CN113826607A - Shearing type intelligent weeding robot based on weed prescription chart - Google Patents
Shearing type intelligent weeding robot based on weed prescription chart Download PDFInfo
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- CN113826607A CN113826607A CN202111073133.8A CN202111073133A CN113826607A CN 113826607 A CN113826607 A CN 113826607A CN 202111073133 A CN202111073133 A CN 202111073133A CN 113826607 A CN113826607 A CN 113826607A
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- weeding
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- weeds
- shearing knife
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- 238000009333 weeding Methods 0.000 title claims abstract description 117
- 241000196324 Embryophyta Species 0.000 title claims abstract description 83
- 238000010008 shearing Methods 0.000 title claims abstract description 65
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 230000000694 effects Effects 0.000 claims abstract description 11
- 239000002689 soil Substances 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 238000005520 cutting process Methods 0.000 claims description 5
- 241000251468 Actinopterygii Species 0.000 claims 1
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 239000012636 effector Substances 0.000 abstract 1
- 230000001172 regenerating effect Effects 0.000 abstract 1
- 239000000126 substance Substances 0.000 description 6
- 230000002363 herbicidal effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 206010063385 Intellectualisation Diseases 0.000 description 3
- 239000004009 herbicide Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 231100000674 Phytotoxicity Toxicity 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009328 dry farming Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000015816 nutrient absorption Nutrition 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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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
Abstract
The invention relates to the field of agricultural machinery, and discloses a shearing type intelligent weeding robot based on a weed prescription chart. The device passes through the link and installs on the walking platform, through the motion of the weeds position information control parallel mechanism who acquires, make weeding mechanism remove to weeding the region, realized accurate positioning work under different environment, secondly the device is selected to cut into from the side through the regulation of weeding mechanism, carry out accurate eradicateing, operating efficiency and operating mass are greatly improved, the during operation is walked in the field along with on-vehicle platform, according to the motion of the motion control parallel mechanism of ruderal position information control servo motor, end effector's shearing sword and clamping device realize shearing motion under the motion of cylinder, cut off the chopping with ruderal root, and shift out the soil with weeds stem leaf part, avoid regenerating, weeding effect is good.
Description
Technical Field
The invention discloses a shearing type intelligent weeding robot based on a weed prescription chart, relates to the field of agricultural machinery, and is particularly applied to intelligent weeding of various crops in the field of agriculture.
Background
The crop weed and crop can reduce the yield due to the competition for growth resources in the production process, so weeding becomes the most important link in agricultural production. The development of the weeding technology is very rapid, and the weeding modes are natural and various. At present, mechanical weeding and chemical weeding are more adopted in weeding. Chemical weeding has good effect and low cost, but the disadvantages of chemical weeding, such as overuse and improper use, are more obvious. Firstly, the chemical herbicide chemical is used improperly, which causes phytotoxicity, damages and even kills the nursery stock and pollutes the environment. Secondly, poor control of the herbicide dosage can have a severe impact on other plants. Most importantly, long-term herbicide use results in increased resistance of weeds and greatly reduced herbicidal effect after use. The research and development of mechanical weeding has been a research hotspot. The mechanical weeding technology is a key technology for protective farming in dry farming. From the 60 s in the 20 th century, China has made a great deal of research and development on the weeding machine between seedlings, and the 70 s have made great development. The inter-row mechanical weeding technology has been applied for a long time at present, but the inter-plant mechanical weeding is a relatively new research field. The mechanical weeding among plants usually has 2 most direct modes, namely 1, cutting off the roots or stems 2 of weeds, pulling up the weeds with roots, the two methods can effectively remove the weeds, the second method can remove the roots better and 'weed cutting and root removal', the first weeding mode keeps some factors which are more beneficial to plants when the weeding effect is effective, but the two mechanical weeding modes can remove defects caused by chemical weeding while ensuring the weeding effect and the weeding efficiency. In any mechanical weeding mode, the position of the weeds needs to be known, and the range of the weeds is limited to avoid damage to plants. This just needs reliable crop identification and location technique, and application unmanned aerial vehicle location technique can solve these problems and then realize the effect of weeding.
How to ensure that our weeding machine can reach this location and perform weeding tasks after the unmanned aerial vehicle identification and positioning technology has achieved weed positioning and weed crop identification? The invention designs a shearing type intelligent weeding robot based on a weed prescription diagram against the background of mechanical weeding operation effect and definite positioning weeding, and the device can be suitable for weeding operation of various crops in different growth cycles. Meanwhile, the weeding device is modularized, and the weeding unit can be hung on various operation platforms and can be suitable for various complex field environments.
Disclosure of Invention
The invention provides a shearing type intelligent weeding robot based on a weed prescription diagram, which is suitable for weeding work of various crops in different growth cycles, and along with the arrival of the intelligent agriculture era, the agriculture and the intellectualization are combined to form a power source for promoting the agricultural progress, and the intellectualization combination enables the agricultural operation to be more efficient, high in quality and high in accuracy.
In order to achieve the purpose, the technical scheme provided by the invention is a shearing type intelligent weeding robot based on a weed prescription diagram, which is characterized in that the device consists of three parts, a connecting frame, a parallel mechanism part and a weeding mechanism part, wherein the shearing type intelligent weeding robot is provided with an independent round base (1) as a connecting part with a vehicle body, the parallel mechanism part consists of a fixed disc (2), a servo motor (3), a planetary reducer (4), an upper connecting rod (5), an upper connecting rod (7), an upper connecting rod (21), a lower connecting rod (6), a lower connecting rod (8), a lower connecting rod (20) and a weeding mechanism connecting disc (19), and the weeding mechanism part consists of a primary robot joint motor (9), a U-shaped bracket (18), a secondary robot joint motor (17), a side fixing plate (10), a linear air cylinder (11), an air cylinder fixing base (12), The device comprises a shearing knife (13), a weed gripper (14), a shearing knife (15), a weed gripper (16), a connecting rod joint (22) and an actuator connecting rod (23). Wherein a U-shaped support (18) is fixed on a first-stage robot joint motor (9), one side of a second-stage robot joint motor (17) is fixed on the U-shaped support (18), a side fixing plate (10) is connected with the output end of the second-stage robot joint motor (17), a cylinder fixing base (12) is connected with the side fixing plate (10), a linear cylinder (11) is fixed on the cylinder fixing base (12), a connecting rod joint (22) is installed on the linear cylinder (11), a weed gripper (14) and a weed gripper (16) are respectively fixed on a shearing knife (13) and a shearing knife (15), the shearing knife (13) and the shearing knife (15) are fixed on the cylinder fixing base (12) through pins, an actuator connecting rod (23) is respectively connected with the connecting rod joint (22), the shearing knife (13) and the shearing knife (15), and the actuator cuts in the root of weeds through the side surfaces through the partial motion of a parallel mechanism after the actuator reaches the corresponding position of the weeds, the shearing knife (13) and the shearing knife (15) are quickly folded through the linear motion of the linear cylinder (11) to complete the shearing of the root of the weeds, the weed gripper (14) and the weed gripper (16) are simultaneously combined to take out the stem and leaf parts of the weeds from soil to complete the weeding work, the parallel mechanism part is fixed on a vehicle body through the circular base (1), the servo motor (3) and the planetary reducer (4) are well connected and fixed on the fixed disc (2) through bolts, one end of the upper connecting rod (5), the upper connecting rod (7) and the upper connecting rod (21) is connected on the planetary reducer (4) through a gasket, the other end of the upper connecting rod, the lower connecting rod (8) and the lower connecting rod (20) is connected with the lower connecting rod (6), the lower connecting rod (8) and the lower connecting rod (20) through fisheye joints, and the lower connecting rod (6), the lower connecting rod (8) and the lower connecting rod (20) are connected with the weeding mechanism (19) through fisheye joints, and will weed for the mechanism bolted connection on weeding mechanism connection pad (19), the complete machine passes through circular base (1) and connects on the automobile body, obtain the ruderal coordinate information in field through unmanned aerial vehicle, after obtaining ruderal positional information, after the executor reachs the weeding region, servo motor (3) rotate and drive planetary reducer (4) and rotate, drive upside connecting rod (5) simultaneously, upside connecting rod (7), upside connecting rod (21), downside connecting rod (6), downside connecting rod (8), downside connecting rod (20) motion, will weed the mechanism part and fix a position at the weeding region, when fixing a position at the weeding region, weed the mechanism and adjust according to ruderal characteristic, through the angle of cutting of regulation weeding mechanism of one-level robot joint motor (9), through second level robot joint motor (17) adjustment shearing sword (13), The cutting angle of the shearing knife (15) is determined, the position, the angle and the weeding mode of weeding are determined, the linear air cylinder (11) moves to drive the actuator connecting rod (23) to drive the shearing knife (13) and the shearing knife (15) to be rapidly combined, roots are cut off through the shearing knife (13) and the shearing knife (15), stem and leaf parts of weeds are taken out of soil through the simultaneous combination of the weed gripper (14) and the weed gripper (16), the weeding effect is achieved, the vehicle body is connected with the circular base (1), the position information of the weeds is acquired by the unmanned aerial vehicle, when the vehicle-mounted platform has errors in driving and bumps in the complex field environment, the servo motor (3) drives the weeding mechanism connecting disc (19) to move, the whole weeding mechanism is driven, the real-time movement of the weeding device is realized, and the weeding operation of the weeding device above a seedling zone is ensured all the time, the precision of operation has greatly been improved.
Drawings
FIG. 1 is a schematic representation of the present invention
FIG. 2 is a front view of the weeding mechanism of the present invention
FIG. 3 is a herbicidal composition of the present invention
Detailed Description
A shearing type intelligent weeding robot based on a weed prescription diagram is characterized in that the device consists of three parts, namely a connecting frame, a parallel mechanism part and a weeding mechanism part, an independent round base 1 is used as a connecting part with a vehicle body, the parallel mechanism part consists of a fixed disc 2, a servo motor 3, a planetary reducer 4, an upper connecting rod 5, an upper connecting rod 7, an upper connecting rod 21, a lower connecting rod 6, a lower connecting rod 8, a lower connecting rod 20 and a weeding mechanism connecting disc 19, the weeding mechanism part consists of a primary robot joint motor 9, a U-shaped support 18, a secondary robot joint motor 17, a side fixing plate 10, a linear cylinder 11, a cylinder fixing base 12, a shearing knife 13, a weed gripper 14, a shearing knife 15, a weed gripper 16, a connecting rod joint 22 and an actuator connecting rod 23, wherein the U-shaped support 18 is fixed on the primary robot joint motor 9, one side of a second-stage robot joint motor 17 is fixed on a U-shaped support 18, a side fixing plate 10 is connected with the output end of the second-stage robot joint motor 17, a cylinder fixing base 12 is connected with the side fixing plate 10, a linear cylinder 11 is fixed on the cylinder fixing base 12, a connecting rod joint 22 is installed on the linear cylinder 11, a weed gripper 14 and a weed gripper 16 are respectively fixed on a shearing knife 13 and a shearing knife 15, the shearing knife 13 and the shearing knife 15 are fixed on the cylinder fixing base 12 through pins, an actuator connecting rod 23 is respectively connected with the connecting rod joint 22, the shearing knife 13 and the shearing knife 15, the actuator cuts into root weeds through the side surface through the motion of a parallel mechanism part after reaching the corresponding position of the weeds, the shearing knife 13 and the shearing knife 15 are quickly folded through the linear motion of the linear cylinder 11 to complete the shearing of the roots of the weeds, the weed gripper 14 and the weed gripper 16 are simultaneously combined to take out stem leaves of the weeds and leave the soil, the weeding machine is characterized in that a parallel mechanism part is fixed on a vehicle body through a circular base 1, a servo motor 3 and a planetary reducer 4 are connected and fixed on a fixed disc 2 through bolts, one end of an upper connecting rod 5, an upper connecting rod 7 and an upper connecting rod 21 is connected on the planetary reducer 4 through a gasket in sequence, the other end of the upper connecting rod is connected with a lower connecting rod 6, a lower connecting rod 8 and a lower connecting rod 20 through fisheye joints, the lower connecting rod 6, the lower connecting rod 8 and the lower connecting rod 20 are connected with a weeding mechanism connecting disc 19 through fisheye joints, the weeding mechanism is connected on the weeding mechanism connecting disc 19 through bolts, the whole machine is connected on the vehicle body through the circular base 1, coordinate information of field weeds is obtained through an unmanned aerial vehicle, after the position information of the weeds is obtained, when an actuator reaches a weeding area, the servo motor 3 rotates to drive the planetary reducer 4 to rotate, meanwhile, the upper connecting rod 5, the upper connecting rod 7, the upper connecting rod 21, the lower connecting rod 6, the lower connecting rod 8 and the lower connecting rod 20 are driven to move, the weeding mechanism is partially positioned in a weeding area, the weeding mechanism is adjusted according to the characteristics of weeds while being positioned in the weeding area, the cutting-in angle of the weeding mechanism is adjusted through the first-stage robot joint motor 9, the cutting-in angles of the shearing knife 13 and the shearing knife 15 are adjusted through the second-stage robot joint motor 17, the weeding position, the weeding angle and the weeding mode are determined, the actuator connecting rod 23 is driven by the movement of the linear air cylinder 11 to further drive the shearing knife 13 and the shearing knife 15 to be rapidly combined, roots are removed through the shearing of the shearing knife 13 and the shearing knife 15, and stem and leaf parts of the weeds are taken out of soil through the simultaneous combination of the weed gripper 14 and the weed gripper 16, and the weeding effect is achieved. The automobile body is connected with circular base 1, and ruderal positional information all has unmanned aerial vehicle to acquire, when vehicle-mounted platform goes error appearance and field complex environment and causes the time of jolting, and servo motor 3 drives weeding mechanism connection pad 19 motion, and then drives and whole weeding mechanism, realizes weeding device's real-time motion, has guaranteed that weeding device is always in the operation of weeding above the seedling zone, great improvement the precision of operation.
Compared with the prior art, the invention has the following advantages and beneficial effects: the invention is developed aiming at the problem that the weeding technology of the existing agricultural machinery weeding is not mature enough, has wide application range, is suitable for weeding operation of various crops in different growth periods, greatly improves the weeding operation efficiency by combining with intellectualization, can save space by a parallel mechanism mode, can accurately reach the weeding position after accurately positioning the weed position for weeding, can powerfully cut and pull out weeds in the operation range by a scissor type weeding cutter, cuts off the nutrient absorption part of the weeds, effectively reduces the continuous propagation of the roots and stems of the weeds, can be suitable for shoveling various weeds with different types and different growth types, has more obvious effect on killing the weeds, realizes dynamic capture of the seedling belt by a visual system, greatly solves the problem of low weeding efficiency, and has good accurate positioning weeding effect.
Claims (3)
1. The utility model provides a shear type intelligence weeding robot based on weeds prescription picture, a serial communication port, the device comprises three parts, the link, parallel mechanism part and weeding mechanism part are constituteed, possess independent circular base (1) and go to be regarded as the coupling part with the automobile body, parallel mechanism part is by fixed disk (2), servo motor (3), planetary reducer (4), upside connecting rod (5), upside connecting rod (7), upside connecting rod (21), downside connecting rod (6), downside connecting rod (8), downside connecting rod (20), weeding mechanism connection pad (19) are constituteed, weeding mechanism part is by one-level robot joint motor (9), U type support (18), second grade robot joint motor (17), side fixed plate (10), straight line cylinder (11), cylinder unable adjustment base (12), cut sword (13), weed holder (14), The device comprises a shearing knife (15), a weed gripper (16), a connecting rod joint (22) and an actuator connecting rod (23), wherein a U-shaped support (18) is fixed on a first-stage robot joint motor (9), one side of a second-stage robot joint motor (17) is fixed on the U-shaped support (18), a side fixing plate (10) is connected with the output end of the second-stage robot joint motor (17), a cylinder fixing base (12) is connected with the side fixing plate (10), a linear cylinder (11) is fixed on the cylinder fixing base (12), the connecting rod joint (22) is installed on the linear cylinder (11), the weed gripper (14) and the weed gripper (16) are respectively fixed on the shearing knife (13) and the shearing knife (15), the shearing knife (13) and the shearing knife (15) are fixed on the cylinder fixing base (12) through pins, and the actuator connecting rod (23) is respectively connected with the connecting rod joint (22), The shearing knife (13) and the shearing knife (15) are connected, after the actuator reaches the position corresponding to weeds, the actuator is cut into the roots of the weeds through the side surface through the motion of the parallel mechanism part, the shearing knife (13) and the shearing knife (15) are quickly folded through the linear motion of the linear air cylinder (11), the shearing of the roots of the weeds is completed, the stem and leaf parts of the weeds are taken out of soil through the simultaneous combination of the weed gripper (14) and the weed gripper (16), the weeding work is completed, the parallel mechanism part is fixed on a vehicle body through the circular base (1), the servo motor (3) and the planetary reducer (4) are well connected and fixed on the fixed disk (2) through bolts, one end of the upper connecting rod (5), the upper connecting rod (7) and the upper connecting rod (21) is connected to the planetary reducer (4) through a gasket in sequence, and the other end of the servo motor is connected with the lower connecting rod (6) through a fish eye joint, The lower connecting rod (8) and the lower connecting rod (20) are connected, the lower connecting rod (6), the lower connecting rod (8) and the lower connecting rod (20) are connected with a weeding mechanism connecting disc (19) through fisheye joints, and the weeding mechanism is connected to the weeding mechanism connecting disc (19) through bolts.
2. The intelligent shearing weeding robot based on the weed prescription chart as claimed in claim 1, wherein the whole machine is connected to the vehicle body through a circular base (1), coordinate information of weeds in the field is acquired through an unmanned aerial vehicle, after the position information of the weeds is acquired, when an actuator reaches a weeding area, a servo motor (3) rotates to drive a planetary reducer (4) to rotate, and simultaneously drives an upper connecting rod (5), an upper connecting rod (7), an upper connecting rod (21), a lower connecting rod (6), a lower connecting rod (8) and a lower connecting rod (20) to move, so that the weeding mechanism is partially positioned in the weeding area, and is adjusted according to the characteristics of the weeds while being positioned in the weeding area, the cutting-in angle of the weeding mechanism is adjusted through a first-level robot joint motor (9), and a shearing knife (13) is adjusted through a second-level robot joint motor (17), The cutting angle of the shearing knife (15) determines the position, angle and weeding mode of weeding. The linear cylinder (11) moves to drive the actuator connecting rod (23) to drive the shearing knife (13) and the shearing knife (15) to be rapidly combined, roots are removed through shearing of the shearing knife (13) and the shearing knife (15), and stem and leaf parts of weeds are taken out of soil through simultaneous combination of the weed gripper (14) and the weed gripper (16), so that the weeding effect is achieved.
3. The shearing type intelligent weeding robot based on the weed prescription chart as claimed in claim 1, wherein the vehicle body is connected with the circular base (1), the position information of weeds is obtained by the unmanned aerial vehicle, when the vehicle-mounted platform has errors during running and the field complex environment causes jolt, the servo motor (3) drives the weeding mechanism connecting disc (19) to move, and further drives the whole weeding mechanism, the real-time movement of the weeding device is realized, the weeding operation of the weeding device above the seedling zone is ensured, and the operation precision is greatly improved.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111073133.8A CN113826607A (en) | 2021-09-14 | 2021-09-14 | Shearing type intelligent weeding robot based on weed prescription chart |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111073133.8A CN113826607A (en) | 2021-09-14 | 2021-09-14 | Shearing type intelligent weeding robot based on weed prescription chart |
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| CN113826607A true CN113826607A (en) | 2021-12-24 |
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2021
- 2021-09-14 CN CN202111073133.8A patent/CN113826607A/en active Pending
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Application publication date: 20211224 |