CN109006783A - A kind of WEEDING DEVICE, farmland intelligence uprooting weed robot - Google Patents
A kind of WEEDING DEVICE, farmland intelligence uprooting weed robot Download PDFInfo
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- CN109006783A CN109006783A CN201810863932.7A CN201810863932A CN109006783A CN 109006783 A CN109006783 A CN 109006783A CN 201810863932 A CN201810863932 A CN 201810863932A CN 109006783 A CN109006783 A CN 109006783A
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- 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
- A01M21/02—Apparatus for mechanical destruction
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- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
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Abstract
The invention discloses a kind of WEEDING DEVICEs, farmland intelligence uprooting weed robot, including car body, and the master control system, visual identifying system, range-measurement system, solar electric power supply system, anti-collision system, long range aid to navigation system, walking mechanism, gyro sensor, floating driving mechanism and the WEEDING DEVICE that are installed on car body.The present invention passes through robot visual guidance, identification crops, weeds are determined using exclusive method, and then to the methods uprooted of weeds, the problems such as the palliative of current grass-removing robot, target crop and weeds cannot accurately identify, grass-removing robot does not adapt to the rugged operating environment in farmland is solved.
Description
Technical field
The present invention relates to a kind of WEEDING DEVICEs, farmland intelligence uprooting weed robot, are mainly used in crop planting region
Weeds are pulled out.
Background technique
With the development of China's agricultural, crop acreage constantly expands, and the requirement improved to mechanization degree is continuous
Increase.It is at this stage to spray herbicide for the main method of crops weeding, after using in farmland herbicide, most weedings
Agent is all free in soil, is caused containing a certain amount of herbicide in Crop Root, stem, leaf and fruit, herbicide seriously endangers
Human health.It is estimated that U.S. cancer patient related with herbicide accounts for the 20% of Nattonal Cancer patient populations；It removes every year in China
Nearly million person-times of careless agent intoxication accident, dead about 20,000 people.The lasting use of herbicide, due to the effect of volatilization, wind and rainfall,
Float on part herbicidal composition in air, flow into water body in, not only polluted farming animals fishing fruit product, but cause natural vegetation by
Different degrees of destruction, some species are it is also possible to become extinct.
Now with flourishing for robot technology, all kinds of grass-removing robots come into being like the mushrooms after rain, to temporary
When go to cut weeds and provide very big convenience.But grass-removing robot is also only limited to weeds to cut off, weeds root is also stayed
In soil, after a period of time, weeds grow in succession again, and there is certain limitation in this palliative robot；And
Robot cannot accurately distinguish crops and weeds at present, be difficult to adapt to the rugged operating environment in farmland, lead to machine
Device people is greatly restricted in the application range and prospect of the weeding of crop planting area.
Summary of the invention
In order to solve the deficiencies in the prior art, the present invention devises a kind of WEEDING DEVICE, farmland intelligence uprooting weed robot, uses
It cannot be accurately identified with solving the palliative of current grass-removing robot, target crop and weeds, grass-removing robot cannot fit
The problems such as answering the rugged operating environment in farmland.
To achieve the goals above, technical scheme is as follows:
A kind of WEEDING DEVICE, including the first roller and second tin roller, first roller and second tin roller are fixed respectively to be connected
It is connected in first axle and the second axis, the first axle both ends are equipped with driving wheel, and second axis both ends are equipped with driven wheel, the master
Driving wheel and driven wheel are intermeshed and are fixedly installed in gear-box, and first roller and second tin roller are equipped with sticky software
Material, the WEEDING DEVICE are weeded out the rank grass by first roller and rotating backward for second tin roller.
Further, the spacing between first roller and second tin roller is adjustable.
Further, the WEEDING DEVICE further includes driving motor, and the driving motor drives the active by shaft
Wheel rotation.
Further, the WEEDING DEVICE further includes three axle robert attachment device, the three axle robert attachment device
Including pedestal, the first spindle motor, the first bar, the second spindle motor, the second axis, the second bar, third spindle motor, third axis, third bar
And bindiny mechanism, the pedestal are equipped with the first spindle motor, first spindle motor is rotated for the first bar of driving in X/Y plane,
First bar is connect with the second bar by the second axis and the second spindle motor, and second spindle motor is for driving the second bar in ZY
Plane Rotation, second bar are connect with third bar by third axis and third spindle motor, and the third spindle motor is for driving
Third bar is connected by bindiny mechanism with WEEDING DEVICE in ZY Plane Rotation, the third bar.
A kind of farmland intelligence uprooting weed robot, including WEEDING DEVICE as described above.
A kind of farmland intelligence uprooting weed robot, including car body, and be installed on car body master control system, visual recognition line
System, solar electric power supply system, anti-collision system, long range aid to navigation system, walking mechanism, gyro sensor, floats and drives at range-measurement system
Dynamic device and WEEDING DEVICE as described above；
The visual identifying system is configured as identifying objective crop by comparing morphological feature, and then obtains
Weeds coordinate is obtained, and passes to master control system；
The range-measurement system is configured as being scanned two sides objective crop, and the plant spacing scanned is believed
Breath passes to master control system；
The solar electric power supply system is configured to convert the solar into electric energy, provides power demand for uprooting weed robot；
The anti-collision system is configured as detection and hits pressure, and passes to master control system；
The long range aid to navigation system is configured as module by wireless communication and is connected with remote controllers, by remotely controlling
Device processed remotely operates uprooting weed robot；
The walking mechanism is configured as controlling the motion path of uprooting weed robot according to master control system order；
The gyro sensor is configured as real-time detection bottom surface flatness, and offset is transmitted to master control system；
The floating driving mechanism is configured as the order according to master control system to uprooting weed robot chassis and the above main body
Part is floated up and down, and guarantees that robot chassis and the above main part moment are in and ground horizontal line parastate；
The WEEDING DEVICE is configured as pulling out weeds according to master control system order；
The master control system is configured as carrying out data processing according to the transmitting information of each system, and according to processing result
Control each system operation.
Further, the visual identifying system includes vision collecting device and vision processor, the vision collecting dress
It sets for acquiring the visual pattern in front of uprooting weed robot and passing to vision processor, the vision processor is known by vision
The morphological feature of other plant, and compared with the morphological feature of the objective crop of Installed System Memory storage, it is determined using exclusive method
Weeds, and azimuth information is transmitted to master control system, the master control system issues control instruction according to weeds azimuth information, and control is pulled out
Careless robot ambulation is to target position.
Further, the morphological feature of the objective crop stored in the visual identifying system includes objective crop hair
Sprouting stage, seedling stage, growth period and fruiting period morphological feature, the morphological feature includes plant height, blade shape, blade face
Color, the rugosity of stem, the color and shape of flowers and fruits.
Further, the range-measurement system includes laser sensor, and the laser sensor is installed on car body front end, and with
Master control system is connected, and the master control system is controlled for judging the plant spacing that laser sensor sends over
WEEDING DEVICE protrudes into progress weeds between plant and pulls out.
Further, the anti-collision system includes anti-collision detection device, and the anti-collision detection device includes crash bar and pressure
Force checking device, the crash bar is installed on car body front end and stretches out car body, after crash bar knocks object, pressure-detecting device
Pressure is hit in detection, and is sent to master control system, and when pressure is more than setting value, master control system issues control instruction and controls uprooting weed
Robot is retreated or is turned to.
Further, the walking mechanism includes driver, motor and reduction gearbox, traveling wheel, encoder and damping device,
The driver is used to be rotated according to the control instruction driving motor of master control system, and then controls the rotation of traveling wheel, the volume
Code device is used to detect the circle number that traveling wheel turns over and then the distance for obtaining robot ambulation, and the damping device is used for robot row
Damping when walking.
Further, the walking mechanism includes four traveling wheels, and the traveling wheel is Mecanum wheel, each row
It walks wheel and is respectively provided with a motor to be driven.
Further, the floating driving mechanism includes stepper motor, ball-screw apparatus, scissor-type mechanical structure and branch
Support, for driving ball-screw apparatus to rotate, the ball-screw apparatus is used for the rotation of stepper motor the stepper motor
Transhipment turn turns to the linear motion for being parallel to chassis, and the scissor-type mechanical structure is used to be to transport up and down by transform linear motion
It is dynamic, and then robot chassis and ontology is pushed to float up and down, realize that robot chassis and the above main part moment are in and ground
The parallel state of face horizontal line.
Compared with prior art, the beneficial effects of the present invention are:
Intelligent uprooting weed robot of the invention can be to the weeds other than crops after target crop morphological feature determines
It is pulled out, due to, by ploughing soil, it is less, smaller to arrive leaf period weed growth, therefore target is made before target crop plantation
Object morphological feature is generally determined as leaf period, intelligent uprooting weed robot of the invention in line with " pull out morning, pull out it is small, pull out " theory
Between the strain of target crop, in the ranks sustainedly and stably carry out uprooting weed work；Target crop can be eliminated to a certain extent to grow
Most weeds are grown in journey, Weeds distribution within the economic threshold of permission；And, intelligence high to work-yard adaptability
Change degree is high, and high using exclusive method identification weeds accuracy, and uprooting weed efficiency and uprooting weed coverage rate are high.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the structural schematic diagram of WEEDING DEVICE of the present invention；
Fig. 2 is uprooting weed robot of the present invention three axle robert and uprooting weed structural scheme of mechanism；
Fig. 3 is the system structure diagram of uprooting weed robot of the present invention；
Fig. 4 is uprooting weed robot floating driving mechanism overall schematic of the present invention；
Fig. 5 is uprooting weed robot floating driving mechanism top of the present invention schematic diagram；
Fig. 6 is uprooting weed robot floating driving mechanism lower part of the present invention schematic diagram；
Wherein, 1, first axle, the 2, second axis, the 3, first roller, 4, second tin roller, 5, bala gutta, 6, gear-box, 7, machine
Device people chassis, 8, the fixed device of lead screw, 9, lead screw, 10, nut assembly, 11, motor and retarder, 12, sliding rail, 13, scissor-type
Mechanical structure, 14, sliding rail, 15, support wheel, 16, support frame, 17, wheel, 18, pedestal, the 19, first spindle motor, the 20, first bar,
21, the second spindle motor, the 22, second bar, 23, third spindle motor, 24, third axis, 25, third bar, 26, connection uprooting weed Working mechanism
With the bindiny mechanism of three axle robert.
Specific embodiment
The present invention is described further with specific embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair
Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand
For limitation of the present invention.
In the present invention, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection,
It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the present invention as the case may be,
It is not considered as limiting the invention.
As background technique is introduced, it is palliative to exist in the prior art grass-removing robot, and can not be effective
The problem of distinguishing crops and weeds, in order to solve technical problem as above, this application provides a kind of WEEDING DEVICEs, farmland intelligence
Can uprooting weed robot, by weeds uproop and the method for Machine Vision Recognition crops, solve current grass trimmer
The problems such as the palliative of device people, target crop and weeds cannot accurately identify.
As shown in Figure 1, a kind of WEEDING DEVICE, including the first roller 3 and second tin roller 4, first roller 3 and second roll
Cylinder 4 is respectively fixedly connected in first axle 1 and the second axis 2, and 1 both ends of first axle are equipped with driving wheel, 2 both ends of the second axis
Equipped with driven wheel, the driving wheel and driven wheel are intermeshed and are fixedly installed in gear-box 6, first roller 3 and
Two rollers 4 are equipped with sticky soft material, preferably bala gutta 5, and the bala gutta 5 helps to increase friction when uprooting weed
Power, when WEEDING DEVICE operation, the first roller 3 and second tin roller 4 are rotated backward, so that producing between bala gutta 5 and weeds
Raw frictional force, and then pulling force is generated to weeds, weeds are uprooped, uprooting weed movement is completed.
Spacing between first roller 3 and second tin roller 4 is adjustable.
The WEEDING DEVICE further includes driving motor, and the driving motor drives the driving wheel to rotate by shaft.
The length of first roller 3 and second tin roller 4 can be adjusted according to soil width, with increase active area with
Functioning efficiency.
As shown in Fig. 2, the WEEDING DEVICE further includes three axle robert attachment device, the three axle robert attachment device
It including pedestal 18, is used to be fixed on the pedestal of uprooting weed robot, supports entire three axis WEEDING DEVICE；First spindle motor 19,
First bar 20 is connected using worm and gear between first bar 20 and the first spindle motor 19, allows the first bar 20 in XY
Plane Rotation；Second spindle motor 21, the second bar 22, the rotation of the second spindle motor 21 drive the second bar 22 in ZY Plane Rotation；
Third spindle motor 23, third axis 24, third bar 25, third axis 24 and third spindle motor 23 equally use turbine and worm structure, band
Third bar 25 is moved in ZY Plane Rotation；Bindiny mechanism 26, the bindiny mechanism 26 is for connecting WEEDING DEVICE and three axle robert
Attachment device.The three axle robert attachment device may be implemented uprooting weed Working mechanism and rotate in a big way, so as to
Keep uprooting weed robot car body it is motionless in the case where, realize crops in the ranks, larger range uprooting weed operation between strain, flexibility compared with
It is high.
Effective uprooting weed may be implemented using WEEDING DEVICE of the invention, and device simplicity is easily made, save the cost.
Based on above-mentioned WEEDING DEVICE, the present embodiment provides a kind of farmland intelligence uprooting weed robots, including pull out as described above
Careless device.
Based on above-mentioned WEEDING DEVICE, the present embodiment provides another farmland intelligence uprooting weed robots.
As shown in figure 3, a kind of farmland intelligence uprooting weed robot, including car body, and be installed on car body master control system,
Visual identifying system, range-measurement system, solar electric power supply system, anti-collision system, long range aid to navigation system, walking mechanism, gyroscope pass
Sensor, floating driving mechanism and WEEDING DEVICE as described above；
The visual identifying system is configured as identifying objective crop by comparing morphological feature, and then obtains
Weeds coordinate is obtained, and passes to master control system；
The range-measurement system is configured as being scanned two sides objective crop, and the plant spacing scanned is believed
Breath passes to master control system；
The solar electric power supply system is configured to convert the solar into electric energy, provides power demand for uprooting weed robot；
The anti-collision system is configured as detection and hits pressure, and passes to master control system；
The long range aid to navigation system is configured as module by wireless communication and is connected with remote controllers, by remotely controlling
Device processed remotely operates uprooting weed robot；
The walking mechanism is configured as controlling the motion path of uprooting weed robot according to master control system order；
The gyro sensor is configured as real-time detection bottom surface flatness, and offset is transmitted to master control system；
The floating driving mechanism is configured as the order according to master control system to uprooting weed robot chassis and the above main body
Part is floated up and down, and guarantees that robot chassis and the above main part moment are in and ground horizontal line parastate；
The WEEDING DEVICE is configured as pulling out weeds according to master control system order；
The master control system is configured as carrying out data processing according to the transmitting information of each system, and according to processing result
Control each system operation.
In specific implementation, the master control system also has memory function, is mainly used for the uprooting weed track to robot and carries out
Memory, and then the region that this intelligence uprooting weed robot can be made not work in 3-15 days preferentially carries out uprooting weed work.
The visual identifying system includes vision collecting device and vision processor, and the vision collecting device is for acquiring
Visual pattern in front of uprooting weed robot simultaneously passes to vision processor, and the vision processor passes through the shape of visual identity plant
State feature, and compared with the morphological feature of the objective crop of Installed System Memory storage, weeds are determined using exclusive method, and will be square
Position information is transmitted to master control system, and the master control system issues control instruction according to weeds azimuth information, controls uprooting weed robot row
It walks to target position.
The vision collecting device is generally camera, it is preferred that the vision collecting device is high speed camera.
The morphological feature of the objective crop stored in the visual identifying system includes objective crop germination period, seedling
The morphological feature of phase, growth period and fruiting period, the morphological feature include plant height, blade shape, leaf color, stem it is thick
The color and shape of degree, flowers and fruits.
The range-measurement system includes laser sensor, and the laser sensor is installed on car body front end, and and master control system
It is connected, the master control system controls WEEDING DEVICE for judging the plant spacing that laser sensor sends over
Progress weeds between plant are protruded into pull out.
The solar electric power supply system includes solar panel, solar controller and battery.
The anti-collision system includes anti-collision detection device, and the anti-collision detection device includes crash bar and pressure detecting dress
It sets, the crash bar is installed on car body front end and stretches out car body, and after crash bar knocks object, pressure-detecting device detection is hit
Pressure, and it is sent to master control system, when pressure is more than setting value, after master control system issues control instruction control uprooting weed robot
It moves back or turns to.
The long range aid to navigation system includes wireless communication module, and the wireless communication module is connected with master control system, described
Module is connected master control system with remote controllers by wireless communication, and the remote controllers remove shape for remotely monitoring weeds
State and the motion profile for adjusting uprooting weed robot.
Preferably, the remote controllers can be the mobile phone terminal for being equipped with corresponding control program.
Preferably, the wireless communication module is 5G bluetooth module or high-power NRF module.
The walking mechanism includes driver, motor, reduction gearbox, traveling wheel, encoder and damping device, the driver
For rotating according to the control instruction driving motor of master control system, and then the rotation of traveling wheel is controlled, the encoder is for examining
Survey the circle number that traveling wheel turns over and then the distance for obtaining robot ambulation, the subtracting when damping device is used for robot ambulation
Shake, to avoid damage due to vibration to master control system and other control chips and sensor.
The walking mechanism includes four traveling wheels, and the traveling wheel is Mecanum wheel, each traveling wheel difference
It is driven equipped with a motor, original place rotation or transverse movement may be implemented in this design, can be with more flexible convenient reality
Existing all-around mobile function, turns to more flexible.
The gyro sensor experiences the state of ground relief for the moment, and offset is transmitted to master control system
System, master control system issue order control floating driving mechanism accordingly and float up and down and compensate offset, realization robot chassis and with
Main body timesharing, which is carved, is in the state parallel with ground horizontal line, guarantees steady in robot traveling and uprooting weed operation process
Property.
As shown in Figure 4, Figure 5, the floating driving mechanism is fixed on robot chassis 7, and the floating driving mechanism includes
Ball-screw apparatus, stepper motor 11, scissor-type mechanical structure 13 and support frame 16.The ball-screw apparatus includes that lead screw is solid
Determine device 8, lead screw 9 and nut assembly 10, the fixed device 8 of the lead screw includes bearing, and the lead screw 9 is driven by stepper motor 11
Dynamic rotation, the nut assembly 10 are made opposite sliding with undersurface of bottom disc, when lead screw 9 is rotated, are converted into directly by it
Line movement；The nut assembly 10 is supported by sliding rail 12, and the sliding rail 12 is embedded in undersurface of bottom disc；The scissor-type is mechanical
Structure 13 is connected with nut assembly 10 and stepper motor 11, for being straight up and down by the lateral transform linear motion of nut assembly 10
Line movement, and then realize that car body floats up and down；
As shown in fig. 6, the scissor-type mechanical structure 13 is fixed on the support wheel of 16 side of support frame by support wheel 15
In sliding rail 14, when car body is floated up and down, the opposite sliding in support wheel sliding rail 14 of support wheel 15；On support frame as described above 16
The other side is directly connected to scissor-type mechanical structure 13, lower to connect with 17 son of wheel, and for fixing driving motor.
In specific implementation, the robot may also be configured with mechanical arm, and the mechanical arm is for assisting WEEDING DEVICE to carry out
Uprooting weed, when the weeds between plant are after WEEDING DEVICE uprooting weed, if also un-cleared weeds, can be used mechanical arm and pulled out
It removes, or when distance is narrow between plant, mechanical arm progress weeds can be directlyed adopt and pulled out.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of WEEDING DEVICE, it is characterised in that: including the first roller and second tin roller, first roller and second tin roller point
It is not fixedly connected in first axle and the second axis, the first axle both ends are equipped with driving wheel, and second axis both ends are equipped with driven
Wheel, the driving wheel and driven wheel are intermeshed and are fixedly installed in gear-box, set on first roller and second tin roller
Toughness soft material, the WEEDING DEVICE are weeded out the rank grass by first roller and rotating backward for second tin roller.
2. a kind of WEEDING DEVICE as described in claim 1, which is characterized in that between first roller and second tin roller
Away from adjustable.
3. a kind of WEEDING DEVICE as described in claim 1, which is characterized in that the WEEDING DEVICE further includes driving motor, institute
It states driving motor and drives the driving wheel to rotate by shaft.
4. a kind of WEEDING DEVICE as described in claim 1, which is characterized in that the WEEDING DEVICE further includes that three axle robert connects
Connection device, the three axle robert attachment device include pedestal, the first spindle motor, the first bar, the second spindle motor, the second axis,
Two bars, third spindle motor, third axis, third bar and bindiny mechanism, the pedestal are equipped with the first spindle motor, the first axle electricity
Machine is for driving the first bar to rotate in X/Y plane, and first bar is connect with the second bar by the second spindle motor, second axis
For driving the second bar in ZY Plane Rotation, second bar is connect with third bar by third axis and third spindle motor motor,
For the third spindle motor for driving third bar in ZY Plane Rotation, the third bar passes through bindiny mechanism and WEEDING DEVICE phase
Even.
5. a kind of intelligence uprooting weed robot, it is characterised in that: including the WEEDING DEVICE as described in claim 1-4 is any.
6. a kind of intelligence uprooting weed robot, it is characterised in that: including car body, and the master control system, the vision that are installed on car body
Identifying system, range-measurement system, solar electric power supply system, anti-collision system, long range aid to navigation system, walking mechanism, gyro sensor,
Floating driving mechanism and the WEEDING DEVICE as described in claim 1-4 is any；
The visual identifying system is configured as identifying objective crop by comparing morphological feature, and then obtains miscellaneous
Careless coordinate, and pass to master control system；
The range-measurement system is configured as being scanned two sides objective crop, and the plant pitch information scanned is passed
Pass master control system；
The solar electric power supply system is configured to convert the solar into electric energy, provides power demand for uprooting weed robot；
The anti-collision system is configured as detection and hits pressure, and passes to master control system；
The long range aid to navigation system is configured as module by wireless communication and is connected with remote controllers, passes through remote controllers
Uprooting weed robot is remotely operated；
The walking mechanism is configured as controlling the motion path of uprooting weed robot according to master control system order；
The gyro sensor is configured as real-time detection bottom surface flatness, and offset is transmitted to master control system；
The floating driving mechanism is configured as the order according to master control system to uprooting weed robot chassis and the above main part
It floats up and down, guarantees that robot chassis and the above main part moment are in and ground horizontal line parastate；
The WEEDING DEVICE is configured as pulling out weeds according to master control system order；
The master control system is configured as carrying out data processing according to the transmitting information of each system, and is controlled according to processing result
Each system operation.
7. a kind of intelligent uprooting weed robot as claimed in claim 6, which is characterized in that the visual identifying system includes vision
Acquisition device and vision processor, the vision collecting device is for acquiring the visual pattern in front of uprooting weed robot and passing to
Vision processor, the vision processor pass through the morphological feature of visual identity plant, and the target farming with Installed System Memory storage
The morphological feature of object compares, and determines weeds using exclusive method, and azimuth information is transmitted to master control system, the master control system
Control instruction is issued according to weeds azimuth information, control uprooting weed robot runs to target position.
8. a kind of intelligent uprooting weed robot as claimed in claim 6, which is characterized in that the range-measurement system includes laser sensing
Device, the laser sensor is installed on car body front end, and is connected with master control system, and the master control system is used for laser sensor
The plant spacing sended over is judged, and then control WEEDING DEVICE protrudes into progress weeds between plant and pulls out.
9. a kind of intelligent uprooting weed robot as claimed in claim 6, which is characterized in that the anti-collision system includes anticollision detection
Device, the anti-collision detection device include crash bar and pressure-detecting device, and the crash bar is installed on car body front end and stretches out
Car body, after crash bar knocks object, pressure is hit in pressure-detecting device detection, and is sent to master control system, when pressure is more than
When setting value, master control system issues control instruction control uprooting weed robot and retreats or turn to.
10. a kind of intelligent uprooting weed robot as claimed in claim 6, which is characterized in that the floating driving mechanism includes step
Into motor, ball-screw apparatus, scissor-type mechanical structure and support frame, the stepper motor is for driving ball-screw apparatus to revolve
Turn, the ball-screw apparatus is described to cut for converting the rotary motion of stepper motor to the linear motion for being parallel to chassis
V shape mechanical structure is used to be to move up and down transform linear motion, and then robot chassis and ontology is pushed to float up and down, real
Existing robot chassis and the above main part moment are in the state parallel with ground horizontal line；
The walking mechanism includes four traveling wheels, and the traveling wheel is Mecanum wheel, and each traveling wheel is respectively provided with
One motor is driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810863932.7A CN109006783A (en) | 2018-08-01 | 2018-08-01 | A kind of WEEDING DEVICE, farmland intelligence uprooting weed robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810863932.7A CN109006783A (en) | 2018-08-01 | 2018-08-01 | A kind of WEEDING DEVICE, farmland intelligence uprooting weed robot |
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| CN109006783A true CN109006783A (en) | 2018-12-18 |
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| CN201810863932.7A Pending CN109006783A (en) | 2018-08-01 | 2018-08-01 | A kind of WEEDING DEVICE, farmland intelligence uprooting weed robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN110622950A (en) * | 2019-11-02 | 2019-12-31 | 段荣利 | Self-recognition gardening weeder, composition device and working method thereof |
| CN111109237A (en) * | 2019-12-20 | 2020-05-08 | 上海点甜农业专业合作社 | Weeding robot system based on camera recognition and weeding method thereof |
| CN112167230A (en) * | 2020-09-18 | 2021-01-05 | 秦皇岛赤兔科技开发有限公司 | Weeding and root removing device |
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| CN113016766A (en) * | 2021-03-09 | 2021-06-25 | 厦门理工学院 | Intelligent greenhouse weed identification and removal system and control method thereof |
| CN113839345A (en) * | 2021-09-10 | 2021-12-24 | 国网山东省电力公司滨州供电公司 | Power line vegetation-adjacent induced lightning stroke discharge protection device and use method thereof |
| CN113826607A (en) * | 2021-09-14 | 2021-12-24 | 东北农业大学 | Shearing type intelligent weeding robot based on weed prescription chart |
| CN114698624A (en) * | 2022-04-27 | 2022-07-05 | 中垦种业股份有限公司 | Efficient weeding method for paddy field |
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| CN110622951B (en) * | 2019-11-02 | 2021-11-16 | 段荣利 | Self-recognition gardening weeder |
| CN110622950A (en) * | 2019-11-02 | 2019-12-31 | 段荣利 | Self-recognition gardening weeder, composition device and working method thereof |
| CN110622951A (en) * | 2019-11-02 | 2019-12-31 | 段荣利 | Self-recognition gardening weeder |
| CN111109237A (en) * | 2019-12-20 | 2020-05-08 | 上海点甜农业专业合作社 | Weeding robot system based on camera recognition and weeding method thereof |
| CN112167230A (en) * | 2020-09-18 | 2021-01-05 | 秦皇岛赤兔科技开发有限公司 | Weeding and root removing device |
| CN112167230B (en) * | 2020-09-18 | 2022-08-12 | 秦皇岛赤兔科技开发有限公司 | Weeding and root removing device |
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| CN113839345A (en) * | 2021-09-10 | 2021-12-24 | 国网山东省电力公司滨州供电公司 | Power line vegetation-adjacent induced lightning stroke discharge protection device and use method thereof |
| CN113839345B (en) * | 2021-09-10 | 2022-08-19 | 国网山东省电力公司滨州供电公司 | Electric power line vegetation-adjacent induced lightning stroke discharge protection device and use method |
| CN113826607A (en) * | 2021-09-14 | 2021-12-24 | 东北农业大学 | Shearing type intelligent weeding robot based on weed prescription chart |
| CN114698624A (en) * | 2022-04-27 | 2022-07-05 | 中垦种业股份有限公司 | Efficient weeding method for paddy field |
| CN114698624B (en) * | 2022-04-27 | 2023-05-16 | 中垦种业股份有限公司 | Efficient weeding method for paddy field |
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