Intelligent weeding robot suitable for railway

Abstract

The utility model discloses an intelligent weeding robot suitable for railway, including frame, walking mechanism, weeding mechanism and control mechanism, walking mechanism installs at the bottom of frame to drive frame to remove, weeding mechanism includes the hidden type mowing subassembly and weeding agent spraying subassembly of installation on the frame, control mechanism includes the remote controller subassembly and controller subassembly of cooperation use, controller subassembly installs in the frame, and controller subassembly is electrically connected with walking mechanism, hidden type mowing subassembly and weeding agent spraying subassembly, the utility model has adopted hidden type mowing subassembly and weeding agent spraying subassembly cooperation weeding operation's design, while the most part weed is pulled and broken in hidden type mowing subassembly, and then selectivity uses weeding agent and carries out fine processing, can reach the effect of completely eradication, the utility model discloses structure design is reasonable and high degree of automation, can be applicable to the weeding operation of different topography, especially suitable when using in the weeding of railway along the line.

Description

Technical Field

[0001] This utility model relates to weeding operations in railway maintenance, specifically an intelligent weeding robot suitable for railways. Background Technology

[0002] The growth of weeds and proliferating trees along railway lines not only affects the appearance of the railway but can also impact traffic safety (such as obstructing signal lights and interfering with the train driver's view). Extensive root systems can also damage tracks and other equipment. Therefore, regular weeding along railway lines is essential.

[0003] Currently, common methods for weed control along railways include manual weeding, chemical weeding, and mechanical weeding. Faced with the complex terrain and abundant weeds along railway lines, manual weeding is labor-intensive, inefficient, and increasingly costly. Chemical weeding can quickly and effectively control weed growth, but improper use can lead to soil and water pollution, affecting the ecological balance and potentially causing weeds to develop resistance, thus reducing the effectiveness of weed control. Mechanical weeding has significant advantages in improving efficiency and reducing labor intensity, but existing mechanical weeding equipment typically has limitations. They are usually wheeled with low chassis, limiting their operation to flat surfaces and making them unsuitable for uneven terrain outside railway fences. Furthermore, they are difficult to operate and inefficiently clear weeds growing outside railway fences and under railway bridges. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention aims to provide an intelligent weeding robot suitable for railways, capable of adapting to complex railway terrain, achieving automation or remote control, and completely eradicating weeds.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: an intelligent weeding robot suitable for railways, comprising a frame, a walking mechanism, a weeding mechanism, and a control mechanism; The walking mechanism is mounted on the bottom of the vehicle frame to drive the vehicle frame to move; the weeding mechanism includes a concealed mowing component and a herbicide spraying component mounted on the vehicle frame; the control mechanism includes a remote control component and a controller component used in conjunction. The controller assembly is mounted in the vehicle frame and is electrically connected to the walking mechanism, the concealed mowing assembly, and the herbicide spraying assembly; the remote control assembly includes a remote control and a receiver that are communicatively connected, the receiver being mounted in the vehicle frame and electrically connected to the controller assembly.

[0006] As a limitation of this utility model, the control mechanism further includes an image recognition component mounted on the vehicle frame and electrically connected to the controller assembly.

[0007] As another limitation of this utility model, the walking mechanism is a tracked walking assembly installed at the bottom of the vehicle frame.

[0008] As a further limitation of this utility model, anti-collision brackets are installed at both the front and rear ends of the vehicle frame.

[0009] As a third limitation of this utility model, the concealed lawn mowing assembly includes a lifting bracket mounted on the frame, a shielding plate mounted at the bottom of the lifting bracket with its opening facing downward, a cutting and shredding blade mounted in the shielding plate, and a drive component mounted in the frame with its output end connected to the cutting and shredding blade.

[0010] As a further limitation of this utility model, the lifting bracket includes a first bracket and a second bracket that are installed on both sides of the vehicle frame and have the same structure; Both the first bracket and the second bracket include an electric push rod, a crossbar, a first connecting rod, and a second connecting rod; the electric push rod is mounted on the frame, the crossbar is arranged horizontally and hinged to the output end of the electric push rod in the middle, and the first connecting rod and the second connecting rod are connected between the crossbar and the shielding plate; The first connecting rod and the second connecting rod have the same structure, both including an upper connecting rod and a lower connecting rod that are hinged together; the upper end of the upper connecting rod is hinged to the end of the crossbar, and the middle part is rotatably connected to the vehicle frame; the lower end of the lower connecting rod is hinged to the shield plate.

[0011] As a further definition of this utility model, the driving component is an internal combustion engine.

[0012] As a further limitation of this utility model, the herbicide spraying assembly includes a liquid tank fixed on both sides of the vehicle frame, a plurality of spray nozzles fixed on the bottom of the vehicle frame, and a liquid pump whose inlet is connected to the liquid tank; the outlet of the liquid pump is connected to the spray nozzles through a pipeline.

[0013] As a further limitation of this utility model, the image recognition component is at least one camera mounted on the vehicle frame.

[0014] By adopting the above-mentioned technical solution, the beneficial effects achieved by this utility model compared with the prior art are as follows: (1) Integrating a highly efficient compound weeding mode with significant eradication effect and environmental friendliness: This utility model innovatively integrates mechanical weeding and chemical weeding functions into one, forming a collaborative compound weeding mode. During operation, the operator can remotely control the hidden mowing component to perform the first action, cutting and physically breaking up the weeds over a large area. This process not only removes most of the weeds but also creates numerous wounds on the surface of the remaining grass stems and leaves. Subsequently, the herbicide spraying component is controlled as needed to precisely spray herbicides on stubborn weeds or grass root areas. The pre-positioned mechanical breaking creates favorable conditions for the penetration and absorption of herbicides, allowing a small amount of herbicide to achieve excellent eradication effect, thereby significantly reducing the amount of chemical herbicides used and the impact on the environment while ensuring thorough weeding.

[0015] (2) Provides a flexible and reliable human-machine interaction and remote control experience: This utility model realizes efficient and safe interaction between operators and weeding robots through a control mechanism (remote control component, controller component, image recognition component). Based on the real-time environmental images transmitted by the image recognition component, operators can remotely observe the distribution of weeds and terrain conditions from a safe position, and accordingly issue precise commands through the remote control component to autonomously decide and control the start, stop, and speed of the walking mechanism, the lifting and starting / stopping of the hidden mowing component, and the on / off of the herbicide spraying component. This "human-in-the-loop" control mode fully utilizes human judgment and machine execution capabilities, ensuring operational safety and processing accuracy in the complex environment along railway lines, while greatly reducing the labor intensity and occupational risks of operators.

[0016] (3) Excellent ability to traverse complex terrain and adaptability to operation: This utility model adopts a tracked walking assembly as the walking mechanism, giving the robot strong ground adhesion and passability, and can effectively cope with the rugged terrain such as soft roadbed, slope, and ballast area commonly found along railway lines. At the same time, the concealed mowing component is equipped with a remotely controllable lifting bracket. The operator can adjust the ground clearance of the cutting blades in real time according to the ground undulation and weed height to ensure the best cutting effect under different terrains, and can raise the chassis when not in operation or during relocation to avoid collisions. This design fundamentally solves the dependence of traditional wheeled weeding equipment on flat roads and expands the application scope of mechanized weeding.

[0017] (4) The design concept of multiple safety protections is implemented, and the reliability is high: This utility model has made comprehensive safety considerations in its structure. First, the concealed mowing component completely houses the high-speed rotating cutting blade inside the shielding disc. This design forms a physical barrier, which can effectively prevent the blade from flying and injuring people or weed debris from flying everywhere when it breaks accidentally, thus ensuring the safety of people and machines. Second, the anti-collision brackets set at the front and rear of the frame can act as the first line of defense to absorb impact energy when the robot accidentally collides with the track or other obstacles, protecting the core frame structure and internal mechanism, and improving the durability and reliability of the equipment in complex environments.

[0018] In summary, this utility model, through the integration of mechanical and chemical functions, remote control with human-machine collaboration, terrain-adjustable walking and adjustment mechanisms, and comprehensive safety design, constitutes an intelligent equipment with high weeding efficiency, strong environmental adaptability, and safe and convenient operation. It is especially suitable for performing efficient and thorough weeding and maintenance tasks in the specific and complex scenario of railway lines. Attached Figure Description

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0020] Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model; Figure 2 This is a schematic diagram of the bottom structure of an embodiment of the present utility model; Figure 3 This is a side view showing the structural relationship of an embodiment of the present utility model; Figure 4 This is a schematic diagram of the disassembled structure of an embodiment of the present utility model; Figure 5 This is a schematic diagram of the installation structure of the concealed lawn mowing component on the vehicle frame in an embodiment of this utility model; Figure 6 This is a schematic diagram of the installation structure of the concealed lawn mowing component on the vehicle frame in an embodiment of this utility model (concealing components such as the battery and controller); In the diagram: 1. Frame; 2. Tracked travel assembly; 3. Anti-collision bracket; 4. Concealed mowing assembly; 5. Lifting bracket; 6. Cover plate; 7. Cutting and shredding blades; 8. Internal combustion engine; 9. First bracket; 10. Second bracket; 11. Electric push rod; 12. Crossbar; 13. First connecting rod; 14. Second connecting rod; 15. Upper connecting rod; 16. Lower connecting rod; 17. Slide rod; 18. Battery; 19. Chemical tank; 20. Controller. Detailed Implementation

[0021] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the present invention.

[0022] This embodiment discloses an intelligent weeding robot suitable for railways, such as... Figures 1 to 6 As shown, this embodiment includes a frame 1, a walking mechanism, a weeding mechanism, and a control mechanism.

[0023] I. Chassis and Running Gear The frame 1 includes a skeleton structure and a shell structure covering the outside of the skeleton structure. For example... Figure 3 As shown, along the direction of movement, the front and rear ends of the vehicle frame 1 are equipped with anti-collision brackets 3 to ensure that it is not easily damaged after colliding with the rails. In this embodiment, the anti-collision bracket 3 is a metal rod with rubber strips covering its end face.

[0024] The walking mechanism uses the existing tracked walking assembly 2, which is installed at the bottom of the frame 1 to drive the frame 1 to move.

[0025] II. Weeding Organization The weeding mechanism includes a concealed mowing component 4 and a herbicide spraying component. During weeding operations, while the concealed mowing component 4 pulls and breaks up the weeds, the herbicide spraying component sprays herbicide at high pressure.

[0026] (1) Concealed lawn mowing component 4 like Figures 4 to 6 As shown, the concealed lawn mowing assembly 4 includes a lifting bracket 5 mounted on the frame 1, a shielding plate 6 mounted at the bottom of the lifting bracket 5, a cutting blade 7 mounted inside the shielding plate 6, and a drive unit mounted on the frame 1 with its output end connected to the cutting blade 7. By controlling the lifting bracket 5 to raise or lower the shielding plate 6, the height of the cutting blade 7 above the ground can be adjusted.

[0027] Furthermore, the lifting bracket 5 includes a first bracket 9 and a second bracket 10, which are identical in structure and mounted on both sides of the frame 1. The first bracket 9 and the second bracket 10 cooperate to suspend the shielding plate 6 at the bottom of the frame 1. This embodiment takes the first bracket 9 as an example to illustrate its structure: Figure 5 and Figure 6 As shown, the first bracket 9 includes an electric push rod 11, a crossbar 12, a first connecting rod 13, and a second connecting rod 14. The tail end of the electric push rod 11 is hinged to the frame 1, and the output end is hinged to the middle of the crossbar 12; the crossbar 12 is arranged horizontally; the first connecting rod 13 and the second connecting rod 14 connect the crossbar 12 and the lower shielding plate 6. More specifically, the first connecting rod 13 and the second connecting rod 14 have the same structure, both including an upper connecting rod 15 and a lower connecting rod 16 hinged at their ends. Figure 5and Figure 6 As shown, the upper end of the upper connecting rod 15 is hinged to the end of the crossbar 12, and the middle part is rotatably connected to the frame 1; the lower end of the lower connecting rod 16 is hinged to the shielding plate 6.

[0028] The electric actuator 11 described above can also be replaced with a linear motor, cylinder, hydraulic cylinder or other linear actuator.

[0029] The shielding disc 6 has a disc-shaped structure with its opening facing downwards, as shown in the following details. Figure 2 As shown. And, as... Figure 6 As shown, in this embodiment, the shielding disc 6 is slidably mounted on the frame 1 on both sides via slide rods 17. Under the limitation of slide rods 17, the shielding disc 6 can only move up and down along the frame 1.

[0030] The process of the lifting bracket 5 controlling the raising or lowering of the shielding plate 6 is as follows: The output end of the electric push rod 11 extends outward, the crossbar 12 is pushed forward, and the upper connecting rods 15 of the first connecting rod 13 and the second connecting rod 14 change from a vertical state to a forward-tilted state, lifting the lower connecting rod 16. Since the shielding plate 6 is slidably mounted on the frame 1 via the slide rod 17, the shielding plate 6 can only move up and down along the frame 1. Therefore, when the lower connecting rod 16 is lifted, it drives the shielding plate 6 to move upward, at which point the lower connecting rod 16 changes from a vertical state to a backward-tilted state. The output end of the electric push rod 11 retracts, the crossbar 12 is pulled backward, and the upper connecting rods 15 of the first connecting rod 13 and the second connecting rod 14 change from a forward-tilted state to a vertical state, pressing down the lower connecting rod 16. The lower connecting rod 16 then drives the shielding plate 6 to move downward along the slide rod 17.

[0031] It should be noted here that the directional terms "front" and "back" mentioned above are all in the form of... Figure 5 The identifiers in the text are for reference only and are used to illustrate and understand the above structure, and are not intended to limit this embodiment.

[0032] The cutting and crushing blade 7 has a straight-line structure and is rotatably mounted inside the baffle plate 6 via a rotating shaft, as detailed below. Figure 2 As shown. In this embodiment, the cutting and crushing blade 7 is positioned slightly above the bottom opening of the shielding disc 6.

[0033] The drive component is an internal combustion engine 8 in the prior art, which is fixed on the frame 1 and its output end extends downward to below the shielding plate 6 (the shielding plate 6 has a through hole in the middle for the output end to pass through), and is fixedly connected to the rotating shaft equipped with the cutting and crushing blades 7.

[0034] Depending on the actual situation, a generator set can also be installed in the frame 1, and a portion of the power from the internal combustion engine 8 can be distributed to the generator set. This allows the generator set to operate simultaneously when the internal combustion engine 8 is running, and the generated electrical energy to be supplied to the battery 18, where it is stored and distributed to various electrical devices, such as the traveling mechanism and control mechanism.

[0035] (2) Herbicide spraying assembly like Figure 1 , Figure 4 As shown, the herbicide spraying assembly includes a liquid tank 19 fixed on both sides of the vehicle frame 1, with a liquid inlet on the top of the liquid tank 19; it also includes multiple spray nozzles fixed on the bottom of the vehicle frame 1 and a liquid pump with an inlet connected to the liquid tank 19. The spray nozzles are distributed on the outside of the shielding plate 6 and are all connected to the liquid pump through pipelines. The spray nozzles in this embodiment are existing high-pressure spray nozzles.

[0036] It should be noted that the spray nozzles and liquid pumps are not shown in the accompanying drawings of this embodiment.

[0037] III. Control Mechanism The control mechanism includes a remote control assembly and a controller assembly used in conjunction. The controller assembly is prior art, employing the multi-functional avionics system S2 developed and manufactured by Quanzhou Yunzhuo Technology Co., Ltd. In this embodiment, the controller assembly is installed in the chassis 1 and electrically connected to the aforementioned walking mechanism, concealed mowing assembly 4, and herbicide spraying assembly. It is used to control the walking mechanism to enable machine movement and to control the concealed mowing assembly 4 and the herbicide spraying assembly to perform weeding operations. The remote control assembly is prior art, employing the portable remote control G12 developed and manufactured by Quanzhou Yunzhuo Technology Co., Ltd. The remote control assembly includes a remote control and a receiver connected for communication, wherein the receiver is installed in the chassis 1 and electrically connected to the controller assembly.

[0038] The control mechanism also includes an image recognition component installed on the frame 1 and electrically connected to the controller assembly. In this embodiment, the image recognition component is at least one camera installed on the frame 1 and electrically connected to the battery 18, used to acquire images of the surrounding environment and transmit the images to the remote control in real time through the controller assembly for display.

[0039] It should be noted that the camera is not shown in the accompanying drawings of this embodiment.

[0040] When using this embodiment, firstly, the walking mechanism is activated to move the embodiment along the railway line; then, the image recognition component collects images of the surrounding environment and transmits them to the remote controller for display. The operator can observe the distribution of weeds and the terrain based on the real-time environmental images transmitted by the image recognition component, and manually issue precise commands through the remote controller: when there is a large amount of grass to be cut around, the hidden mowing component 4 is activated to perform mechanical weeding (the electric push rod 11 controls the cutting blade 7 to descend to a suitable height, and the internal combustion engine 8 drives the cutting blade 7 to rotate and cut the weeds); when there is a small amount of grass to be cut around, the cutting blade 7 is raised to its highest position, and the walking mechanism is controlled to increase its operating power to speed up the departure from the area; if a certain area requires fine weeding, the herbicide spraying component is activated at the same time as the hidden mowing component 4 is activated to perform chemical weeding (the liquid pump pumps the herbicide to each spray nozzle to spray the herbicide onto the ground).

[0041] It should be noted that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above 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 utility model should be included within the protection scope of the present utility model.

Claims

1. An intelligent weeding robot suitable for railways, characterized in that: Includes the frame, running gear, weeding mechanism, and control mechanism; The walking mechanism is mounted on the bottom of the vehicle frame to drive the vehicle frame to move; the weeding mechanism includes a concealed mowing component and a herbicide spraying component mounted on the vehicle frame; the control mechanism includes a remote control component and a controller component used in conjunction. The controller assembly is mounted in the vehicle frame and is electrically connected to the walking mechanism, the concealed mowing assembly, and the herbicide spraying assembly; the remote control assembly includes a remote control and a receiver that are communicatively connected, the receiver being mounted in the vehicle frame and electrically connected to the controller assembly.

2. The intelligent weeding robot suitable for railways according to claim 1, characterized in that: The control mechanism also includes an image recognition component mounted on the chassis and electrically connected to the controller assembly.

3. A smart weeding robot suitable for railways according to claim 1 or 2, characterized in that: The walking mechanism is a tracked walking assembly installed at the bottom of the vehicle frame.

4. The intelligent weeding robot suitable for railways according to claim 3, characterized in that: The front and rear ends of the vehicle frame are equipped with anti-collision brackets.

5. A smart weeding robot suitable for railways according to any one of claims 1, 2, and 4, characterized in that: The concealed lawn mowing assembly includes a lifting bracket mounted on the frame, a shielding plate mounted at the bottom of the lifting bracket with its opening facing downwards, a cutting and shredding blade mounted inside the shielding plate, and a drive component mounted in the frame with its output end connected to the cutting and shredding blade.

6. The intelligent weeding robot suitable for railways according to claim 5, characterized in that: The lifting support includes a first support and a second support that are installed on both sides of the vehicle frame and have the same structure; Both the first bracket and the second bracket include an electric push rod, a crossbar, a first connecting rod, and a second connecting rod; the electric push rod is mounted on the frame, the crossbar is arranged horizontally and hinged to the output end of the electric push rod in the middle, and the first connecting rod and the second connecting rod are connected between the crossbar and the shielding plate; The first connecting rod and the second connecting rod have the same structure, both including an upper connecting rod and a lower connecting rod that are hinged together; the upper end of the upper connecting rod is hinged to the end of the crossbar, and the middle part is rotatably connected to the vehicle frame; the lower end of the lower connecting rod is hinged to the shield plate.

7. The intelligent weeding robot suitable for railways according to claim 6, characterized in that: The drive component is an internal combustion engine.

8. A smart weeding robot suitable for railways according to any one of claims 1, 2, 4, 6, and 7, characterized in that: The herbicide spraying assembly includes a liquid tank fixed on both sides of the vehicle frame, multiple spray nozzles fixed on the bottom of the vehicle frame, and a liquid pump whose inlet is connected to the liquid tank; the outlet of the liquid pump is connected to the spray nozzles through a pipeline.

9. The intelligent weeding robot suitable for railways according to claim 2, characterized in that: The image recognition component is at least one camera mounted on the vehicle frame.

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