected with the input end of the double shaft transmission (41), Wherein, the output end of the double shaft transmission (41) is fixedly connected with one end of the drive shaft A (26), the drive shaft A (26) and the drive shaft B (27) are fixedly connected with a gear B (42), the chassis (1) is rotatably connected with a gear C (43), and the gear B (42) and the gear C (43) are connected through a time rule belt.

4. The weed monitoring robot of claim 1, wherein, Further comprising a central controller (5) connected to the chassis (1) through a fastener, Wherein, the mechanical arm (3) and the electric clamp (31) are electrically connected with the central controller (5); An identification assembly is arranged on the chassis (1) for monitoring weeds, Wherein, the identification assembly comprises a sound sensor (52) and an odor detector (53) fixedly installed on the central controller (5), a camera (51) is fixedly installed on the mechanical arm (3), and the camera (51), the sound sensor (52) and the odor detector (53) are electrically connected with the central controller (5).

5. The weed monitoring robot of claim 4, wherein, The two sides of the camera (51) are fixedly connected with symmetrically distributed illuminating lamps (12).

6. The weed monitoring robot of claim 1, wherein, The liquid supply part comprises a solution tank (8) fixedly connected to the top of the chassis (1), an extraction pump (81) fixedly installed in the solution tank (8), and the liquid delivery end of the extraction pump (81) is connected in communication with the liquid inlet end of the spray gun (7) through an extension hose (82), and the extraction pump (81) is electrically connected with the central controller (5).

7. The weed monitoring robot of claim 6, wherein, The solution tank (8) is fixedly installed with an observation window (10), and the surface of the observation window (10) is provided with a scale line.

8. The weed monitoring robot of claim 1, wherein, The adjusting member comprises an electric rotating disc (71) fixedly installed on the mechanical arm (3), the spray gun (7) is rotationally connected to the top of the electric rotating disc (71), the top of the electric rotating disc (71) is rotationally connected with an electric push rod (72), The output end of the electric push rod (72) is rotationally connected with the bottom of the spray gun (7), and the electric rotating disc (71) and the electric push rod (72) are electrically connected with the central controller (5).

9. The weed monitoring robot of claim 1, wherein, The chassis (1) is fixedly connected with a collecting box (11) at the running end, and the collecting box (11) is located below the electric clamping jaw (31).

10. The weed monitoring robot of claim 4, wherein, The fastener comprises mounting plates (6) fixedly connected on both sides of the central controller (5), the chassis (1) is fixedly connected with bolts (61), the bolts (61) pass through the through holes of the mounting plates (6) and are threadedly connected with nuts (62).

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