CN102696294A - Weeding robot with adjustable center of gravity for paddy fields - Google Patents

Weeding robot with adjustable center of gravity for paddy fields Download PDF

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Publication number
CN102696294A
CN102696294A CN2012101927044A CN201210192704A CN102696294A CN 102696294 A CN102696294 A CN 102696294A CN 2012101927044 A CN2012101927044 A CN 2012101927044A CN 201210192704 A CN201210192704 A CN 201210192704A CN 102696294 A CN102696294 A CN 102696294A
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China
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wheel hub
slide block
motor
rod
support bar
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CN2012101927044A
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CN102696294B (en
Inventor
张勤
沈栋
邓国明
张友胜
方朝斌
蔡明京
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South China University of Technology SCUT
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South China University of Technology SCUT
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Priority to CN201210192704.4A priority Critical patent/CN102696294B/en
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Abstract

The invention relates to a weeding robot with the adjustable center of gravity for paddy fields. The weeding robot comprises a hub driving type caterpillar track device, a caterpillar track lifting device, an extension movement device and a slider balance device. The hub driving type caterpillar track device is used for driving a hub through a hub motor, thereby driving caterpillar tracks to run, enabling the robot to walk between rice seedling lines, pressing weeds into mud and even cutting off or pulling out weeds; the caterpillar track lifting device and the extension movement device are used for realizing the lifting and extension of the caterpillar track device so that line changing walking and field ridge crossing walking can be carried out; the slider balance device is matched with the caterpillar track lifting device and the extension movement device and is used for adjusting the center of gravity of the robot and realizing the self balance of the whole body of the robot in the line changing process and the field ridge crossing process and the self-restoring function after the robot sinks into a pit in a paddy field environment with pits; and the weeding robot has the advantages of simple structure, small volume, light weight, convenience in carrying and high universality.

Description

A kind of paddy field is with the adjustable weed-eradicating robot of center of gravity
Technical field
The present invention relates to agriculture weed-eradicating robot technical field, be specifically related to a kind of paddy field with the adjustable weed-eradicating robot of center of gravity.
Background technology
At present, the farmland weeding mode has artificial weeding, chemical weed control, weeding by machine etc., and artificial weeding and chemical weed control remain the main mode of domestic and international agriculture weeding, and wherein chemical weed control has artificial atomizing weeding and the accurate weeding of smart spraying formula.Along with progress of science and technology, the mechanization and the intellectuality of weeder more and more come into one's own.Present stage chemical weed control mode receives universal, but the pollution of herbicide environment that uses in this weeding system destroys soil, even threatens people's health.Weed-eradicating robot then utilizes artificial intelligence technology control associated mechanisms to remove farmland weed automatically, and relevant research has at home and abroad been arranged.
The agricultural weed-eradicating robot is popularized at home as yet, and the agricultural robot of research and development is used for farmland harvesting, smart spraying weeding, nonirrigated farmland weeding etc. more both at home and abroad at present.Technology that relates to and mechanism comprise autonomous navigation technology, weeds recognition technology, mechanical arm and special-purpose end effector, weeding mechanism etc.A lot of agriculture weed-eradicating robots all adopt artificial driver assistance, and the very high agriculture weed-eradicating robot of automaticity is used for the nonirrigated farmland weeding more.In China, the Rice Production area is big, and the research and development of existing relevant paddy field weed-killer robot at home like laser weeding robot, utilize the fuel factor of laser that grass is burnt to death at present; High-efficiency weeding robot, can remove simultaneously crops in the ranks with the row in weeds; A kind of hexa-claw executing mechanism of weed-eradicating robot, paddy field power clean tillage machine etc., these weed-eradicating robots can both reach the weeding purpose; But all exist weeding machine unstable in the walking of adverse circumstances such as paddy field, infringement crops during the line feed operation need special weeds identification camera head; The control system complex; Volume is also bigger, and cost is high, is unfavorable for popularizing in rice seedling bed.Therefore, it is little to develop a kind of volume, and line feed is convenient, can realize that in the paddy field self-healing paddy field will help in the paddy field, extensively promoting with the adjustable weed-eradicating robot of center of gravity.
Summary of the invention
In order to overcome the shortcoming and defect of above-mentioned prior art; The object of the present invention is to provide that a kind of volume is little, the walking self-balancing and recover certainly, independently line feed and realize the adjustable paddy field weed-killer of the center of gravity robot of zero radius of turn; It is big to solve existing weed-eradicating robot volume; Cost is high, the unstable and unfavorable universal difficult problem of adverse circumstances walking.
The present invention realizes through following technical proposals:
A kind of paddy field is characterized in that with the adjustable weed-eradicating robot of center of gravity: comprise wheel hub driving type crawler attachment, crawler belt lifting device, telescopic moving device, slide block bascule and body; Said wheel hub driving type crawler attachment is connected with the crawler belt lifting device through left and right sides supporting leg; Said crawler belt lifting device is threaded with the left and right sides slide block of telescopic moving device respectively through two translator screw mandrels; Two slide rails arranging before and after being equipped with in the said body chamber; Said left and right sides slide block is installed on said two slide rails through the chute of both sides before and after self; Said slide block bascule is connected with body through four support bars.
Further, said wheel hub driving type crawler attachment comprises left driver element and right driver element; Said left driver element comprises left crawler belt, left wheel hub motor, left wheel hub, left chain wheel group, revolver group connecting rod and left strainer; Said right driver element comprises right-hand track chiain, right wheel hub motor, right wheel hub, right pulley group, right wheels connecting rod and right strainer; Said left wheel hub motor is installed on the revolver group connecting rod; Said left wheel hub is installed on the left wheel hub rotor, cooperates with left crawler belt; Said revolver group connecting rod bottom is connected with the left chain wheel group; Said left chain wheel group comprises 12 pulleys; Said left strainer comprises left tensioning regulating part, left tensioning nut and left-hand rotation moving part; Said left tensioning regulating part head is fixed through left fixed bolt and left hold-down nut and left connecting rod, and afterbody is connected with revolver group connecting rod through the left-hand rotation moving part; Said left tensioning nut and left tensioning regulating part pass through threaded engagement; Said right wheel hub motor is installed on the right wheels connecting rod; Said right wheel hub is installed on the right wheel hub motor rotor, cooperates with right-hand track chiain; Said right wheels connecting rod bottom is connected with the right pulley group; Said right pulley group comprises 12 pulleys; Said right strainer comprises right tensioning regulating part, right tensioning nut, right-hand rotation moving part; Said right tensioning regulating part head is fixed through right fixed bolt and right hold-down nut and right connecting rod, and afterbody is connected with right wheels connecting rod through the right-hand rotation moving part; Said right tensioning nut and right tensioning regulating part threaded engagement.
Further, said right wheel hub motor, right wheel hub, right pulley group, right wheels connecting rod and right strainer are installed in right-hand track chiain inside; Said left crawler belt and right-hand track chiain outer surface are covered with spaced shoe thorn, and inner surface is provided with the tooth that matches with left and right sides wheel hub.
Further, said crawler belt lifting device comprises left lift unit and right lift unit; Said left lift unit comprises left screw mandrel, left supporting leg, first guide rod and second guide rod; Said left supporting leg lower end is installed on the left wheel hub motor shaft; Said left supporting leg left side is slidingly matched with first guide rod, and the right side and second guide rod are slidingly matched; Said first guide rod and second guide rod are installed on the left slider; The drive motors of said left screw mandrel is installed in left supporting leg upper end; The drive motors of said left screw mandrel is connected with left screw mandrel through motor coupler; Said left screw mandrel is threaded with left slider; Said right lift unit comprises right screw mandrel, right supporting leg, the 3rd guide rod and the 4th guide rod; Said right supporting leg lower end is installed on the right wheel hub motor axle; Said right supporting leg left side is slidingly matched with the 3rd guide rod, and right side and the 4th guide rod are slidingly matched; Said the 3rd guide rod and the 4th guide rod are installed on the right slide block; The drive motors of said right screw mandrel is installed in right supporting leg upper end; The drive motors of said right screw mandrel is connected with right screw mandrel through motor coupler; Said right screw mandrel is threaded with right slide block.
Further, said telescopic moving device comprises left slider, right slide block, left linear electric motors and right linear electric motors; Said left slider and body are slidingly matched through the endoceliac slide rail of machine; Said right slide block and body are slidingly matched through the endoceliac slide rail of machine; Said left linear electric motors and right linear electric motors are fixed on the body upper center respectively; The push rod of said left linear electric motors is terminal to be fixedly connected through fixture with left slider; The push rod of said right linear electric motors is terminal to be fixedly connected through fixture with right slide block.
Further, said left linear electric motors and right linear electric motors are symmetrically arranged.
Further, said slide block bascule comprises balance slide block, motor, steel wire rope, reel, preceding slide rail, aft ramp, first support bar, second support bar, the 3rd support bar, the 4th support bar, camera, camera support bar and camera bearing; Slide rail is fixedly connected with body through first support bar, second support bar, the 3rd support bar and the 4th support bar with aft ramp before said; Said balance slide block and preceding slide rail and aft ramp are slidingly matched; Said motor is through reel driving steel wire rope; Said reel is installed on the motor shaft; The truckle at slide rail two ends was connected with balance slide block before said steel wire rope was walked around; Said balance slide block is built-in with battery, master control borad and weight equalizer; Said camera is installed on the camera support bar; Said camera support bar is installed on the embedded motor shaft of camera bearing; Said camera bearing is fixed on the balance slide block.
Further, said motor is installed in body upper; Said second support bar and the 3rd support bar are provided with an aperture respectively; A truckle is respectively installed at the slide rail two ends before said; Said steel wire rope is connected reel and balance slide block on the motor through aperture with truckle; Slide rail is fixed on the body upper end through second support bar and the 3rd support bar before said; Said aft ramp is fixed on the body upper end through first support bar and the 4th support bar.
Further, the equal in length and the left-right symmetric of said preceding slide rail and aft ramp; Said left wheel hub motor equates with right wheel hub motor ground clearance; Said left slider moves helical pitch with right slide block and equates; Said wheel hub driving type crawler attachment drives left and right sides crawler belt through the left and right sides wheel hub of left and right sides wheel hub motor and band external tooth; Said crawler belt lifting device is realized the lifting and the decline of left and right sides crawler belt through motor-driven left and right sides screw mandrel; Said telescopic moving device promotes left and right sides slide block through left linear electric motors and right linear electric motors and realizes flexible; Said slide block bascule is connected with motor through steel wire rope, realizes the balance slide block move left and right; The embedded motor-driven camera of said camera bearing support bar rotates, and realizes that camera rotates.
Said crawler belt lifting device comprises left lift unit and right lift unit; Said left lift unit comprises left screw mandrel, left supporting leg, first guide rod and second guide rod; Said left supporting leg lower end is installed on the left wheel hub motor shaft; Said left supporting leg left side is slidingly matched with first guide rod, and the right side and second guide rod are slidingly matched; Said first guide rod and second guide rod are installed on the left slider; The drive motors of said left screw mandrel is installed in left supporting leg upper end; The drive motors of said left screw mandrel is connected with left screw mandrel through motor coupler; Said left screw mandrel is threaded with left slider; Said right lift unit comprises right screw mandrel, right supporting leg, the 3rd guide rod and the 4th guide rod; Said right supporting leg lower end is installed on the right wheel hub motor axle; Said right supporting leg left side is slidingly matched with the 3rd guide rod, and right side and the 4th guide rod are slidingly matched; Said the 3rd guide rod and the 4th guide rod are installed on the right slide block; The drive motors of said right screw mandrel is installed in right supporting leg upper end; The drive motors of said right screw mandrel is connected with right screw mandrel through motor coupler; Said right screw mandrel is threaded with right slide block.
The relative prior art of the present invention has following advantage and beneficial effect:
Wheel hub driving type crawler attachment through crawler belt in the paddy field rice shoot in the ranks walk; Inter-row weed is rolled, can weeds be pressed in the mud, even cut off its root system and destroy its growth; Stir simultaneously the muddy environment that mud causes during crawler travel and can suppress the photosynthesis of weeds under water; Hinder its normal growth, sludgd deposition is got off and then can weeds between the strain of failing to roll be covered, and can reach the purpose of weeding between strain equally.This method has overcome the shortcoming that existing mechanical weeding technology enforcement body is complicated, operating efficiency is low and the control system is loaded down with trivial details effectively.Adopt crawler travel, many pulleys are embedded in crawler belt, have both made machine-walking steady, can not skid, and have also increased and have rolled area; The tightness of the track tension device scalable crawler belt in the crawler belt is convenient to dismantle crawler belt; The shoe thorn of track surface can increase the earth-grasping force of robot, and plays the effect that rolls weeds.Realize zero radius of turn line feed through crawler belt lifting device, telescopic moving device and slide block bascule, radius of turn is big when having solved existing weeding machine line feed operation, the shortcoming of infringement crops.Promote crawler belt with two rhizoid bars, the ingenious space that utilized makes apparatus structure compact, through reasonable control, not only can reduce the whole center of gravity of robot in normal walking process, and can not produce mechanism's interference.The camera bearing is fixed on the balance slide block upper end; The camera support bar is installed on the embedded motor of camera bearing; Make camera can monitor the rice shoot distribution situation in real time, utilize machine vision to regulate the course of robot, to adapt to the characteristics that paddy field rice strain plantation lines are arranged; Prevent to occur rolling the phenomenon of rice seedling, also can make judgement to whether entering a new line simultaneously according to the place ahead scene in irregular place, rice growth position.The balance slide block that is connected with camera laterally moves on slide rail; Can regulate the center of gravity of robot; Robot is promoted during entering a new line and can not turn on one's side during flexible crawler belt, and self-balancing and self-recovering function can realize that field crossed over inclination by robot the time, make robot be suitable for the paddy field and walk.Master control borad and battery place balance slide block inner, utilize the space of balance slide block dexterously, have not only saved the space but also have increased the weight of balance slide block.Through steel wire rope driven equilibrium slide block, can make motor be fixed on body upper, save complicated transmission mechanism.Entire machine people's mechanism is simple, and is easy and simple to handle, and volume is less, and weight is lighter, strong to environmental suitability.
Description of drawings
Fig. 1 be in the embodiment paddy field with the front view of the adjustable weed-eradicating robot of center of gravity.
Fig. 2 is the left view of weed-eradicating robot shown in Figure 1.
Fig. 3 is the right view of weed-eradicating robot shown in Figure 1.
Fig. 4 is the vertical view of weed-eradicating robot shown in Figure 1.
Fig. 5 a~5h be weed-eradicating robot shown in Figure 1 line feed strategy sketch map.
Embodiment
Below in conjunction with embodiment and accompanying drawing the present invention is done further explain, but protection scope of the present invention and embodiment are not limited thereto.
Shown in Fig. 1 ~ 4, a kind of paddy field comprises wheel hub driving type crawler attachment I, crawler belt lifting device II, telescopic moving device III, slide block bascule IV and body 4 with the adjustable weed-eradicating robot of center of gravity; Said wheel hub driving type crawler attachment I is connected with crawler belt lifting device II through left and right sides supporting leg (2,9); Said crawler belt lifting device II is threaded with the left and right sides slide block (3,8) of telescopic moving device III respectively through two translator screw mandrels (5,7); Two slide rails arranging before and after being equipped with in said body 4 chambeies; Said left and right sides slide block (3,8) is installed on said two slide rails through the chute of both sides before and after self; Said slide block bascule IV is connected with body 4 through four support bars; Said slide block bascule is connected with motor 29 through steel wire rope 30, realizes balance slide block 6 move left and right.
Like Fig. 2, Fig. 3, said wheel hub driving type crawler attachment I comprises left driver element and right driver element; Said left driver element comprises left crawler belt 1, left chain wheel group 11, revolver group connecting rod 15, left wheel hub motor 12, left wheel hub 33 and left strainer; Said right driver element comprises right-hand track chiain 10, right pulley group 16, right wheels connecting rod 20, right wheel hub motor 17, right wheel hub 34 and right strainer; Said left wheel hub motor 12 is installed on the revolver group connecting rod 15; Said left wheel hub 33 is installed on the rotor of left wheel hub motor 12, and cooperates with left crawler belt 1; Said revolver group connecting rod 15 is connected with left chain wheel group 11; Said left chain wheel group 11 comprises 12 pulleys; Said left strainer comprises left tensioning regulating part 31, left tensioning nut 40, left-hand rotation moving part 41; It is fixing that said left tensioning regulating part 31 heads pass through left fixed bolt and left hold-down nut and left connecting rod 39, and afterbody is connected with revolver group connecting rod 15 through left-hand rotation moving part 41; Said left tensioning nut 40 passes through threaded engagement with left tensioning regulating part 31; Said right wheel hub motor 17 is installed on the right wheels connecting rod 20; Said right wheel hub 34 is installed on the rotor of right wheel hub motor 17, and cooperates with right-hand track chiain 10; Said right wheels connecting rod 20 is connected with right pulley group 16; Said right pulley group 16 comprises 12 pulleys.Said right strainer comprises right tensioning regulating part 32, right tensioning nut 43, right-hand rotation moving part 44; It is fixing that said right tensioning regulating part 32 heads pass through right fixed bolt and right hold-down nut and right connecting rod 42, and afterbody is connected with right wheels connecting rod 20 through right-hand rotation moving part 44; Said right tensioning nut 43 passes through threaded engagement with right tensioning regulating part 32; Said left wheel hub motor 12 drives left wheel hub 33, drives left crawler belt 1 and rotates, and said right wheel hub motor 17 drives right wheel hub 34, drives right-hand track chiain 10 rotations, thereby realizes the walking action of robot; The securable left crawler belt 1 of said left strainer is convenient to dismounting; The securable right-hand track chiain 10 of said right strainer is convenient to dismounting.
Said crawler belt lifting device II comprises left lift unit and right lift unit, and said left lift unit comprises left screw mandrel 5, left supporting leg 2, first guide rod 25 and second guide rod 26; Said left supporting leg 2 lower ends are installed on the left wheel hub motor shaft; The right ends of said left supporting leg 2 is slidingly connected with first guide rod 25 and second guide rod 26 respectively; Said first guide rod 25 and second guide rod 26 are fixed on the left slider 3; The motor of said left supporting leg 2 upper end installing drive screw mandrels; Said motor is connected with left screw mandrel 5 through motor coupler; Said left screw mandrel 5 is threaded with left slider 3; Said right lift unit comprises right screw mandrel 7, right supporting leg 9, the 3rd guide rod 27 and the 4th guide rod 28; Said right supporting leg 9 lower ends are installed on the right wheel hub motor axle; The right ends of said right supporting leg 9 is slidingly connected with the 3rd guide rod 27 and the 4th guide rod 28 respectively; Said the 3rd guide rod 27 and the 4th guide rod 28 are fixed on the right slide block 8; The motor of said right supporting leg 9 upper end installing drive screw mandrels; Said motor is connected with right screw mandrel 7 through motor coupler; Said right screw mandrel 7 is threaded with right slide block 8; Said left screw mandrel 5 passes through the screw thread transmission with right screw mandrel 7 by motor-driven, promotes wheel hub driving type crawler attachment.
Like Fig. 4, said telescopic moving device III comprises left slider 3, right slide block 8, left linear electric motors 22 and right linear electric motors 24; Said left slider 3 is slidingly matched through the endoceliac slide rail of machine with body 4; Said right slide block 8 is slidingly matched through the endoceliac slide rail of machine with body 4; Said left linear electric motors 22 are separately fixed at body 4 upper center with right linear electric motors 24; The push rod end of said left and right sides linear electric motors (22,24) is fixedly connected with left and right sides slide block (3,8) respectively; Said left linear electric motors 22 promote left slider 3 and move back and forth along the endoceliac slide rail of machine; Said right linear electric motors 24 promote right slide block 8 and move back and forth along the endoceliac slide rail of machine.
Said slide block bascule IV comprises balance slide block 6, motor 29, reel 35, steel wire rope 30, preceding slide rail 21, aft ramp 23, first support bar 13, second support bar 14, the 3rd support bar 18, the 4th support bar 19, camera 36, camera support bar 37 and camera bearing 38; Said balance slide block 6 comprises cavity, camera 36, camera support bar 37, camera bearing 38, robot master board, weight equalizer and battery; Said motor 29 drives reel 35; Said steel wire rope 30 connects the truckle and the balance slide block 6 at reel 35, preceding slide rail 21 two ends; Said camera 36 is installed on the camera bearing 38 on balance slide block 6 tops with camera support bar 37; Said camera (36) is installed on the camera support bar (37); Slide rail 21 is fixed on the body upper end through second support bar 14 and the 3rd support bar 18 before said; Said aft ramp 23 is fixed on body 4 upper ends through first support bar 13 and the 4th support bar 19; Said motor 29 is installed in body 4 tops, driving steel wire rope 30, and drive balance slide block 6 is slide rail 21,23 move left and right along front and back.
Said paddy field is discerned crop through vision and control system with the adjustable weed-eradicating robot of center of gravity; Confirm crop protection zone and the zone of weeding in the ranks; Weeding is carried out in the zone in the ranks, confirms during line feed that the line space in weeding zone leaves, and utilizes crawler belt lifting device II to promote left and right sides crawler belt (1,10); Flexible wheel hub driving type crawler attachment I about assisting of telescopic moving device III and slide block bascule IV is following; Thereby realize line feed, it is big to have solved the radius of turn that needs when existing weeding machine line feed is operated, the problem of infringement crops.
The paddy field is narrated as follows with the course of work of the adjustable weed-eradicating robot of center of gravity:
Said slide block bascule IV through motor-driven steel wire rope 30 drive balance slide block 6 along front and back slide rail (21,23) move left and right, when line feed, play balance and stability; On the balance slide block 6 visual identifying system is arranged; Video camera is transferred to image processing system with the image of taking and discerns processing; The control system sends control instruction to each motor, realizes that wheel hub driving type crawler attachment I moves up and down, the synkinesia of the III side-to-side movement of telescopic moving device and balance slide block 6.
The left and right sides slide block of said telescopic moving device III (3,8) is slidingly matched with body 4, and passes through threaded engagement with left and right sides screw mandrel (5,7).When entering a new line, the instruction of telescopic moving device III receiving control system is started working.
Entering a new line left with robot is example.The robot initial state is shown in Fig. 5 a.
At first, support left crawler belt 1 line feed with right-hand track chiain 10.The instruction that left side lead screw motor is received the control system; Driving left screw mandrel 5 rotates; Left side screw mandrel 5 moves upward along the screw thread of left slider 3; Drive the left supporting leg 2 on the left side and the wheel hub driving type crawler attachment on the left side and move upward to certain altitude together, first guide rod 25 and second guide rod 26 can limit the path that left crawler belt 1 promotes.After left side crawler belt rises to certain height; Left lead screw motor quits work under commands for controlling; Left side linear electric motors 22 promote left slider 3 and laterally move certain distance left, and left slider 3 drives left crawler belt 1 through first guide rod 25 and second guide rod 26 and laterally moves, shown in Fig. 5 b.In the process of left crawler belt lifting and telescopic moving, the control system adjusts the position of balance slide block 6 in real time through sensor senses robot poised state, realizes dynamic balancing.
Horizontal mobile end, left lead screw motor is started working again under commands for controlling, makes left crawler belt 1 follow the reduction downwards of left screw mandrel 5 and contacts with ground until left crawler belt 1, and crawler belt 1 line feed in the left side finishes.Left side crawler belt 1 is with after ground contact, and left linear electric motors 22 shrink, right linear electric motors 24 elongations, and promotion main body 4 is laterally mobile left, shrinks fully up to left linear electric motors 22, and main body 4 stops to move.Simultaneously, balance slide block 6 also is moved to the left under the control of control system.Then, be support with left crawler belt 1, right-hand track chiain 10 begins line feed, and shown in Fig. 5 c, the course of work is the same similar.
State after right-hand track chiain 10 line feed are accomplished is shown in Fig. 5 d.Then, shown in Fig. 5 e to Fig. 5 h, through after 1 line feed of left crawler belt and right-hand track chiain 10 line feed, the robot completion is from the enter a new line row of not weeding of the row of weeding.After the line feed, robot advances along former direction of advance in the other direction, continues the weeding operation.
The course of work that robot enters a new line to the right is similar with line feed left.
Can realize the present invention preferably as stated.
The foregoing description is an embodiment of the present invention; But embodiment of the present invention is not restricted to the described embodiments; Other any do not deviate from change, the modification made under spirit of the present invention and the principle, substitutes, combination, simplify; All should be the substitute mode of equivalence, be included within protection scope of the present invention.

Claims (6)

1. a paddy field is characterized in that with the adjustable weed-eradicating robot of center of gravity: comprise wheel hub driving type crawler attachment (I), crawler belt lifting device (II), telescopic moving device (III), slide block bascule (IV) and body (4); Said wheel hub driving type crawler attachment (I) is connected with crawler belt lifting device (II) through left and right sides supporting leg (2,9); Said crawler belt lifting device (II) is threaded with the left and right sides slide block (3,8) of telescopic moving device (III) respectively through two translator screw mandrels (5,7); Two slide rails arranging before and after being equipped with in said body (4) chamber; Said left and right sides slide block (3,8) is installed on said two slide rails through the chute of both sides before and after self; Said slide block bascule (IV) is connected with body (4) through four support bars (13,14,18,19).
2. paddy field according to claim 1 is characterized in that with the adjustable weed-eradicating robot of center of gravity: said wheel hub driving type crawler attachment (I) comprises left driver element and right driver element; Said left driver element comprises left crawler belt (1), left wheel hub motor (12), left wheel hub (33), left chain wheel group (11), revolver group connecting rod (15) and left strainer; Said right driver element comprises right-hand track chiain (10), right wheel hub motor (17), right wheel hub (34), right pulley group (16), right wheels connecting rod (20) and right strainer; Said left wheel hub motor (12) is installed on the revolver group connecting rod (15); Said left wheel hub (33) is installed on left wheel hub motor (12) rotor, cooperates with left crawler belt (1); Said revolver group connecting rod (15) bottom is connected with left chain wheel group (11); Said left chain wheel group (11) comprises 12 pulleys; Said left strainer comprises left tensioning regulating part (31), left tensioning nut (40) and left-hand rotation moving part (41); It is fixing that said left tensioning regulating part (31) head passes through left fixed bolt and left hold-down nut and left connecting rod (39), and afterbody is connected with revolver group connecting rod (15) through left-hand rotation moving part (41); Said left tensioning nut (40) passes through threaded engagement with left tensioning regulating part (31); Said right wheel hub motor (17) is installed on the right wheels connecting rod (20); Said right wheel hub (34) is installed on right wheel hub motor (17) rotor, cooperates with right-hand track chiain (10); Said right wheels connecting rod (20) bottom is connected with right pulley group (16); Said right pulley group (16) comprises 12 pulleys; Said right strainer comprises right tensioning regulating part (32), right tensioning nut (43), right-hand rotation moving part (44); It is fixing that said right tensioning regulating part (32) head passes through right fixed bolt and right hold-down nut and right connecting rod (42), and afterbody is connected with right wheels connecting rod (20) through right-hand rotation moving part (44); Said right tensioning nut (43) and right tensioning regulating part (32) threaded engagement.
3. paddy field according to claim 1 is characterized in that with the adjustable weed-eradicating robot of center of gravity: said crawler belt lifting device (II) comprises left lift unit and right lift unit; Said left lift unit comprises left screw mandrel (5), left supporting leg (2), first guide rod (25) and second guide rod (26); Said left supporting leg (2) lower end is installed on the left wheel hub motor shaft; Said left supporting leg (2) left side is slidingly matched with first guide rod (25), and right side and second guide rod (26) are slidingly matched; Said first guide rod (25) and second guide rod (26) are installed on the left slider (3); The drive motors of said left screw mandrel (5) is installed in left supporting leg (2) upper end; The drive motors of said left screw mandrel (5) is connected with left screw mandrel (5) through motor coupler; Said left screw mandrel (5) is threaded with left slider (3); Said right lift unit comprises right screw mandrel (7), right supporting leg (9), the 3rd guide rod (27) and the 4th guide rod (28); Said right supporting leg (9) lower end is installed on the right wheel hub motor axle; Said right supporting leg (9) left side is slidingly matched with the 3rd guide rod (27), and right side and the 4th guide rod (28) are slidingly matched; Said the 3rd guide rod (27) and the 4th guide rod (28) are installed on the right slide block (8); The drive motors of said right screw mandrel (7) is installed in right supporting leg (9) upper end; The drive motors of said right screw mandrel (7) is connected with right screw mandrel (7) through motor coupler; Said right screw mandrel (7) is threaded with right slide block (8).
4. paddy field according to claim 1 is characterized in that with the adjustable weed-eradicating robot of center of gravity: said telescopic moving device (III) comprises left slider (3), right slide block (8), left linear electric motors (22) and right linear electric motors (24); Said left slider (3) is slidingly matched through the endoceliac slide rail of machine with body (4); Said right slide block (8) is slidingly matched through the endoceliac slide rail of machine with body (4); Said left linear electric motors (22) and right linear electric motors (24) are separately fixed at body (4) upper center; The push rod of said left linear electric motors (22) is terminal to be fixedly connected through fixture with left slider (3); The push rod of said right linear electric motors (24) is terminal to be fixedly connected through fixture with right slide block (8).
5. paddy field according to claim 1 is characterized in that with the adjustable weed-eradicating robot of center of gravity: said slide block bascule (IV) comprises balance slide block (6), motor (29), steel wire rope (30), reel (35), preceding slide rail (21), aft ramp (23), first support bar (13), second support bar (14), the 3rd support bar (18), the 4th support bar (19), camera (36), camera support bar (37) and camera bearing (38); Slide rail (21) is fixedly connected with body (4) through first support bar (13), second support bar (14), the 3rd support bar (18) and the 4th support bar (19) with aft ramp (23) before said; Said balance slide block (6) is slidingly matched with preceding slide rail (21) and aft ramp (23); Said motor (29) is through reel (35) driving steel wire rope (30); Said reel (35) is installed on motor (29) axle; The truckle that said steel wire rope (30) is walked around preceding slide rail (21) two ends is connected with balance slide block (6); Said balance slide block (6) is built-in with battery, master control borad and weight equalizer; Said camera (36) is installed on the camera support bar (37); Said camera support bar (37) is installed on the embedded motor shaft of camera bearing (38); Said camera bearing (38) is fixed on the balance slide block (6).
6. it is characterized in that with the adjustable weed-eradicating robot of center of gravity according to each described paddy field among the claim 1-5: the equal in length and the left-right symmetric of slide rail (21) and aft ramp (23) before said; Said left wheel hub motor (12) equates with right wheel hub motor (17) ground clearance; Said left slider (21) moves helical pitch with right slide block (22) and equates; Said wheel hub driving type crawler attachment (I) drives left and right sides crawler belt (1,10) through the left and right sides wheel hub (33,34) of left and right sides wheel hub motor (12,17) and band external tooth; Said crawler belt lifting device (II) is realized the lifting and the decline of left and right sides crawler belt (1,10) through motor-driven left and right sides screw mandrel (5,7); Said telescopic moving device (III) promotes left and right sides slide block (3,8) through left linear electric motors (22) and right linear electric motors (24) and realizes flexible; Said slide block bascule (IV) is connected with motor (29) through steel wire rope (30), realizes balance slide block (6) move left and right; Said camera bearing (38) embedded motor-driven camera support bar (37) rotates, and realizes that camera (36) rotates.
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CN111065263A (en) * 2017-08-16 2020-04-24 富兰克林机器人公司 Inertial collision detection method for outdoor robot
CN109819696A (en) * 2019-03-11 2019-05-31 华南理工大学 Herbicidal methods between a kind of modular paddy field weed-killer robot and water flow sputtering strain

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