CN113892333A - Weeding robot - Google Patents
Weeding robot Download PDFInfo
- Publication number
- CN113892333A CN113892333A CN202111147411.XA CN202111147411A CN113892333A CN 113892333 A CN113892333 A CN 113892333A CN 202111147411 A CN202111147411 A CN 202111147411A CN 113892333 A CN113892333 A CN 113892333A
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- Prior art keywords
- cutting knife
- connecting rod
- output end
- knife assembly
- yaw
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/02—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters
- A01D34/03—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/02—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters
- A01D34/13—Cutting apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/02—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters
- A01D34/40—Other details
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Soil Working Implements (AREA)
- Harvester Elements (AREA)
Abstract
The invention belongs to the technical field of weeding machines, and discloses a weeding robot, which comprises a mobile chassis, a swing mechanism arranged on the mobile chassis, a lifting mechanism arranged at the output end of the swing mechanism, an execution unit, a cutting knife assembly hinged at the output end of a connecting rod mechanism and a monitoring system, wherein the swing mechanism can drive the lifting mechanism to rotate around a first axis parallel to the vertical direction; the execution unit comprises a yaw mechanism and a link mechanism; the connecting rod mechanism can drive the cutting knife assembly to move in the horizontal plane; the mobile chassis can walk according to the row information of the crops fed back by the monitoring system, and the swing mechanism, the lifting mechanism, the execution unit and the cutting knife assembly can adjust the position of the cutting knife assembly and cut weeds according to the position information of the crops and the position information of the weeds fed back by the monitoring system. The invention improves the operation flexibility, improves the weeding effect, can adapt to the fluctuation of the ground and prolongs the service life of the cutter head.
Description
Technical Field
The invention relates to the technical field of weeding machines, in particular to a weeding robot.
Background
Most organic farms do not allow the use of chemically synthesized agricultural pesticides and herbicides, and the field management link still uses artificial weeding, but the cost of the artificial weeding is very high. With the urbanization development of China, two major problems of field weeding are as follows: firstly, the number of people engaged in agricultural labor is continuously reduced, and the labor cost for weeding is continuously increased; secondly, the environmental protection consciousness is continuously improved, and the restriction degree of each place on the use amount of the herbicide is continuously increased.
In the prior art, a weeding robot is adopted for weeding, so that the labor cost can be saved; however, the existing weeding device can only remove weeds between crop rows, when the weeds are positioned at the stem of crops, the weeds are not positioned at the same time, the crops are possibly injured, and the weeding effect of the weeding device is seriously influenced; in addition, the uneven ground in the field is easy to break and damage the cutter head when the ground is fluctuated, and the service life of the cutter head is influenced.
Disclosure of Invention
The invention aims to provide a weeding robot which can adapt to ground fluctuation, prolong the service life of a cutter head, improve the operation flexibility and improve the weeding effect.
In order to achieve the purpose, the invention adopts the following technical scheme:
a weeding robot, comprising:
moving the chassis;
the swing mechanism is arranged on the movable chassis;
the lifting mechanism is arranged at the output end of the slewing mechanism, and the slewing mechanism can drive the lifting mechanism to rotate around a first axis parallel to the vertical direction;
an execution unit comprising a yaw mechanism and a link mechanism, wherein the yaw mechanism is arranged at the output end of the lifting mechanism, the link mechanism is arranged at the output end of the yaw mechanism, the yaw mechanism can drive the link mechanism to rotate around a second axis parallel to the vertical direction, and the lifting mechanism can drive the execution unit to move along the vertical direction;
the cutting knife assembly is hinged to the output end of the connecting rod mechanism, and the connecting rod mechanism can drive the cutting knife assembly to move in the horizontal plane;
the mobile chassis can walk according to the row cluster information of the crops fed back by the monitoring system, and the swing mechanism, the lifting mechanism, the execution unit and the cutting knife assembly can adjust the position of the cutting knife assembly and cut the weeds according to the position information of the crops and the position information of the weeds fed back by the monitoring system.
Optionally, the linkage mechanism comprises:
the supporting arm is fixedly arranged at the output end of the transverse swinging mechanism;
one end of the first connecting rod is hinged to the supporting arm;
one end of the second connecting rod is hinged to the supporting arm, and the second connecting rod and the first connecting rod are arranged in the vertical direction;
one end of the third connecting rod is hinged to the cutting knife assembly, and the second connecting rod is hinged to the middle of the third connecting rod;
and the output end of the telescopic driving piece is fixedly arranged at the other end of the first connecting rod, and the fixed end of the telescopic driving piece is hinged at the other end of the third connecting rod.
Optionally, the link mechanism further includes a push-pull force sensor, and two ends of the push-pull force sensor are respectively and fixedly connected to the other end of the first link and the output end of the telescopic driving member.
Optionally, the execution unit further includes a limiting assembly, and the limiting assembly includes:
the limiting driving piece is arranged on the supporting arm, and the output end of the limiting driving piece can stretch out and draw back along the horizontal direction;
one end of the limiting connecting rod is hinged to the supporting arm, the other end of the limiting connecting rod is hinged to the cutting knife assembly, the output end of the limiting driving piece can drive the limiting connecting rod to rotate around the hinged point of the limiting connecting rod and the supporting arm, and the limiting driving piece can enable the cutting knife assembly to be lifted through the limiting connecting rod so as to limit the lowest position of the cutting knife assembly;
the electromagnet piece set up in the output of spacing driving piece, electromagnet piece can adsorb in on the spacing connecting rod.
Optionally, the monitoring system comprises:
the first detection assembly is arranged at the front end of the movable chassis, and the movable chassis walks according to the center line information of the crop row cluster detected by the first detection assembly;
the second detection assembly is arranged in the middle of the movable chassis, and the swing mechanism, the lifting mechanism, the execution unit and the cutting knife assembly can adjust the position of the cutting knife assembly according to the position information of the second detection assembly for identifying the crops and the weeds so as to cut the weeds.
Optionally, the monitoring system further includes a phenotype detection module disposed on the cutting knife assembly, the phenotype detection module includes a laser radar, a fourth camera, an inertial measurement unit, and a second industrial computer, the link mechanism adjusts according to the cutting knife assembly inclination information detected by the inertial measurement unit, so that the cutting knife assembly is adjusted to a preset position, and the phenotype detection module can store the detected crop and ground information in the second industrial computer.
Optionally, the cutter assembly comprises a rotary drive and a cutter hinged to the output end of the link mechanism, the rotary drive being capable of driving the cutter to rotate about a third axis parallel to the vertical direction; the cutter comprises: the cutter head is fixedly arranged at the output end of the rotary driving piece;
the plurality of auxiliary cutting edges extend along the radial direction of the cutter head respectively;
the main blades and the auxiliary blades are alternately arranged on the periphery of the cutter head at intervals, the main blades and the cutter head are arranged at included angles which are 20-30 degrees, and the length of the main blades is greater than that of the auxiliary blades.
Optionally, the yaw mechanism comprises a yaw driving piece arranged at the output end of the lifting mechanism and a yaw rotating disc fixedly arranged at the output end of the yaw driving piece, and the link mechanism is fixedly arranged on the yaw rotating disc.
Optionally, the swing mechanism comprises:
the rotary driving piece is arranged on the movable chassis;
the rotary main shaft is arranged along the vertical direction, and the rotary driving piece can drive the rotary main shaft to rotate;
and the swinging mechanism is arranged on the rotary cantilever.
Optionally, the lifting mechanism comprises:
the lifting driving piece is arranged at the output end of the slewing mechanism;
the yaw mechanism is arranged at the output end of the transmission assembly, and the lifting driving piece can drive the transmission assembly to enable the yaw mechanism to move in the vertical direction.
The invention has the beneficial effects that:
according to the weeding robot provided by the invention, when weeding is carried out, the monitoring system can identify the row cluster of crops, and the movable chassis runs along the row cluster of the crops according to the information fed back by the monitoring system; during the running process in the row cluster, the monitoring system can call the relevant models to identify weeds and crops, and the positions of the rotary mechanism, the lifting mechanism, the execution unit and the cutting knife assembly are adjusted respectively according to information fed back by the monitoring system, so that the cutting knife assembly can cut weeds. When in use, the position of the cutting knife assembly is roughly adjusted through the swing mechanism and the lifting mechanism, so that the seedling is prevented from being damaged; the position of the cutting knife assembly is finely adjusted through the execution unit, and the cutting knife assembly is driven to swing back and forth and left and right between crops under the common driving action of the horizontal swing mechanism and the connecting rod mechanism so as to accurately mow the crops; through the cooperation of above mechanism, the effect of mowing has been improved.
The execution unit includes horizontal swing mechanism and link mechanism, horizontal swing mechanism can drive link mechanism and cutting knife subassembly according to the information drive link mechanism of monitoring system feedback and swing, link mechanism can drive the cutting knife subassembly according to the information drive cutting knife subassembly of monitoring system feedback and remove along the horizontal direction, it can all around adjust the position to remove chassis removal in-process cutting knife subassembly promptly, the operation flexibility has been improved, when monitoring system detects weeds, the situation of weeds position can accurately be reachd to the cutting knife subassembly, can accurately clear away weeds and can avoid hindering crops, the weeding effect has been improved. In addition, because the cutting knife assembly is hinged to the output end of the connecting rod mechanism, under the action of gravity, the cutting knife assembly can be attached to the ground, the fluctuant bottom surface can act on the connecting rod mechanism through the cutting knife assembly to enable the connecting rod mechanism to swing up and down, so that the cutting knife assembly floats along the vertical direction along with the connecting rod mechanism, the cutting knife assembly is hinged to the connecting rod mechanism, the angle can be automatically adjusted, the cutting knife assembly is always attached to the ground, the cutter disc is prevented from being broken and damaged due to fluctuation of the ground, and the service life of the cutting knife assembly is prolonged.
Drawings
Fig. 1 is a schematic structural view of a weeding robot according to an embodiment of the present invention;
FIG. 2 is a side view of an implement unit and cutter assembly provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of the construction of an execution unit and a cutter assembly according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a phenotype detection module according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a cutter provided by an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a turning mechanism provided in an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a lifting mechanism provided in an embodiment of the present invention;
fig. 8 is a plan view of the weeding robot according to the embodiment of the present invention;
fig. 9 is a front view of the weeding robot according to the embodiment of the present invention;
fig. 10 is a schematic structural view of a weeding robot without a mobile chassis according to an embodiment of the present invention.
In the figure:
100. a crop; 200. weeds;
1. moving the chassis; 11. a frame body; 12. a drive wheel;
2. a swing mechanism; 21. a rotating base; 22. a rotating main shaft; 23. a rotating cantilever; 24. a main shaft sleeve;
3. a lifting mechanism; 31. a lifting drive member; 32. a transmission assembly; 321. a slider; 322. a lead screw; 323. a guide rail; 33. an L-shaped supporting plate; 34. a truss;
4. an execution unit; 41. a yaw mechanism; 411. a yaw drive; 412. a horizontal swing turntable; 42. a link mechanism; 421. a support arm; 422. a first link; 423. a second link; 424. a third link; 425. a telescopic driving member; 43. a limiting component; 431. a limiting driving piece; 432. a limiting connecting rod;
5. a cutter assembly; 51. a rotary drive member; 52. a cutter; 521. a cutter head; 522. a secondary blade; 523. a main blade; 53. a phenotype detection module; 531. a laser radar; 532. an inertial measurement unit; 533. a fourth camera; 534. a second industrial computer; 54. an upper bracket; 55. a lower bracket;
61. a first camera; 62. a second camera; 63. a third camera; 64. a first industrial computer.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The embodiment provides a weeding robot, which comprises a mobile chassis 1, a slewing mechanism 2, a lifting mechanism 3, an execution unit 4, a cutting knife assembly 5 and a monitoring system, as shown in figure 1. Specifically, the swing mechanism 2 is arranged on the mobile chassis 1; the lifting mechanism 3 is arranged at the output end of the swing mechanism 2, and the swing mechanism 2 can drive the lifting mechanism 3 to rotate around a first axis parallel to the vertical direction; the execution unit 4 comprises a yaw mechanism 41 and a link mechanism 42, the yaw mechanism 41 is arranged at the output end of the lifting mechanism 3, the link mechanism 42 is arranged at the output end of the yaw mechanism 41, the yaw mechanism 41 can drive the link mechanism 42 to rotate around a second axis parallel to the vertical direction, and the lifting mechanism 3 can drive the execution unit 4 to move along the vertical direction; the cutting knife assembly 5 is hinged to the output end of the connecting rod mechanism 42, and the connecting rod mechanism 42 can drive the cutting knife assembly 5 to move in the horizontal plane; the monitoring system can identify row cluster information of crops 100, can identify position information of the crops 100 and position information of weeds 200, the mobile chassis 1 can walk according to the row cluster information of the crops 100 fed back by the monitoring system, and the slewing mechanism 2, the lifting mechanism 3, the execution unit 4 and the cutting knife assembly 5 can adjust the position of the cutting knife assembly 5 and cut the weeds 200 according to the position information of the crops 100 and the position information of the weeds 200 fed back by the monitoring system.
During weeding, the monitoring system can identify the row clusters of the crops 100, and the movable chassis 1 runs along the row clusters of the crops 100 according to information fed back by the monitoring system; during the traveling process in the row cluster, the monitoring system can call the relevant model to identify the weeds 200 and the crops 100, and the positions of the rotating mechanism 2, the lifting mechanism 3, the execution unit 4 and the cutting knife assembly 5 are respectively adjusted according to the information fed back by the monitoring system, so that the cutting knife assembly 5 can cut the weeds 200. Specifically, the trigger time can be predicted by a control algorithm according to the relative position of the cutting knife assembly 5 and the weeds 200 and the movement speed of the mobile chassis 1, and accurate weeding can be performed by adjusting the position of the cutting knife assembly 5, and the specific control algorithm can adopt the prior art and is not repeated.
Specifically, through setting up rotation mechanism 2 for adjust execution unit 4's yaw angle, make execution unit 4 and cutting knife subassembly 5 be located the centre of two ridges of crops, perhaps be located the left and right sides of a ridge of crops, can adjust according to particular case, avoid hindering the seedling, improved the suitability.
Because the height of different mobile chassis 1 is different, through setting up elevating system 3 to adjust the execution unit 4 height, after installation cutting knife subassembly 5, can adjust to best operation height, improve the suitability.
The execution unit 4 comprises a horizontal swinging mechanism 41 and a link mechanism 42, the horizontal swinging mechanism 41 can drive the link mechanism 42 and the cutting knife assembly 5 to swing according to information fed back by the monitoring system, the link mechanism 42 can drive the cutting knife assembly 5 to move along the horizontal direction according to the information fed back by the monitoring system, namely, the position of the cutting knife assembly 5 can be adjusted all around in the moving process of the moving chassis 1, the operation flexibility is improved, when the monitoring system detects the position information of weeds 200, the cutting knife assembly 5 can accurately reach the position of the weeds 200, the weeds 200 can be accurately cleared, the crops 100 can be prevented from being injured, and the weeding effect is improved. In addition, because the cutting knife assembly 5 is hinged to the output end of the link mechanism 42, under the action of gravity, the cutting knife assembly 5 can be attached to the ground, the fluctuant bottom surface can act on the link mechanism 42 through the cutting knife assembly 5, so that the link mechanism 42 can swing up and down, the floating of the cutting knife assembly 5 along the vertical direction along with the link mechanism 42 is realized, the cutting knife assembly 5 is hinged to the link mechanism 42, the angle can be automatically adjusted, the cutting knife assembly is always attached to the ground, the cutter disc 521 is prevented from being broken and damaged due to the fluctuation of the ground, and the service life of the cutting knife assembly 5 is prolonged. Specifically, as shown in fig. 10, when in use, the position of the cutting knife assembly 5 is roughly adjusted by the rotating mechanism 2 and the lifting mechanism 3, so as to avoid seedling injury; the position of the cutting knife assembly 5 is finely adjusted through the execution unit 4, and the cutting knife assembly is driven to swing back and forth and left and right between crops under the common driving action of the horizontal swing mechanism 41 and the connecting rod mechanism 42 so as to accurately mow; through the cooperation of above mechanism, the effect of mowing has been improved.
Optionally, the monitoring system includes a first detection assembly and a second detection assembly, wherein the first detection assembly is arranged at the front end of the mobile chassis 1, and the mobile chassis 1 walks according to the centerline information of the crop 100 rows and clusters detected by the first detection assembly; the second detection component is arranged in the middle of the mobile chassis 1, and the swing mechanism 2, the lifting mechanism 3, the execution unit 4 and the cutting knife component 5 can adjust the position of the cutting knife component 5 according to the position information of the second detection component for identifying the crops 100 and the weeds 200 so as to cut the weeds 200. The first detection assembly and the second detection assembly are separately arranged at different positions so as to acquire different information and improve the operation precision.
Specifically, as shown in fig. 1, the first detection assembly may include a first camera 61 and a radar system to ensure that the mobile chassis 1 walks along the target track, avoid pressing seedlings, and ensure the weeding effect. The second detection assembly comprises a second camera 62 arranged in the middle of the frame body 11, the second camera 62 is used for detecting the position information of the weeds 200 and the crops 100, and the rotary mechanism 2, the lifting mechanism 3, the execution unit 4 and the cutting knife assembly 5 are adjusted for mowing. Further optionally, the second detection assembly further comprises a third camera 63 at the rear of the frame body 11, and the positions of the weeds 200 and the crops 100 are repeatedly tracked and compared through the second camera 62 and the third camera 63, so that the distinguishing precision of the weeds 200 and the crops 100 is improved, the weeding effect is improved, and the crops 100 are prevented from being accidentally injured. Specifically, the monitoring system further includes a first industrial computer 64 disposed on the frame body 11, the first camera 61, the second camera 62 and the third camera 63 are all in communication connection with the first industrial computer 64, and the first industrial computer 64 can receive information fed back by the first camera 61, the second camera 62 and the third camera 63, and can control the mobile chassis 1, the swing mechanism 2, the lifting mechanism 3, the execution unit 4 and the cutting knife assembly 5 to adjust according to the feedback information.
Specifically, as shown in fig. 2-4, the monitoring system further includes a phenotype detection module 53 disposed on the cutting knife assembly 5, the phenotype detection module 53 includes a laser radar 531, a fourth camera 533, an inertia measurement unit 532, and a second industrial computer 534, the link mechanism 42 adjusts according to the inclination information of the cutting knife assembly 5 detected by the inertia measurement unit 532, so that the cutting knife assembly 5 is adjusted to a preset position, so that the cutting knife assembly 5 has a better cutting angle, and the cutting effect is improved; specifically, when the inertial measurement unit 532 detects that the cutter head 521 on the cutter assembly 5 is tilted, the linkage 42 adjusts the cutter assembly 5 to always maintain a vertically downward attitude, thereby improving the cutting effect. Specifically, the phenotype detection module 53 can reconstruct a 3D point cloud of the crop 100 and the ground by using a tightly coupled laser vision inertial navigation fusion mapping algorithm (LVI-SAM) during the operation process, and store the point cloud in the second industrial computer 534 in real time, so as to provide convenience for the breeder to develop the research on the phenotype information of the crop. The phenotype detection module 53 can remove weeds 200 and acquire crop 100 information.
In this embodiment, as shown in fig. 1, the mobile chassis 1 includes a frame 11 and a driving wheel 12, and the swing mechanism 2 and the monitoring system are disposed on the frame 11.
Specifically, the swing mechanism 2 comprises a swing driving part, a swing main shaft 22 and a swing cantilever 23 which are arranged along the vertical direction, and the swing driving part is arranged on the mobile chassis 1; the rotary driving piece can drive the rotary main shaft 22 to rotate, and specifically, the axis of the rotary main shaft 22 is a first vertical axis; the rotary cantilever 23 is arranged at one end of the rotary main shaft 22, which is far away from the rotary driving part, the yaw mechanism 41 is arranged on the rotary cantilever 23, and the rotary driving part drives the execution unit 4 to rotate through the rotary main shaft 22 and the rotary cantilever 23. Specifically, as shown in fig. 6, the rotation driving member includes a servo motor and a speed reducer, the rotation mechanism 2 further includes a rotation base 21, the rotation base 21 is fixed on the frame 11, the servo motor and the speed reducer are fixed on the frame 11 through the rotation base 21, the rotation main shaft 22 is connected to an output end of the speed reducer through a coupling, a main shaft sleeve 24 is fixed on the rotation base 21, the rotation main shaft 22 is rotatably connected to the main shaft sleeve 24 through a bearing, and the main shaft sleeve 24 can protect the rotation main shaft 22.
Optionally, the lifting mechanism 3 comprises a lifting driving member 31 and a transmission assembly 32, the lifting driving member 31 is disposed at the output end of the swing mechanism 2; yaw mechanism 41 sets up in transmission assembly 32's output, and lift driving piece 31 can drive transmission assembly 32 to make yaw mechanism 41 remove along vertical direction, drive cutting knife subassembly 5 through drive execution unit 4 and adjust along vertical direction, thereby increased cutting knife subassembly 5 to the suitability of height.
Specifically, as shown in fig. 7, the lifting drive member 31 is a servo motor, which improves the adjustment accuracy. Specifically, transmission assembly 32 includes lead screw 322 and the nut that cooperates with lead screw 322, and servo motor passes through the shaft coupling and is connected with lead screw 322, and L type layer board 33 is installed on the nut, and when servo motor drive lead screw 322 rotated, made L type layer board 33 move along lead screw 322 extending direction, specifically, still include guide rail 323 and with guide rail 323 complex slider 321, guide rail 323 and lead screw 322 parallel arrangement, L type layer board 33 connects in slider 321, has improved L type layer board 33's slip precision. Specifically, the lifting mechanism 3 further comprises a truss 34, the transmission assembly 32 is mounted on the truss 34, and the servo motor is mounted on the truss 34 through a motor base.
In this embodiment, the truss 34 is mounted on the swing cantilever 23 of the swing mechanism 2, and the execution unit 4 is mounted on the L-shaped pallet 33; specifically, the two L-shaped supporting plates 33 and the two L-shaped supporting plates 33 are respectively provided with the execution unit 4, the execution unit 4 is respectively provided with the cutting knife assemblies 5, and the weeding operation efficiency is improved by increasing the number of the cutting knife assemblies 5.
Specifically, the rotary cantilever 23 is composed of a pair of concave-convex connection blocks, the middle of the concave-convex connection blocks is provided with 2 through holes, and the concave-convex connection blocks are fixed together by using a hinged hole bolt, so that the rotary mechanism 2 and the lifting mechanism 3 are convenient to disassemble and assemble, and other operation devices, such as a pesticide spraying device, a seeding device and the like, can be quickly replaced.
The yaw mechanism 41 is used to adjust the azimuth angle of the cutter assembly 5. Alternatively, as shown in fig. 2 and 3, the yaw mechanism 41 includes a yaw driving member 411 disposed at an output end of the lifting mechanism 3 and a yaw wheel 412 fixedly disposed at an output end of the yaw driving member 411, the link mechanism 42 is fixedly disposed at the yaw wheel 412, and the yaw driving member 411 can drive the link mechanism 42 to rotate about a second axis parallel to the vertical direction by driving the yaw wheel 412; specifically, the yaw driving component 411 may be a servo motor and a speed reducer, the yaw rotating disk 412 is connected to an output shaft of the speed reducer, and the rotation of the servo motor drives the rotation of the yaw rotating disk 412, so as to drive the cutting knife assembly 5 to swing; the precision of the servo motor is high, and the swing precision of the cutting knife assembly 5 is improved.
Alternatively, as shown in fig. 2 and 3, the link mechanism 42 includes a support arm 421, a first link 422, a second link 423, a third link 424 and a telescopic driving member 425, wherein the support arm 421 is fixedly arranged at the output end of the yaw mechanism 41, and in the embodiment, the support arm 421 is fixed on the yaw tray; one end of the first link 422 is hinged to the support arm 421; one end of the second link 423 is hinged to the support arm 421, and the second link 423 and the first link 422 are disposed along the vertical direction, in this embodiment, the second link 423 is disposed below the first link 422; one end of the third connecting rod 424 is hinged with the cutting knife assembly 5, and the second connecting rod 423 is hinged with the middle part of the third connecting rod 424; the output end of the telescopic driving member 425 is fixedly disposed at the other end of the first link 422, and the fixed end of the telescopic driving member 425 is hinged to the other end of the third link 424.
First connecting rod 422, second connecting rod 423, third connecting rod 424 and support arm 421 have formed four-bar linkage, cutting knife subassembly 5 articulates on third connecting rod 424, when ground undulation changes, can act on third connecting rod 424 through cutting knife subassembly 5, make four-bar linkage swing, thereby make cutting knife subassembly 5 float from top to bottom along with four-bar linkage, and cutting knife subassembly 5 articulates on third connecting rod 424, can passive angle regulation according to the undulation, thereby adapted to ground undulation and changed, avoid blade disc 521 impaired. The output end of the telescopic driving member 425 is fixedly arranged at one end of the first connecting rod 422, the fixed end is hinged with the third connecting rod 424, the output end of the telescopic driving member 425 can be stretched and contracted to act on one end of the third connecting rod 424, the four-bar mechanism deforms, and the two ends of the third connecting rod 424 move in opposite directions; specifically, when the output end of the telescopic driving member 425 extends, the end of the third link 424 hinged to the telescopic driving member 425 moves away from the support arm 421, and the end of the third link 424 hinged to the cutter assembly 5 moves toward the support arm 421, so that the cutter assembly 5 moves toward the support arm 421; on the contrary, when retracting, the end of the third link 424 hinged to the telescopic driving member 425 moves towards the supporting arm 421, and the end of the third link 424 hinged to the cutting knife assembly 5 moves away from the supporting arm 421, so that the cutting knife assembly 5 moves away from the supporting arm 421, thereby realizing that the link mechanism 42 drives the cutting knife assembly 5 to move along the horizontal direction.
Specifically, as shown in fig. 3, the yaw rotation plate 412 is provided with two support arms 421, the two support arms 421 are respectively provided with a first connecting rod 422, the two first connecting rods 422 are connected by a cross rod and hinged to a third connecting rod 424 by a telescopic driving member 425, so that the mounting stability is improved, the number of the telescopic driving members 425 is reduced, the structure is simplified, and the cost is reduced; specifically, the telescopic actuator 425 may be an electric cylinder or other structure, without limitation.
Optionally, the link mechanism 42 further includes a push-pull force sensor, two ends of the push-pull force sensor are respectively and fixedly connected to the other end of the first link 422 and the output end of the telescopic driving member 425, when the force detected by the push-pull force sensor exceeds a set threshold, the push-pull force sensor feeds back a signal to the control system, and the control system controls the telescopic driving member 425 to adjust the telescopic amount so as to prevent the actuator unit 4 or the cutting knife assembly 5 from being damaged.
Alternatively, as shown in fig. 2 and 3, the cutter assembly 5 includes a rotary drive 51 hinged to the output end of the link mechanism 42 and a cutter 52 fixedly disposed at the output end of the rotary drive 51, the rotary drive 51 driving the cutter 52 to rotate about a third axis parallel to the vertical direction; the cutter 52 comprises a cutter disc 521, a plurality of auxiliary cutting edges 522 and a plurality of main cutting edges 523, and the cutter disc 521 is arranged at the output end of the rotary driving element 51; a plurality of secondary blades 522 are respectively arranged to extend in the radial direction of the cutter head 521; the plurality of main blades 523 and the plurality of sub blades 522 are alternately provided at intervals on the outer circumference of the cutter 521, and the cutting efficiency is improved by providing the plurality of main blades 523 and the plurality of sub blades 522 to rotate for cutting. Alternatively, the rotary driving element 51 may be a servo motor, which can adjust the rotation angle and the rotation speed according to the feedback information of the monitoring system. Specifically, a mounting hole is formed in the middle of the cutter 521, and the cutter 521 is mounted on an output shaft of the servo motor through the mounting hole.
More specifically, as shown in fig. 5, the main cutting edge 523 and the auxiliary cutting edges 522 are alternately arranged at intervals, the auxiliary cutting edges 522 are radially extended from the cutter 521, the main cutting edge 523 and the cutter 521 form an included angle of 20-30 degrees, the length of the main cutting edge 523 is greater than that of the auxiliary cutting edges 522, so that the cutter 521 is prevented from being screwed too deep into soil during high-speed rotation, and the resistance of the weeding robot to move forwards is increased. Specifically, the larger the angle, the cleaner the weed 200 roots are rejected, but the greater the rotational resistance moment of the cutter disc 521, preferably the angle between the main cutting edge 523 and the cutter disc 521 is 25 °. Specifically, the servo motor is fixedly provided with an upper bracket 54 and a lower bracket 55, the upper bracket 54 is hinged with a limit connecting rod 432, and the lower bracket 55 is hinged with a third connecting rod 424, so that the connection between the cutting knife assembly 5 and the execution unit 4 is realized.
Optionally, as shown in fig. 2 and 3, the actuating unit 4 further comprises a limiting assembly 43, and the limiting assembly 43 is disposed on the supporting arm 421 and can limit the lowest position of the link mechanism 42 to prevent the cutter assembly 5 from touching the hard ground and being damaged.
In this embodiment, as shown in fig. 2 and fig. 3, the limiting assembly 43 includes a limiting driving member 431 and a limiting connecting rod 432, the limiting driving member 431 is disposed on the supporting arm 421, and an output end of the limiting driving member 431 can extend and retract in a horizontal direction; one end of the limit connecting rod 432 is hinged to the supporting arm 421, the other end of the limit connecting rod 432 is hinged to the cutting knife assembly 5, the output end of the limit driving piece 431 can drive the limit connecting rod 432 to rotate around the hinged point of the limit connecting rod 432 and the supporting arm 421, and the limit driving piece 431 can enable the cutting knife assembly 5 to be lifted through the limit connecting rod 432 so as to limit the lowest position of the cutting knife assembly 5; the limit driving member 431 can be adjusted according to specific conditions, and then the lowest position of the cutting knife assembly 5 can be adjusted according to requirements. Specifically, the limiting driving member 431 may be an electric push rod, and the telescopic size of the electric push rod is adjusted, so that when the electric push rod extends out, the end of the limiting connecting rod 432, which is hinged to the cutting knife assembly 5 after rotating, is lifted to a certain position, and then the lowest position of the cutting knife assembly 5 is adjusted.
In this embodiment, the fixed end of the electric push rod is fixed on the horizontal swing turntable 412, the output end of the electric push rod abuts against the bottom of the limit connecting rod 432, and when the electric push rod extends out, the limit connecting rod 432 is pushed to swing upwards to drive the cutting knife assembly 5 to move upwards integrally; when the electric push rod retracts, the limit connecting rod 432 swings downwards under the action of gravity to drive the cutting knife assembly 5 to move downwards integrally. In this embodiment, a hinge point between the limiting link 432 and the supporting arm 421 is disposed below a hinge point between the second link 423 and the supporting arm 421.
Optionally, an electromagnet piece is arranged at the output end of the limiting driving piece 431, and the electromagnet piece can be adsorbed on the limiting connecting rod 432; during the weeding operation, utilize the electro-magnet to pin spacing connecting rod 432, avoid ground to jolt and lead to cutting knife subassembly 5 to damage, specifically, the structure and the principle of electromagnetism electric iron spare adopt prior art, no longer give unnecessary details.
Specifically, when weeding fails, for example, the force measured by the push-pull force sensor exceeds a set threshold, or the servo motor on the cutting knife assembly 5 is locked, the electric push rod on the limiting assembly 43 extends out to lift the entire cutting knife assembly 5, thereby preventing the cutting knife assembly 5 from being damaged.
In this embodiment, as shown in fig. 8 and 9, the mobile chassis 1 walks along the center line of the row cluster and in the x direction during the traveling process, thereby avoiding the seedling from being damaged.
When weeding, the weeding robot runs to the field, and the movable chassis 1 automatically moves along the center line of the 100-row cluster of crops according to the feedback information of the monitoring system; according to feedback information of the monitoring system, the lifting mechanism 3 and the slewing mechanism 2 are automatically adjusted, so that the cutting knife assembly 5 is adjusted to a designated operation direction and height; the limiting assembly 43 is adjusted to release the limitation on the lowest position of the link mechanism 42; the mobile chassis 1 moves forwards, and the execution unit 4 carries out fine adjustment according to information fed back by the monitoring system, so that the cutting knife assembly 5 carries out weeding.
After weeding is finished or a finishing instruction is received, the execution unit 4 and the cutting knife assembly 5 stop running, and the limiting assembly 43, the lifting mechanism 3 and the swing mechanism 2 are reset respectively.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A weeding robot, comprising:
a mobile chassis (1);
the swing mechanism (2) is arranged on the movable chassis (1);
the lifting mechanism (3) is arranged at the output end of the swing mechanism (2), and the swing mechanism (2) can drive the lifting mechanism (3) to rotate around a first axis parallel to the vertical direction;
an execution unit (4) comprising a yaw mechanism (41) and a link mechanism (42), wherein the yaw mechanism (41) is arranged at the output end of the lifting mechanism (3), the link mechanism (42) is arranged at the output end of the yaw mechanism (41), the yaw mechanism (41) can drive the link mechanism (42) to rotate around a second axis parallel to the vertical direction, and the lifting mechanism (3) can drive the execution unit (4) to move along the vertical direction;
the cutting knife assembly (5) is hinged to the output end of the connecting rod mechanism (42), and the connecting rod mechanism (42) can drive the cutting knife assembly (5) to move in a horizontal plane;
the monitoring system can identify row cluster information of crops (100), can identify position information of the crops (100) and position information of weeds (200), the mobile chassis (1) can walk according to the row cluster information of the crops (100) fed back by the monitoring system, and the slewing mechanism (2), the lifting mechanism (3), the execution unit (4) and the cutting knife assembly (5) can adjust the position of the cutting knife assembly (5) and cut the weeds (200) according to the position information of the crops (100) and the position information of the weeds (200) fed back by the monitoring system.
2. A weeding robot according to claim 1, wherein the link mechanism (42) comprises:
a support arm (421) fixedly arranged at the output end of the yaw mechanism (41);
a first link (422) having one end hinged to the support arm (421);
a second link (423) having one end hinged to the support arm (421), the second link (423) and the first link (422) being arranged in a vertical direction;
a third connecting rod (424), one end of which is hinged with the cutting knife assembly (5), and the second connecting rod (423) is hinged with the middle part of the third connecting rod (424);
and the output end of the telescopic driving piece (425) is fixedly arranged at the other end of the first connecting rod (422), and the fixed end of the telescopic driving piece (425) is hinged at the other end of the third connecting rod (424).
3. A weeding robot according to claim 2, wherein the linkage mechanism (42) further includes a push-pull force sensor having both ends fixedly connected to the other end of the first link (422) and the output end of the telescopic driving member (425), respectively.
4. A weeding robot according to claim 2, wherein the execution unit (4) further comprises a limiting assembly (43), the limiting assembly (43) comprising:
the limiting driving piece (431) is arranged on the supporting arm (421), and the output end of the limiting driving piece (431) can stretch out and draw back along the horizontal direction;
one end of the limit connecting rod (432) is hinged to the supporting arm (421), the other end of the limit connecting rod is hinged to the cutting knife assembly (5), the output end of the limit driving piece (431) can drive the limit connecting rod (432) to rotate around the hinged point of the limit connecting rod (432) and the supporting arm (421), and the limit driving piece (431) can enable the cutting knife assembly (5) to be lifted through the limit connecting rod (432) so as to limit the lowest position of the cutting knife assembly (5);
the electromagnet piece is arranged at the output end of the limiting driving piece (431), and can be adsorbed on the limiting connecting rod (432).
5. A herbicidal robot according to claim 1, characterized in that the monitoring system comprises:
the first detection component is arranged at the front end of the movable chassis (1), and the movable chassis (1) walks according to the center line information of the crop (100) row cluster detected by the first detection component;
the second detection component is arranged in the middle of the movable chassis (1), and the rotary mechanism (2), the lifting mechanism (3), the execution unit (4) and the cutting knife component (5) can adjust the position of the cutting knife component (5) according to the position information of the second detection component for identifying the crops (100) and the weeds (200) so as to cut the weeds (200).
6. A weeding robot according to claim 1, wherein the monitoring system further comprises a phenotype detection module (53) provided on the cutting knife assembly (5), the phenotype detection module (53) comprising a lidar (531), a fourth camera (533), an inertial measurement unit (532), and a second industrial computer (534), the linkage (42) being adjusted according to the inclination information of the cutting knife assembly (5) detected by the inertial measurement unit (532) to adjust the cutting knife assembly (5) to a preset position, the phenotype detection module (53) being capable of storing the detected crop (100) and ground information in the second industrial computer (534).
7. A weeding robot according to any one of claims 1-6, wherein the cutter assembly (5) comprises a rotary drive (51) and a knife (52) hinged to the output end of the linkage mechanism (42), the rotary drive (51) being able to drive the knife (52) in rotation about a third axis parallel to the vertical direction; the cutter (52) comprises: the cutter head (521) is fixedly arranged at the output end of the rotary driving piece (51);
a plurality of secondary blades (522) extending in the radial direction of the cutter head (521);
the main cutting edges (523) and the auxiliary cutting edges (522) are alternately arranged on the periphery of the cutter head (521) at intervals, the main cutting edges (523) and the cutter head (521) are arranged at included angles which are 20-30 degrees, and the length of the main cutting edges (523) is greater than that of the auxiliary cutting edges (522).
8. A weeding robot according to any one of claims 1-6, wherein the yaw mechanism (41) comprises a yaw drive (411) provided at the output of the lifting mechanism (3) and a yaw turntable (412) fixedly provided at the output of the yaw drive (411), the linkage (42) being fixedly provided to the yaw turntable (412).
9. A weeding robot as claimed in any one of claims 1-6, wherein said slewing mechanism (2) comprises:
a rotary driving member provided to the moving chassis (1);
the rotary main shaft (22) is arranged along the vertical direction, and the rotary driving piece can drive the rotary main shaft (22) to rotate;
and the rotary cantilever (23) is arranged at one end of the rotary main shaft (22) departing from the rotary driving part, and the yaw mechanism (41) is arranged on the rotary cantilever (23).
10. A weeding robot according to any one of claims 1-6, wherein the lifting mechanism (3) comprises:
the lifting driving piece (31) is arranged at the output end of the slewing mechanism (2);
a transmission assembly (32), the yaw mechanism (41) is arranged at the output end of the transmission assembly (32), and the lifting driving piece (31) can drive the transmission assembly (32) to enable the yaw mechanism (41) to move in the vertical direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111147411.XA CN113892333A (en) | 2021-09-29 | 2021-09-29 | Weeding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111147411.XA CN113892333A (en) | 2021-09-29 | 2021-09-29 | Weeding robot |
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Cited By (1)
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| CN115336461A (en) * | 2022-09-20 | 2022-11-15 | 临沂市金立机械有限公司 | Four-wheel synchronous driving walking device of mower |
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