A weeding robot with a telescopic support

Abstract

This application discloses a weeding robot with a retractable support frame. The weeding robot with a retractable support frame includes: a retractable frame assembly, with movable components fixedly connected to both sides of the retractable frame assembly; the retractable frame assembly includes a retractable crossbeam, a supporting longitudinal beam, and a fixed support frame; and a weeding component. To solve the problem that manual weeding in the prior art is cumbersome and time-consuming, this application designs a robot that can automatically clean weeds. Through the setting of the movable components, it can automatically move to the field, identify weeds through the weeding component, and mechanically and physically clean the weeds, thereby avoiding the environmental pollution and health hazards caused by chemical methods. At the same time, the retractable frame assembly has a telescopic adjustment function, which can be flexibly adjusted according to the width of the field to achieve better weeding function.

Description

Technical Field

[0001] This application relates to the field of weeding robot technology, and in particular to a weeding robot with a retractable support. Background Technology

[0002] Farmland weeds have survived by adapting to local crops, cultivation, climate, soil and other ecological conditions and social factors over a long period of time. They are an integral part of the agricultural ecosystem. Existing weeding techniques mainly include manual and semi-mechanical weeding, mechanical weeding, chemical weeding, biological weeding and other techniques.

[0003] Manual weeding is the simplest and most primitive way to weed, but its disadvantages are also obvious: it is labor-intensive, requires a lot of manpower and time, and is inefficient.

[0004] While chemical herbicides are effective, their use has led to increasingly serious environmental pollution problems, causing long-term cumulative adverse effects on soil, water and air.

[0005] In other words, existing technologies have the following technical problems: conventional weeding methods are inefficient and prone to causing additional pollution. Therefore, a weeding robot with a retractable support frame is proposed to address these issues. Summary of the Invention

[0006] This embodiment provides a weeding robot with a retractable support to solve the problems of low efficiency and easy additional pollution caused by ordinary weeding methods in the prior art.

[0007] According to one aspect of this application, a weeding robot with a retractable support frame is provided, the weeding robot with the retractable support frame comprising:

[0008] A telescopic frame assembly, wherein movable components are fixedly connected to both sides of the telescopic frame assembly, and the telescopic frame assembly includes a telescopic crossbeam, a supporting longitudinal beam, and a fixed bracket.

[0009] A weeding component is fixedly mounted on the bottom surface of a fixed bracket, which is fixedly mounted on the side wall of a telescopic beam. The weeding component is used for mechanically removing weeds.

[0010] Furthermore, the telescopic beam includes a beam body, a movable beam, a fixing block, a screw, and a drive motor. The beam body has an internal cavity, and movable beams are slidably connected to both sides of the internal cavity of the beam body. The movable beams also have internal cavities, and fixing blocks are fixedly connected to the internal cavities of the movable beams.

[0011] Furthermore, a partition plate is fixedly connected to the inner cavity of the crossbeam body, and one end of a screw is rotatably connected to the side wall of the partition plate. The other end of the screw extends into the inner cavity of the moving beam, and the screw passes through the fixed block and is threadedly engaged with the fixed block.

[0012] Furthermore, a bevel gear A is fixedly connected to one end of the screw, a drive motor is mounted on the crossbeam body, and a bevel gear B is fixedly connected to the end of the output shaft of the drive motor. The bevel gear B and the bevel gear A mesh with each other.

[0013] Furthermore, the supporting longitudinal beam includes a longitudinal beam body, a lifting beam, a lifting slider, a support frame, a support plate, a connecting screw, and a servo motor. The longitudinal beam body has an internal cavity, and a lifting slider is slidably connected to the internal cavity of the longitudinal beam body. A support frame is fixedly connected to the upper surface of the lifting slider. The support frame penetrates the upper wall of the internal cavity of the longitudinal beam body and extends to the outside of the wall. A lifting beam is fixedly connected to the top of the support frame, and one end of the lifting beam is fixedly connected to the moving beam.

[0014] Furthermore, a support plate is fixedly connected to the inner cavity of the longitudinal beam body, and a connecting screw is rotatably connected to the upper surface of the support plate. The connecting screw passes through the lifting slider and is threadedly engaged with the lifting slider.

[0015] Furthermore, a servo motor is fixedly installed on the bottom side of the inner cavity of the longitudinal beam body, and the end of the output shaft of the servo motor is fixedly connected to the bottom end of the connecting screw.

[0016] Furthermore, the moving component includes a fixed side plate, a fixed base frame, a control motor, and traveling wheels. The fixed side plate is fixedly installed at the bottom side of the supporting longitudinal beam. The fixed base frame is fixedly connected to the bottom surface of the fixed side plate. Traveling wheels are rotatably connected to the side wall of the fixed base frame. The control motor is fixedly installed on the fixed base frame, and the end of the output shaft of the control motor is fixedly connected to the traveling wheels.

[0017] Furthermore, the weeding assembly includes an electric telescopic rod, a connecting frame, a fixed base, and a robotic arm unit. Three connecting frames are rotatably connected to the upper surface of the fixed base via ball joints. The three connecting frames are arranged in a ring. One end of the electric telescopic rod is rotatably connected to the top of each connecting frame. The other end of the electric telescopic rod is rotatably connected to the bottom surface of the fixed support via a ball joint.

[0018] Furthermore, the robotic arm unit includes a connecting arm A, a connecting arm B, a connecting arm C, and an electric gripper. The connecting arm A is fixedly mounted on the bottom surface of the fixed base. One end of the connecting arm A is rotatably connected to the connecting arm B. A servo motor A is fixedly installed on the side wall of the connecting arm A. The output shaft end of the servo motor A is connected to the connecting arm B. One end of the connecting arm B is rotatably connected to the connecting arm C. A servo motor B is fixedly installed on the side wall of the connecting arm C. The output shaft end of the servo motor B is fixedly connected to the connecting arm B. An electric gripper is fixedly installed at one end of the connecting arm C.

[0019] In order to solve the problem that manual weeding is troublesome and time-consuming in the prior art, this application designs a robot that can automatically clean weeds. Through the above embodiments, the robot can automatically move to the field, identify weeds through the weeding component, and mechanically and physically clean the weeds, thereby avoiding the environmental pollution and health hazards caused by chemical methods. At the same time, the telescopic frame component has the function of telescopic adjustment, which can be flexibly adjusted according to the width of the field to achieve better weed cleaning function. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of one embodiment of this application;

[0022] Figure 2 This is a front view of one embodiment of the present application.

[0023] Figure 3 This is a schematic diagram of the structure of a robotic arm unit according to an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the structure of a telescopic beam according to one embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the supporting longitudinal beam according to one embodiment of this application.

[0026] In the picture:

[0027] Telescopic frame component 1;

[0028] Telescopic crossbeam 101, crossbeam body 1011, moving beam 1012, fixing block 1013, screw 1014, partition plate 1015, bevel gear A 1016, bevel gear B 1017, drive motor 1018;

[0029] Supporting longitudinal beam 102, longitudinal beam body 1021, lifting beam 1022, lifting slider 1023, support frame 1024, support plate 1025, connecting screw 1026, servo motor 1027;

[0030] Fixed bracket 103;

[0031] Moving component 2, fixed side plate 201, fixed base frame 202, control motor 203, and traveling wheels 204;

[0032] Weeding component 3, electric telescopic pole 301, connecting frame 302, fixed base 303, connecting arm A 304, connecting arm B 305, connecting arm C 306, electric gripper 307, servo motor A 308, servo motor B 309. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0036] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0037] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0038] Please see Figure 1-5 As shown, a weeding robot with a retractable support frame is provided, the weeding robot with the retractable support frame comprising:

[0039] Telescopic frame assembly 1, wherein movable components 2 are fixedly connected to both sides of the telescopic frame assembly 1, and the telescopic frame assembly 1 includes a telescopic crossbeam 101, a supporting longitudinal beam 102 and a fixed bracket 103.

[0040] The weeding component 3 is fixedly installed on the bottom surface of the fixed bracket 103, which is fixedly installed on the side wall of the telescopic beam 101. The weeding component 3 is used for mechanically removing weeds.

[0041] Through the above technical solution, the mobile component 2 can be automatically moved to the field, and the weeding component 3 can identify weeds and mechanically remove them, thereby avoiding environmental pollution and health hazards caused by chemical methods. At the same time, the telescopic frame component 1 has the function of telescopic adjustment, which can be flexibly adjusted according to the width of the field to achieve a better weed removal function.

[0042] The telescopic crossbeam 101 includes a crossbeam body 1011, a movable beam 1012, a fixing block 1013, a screw 1014, and a drive motor 1018. The crossbeam body 1011 has an internal cavity. Movable beams 1012 are slidably connected to both sides of the internal cavity of the crossbeam body 1011. The movable beams 1012 have internal cavities. Fixing blocks 1013 are fixedly connected to the internal cavities of the movable beams 1012.

[0043] A partition plate 1015 is fixedly connected to the inner cavity of the crossbeam body 1011. One end of a screw 1014 is rotatably connected to the side wall of the partition plate 1015. The other end of the screw 1014 extends into the inner cavity of the moving beam 1012. The screw 1014 passes through the fixing block 1013 and is threadedly engaged with the fixing block 1013.

[0044] A bevel gear A1016 is fixedly connected to one end of the screw 1014. A drive motor 1018 is mounted on the crossbeam body 1011. A bevel gear B1017 is fixedly connected to the end of the output shaft of the drive motor 1018. The bevel gear B1017 and the bevel gear A1016 mesh with each other. Through this technical solution, the operation of the drive motor 1018 can drive the bevel gear B1017 to rotate, which in turn can drive the bevel gear A1016 to rotate. The bevel gear A1016 drives the screw 1014 to rotate, which in turn drives the fixed block 1013 to move, thereby driving the moving beam 1012 to move, realizing the telescopic movement function.

[0045] The supporting longitudinal beam 102 includes a longitudinal beam body 1021, a lifting beam 1022, a lifting slider 1023, a support frame 1024, a support plate 1025, a connecting screw 1026, and a servo motor 1027. The longitudinal beam body 1021 has an internal cavity. The lifting slider 1023 is slidably connected in the internal cavity of the longitudinal beam body 1021. The support frame 1024 is fixedly connected to the upper surface of the lifting slider 1023. The support frame 1024 penetrates the upper wall of the internal cavity of the longitudinal beam body 1021 and extends to the outside of the wall. The lifting beam 1022 is fixedly connected to the top of the support frame 1024. The lifting beam 1022 is fixedly connected to one end of the moving beam 1012.

[0046] A support plate 1025 is fixedly connected in the inner cavity of the longitudinal beam body 1021. A connecting screw 1026 is rotatably connected to the upper surface of the support plate 1025. The connecting screw 1026 passes through the lifting slider 1023 and is threadedly engaged with the lifting slider 1023.

[0047] A servo motor 1027 is fixedly installed on the bottom side of the inner cavity of the longitudinal beam body 1021. The output shaft end of the servo motor 1027 is fixedly connected to the bottom end of the connecting screw 1026. Through this technical solution, the operation of the servo motor 1027 can drive the connecting screw 1026 to rotate, and the rotation of the connecting screw 1026 can drive the lifting slider 1023 to move, which in turn can drive the support frame 1024 to move, and then push the lifting beam 1022 to move, thus realizing the function of telescopic movement.

[0048] The moving component 2 includes a fixed side plate 201, a fixed base frame 202, a control motor 203, and a traveling wheel 204. The fixed side plate 201 is fixedly installed on the bottom side of the supporting longitudinal beam 102. The fixed base frame 202 is fixedly connected to the bottom surface of the fixed side plate 201. The traveling wheel 204 is rotatably connected to the side wall of the fixed base frame 202. The control motor 203 is fixedly installed on the fixed base frame 202. The output shaft end of the control motor 203 is fixedly connected to the traveling wheel 204. Through this technical solution, the traveling wheel 204 can be driven to rotate by the operation of the control motor 203, thereby realizing the moving function of this device.

[0049] The weeding assembly 3 includes an electric telescopic rod 301, a connecting frame 302, a fixed base 303, and a robotic arm unit. Three connecting frames 302 are rotatably connected to the upper surface of the fixed base 303 via ball joints. The three connecting frames 302 are arranged in a ring. One end of the electric telescopic rod 301 is rotatably connected to the top of the connecting frame 302. The other end of the electric telescopic rod 301 is rotatably connected to the bottom surface of the fixed bracket 103 via a ball joint. Through this technical solution, the height of the fixed base 303 can be controlled by extending and retracting the electric telescopic rod 301. At the same time, by extending and retracting the three electric telescopic rods 301 by different distances, a height difference can be formed, which can adjust the tilt angle of the fixed base 303.

[0050] The robotic arm unit includes connecting arm A304, connecting arm B305, connecting arm C306, and an electric gripper 307. Connecting arm A304 is fixedly mounted on the bottom surface of the fixed base 303. One end of connecting arm A304 is rotatably connected to connecting arm B305. A servo motor A308 is fixedly mounted on the side wall of connecting arm A304. The output shaft end of the servo motor A308 is connected to connecting arm B305. Connecting arm C306 is rotatably connected to one end of connecting arm B305. A servo motor B309 is fixedly mounted on the side wall of connecting arm C306. The output shaft end of the servo motor B309 is fixedly connected to connecting arm B305. An electric gripper 307 is fixedly mounted on one end of connecting arm C306. Through this technical solution, the movement of the robotic arm unit can realize the movement of the electric gripper 307, thereby enabling weeding operations to be performed by the electric gripper 307.

[0051] Furthermore, the weeding component 3 is equipped with a weed identification module;

[0052] The weed identification module is the YOLOv8x_DW_Swin_FOCUS2_SPPC model;

[0053] YOLOv8x_DW_Swin_FOCUS2_SPPC is an improved object detection model based on the YOLOv8 (You Only Look Once, Version 8) architecture, and incorporates advanced modules and optimization strategies such as Depthwise (DW) convolution, Swing Transformer, FOCUS2, and SPPC (Spatial Pyramid Pooling with Convolution).

[0054] YOLOv8x Infrastructure; YOLOv8 is a commonly used version in the YOLO series. It adopts an efficient network structure, supports stronger feature extraction capabilities, and optimizes the anchor-free mechanism, thereby improving the speed and accuracy of object detection.

[0055] DW (Depthwise) convolution; DW (Depthwise Separable Convolution) is a computationally efficient convolution operation:

[0056] Reduced computation: Compared to standard convolution, DW first performs spatial convolution on each channel separately, and then performs channel fusion, which greatly reduces computational complexity;

[0057] Improve model efficiency: Reduce computational load while decreasing the number of parameters, thereby increasing inference speed. Suitable for deployment on resource-constrained devices (such as embedded platforms).

[0058] Swin Transformer

[0059] Swin Transformer is a visual Transformer based on a window-based self-attention mechanism.

[0060] Local window attention: Reduces computation by dividing the Transformer into windows, making it suitable for object detection tasks;

[0061] Multi-scale feature extraction: The Swin Transformer has a hierarchical structure and can extract features from different scales, making it suitable for detecting targets of different sizes;

[0062] Enhanced global information interaction: Compared to CNNs, which can only focus on local information, the Swin Transformer can capture dependencies over a longer distance, thus improving detection performance;

[0063] FOCUS2;

[0064] FOCUS2 is an improved version of the FOCUS structure, primarily used for input feature processing:

[0065] Spatial-channel reconstruction: Mapping different regions of the input image to different channels to improve feature representation capabilities;

[0066] Reduced computation: Compared to ordinary convolution operations, FOCUS2 reduces computational overhead through clever recombination.

[0067] Enhanced local information aggregation: It has advantages for small target detection;

[0068] In YOLOv8x_DW_Swin_FOCUS2_SPPC, SPPC is mainly used for the neck network to help the model better aggregate multi-scale information and improve detection accuracy.

[0069] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A weeding robot with a retractable support frame, characterized in that: The weeding robot with a retractable support frame includes: Telescopic frame assembly (1), with movable components (2) fixedly connected to both sides of the telescopic frame assembly (1), the telescopic frame assembly (1) includes a telescopic crossbeam (101), a supporting longitudinal beam (102) and a fixed bracket (103). The weeding component (3) is fixedly installed on the bottom surface of the fixed bracket (103), which is fixedly installed on the side wall of the telescopic beam (101). The weeding component (3) is used to mechanically remove weeds.

2. The weeding robot with a retractable support frame according to claim 1, characterized in that: The telescopic crossbeam (101) includes a crossbeam body (1011), a movable beam (1012), a fixing block (1013), a screw (1014), and a drive motor (1018). The crossbeam body (1011) has an internal cavity. Movable beams (1012) are slidably connected to both sides of the internal cavity of the crossbeam body (1011). The movable beams (1012) have internal cavities. Fixing blocks (1013) are fixedly connected to the internal cavities of the movable beams (1012).

3. A weeding robot with a retractable support frame according to claim 2, characterized in that: A partition plate (1015) is fixedly connected to the inner cavity of the beam body (1011). One end of a screw (1014) is rotatably connected to the side wall of the partition plate (1015). The other end of the screw (1014) extends into the inner cavity of the moving beam (1012). The screw (1014) passes through the fixing block (1013) and is threadedly engaged with the fixing block (1013).

4. A weeding robot with a retractable support frame according to claim 2, characterized in that: A bevel gear A (1016) is fixedly connected to one end of the screw (1014), and a drive motor (1018) is installed on the crossbeam body (1011). A bevel gear B (1017) is fixedly connected to the end of the output shaft of the drive motor (1018), and the bevel gear B (1017) meshes with the bevel gear A (1016).

5. A weeding robot with a retractable support frame according to claim 1, characterized in that: The supporting longitudinal beam (102) includes a longitudinal beam body (1021), a lifting beam (1022), a lifting slider (1023), a support frame (1024), a support plate (1025), a connecting screw (1026), and a servo motor (1027). The longitudinal beam body (1021) has an internal cavity. The lifting slider (1023) is slidably connected in the internal cavity of the longitudinal beam body (1021). The support frame (1024) is fixedly connected to the upper surface of the lifting slider (1023). The support frame (1024) penetrates the upper wall of the internal cavity of the longitudinal beam body (1021) and extends to the outside of the wall. The lifting beam (1022) is fixedly connected to the top of the support frame (1024). The lifting beam (1022) is fixedly connected to one end of the moving beam (1012).

6. A weeding robot with a retractable support frame according to claim 5, characterized in that: A support plate (1025) is fixedly connected in the inner cavity of the longitudinal beam body (1021). A connecting screw (1026) is rotatably connected to the upper surface of the support plate (1025). The connecting screw (1026) passes through the lifting slider (1023) and is threadedly engaged with the lifting slider (1023).

7. A weeding robot with a retractable support frame according to claim 5, characterized in that: A servo motor (1027) is fixedly installed on the bottom side of the inner cavity of the longitudinal beam body (1021), and the end of the output shaft of the servo motor (1027) is fixedly connected to the bottom end of the connecting screw (1026).

8. A weeding robot with a retractable support frame according to claim 1, characterized in that: The moving component (2) includes a fixed side plate (201), a fixed base frame (202), a control motor (203), and a traveling wheel (204). The fixed side plate (201) is fixedly installed on the bottom side of the supporting longitudinal beam (102). The fixed base frame (202) is fixedly connected to the bottom surface of the fixed side plate (201). The traveling wheel (204) is rotatably connected to the side wall of the fixed base frame (202). The control motor (203) is fixedly installed on the fixed base frame (202). The end of the output shaft of the control motor (203) is fixedly connected to the traveling wheel (204).

9. A weeding robot with a retractable support frame according to claim 1, characterized in that: The weeding assembly (3) includes an electric telescopic rod (301), a connecting frame (302), a fixed base (303), and a robotic arm unit. Three connecting frames (302) are rotatably connected to the upper surface of the fixed base (303) via ball joints. The three connecting frames (302) are arranged in a ring. One end of the electric telescopic rod (301) is rotatably connected to the top of the connecting frame (302). The other end of the electric telescopic rod (301) is rotatably connected to the bottom surface of the fixed bracket (103) via ball joints.

10. A weeding robot with a retractable support frame according to claim 9, characterized in that: The robotic arm unit includes connecting arm A (304), connecting arm B (305), connecting arm C (306), and electric gripper (307). Connecting arm A (304) is fixedly mounted on the bottom surface of fixed base (303). One end of connecting arm A (304) is rotatably connected to connecting arm B (305). A servo motor A (308) is fixedly installed on the side wall of connecting arm A (304). The output shaft end of the servo motor A (308) is connected to connecting arm B (305). Connecting arm C (306) is rotatably connected to one end of connecting arm B (305). A servo motor B (309) is fixedly installed on the side wall of connecting arm C (306). The output shaft end of the servo motor B (309) is fixedly connected to connecting arm B (305). An electric gripper (307) is fixedly installed at one end of connecting arm C (306).

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