CN106561093A - Laser weeding robot based on four-degree-of-freedom parallel mechanism - Google Patents
Laser weeding robot based on four-degree-of-freedom parallel mechanism Download PDFInfo
- Publication number
- CN106561093A CN106561093A CN201610955759.4A CN201610955759A CN106561093A CN 106561093 A CN106561093 A CN 106561093A CN 201610955759 A CN201610955759 A CN 201610955759A CN 106561093 A CN106561093 A CN 106561093A
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- CN
- China
- Prior art keywords
- laser
- parallel mechanism
- freedom parallel
- weeding robot
- control system
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
- A01B39/22—Tools; Mounting tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
Abstract
The invention relates to a laser weeding robot based on a four-degree-of-freedom parallel mechanism. The laser weeding robot comprises a mobile trolley, an image acquisition device, a laser and a control system, wherein the mobile trolley comprises a battery pack, a frame, wheel brackets and wheels; the control system comprises an industry control computer, an image processing system, a multi-axis movement control card and input and output interfaces; the mobile trolley is also provided with the four-degree-of-freedom parallel mechanism; and the control system is respectively connected with the image acquisition device, the laser and the four-degree-of-freedom parallel mechanism. The laser weeding robot provided by the invention has simple structure, is easy to control, and can operate among rows of crops with different row spacings; meanwhile, the four-degree-of-freedom parallel mechanism can realize two-dimensional rotation and two-dimensional movement, and can compensate position changes of weeds and laser beams due to forward movement of the trolley, so the laser beams can always target the position of target weed, and accuracy and efficiency of weeding operation are greatly improved.
Description
Technical field
The present invention relates to field of agricultural robots, more particularly to a kind of laser weeding based on four-freedom parallel mechanism
Device people.
Background technology
Farmland weed easily spreads growth, and then moisture, nutrient, sunlight and the space fought for needed for plant growth etc., also
The infection sources of pathogen of crop can be become, the normal growth of crops is had a strong impact on, cause its yield and quality to reduce.
At present, in agricultural production process, mainly field weeding is carried out using chemical agent, such weeding system is certain
The normal growth of crops is affected in degree, the waste of herbicide is caused, also soil can be polluted, to operating personnel's
It is healthy to cause serious threat, the medicine of residual also to affect the security of agricultural product.
In recent years, machinery, laser weeder are promoted to a certain extent, but still suffer from problems with：Due to receiving
The restriction of mechanical weeding device kinematic accuracy, easily causes the mechanical damage of crop seedling.And, laser transmitter positions arrange compared with
When low, then easily it is damaged in the process of walking；When laser transmitter positions arrange higher, then can not be effectively to all kinds
Weeds effectively removed.Also, in mobile weeding process, it is impossible at any time according to the species and highly automated tune of weeds
The position and Laser emission direction of section generating laser carries out sufficiently effective removing to it.
The content of the invention
(1) technical problem to be solved
The technical problem to be solved in the present invention is on the basis of existing automation weeder, using rational height and position
Move adjustable laser instrument weeds are purged solve to automate weeder can not completely, it is accurate and effectively remove weeds
Technical problem.
(2) technical scheme
In order to solve above-mentioned technical problem, the invention provides a kind of laser weeding based on four-freedom parallel mechanism
Device people, including moving cart, image collecting device, laser instrument and control system, the moving cart is additionally provided with four-degree-of-freedom simultaneously
Online structure, the control system is connected respectively with image collecting device, laser instrument and four-freedom parallel mechanism；Described image is adopted
Acquisition means are used to gather picture signal；The control system is used to control four-freedom parallel mechanism according to picture signal；It is described
Four-freedom parallel mechanism is used to adjust the direction of the position of laser instrument and transmitting laser.
Wherein, the moving cart includes battery pack, vehicle frame, wheel stand and wheel, and the control system includes industry control
Machine, image processing system and multi-axis motion control card and input/output interface.
Wherein, the four-freedom parallel mechanism is arranged at the lower section of vehicle frame.
Wherein, described image harvester includes main camera and secondary camera, and the main camera is arranged at vehicle frame
Front end, for detecting moving cart front information；The secondary camera is arranged at the bottom of four-freedom parallel mechanism, for adopting
Collection weeds and the image information of crops.
Wherein, bidirectional data communication is carried out between the control system and the main camera and the secondary camera, is used
To guide moving cart direct of travel and positioning object space coordinate.
Wherein, the four-freedom parallel mechanism includes support and moving platform, leads between the support and the moving platform
Crossing a RPU type drives branch's UPS types completely identical in structure with three to drive branch to be connected.
Wherein, the RPU types drive branch to include rotating pair, the first upper connecting rod, the first lower link and the first Hooke's hinge；Institute
Stating UPS types drives branch to include the second Hooke's hinge, the second upper connecting rod, the second lower link and ball pair.
Wherein, the pair that rotates is arranged on the vehicle frame and parallel to institute perpendicular to the moving cart moving direction
State and rotated in the plane of vehicle frame upper surface.
Wherein, first Hooke's hinge and the ball pair are evenly arranged in the upper surface center of the moving platform as the center of circle
Same circumference on.
Wherein, secondary and described second Hooke's hinge of the rotation is evenly arranged in the lower surface center of the support as the center of circle
Same circumference on.
(3) beneficial effect
A kind of laser weeding robot based on four-freedom parallel mechanism provided by the present invention, using the thermal effect of laser
Should realize in row and crop seedling peripheral region weeding, it is its simple structure, easily controllable, can be in the crop of different spacings in the ranks
Operation is carried out, and four-freedom parallel mechanism can realize that bidimensional is rotated and bidimensional movement, can compensate for due to dolly advance institute
The change of the weeds and laser beam position that bring, and then laser beam is made relative to weeds remains stationary, substantially increase weeding work
The precision and efficiency of industry, while not destroying the environment of crops and surrounding soil.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of the laser weeding robot based on four-freedom parallel mechanism of the present invention.
Fig. 2 is a kind of four-freedom parallel mechanism of the laser weeding robot based on four-freedom parallel mechanism of the present invention
Structural representation.
Reference：1. control system；2. battery pack；3. vehicle frame；4. main camera；5. wheel stand；6. wheel；7 machines
Seat；8. rotate secondary；9. the first upper connecting rod；10. the first lower link；11. first Hooke's hinges；12. moving platforms；13. laser instruments；14.
Secondary camera；15. ball pairs；16. second lower links；17. second upper connecting rods；18. second Hooke's hinges.
Specific embodiment
With reference to Figure of description and embodiment, the specific embodiment of the present invention is described in further detail.With
Lower embodiment is merely to illustrate the present invention, but can not be used for limiting the scope of the present invention.
For purposes of illustration only, representing that four-freedom parallel mechanism respectively moves the pair of the ball in branch, Hooke respectively with S, U, R, P
Hinge, rotation pair and moving sets, combinations thereof constitutes sub-chain structure.
As shown in Figure 1-2, the present invention provides a kind of laser weeding robot based on four-freedom parallel mechanism, including shifting
Dynamic dolly, image collecting device, laser instrument 13 and control system 1, the moving cart is additionally provided with four-freedom parallel mechanism, institute
State control system 1 to be connected with image collecting device, laser instrument and four-freedom parallel mechanism respectively；Described image harvester is used
In collection picture signal；The control system is used to control four-freedom parallel mechanism according to picture signal；The four-degree-of-freedom
Parallel institution is used to adjust the direction of the position of laser instrument 13 and transmitting laser.
The moving cart includes battery pack 2, vehicle frame 3, wheel stand 5 and wheel 6, and the control system 1 includes industry control
Machine, image processing system and multi-axis motion control card and input/output interface.
The four-freedom parallel mechanism is arranged at the lower section of vehicle frame 3.
The battery pack 2 is installed on the top of vehicle frame 5, be the control system 1, moving cart of weed-eradicating robot driving and
Laser instrument transmitting laser provides power source.
Described image harvester includes main camera 4 and secondary camera 14, and the main camera 4 is arranged at vehicle frame 3
Front end, for detecting moving cart front information, the figure gathered using main camera 4 is navigated, it is ensured that dolly is along work
Thing line direction is walked；The secondary camera 14 is arranged at the bottom of four-freedom parallel mechanism, for gathering weeds and crops
Image information.
Bidirectional data communication is carried out between the control system 1 and the main camera 4 and the secondary camera 14, is used for
Guiding moving cart direct of travel and positioning object space coordinate.Secondary camera 14 obtains the information of weeds and is delivered to control system
Weeds through processing and are identified and are positioned by system 1 by control system 1, are then moved according to the control of the positional information of weeds
Dolly advances along crop line direction.
The four-freedom parallel mechanism includes support 7 and moving platform 12, leads between the support 7 and the moving platform 12
Crossing a RPU type drives the UPS types completely identical in structure with three of branch I to drive branch II, III, IV to be connected.The RPU types
Branch is driven to include rotating secondary 8, first upper connecting rod 9, the first lower link 10 and the first Hooke's hinge 11；The UPS types drive branch
Including the second Hooke's hinge 18, the second upper connecting rod 17, the second lower link 16 and ball pair 15.It is described to rotate secondary 8 perpendicular to the movement
Dolly moving direction is arranged on vehicle frame 3 and rotates in the plane parallel to the upper surface of the vehicle frame 3.First Hooke's hinge
11 and the ball pair 15 be evenly arranged on the same circumference with the upper surface center of the moving platform 12 as the center of circle.The rotation
Pair 8 and second Hooke's hinge 18 are evenly arranged on the same circumference with the lower surface center of the support 7 as the center of circle.
The four-freedom parallel mechanism is capable of achieving laser instrument 13 along the movement of dolly direction of advance and along perpendicular to dolly
The movement in the upper surface direction of vehicle frame 3, and laser instrument 13 is capable of achieving around the rotation of dolly direction of advance and around vertical small car advance side
To and with the rotation of the upper surface parallel direction of vehicle frame 3.Wherein, the control system 1 controls four selfs according to the positional information of weeds
Rotated by the bidimensional of degree parallel institution, by advancing rightabout movement the brought laser of compensation trolley advance with dolly
Beam and the change of weeds position, make laser beam keep geo-stationary with weeds such that it is able to make weeding precision more accurate, weeding
It is in hgher efficiency.Also, four-freedom parallel mechanism can adjust the position of laser instrument along the movement perpendicular to the upper surface of car frame 3
Put and launch the direction of laser and then enable the laser weeding robot of the present invention preferably to adapt to differing heights crops
Farm work, substantially increase working space.
Embodiment of above is merely to illustrate the present invention, rather than limitation of the present invention.Although with reference to embodiment to this
It is bright to be described in detail, it will be understood by those within the art that, technical scheme is carried out various combinations,
Modification or equivalent, without departure from the spirit and scope of technical solution of the present invention, all should cover will in right of the invention
Ask in the middle of scope.
Claims (10)
1. a kind of laser weeding robot based on four-freedom parallel mechanism, including moving cart, image collecting device, laser
Device (13) and control system (1), it is characterised in that the moving cart is additionally provided with four-freedom parallel mechanism, the control system
System (1) is connected respectively with image collecting device, laser instrument and four-freedom parallel mechanism；Described image harvester is used to gather
Picture signal；The control system is used to control four-freedom parallel mechanism according to picture signal；The four-freedom parallel
Structure is used to adjust the direction of the position of laser instrument (13) and transmitting laser.
2. laser weeding robot according to claim 1, it is characterised in that the moving cart include battery pack (2),
Vehicle frame (3), wheel stand (5) and wheel (6), the control system (1) is including industrial computer, image processing system and multiaxial motion
Control card and input/output interface.
3. laser weeding robot according to claim 2, it is characterised in that the four-freedom parallel mechanism is arranged at
The lower section of vehicle frame (3).
4. laser weeding robot according to claim 1, it is characterised in that described image harvester includes main shooting
Head (4) and secondary camera (14), the main camera (4) is arranged at the front end of vehicle frame (3), for detecting moving cart front letter
Breath；The secondary camera (14) is arranged at the bottom of four-freedom parallel mechanism, and the image for gathering weeds and crops is believed
Breath.
5. laser weeding robot according to claim 4, it is characterised in that the control system (1) respectively with it is described
Carry out bidirectional data communication between main camera (4) and the secondary camera (14), for guide moving cart direct of travel and
Positioning object space coordinate.
6. the laser weeding robot according to claim 1-5 any one, it is characterised in that the four-degree-of-freedom is in parallel
Mechanism includes support (7) and moving platform (12), is driven by a RPU type between the support (7) and the moving platform (12)
Branch (I) UPS types completely identical in structure with three drive branch (II, III, IV) to be connected.
7. laser weeding robot according to claim 6, it is characterised in that the RPU types drive branch to include rotating
Secondary (8), the first upper connecting rod (9), the first lower link (10) and the first Hooke's hinge (11)；The UPS types drive branch to include second
Hooke's hinge (18), the second upper connecting rod (17), the second lower link (16) and ball pair (15).
8. laser weeding robot according to claim 7, it is characterised in that rotation pair (8) is perpendicular to the shifting
Dynamic dolly moving direction is arranged on the vehicle frame (3) and rotates in the plane parallel to the vehicle frame (3) upper surface.
9. laser weeding robot according to claim 7, it is characterised in that first Hooke's hinge (11) and the ball
Secondary (15) are evenly arranged on the same circumference with the upper surface center of the moving platform (12) as the center of circle.
10. laser weeding robot according to claim 7, it is characterised in that rotation pair (8) and described second brave
Gram hinge (18) be evenly arranged on the same circumference with the lower surface center of the support (7) as the center of circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610955759.4A CN106561093A (en) | 2016-10-27 | 2016-10-27 | Laser weeding robot based on four-degree-of-freedom parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610955759.4A CN106561093A (en) | 2016-10-27 | 2016-10-27 | Laser weeding robot based on four-degree-of-freedom parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106561093A true CN106561093A (en) | 2017-04-19 |
Family
ID=58535456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610955759.4A Pending CN106561093A (en) | 2016-10-27 | 2016-10-27 | Laser weeding robot based on four-degree-of-freedom parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106561093A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107494194A (en) * | 2017-07-24 | 2017-12-22 | 中国农业大学 | One kind rubber tapping robot |
| CN109937999A (en) * | 2019-03-21 | 2019-06-28 | 中国科学院合肥物质科学研究院 | A kind of laser kills the device of mother drug plants |
| RU2694588C1 (en) * | 2019-01-25 | 2019-07-16 | федеральное государственное бюджетное образовательное учреждение высшего образования "Волгоградский государственный аграрный университет" (ФГБОУ ВО Волгоградский ГАУ) | Robot-weeder with fertigation function |
| CN116965394A (en) * | 2023-09-22 | 2023-10-31 | 吉林长华汽车部件有限公司 | Laser weeding device |
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|---|---|---|---|---|
| CN1267586A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Four-freedom parallel robot mechanism |
| CN101589705A (en) * | 2009-06-26 | 2009-12-02 | 江苏大学 | A kind of laser weeding robot |
| CN202556408U (en) * | 2012-04-12 | 2012-11-28 | 山东科技大学 | Spatial parallel connection robot mechanism |
| CN203087363U (en) * | 2013-01-23 | 2013-07-31 | 昆明理工大学 | Laser weeding robot |
| KR20150124305A (en) * | 2014-04-28 | 2015-11-05 | 이철희 | Agricultural robot |
| CN205492227U (en) * | 2016-03-11 | 2016-08-24 | 武汉科技大学 | Agricultural robot |
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2016
- 2016-10-27 CN CN201610955759.4A patent/CN106561093A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1267586A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Four-freedom parallel robot mechanism |
| CN101589705A (en) * | 2009-06-26 | 2009-12-02 | 江苏大学 | A kind of laser weeding robot |
| CN202556408U (en) * | 2012-04-12 | 2012-11-28 | 山东科技大学 | Spatial parallel connection robot mechanism |
| CN203087363U (en) * | 2013-01-23 | 2013-07-31 | 昆明理工大学 | Laser weeding robot |
| KR20150124305A (en) * | 2014-04-28 | 2015-11-05 | 이철희 | Agricultural robot |
| CN205492227U (en) * | 2016-03-11 | 2016-08-24 | 武汉科技大学 | Agricultural robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107494194A (en) * | 2017-07-24 | 2017-12-22 | 中国农业大学 | One kind rubber tapping robot |
| RU2694588C1 (en) * | 2019-01-25 | 2019-07-16 | федеральное государственное бюджетное образовательное учреждение высшего образования "Волгоградский государственный аграрный университет" (ФГБОУ ВО Волгоградский ГАУ) | Robot-weeder with fertigation function |
| CN109937999A (en) * | 2019-03-21 | 2019-06-28 | 中国科学院合肥物质科学研究院 | A kind of laser kills the device of mother drug plants |
| CN116965394A (en) * | 2023-09-22 | 2023-10-31 | 吉林长华汽车部件有限公司 | Laser weeding device |
| CN116965394B (en) * | 2023-09-22 | 2023-12-12 | 吉林长华汽车部件有限公司 | Laser weeding device |
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Application publication date: 20170419 |
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