Intelligent weeding robot

Abstract

The utility model discloses an intelligent weeding robot, which relates to the field of weeding robots and comprises a weeding structure arranged at the bottom of a rack, the weeding structure consists of an adjustable support and a laser weeding structure, and the laser weeding structure comprises a pumping laser transmitter, a heat dissipation structure and a high-definition camera. A heat dissipation structure adopts the design of a hollow shell, a heat dissipation fin group and a micro circulating pump, and cooling liquid circulation is combined with a barb-shaped auxiliary heat dissipation sheet, so that the laser can efficiently dissipate heat and stably operate for a long time; a walking structure, a control device and a machine cover with a GPS antenna and a shadowless lamp are arranged on the machine frame, a protection plate and a steering engine drive walking wheel are arranged on the machine frame, an obstacle avoidance radar is arranged on a hub motor shaft, and the laser radar, the shadowless lamp, the GPS antenna and the like are electrically connected with a PLC to achieve intelligent control. Soil disturbance is avoided through laser precise weeding, the reliability of equipment is improved through a heat dissipation structure, the recognition precision is improved through a high-definition camera, and the autonomy of GPS navigation and obstacle avoidance functions is enhanced.

Description

Technical Field

[0001] This utility model relates to the field of weeding robot technology, and more specifically, to an intelligent weeding robot. Background Technology

[0002] As modern agriculture develops towards intelligence and precision, automated weeding equipment is increasingly being used in field management. Traditional weeding methods mainly include manual pulling, chemical spraying, and mechanical cutting. While manual weeding can accurately remove weeds, it is labor-intensive and inefficient, making it difficult to meet the needs of large-scale agricultural production. Chemical weeding can quickly cover large areas of field by spraying herbicides; however, long-term use can easily lead to herbicide resistance in weeds and may also pollute soil, water sources, and crops, affecting the ecological environment and food safety. Mechanical weeding equipment, such as rotary tillers or lawnmowers, while improving efficiency to some extent, often damages soil structure by turning over the topsoil, causing water loss, or compacting the soil, affecting crop root growth. In addition, mechanical weeding makes it difficult to distinguish between weeds and crops, easily damaging target plants and reducing agricultural output.

[0003] In recent years, some new weeding technologies have begun to emerge, such as laser-based non-contact weeding technology. Laser weeding uses high-energy beams to directly burn the stems and leaves of weeds, offering advantages such as high precision and no chemical residue, and has gradually gained attention. However, existing laser weeding equipment still faces some technical bottlenecks. First, lasers generate a lot of heat when operating continuously for extended periods. Insufficient heat dissipation can lead to performance degradation or even damage, limiting its ability to operate in the field for extended periods. Second, existing equipment has limited weed identification capabilities, typically relying on simple sensors or low-resolution cameras, making it difficult to accurately distinguish weeds from crops in complex field environments (such as low-light or densely vegetated areas), resulting in low weeding efficiency and accuracy. Furthermore, most weeding robots have weak navigation and obstacle avoidance capabilities, making it difficult to adapt to varying terrain and obstacles in the field, limiting their autonomous operation range and practicality.

[0004] In response to the above problems, some improvement solutions have emerged in the market. For example, some weeding robots attempt to increase weed coverage by adding robotic arms or multiple sets of cutting blades, but these solutions increase equipment complexity and maintenance costs, while failing to completely solve the soil disturbance problem.

[0005] Therefore, given the shortcomings of existing weeding equipment in terms of heat dissipation performance, weed identification accuracy, autonomous navigation capability, and environmental adaptability, it is particularly necessary to develop an intelligent weeding robot. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent weeding robot to solve the technical problems mentioned in the background section.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] An intelligent weeding robot includes a weeding structure located at the bottom of a frame. The weeding structure includes an adjustable support and a laser weeding structure mounted on the adjustable support. The laser weeding structure includes a pump laser emitter, a heat dissipation structure, and a high-definition camera. The heat dissipation structure is located outside the pump laser emitter, and the high-definition camera is mounted on the outer shell of the pump laser emitter. A walking structure and a control device are mounted on the frame. A cover is mounted on the frame, with a GPS antenna mounted on the top of the cover and a shadowless lamp mounted on the front end of the cover.

[0009] As a preferred technical solution of this utility model, the heat dissipation structure includes a heat dissipation fin group filled with coolant, a micro circulation pump and a housing, wherein the housing is attached to the outer shell of the pump laser emitter, the micro circulation pump is disposed between two adjacent heat dissipation fins, the heat dissipation fin group is composed of a number of heat dissipation fins, and the heat dissipation fins are welded to the outer wall of the housing, the housing has a hollow structure, the heat dissipation fins have a hollow structure, and the heat dissipation fins are all connected to the inner cavity of the housing, and the outer wall of the heat dissipation fins is provided with barbed auxiliary heat dissipation fins.

[0010] As a preferred technical solution of this utility model, the walking structure includes a steering servo and a walking wheel, wherein the walking wheel includes a tire and a hub motor, and the fixed shaft of the hub motor is set on the output shaft of the steering servo.

[0011] As a preferred technical solution of this utility model, the fixed shaft of the hub motor is also equipped with all the lidar.

[0012] As a preferred technical solution of this utility model, the lidar, shadowless lamp, GPS antenna, walking structure and lidar are all electrically connected to the control device.

[0013] As a preferred technical solution of this utility model, the control device includes a power supply battery and a PLC controller, wherein the lidar, shadowless lamp, GPS antenna, walking structure and lidar are all connected to the PLC controller, and the power supply battery is also connected to the PLC controller.

[0014] As a preferred technical solution of this utility model, a protective plate is provided on the outer ring of the cover.

[0015] As a preferred technical solution of this utility model, the adjustable bracket includes a bracket and a telescopic connecting rod, wherein the bracket is movably connected to the frame, and the side wall of the bracket is movably connected to one end of the telescopic connecting rod, and the other end of the telescopic connecting rod is movably connected to the side wall of the frame.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This utility model of weeding robot, by integrating laser weeding technology, intelligent control, and autonomous navigation, brings significant beneficial effects. First, it adopts a non-contact laser weeding method, using a high-energy laser beam to precisely burn weeds, avoiding the soil disturbance and compaction caused by traditional mechanical weeding. This not only effectively protects the soil structure and reduces water loss and the risk of soil compaction, but also helps maintain the field ecological environment, making it particularly suitable for the needs of sustainable agriculture.

[0018] 2. The innovative heat dissipation structure of this utility model provides a key guarantee for the efficient operation of the equipment. This heat dissipation structure consists of a hollow shell, a heat dissipation fin assembly, and a micro-circulation pump. The shell is in close contact with the pump laser emitter, rapidly absorbing and conducting heat through coolant circulation. The hollow design of the heat dissipation fin assembly and the hook-shaped auxiliary heat dissipation fins significantly increase the heat dissipation area and efficiency, allowing heat to dissipate rapidly into the air. The addition of the micro-circulation pump further accelerates the coolant flow, ensuring that the laser temperature remains within a safe range during high-load continuous operation. This avoids performance degradation or equipment damage caused by overheating, greatly extending the laser's lifespan and improving the stability and reliability of the equipment. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the internal structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the heat dissipation structure of this utility model;

[0022] Figure 4 This is a schematic diagram of the heat dissipation fin structure of this utility model.

[0023] In the diagram: 1. Protective plate; 2. Cover; 3. Shadowless lamp; 4. GPS antenna; 5. Control device; 6. Frame; 7. Steering servo; 8. LiDAR; 9. Adjustable bracket; 10. Weeding structure; 11. Pumped laser emitter; 12. Housing; 13. Heat sink fins; 14. High-definition camera; 15. Miniature circulation pump. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] The embodiments of this utility model will be described in detail below with reference to the accompanying drawings, so that those skilled in the art can clearly understand the technical solution of this utility model and implement it. It should be noted that the following description is only a part of the typical embodiments of this utility model, and not all possible implementations. Any improvement, equivalent substitution or adjustment based on this embodiment, as long as it does not deviate from the core spirit of this utility model, should be regarded as part of the protection scope of this utility model.

[0026] Example: Please refer to Figures 1 to 3 As shown in the figure, this embodiment provides an intelligent weeding robot. Its design goal is to achieve efficient and precise weed removal through automation and laser weeding techniques, making it widely applicable to agricultural field management, garden maintenance, or other scenarios requiring vegetation control. This robot integrates multiple functions such as laser weeding, autonomous navigation, intelligent control, and efficient heat dissipation. It not only significantly reduces manual labor intensity but also avoids the interference with soil structure and the ecological environment caused by traditional mechanical weeding. The following provides a comprehensive description of the structural design, working principle, and specific implementation of this weeding robot.

[0027] The main structure of this weeding robot is based on a frame 6, which is welded from high-strength steel or aluminum alloy, possessing excellent load-bearing capacity and corrosion resistance, and capable of adapting to complex outdoor field environments. The weeding structure is installed at the bottom of the frame 6 and is directly responsible for weed removal. The weeding structure consists of two parts: an adjustable support 9 and a laser weeding structure 10. The laser weeding structure 10 is connected to the frame 6 via the adjustable support 9, whose design fully considers flexibility and stability. Specifically, the adjustable support 9 includes a bracket and a corresponding telescopic linkage. The bracket is fixed to the frame 6 via a movable connection, such as a hinged structure or a slide rail assembly, allowing it to move vertically up and down or tilt within a certain range to adjust its angle. The side wall of the bracket is connected to one end of the telescopic linkage via a movable connection, such as using a pin or universal joint to achieve flexible rotation, while the other end of the telescopic linkage is also fixed to the side wall of the frame 6 via a movable connection. The telescopic link can be a hydraulically or electrically driven telescopic rod, and its length can be precisely adjusted by a motor or hydraulic cylinder, typically within a range of 0 to 30 centimeters, thereby changing the height and angle of the laser weeding structure 10. This design allows the robot to adapt to the weeding needs of different terrains, such as lowering its height for low-lying grasses or raising and adjusting its angle for tall weeds, ensuring that its laser can accurately target the target.

[0028] The laser weeding structure 10 is the execution component of the weeding robot, consisting of a pump laser emitter 11, a heat dissipation structure, and a high-definition camera 14. The pump laser emitter 11 is crucial for the weeding function; it employs a solid-state laser or fiber laser, capable of emitting a high-energy laser beam with a wavelength in the near-infrared range (e.g., 1064 nm). This beam rapidly burns the stems and leaves of weeds through thermal effects, typically removing a single weed in just 0.5 to 2 seconds. To ensure the precision of its laser emission, the high-definition camera 14 is mounted on the housing of the pump laser emitter 11, typically located above or to the side of the laser emission port, with its lens facing the work area. The high-definition camera 14 is equipped with a high-resolution CMOS sensor, achieving a resolution of 1080p or higher. It can clearly capture details of ground vegetation, such as the leaf shape, color, and growth status of weeds, and transmits the image data to the control system in real time for weed identification and location. Because the pump laser emitter 11 generates a large amount of heat during prolonged operation (the operating temperature may exceed 60 degrees Celsius), a specialized heat dissipation structure is configured externally to prevent performance degradation or equipment damage due to overheating. The heat dissipation structure includes a housing 12, a heat sink fin assembly, and a micro-circulation pump 15. The housing 12 is a hollow metal component that fits tightly against the outer shell of the pump laser emitter 11. It is typically made of aluminum alloy or copper, a material with excellent thermal conductivity, and is approximately 2 to 3 millimeters thick. The housing 12 is filled with coolant, such as distilled water or a special thermally conductive fluid containing corrosion inhibitors, with a capacity of approximately 200 to 300 milliliters. The heat sink fin assembly consists of multiple heat sink fins 13, which are welded to the outer wall of the housing 12. Each heat sink fin 13 is also hollow, communicating internally with the inner cavity of the housing 12 to form a complete coolant circulation channel. The number of heat sink fins 13 is typically 10 to 15, each approximately 1 millimeter thick and 20 to 30 millimeters high. To accelerate coolant flow, a miniature circulation pump 15 is installed between two adjacent heat dissipation fins 13. Driven by a small DC motor, it achieves a flow rate of 0.5 liters per minute, pumping coolant from the housing 12 into the heat dissipation fins 13 and back, carrying away heat. Furthermore, to further improve heat dissipation efficiency, each heat dissipation fin 13 is designed with barbed auxiliary heat dissipation fins on its outer wall. These barbed structures are approximately 5 mm long and extend outwards at a 45-degree angle, increasing the contact area with air and allowing heat to dissipate to the external environment more quickly through convection. Testing has shown that this heat dissipation structure can control the operating temperature of the pumped laser emitter 11 below 40 degrees Celsius, allowing it to operate continuously for several hours without performance degradation.

[0029] In addition to the weeding structure, the frame 6 also houses the walking structure and control device 5, used to enable the robot's movement and overall coordinated operation. The walking structure includes a steering servo motor 7 and walking wheels, which consist of tires and hub motors. The hub motor is a drive wheel with a built-in motor, typically with a power of 50 to 100 watts, capable of providing a speed of 3 to 5 kilometers per hour. Its fixed shaft is directly connected to the output shaft of the steering servo motor 7. The steering servo motor 7 uses a high-torque servo motor with a turning angle range of ±90 degrees. By rotating the output shaft, it controls the direction of the walking wheels, enabling the robot to flexibly turn, such as making U-turns or obstacle avoidance adjustments on narrow field paths. The control device 5 includes a power supply battery and a PLC controller. The lidar 8, shadowless lamp 3, GPS antenna 4, walking structure, and lidar 8 are all connected to the PLC controller, as is the power supply battery.

[0030] To adapt to muddy or uneven terrain, the tires are made of non-slip rubber and are approximately 20 to 30 centimeters in diameter. To enhance the robot's safety in complex environments, a lidar sensor 8 is additionally installed on the fixed shaft of the hub motor. The lidar sensor 8 uses ultrasonic or laser ranging technology, with a detection range of 0.2 to 5 meters and an angle coverage of 120 degrees. It can detect obstacles in front of or around the robot, such as rocks, tree stumps, or ditches, and feeds the distance data back to the control system in real time, thereby adjusting the driving path and avoiding collisions.

[0031] The upper part of the frame 6 is covered by a protective structure with a cover 2. The cover 2 is made of lightweight and durable engineering plastic or metal sheet, with a thickness of approximately 3 to 5 millimeters, which reduces weight while providing sufficient protection. A GPS antenna 4 is installed on the top of the cover 2 to receive satellite positioning signals, helping the robot to achieve precise navigation and path planning, with a positioning accuracy of ±10 centimeters. The front end of the cover 2 is equipped with a shadowless lamp 3, which uses a high-brightness LED light source with a power of 10 to 20 watts and an illumination range covering 2 to 3 meters in front, providing uniform illumination for the high-definition camera 14 at night or in low-light environments, thus improving the clarity of its image acquisition. To further protect the internal components, a protective plate 1 is also provided on the outer ring of the cover 2. The protective plate 1 can be made of steel plate or high-strength plastic, with a height of approximately 5 to 10 centimeters, which can withstand external impacts or splashing mud and stones, extending the service life of the equipment.

[0032] Control unit 5 is the control unit of the weeding robot, installed inside the frame 6, typically located near the center of the frame to maintain overall balance. Control unit 5 includes a power supply battery and a PLC controller. The power supply battery provides stable power to the entire system, typically using a high-capacity lithium battery with a voltage of 24 volts and a capacity of 20 to 30 amp-hours, capable of meeting the needs of 4 to 6 hours of continuous field operation. The PLC controller is an industrial-grade programmable logic controller with multi-channel input / output interfaces and high-speed data processing capabilities. It is responsible for receiving and processing signals from various components and issuing corresponding control commands. Specifically, the PLC controller is electrically connected to the lidar 8, the shadowless lamp 3, the GPS antenna 4, the walking structure, and the lidar 8, and also works in conjunction with the high-definition camera 14 and the pump laser emitter 11. For example, after the image data captured by the high-definition camera 14 is transmitted to the PLC controller, the pre-installed image processing algorithm analyzes the vegetation characteristics, such as color comparison (weeds are usually green, while crops may be other shades) or morphological recognition (weed leaf shapes are different from crops), to identify the specific location of the weeds. The PLC controller then drives the pump laser emitter 11 to adjust the emission angle and emit laser light for clearing. The laser power can be adjusted according to the size of the weeds, ranging from 10 to 50 watts. Simultaneously, the positioning data provided by the GPS antenna 4 and the detection information from the LiDAR 8 are also integrated by the PLC controller to plan the robot's movement path, such as covering the entire work area along a straight line or grid pattern, and automatically adjusting its direction or stopping when encountering obstacles. The shadowless lamp 3 is automatically turned on or off by the PLC controller based on data from the ambient light sensor (e.g., when the light intensity is below 50 lux), to save energy and improve its working efficiency.

[0033] In practical use, this weeding robot completes the weeding task through the following steps: First, the user sets the work area range through a preset program or remote control interface (such as a mobile application or a dedicated remote control), for example, a 50m x 50m field. The robot uses GPS antenna 4 to locate the starting point and plan a path, for example, covering the entire area in a zigzag pattern. Then, the walking wheels drive the robot to move in the field, and the speed can be adjusted according to the terrain, usually 2 to 4 kilometers per hour. The high-definition camera 14 continuously scans the ground vegetation, capturing images at a frequency of 10 frames per second, and sends the image data to the PLC controller. The PLC controller uses a built-in weed recognition algorithm to analyze the images, determine the location of the weeds, and then controls the adjustable bracket 9 to adjust the height and angle of the laser weeding structure 10 so that the laser beam of the pump laser emitter 11 is aimed at the target. The adjustment time is usually no more than 1 second. After the laser beam is emitted, the weeds are burned by the high temperature, and the burning depth can reach 2 to 3 centimeters below the root. The heat dissipation structure dissipates heat through coolant circulation and heat dissipation fins 13, ensuring the stable operation of the laser emitter 11. If an obstacle is encountered, such as a rock with a diameter exceeding 20 centimeters, the LiDAR 8 will emit a signal, and the PLC controller will then adjust the direction of the walking wheels, for example, shifting 30 degrees to the left or right, or pausing movement and issuing an alarm to alert the user. In low-light conditions, such as at dusk or in rainy weather, the shadowless lamp 3 will automatically turn on, maintaining an illuminance of over 200 lux to ensure clear image acquisition. The entire process requires no manual intervention; the user only needs to periodically check the power supply battery charge and coolant level.

[0034] Compared with existing technologies, the weeding robot of this invention has significant advantages. First, by using laser weeding technology, it avoids the soil turning and compaction caused by traditional mechanical weeding, reducing the risk of soil compaction and moisture loss, and is more conducive to crop growth.

[0035] The contents not described in detail in this description are existing technologies known to those skilled in the art. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent weeding robot, comprising a weeding structure, characterized in that: The weeding structure is located at the bottom of the frame (6). The weeding structure includes an adjustable bracket (9) and a laser weeding structure (10). The laser weeding structure (10) is located on the adjustable bracket (9). The weeding structure (10) includes a pump laser emitter (11), a heat dissipation structure and a high-definition camera (14). The heat dissipation structure is located outside the pump laser emitter (11), and the high-definition camera (14) is located on the outer shell of the pump laser emitter (11). The frame (6) is equipped with a walking structure and a control device (5). The frame (6) is equipped with a cover (2). The top of the cover (2) is equipped with a GPS antenna (4), and the front end of the cover (2) is equipped with a shadowless lamp (3).

2. The intelligent weeding robot according to claim 1, characterized in that: The heat dissipation structure includes a heat dissipation fin group filled with coolant, a micro circulation pump (15) and a housing (12), wherein the housing (12) is attached to the outer shell of the pump laser emitter (11), the micro circulation pump (15) is disposed between two adjacent heat dissipation fins (13), the heat dissipation fin group is composed of several heat dissipation fins (13), and the heat dissipation fins are welded to the outer wall of the housing (12). The housing (12) has a hollow structure, the heat dissipation fins (13) have a hollow structure, and the heat dissipation fins (13) are all connected to the inner cavity of the housing. The outer wall of the heat dissipation fins (13) is provided with barbed auxiliary heat dissipation fins.

3. The intelligent weeding robot according to claim 2, characterized in that: The walking structure includes a steering servo (7) and a walking wheel, wherein the walking wheel includes a tire and a hub motor, and the fixed shaft of the hub motor is set on the output shaft of the steering servo (7).

4. The intelligent weeding robot according to claim 3, characterized in that: The fixed shaft of the hub motor is also equipped with all the lidar (8).

5. The intelligent weeding robot according to claim 4, characterized in that: The lidar (8), shadowless lamp (3), GPS antenna (4), walking structure and lidar (8) are all electrically connected to the control device (5).

6. The intelligent weeding robot according to claim 5, characterized in that: The control device (5) includes a power supply battery and a PLC controller. The laser radar (8), shadowless lamp (3), GPS antenna (4), walking structure and laser radar (8) are all connected to the PLC controller, and the power supply battery is also connected to the PLC controller.

7. The intelligent weeding robot according to claim 1, characterized in that: The outer ring of the cover (2) is provided with a protective plate (1).

8. The intelligent weeding robot according to claim 1, characterized in that: The adjustable bracket (9) includes a bracket and a telescopic link, wherein the bracket is movably connected to the frame (6), and the side wall of the bracket is movably connected to one end of the telescopic link, and the other end of the telescopic link is movably connected to the side wall of the frame (6).

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