CN114794067A - Bionic four-foot walking intelligent rotary tillage weeding device and implementation method - Google Patents
Bionic four-foot walking intelligent rotary tillage weeding device and implementation method Download PDFInfo
- Publication number
- CN114794067A CN114794067A CN202210366934.1A CN202210366934A CN114794067A CN 114794067 A CN114794067 A CN 114794067A CN 202210366934 A CN202210366934 A CN 202210366934A CN 114794067 A CN114794067 A CN 114794067A
- Authority
- CN
- China
- Prior art keywords
- walking
- rod piece
- weeding
- rotary tillage
- bionic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000009333 weeding Methods 0.000 title claims abstract description 105
- 238000003971 tillage Methods 0.000 title claims abstract description 60
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 157
- 241000196324 Embryophyta Species 0.000 claims abstract description 67
- 238000013528 artificial neural network Methods 0.000 claims abstract description 11
- 229910052744 lithium Inorganic materials 0.000 claims description 9
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 6
- 230000000630 rising effect Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 11
- 230000036544 posture Effects 0.000 description 9
- 239000002689 soil Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000005303 weighing Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000002363 herbicidal effect Effects 0.000 description 3
- 239000004009 herbicide Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 244000037666 field crops Species 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Biophysics (AREA)
- Evolutionary Computation (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Biomedical Technology (AREA)
- Insects & Arthropods (AREA)
- Computational Linguistics (AREA)
- Data Mining & Analysis (AREA)
- Wood Science & Technology (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Mechanical Engineering (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses a bionic four-foot walking intelligent rotary tillage weeding device and an implementation method thereof, wherein the device comprises a machine body, an image processor, a bionic walking mechanism and a weeding system; an image processor is arranged above the machine body and used for positioning weeds; a bionic travelling mechanism is arranged below the machine body; the bionic walking mechanism is driven by a walking motor to drive the machine body to move; the weeding system is arranged on the rear side above the machine body; the weeding system comprises a gear rotating mechanism; the gear in the gear rotating mechanism transmits power to the rotary tillage shaft, and the rotary tillage shaft is provided with a weeding cutter. According to the weed positioning device, the camera is arranged at the front end of the machine body to collect field image information, the camera is connected with the image processor, and the image processor identifies weeds through the image information collected by the camera through a neural network and converts pixel coordinates of the weeds into real world coordinates to accurately position the weeds.
Description
Technical Field
The invention relates to the technical field of field crop plant protection intelligent equipment and agricultural robots, in particular to a bionic four-foot walking intelligent rotary tillage weeding device and an implementation method.
Background
At present, in the agricultural production process, field weeding operation is mainly carried out in a mode of manual operation, herbicide spraying and burning, the weeding mode can not only have adverse effect on the growth and development of crops at the current stage, but also the residual herbicide can pollute soil and is difficult to remove, and the later-stage growth of the crops can be influenced.
Therefore, the prior art has the following problems: the artificial weeding investment is too large, the herbicide weeding seriously threatens the physical health of crops, soil and operators, the quality and the safety of agricultural products are affected, and the fire weeding seriously pollutes the environment.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the bionic four-foot walking intelligent rotary tillage weeding device, which combines the advantages of a visual positioning technology and a rotary tillage weeding technology, reduces the labor intensity, can avoid chemical pollution of pesticides to farmlands, protects the growth of soil and crops, reduces the environmental pollution, improves the economic benefit and also improves the weeding efficiency.
The present invention achieves the above-described object by the following technical means.
A bionic four-foot walking intelligent rotary tillage weeding device comprises a machine body, an image processor, a bionic walking mechanism and a weeding system; an image processor is arranged above the machine body and used for positioning weeds; a bionic travelling mechanism is arranged below the body; the bionic walking mechanism is driven by a walking motor to drive the machine body to move; the weeding system is arranged on the rear side above the machine body; the weeding system comprises a gear rotating mechanism; the gear in the gear rotating mechanism transmits power to the rotary tillage shaft, and the rotary tillage shaft is provided with a weeding cutter.
In the scheme, a camera is arranged in front of the machine body and is connected with an image processor; the image processor identifies weeds according to image information acquired by the camera through the neural network and converts pixel coordinates of the weeds in the picture into actual weed coordinates in the land, so that accurate positioning of the weeds is achieved.
In the scheme, the image processor is electrically connected with the industrial personal computer, the industrial personal computer is connected with the motor driver, and the industrial personal computer processes actual weed coordinate data and controls the motor driver, so that the walking motor and the weeding motor are controlled to work.
In the above scheme, the bionic travelling mechanism comprises a first travelling mechanism, a second travelling mechanism, a third travelling mechanism and a fourth travelling mechanism; the first traveling mechanism, the second traveling mechanism, the third traveling mechanism and the fourth traveling mechanism have the same structure, and specifically, the first traveling mechanism comprises a driving rod, a rod piece two, a rod piece three, a rod piece four, a rod piece five, a rod piece six, a rod piece seven and a rod piece eight; one end of the driving rod is rigidly connected with the output end of the walking motor, the other end of the driving rod is hinged with one end of the second rod piece, the other end of the second rod piece is hinged with one end of the fourth rod piece, one end of the sixth rod piece at the other end of the fourth rod piece is hinged, and the other end of the sixth rod piece is hinged to the middle section of the eighth rod piece; two ends of the rod member eight are respectively hinged with one end of the rod member seven and the foot part; the other end of the rod piece seventh is arranged below the machine body through a hinge, and the middle section of the rod piece seventh is hinged at the hinged position of the rod piece fourth and the rod piece sixth; one end of the third rod piece is hinged on the machine body, and the other end of the third rod piece is hinged at the hinged position of the second rod piece and the fourth rod piece.
In the above scheme, the driving rod, the second rod piece, the third rod piece and the fourth rod piece form a track generation mechanism, and the fifth rod piece, the sixth rod piece, the seventh rod piece and the eighth rod piece form a parallelogram scaling mechanism.
In the scheme, the weeding device is rigidly connected with the weeding motor and the driving shaft, and the driving shaft is connected with the worm wheel through a key; the worm is connected with a fixed shaft, the fixed shaft is fixed on the support frame through a bearing, the gear transmission mechanism is connected with the fixed shaft, the large gear is in key connection with the fixed shaft, the small gear is in key connection with the rotary tillage shaft, and the rotary tillage shaft is fixed on the support frame through a bearing.
In the scheme, the support frame is fixed on the machine body through the screws and the nuts and plays a role in supporting the worm and the rotary tillage shaft.
In the scheme, the weeding knife is hoe-shaped; the starting position of the weeding knife is 45 degrees above the ground.
In the above scheme, still include power supply system, power supply system includes solar panel and lithium cell group, and power supply system provides the electric energy for image processor, industrial computer, motor driver, walking motor and weeding motor.
The implementation method of the bionic four-foot walking intelligent rotary tillage weeding device comprises the following steps: firstly, the initial state of a machine body is a half-squat state, a camera is installed at the front end of the machine body for field image acquisition, the camera is connected with an image processor, the image processor identifies the characteristics of weeds through a neural network, converts the pixel coordinates of the weeds into actual coordinates of the weeds in the soil and accurately positions the weeds, the image processor is connected with an industrial personal computer, the industrial personal computer controls a motor driver to drive, four groups of walking mechanisms are respectively provided with four groups of walking motors to realize the forward movement, backward movement, rising and squat of the machine, the machine is in a standing posture at the beginning, then the first walking mechanism and a diagonal third walking mechanism are stepped out, and the second walking mechanism and the fourth walking mechanism are kept still in place for supporting; when the body moves in place, the first traveling mechanism and the third traveling mechanism are put down, and the four legs land on the ground and stand in a balanced manner; then the wheels are rotated to the second travelling mechanism and the fourth travelling mechanism to stride forwards, and the first travelling mechanism in the first half period and the diagonal third travelling mechanism are supported; when the body moves to a new position, the first traveling mechanism and the third traveling mechanism are put down, and the four legs land on the ground to keep a standing posture.
The invention has the beneficial effects that:
1. according to the weed positioning device, the camera is arranged at the front end of the machine body to collect field image information, the camera is connected with the image processor, and the image processor identifies weeds through the image information collected by the camera through a neural network and converts pixel coordinates of the weeds into real world coordinates to accurately position the weeds.
2. The image processor is electrically connected with an industrial personal computer, the industrial personal computer is connected with a motor driver, the industrial personal computer processes data and controls the motor driver, and the motor driver is connected with a walking motor and a weeding motor to control the driving of the walking motor and the weeding motor. The power supply system is composed of a solar panel and a lithium battery pack, and the power supply system is used for providing electric energy for the image processor, the industrial personal computer, the motor driver, the walking motor and the weeding motor.
3. The bionic four-foot walking mechanism is connected by a connecting rod device, the connecting rod device is provided with four groups of walking postures which form a bionic horse of the bionic walking mechanism, a closed-loop connecting rod mechanism is formed by referring to a Chebyshev four-rod mechanism, the function of 'instability of parallelogram can be zoomed', the closed-loop connecting rod mechanism is integrated into a connecting rod mechanism, a driving rod, a rod two, a rod three, a rod four-group track generation mechanism, a rod five, a rod six, a rod seven and a rod eight form a parallelogram zooming mechanism, and the zooming mechanism can change the motion area of the rod without changing the motion track of points on the original rod and transmit the motion track to feet. The bionic four-foot walking mechanism is driven by four motors respectively, and four groups of walking mechanisms are controlled by the four motors respectively, so that the accuracy of foot falling points of the walking machine can be improved, and the walking speed of the walking machine can also be improved.
4. The weeding device is connected with the weeding motor through the driving shaft, the driving shaft is connected with the worm wheel driven by the worm gear through a key, the worm gear is low in transmission noise and stable in transmission, and the worm gear is used as a driving part to perform acceleration transmission. The support frame is fixed on the frame through a screw and a nut, and plays a role in supporting the worm and the rotary tillage shaft.
5. The rotary tillage shaft is provided with the weeding cutter, the weeding cutter is shaped like a hoe to weed the roots of the weeds, the rotary tillage cutter stops at the original position through high-speed rotation, and the weed to be removed is thrown into the collection box through centrifugal force.
6. According to the invention, the weighing sensor is arranged in the collecting box, when the weight of the collecting box reaches a set value, the machine does not weed, the road characteristics are identified, weeds in the collecting box are scattered and poured to the sides of the road, and the weeds are dead by sun.
Drawings
FIG. 1 is a top view of a bionic four-footed walking intelligent rotary tillage weeding device according to the invention;
FIG. 2 is a side view of the intelligent rotary tillage weeding device for bionic four-foot walking according to the invention;
FIG. 3 is a schematic view of the transmission of a weeding device in the intelligent rotary tillage weeding device for walking on four feet;
FIG. 4 is a flow chart of the operation of the intelligent rotary tillage weeding device for bionic four-foot walking of the invention;
FIG. 5 is a gait planning diagram of a walking mechanism of the intelligent rotary tillage weeding device for bionic four-foot walking.
Reference numerals:
1-fuselage, 2-image processor, 3-motor drive, 4-drive shaft, 5-lithium battery pack, 6-industrial control, 7-solar panel, 8-fixed shaft, 9-worm wheel, 10-worm, 11-drive shaft, 12-weeding motor, 13-rotary tillage shaft, 14-pinion, 15-bull gear, 16-weeding knife, 17-collecting box, 18-walking motor, 19-connecting rod, 20-camera, 21-rod two, 22-rod three, 23-rod four, 24-rod five, 25-rod six, 26-rod seven, 27-rod eight, 28-foot, 29-support frame, 201-first walking mechanism, 202-second walking mechanism 203-third walking mechanism, 204-fourth travel mechanism.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
A bionic four-foot walking intelligent rotary tillage weeding device comprises a machine body 1, an image processor 2, a bionic walking mechanism and a weeding system; an image processor 2 is arranged above the machine body 1, and the image processor 2 is used for positioning weeds; a bionic walking mechanism is arranged below the machine body 1; the bionic walking mechanism is driven by a walking motor 18 to drive the machine body 1 to move; the weeding system is arranged on the rear side above the machine body 1; the weeding system comprises a gear rotating mechanism; the gear in the gear rotating mechanism transmits power to the rotary tillage shaft 13, and the rotary tillage shaft 13 is provided with a weeding cutter 16.
In the above scheme, a camera 20 is arranged in front of the body 1, and the camera 20 is connected with the image processor 2; the image processor 2 identifies weeds from the image information acquired by the camera 20 through a neural network and converts the pixel coordinates of the weeds in the picture into actual coordinates of the weeds in the land, so that accurate positioning of the weeds is realized.
In the scheme, the image processor 2 is electrically connected with the industrial personal computer 6, the industrial personal computer 6 is connected with the motor driver 3, and the industrial personal computer 6 processes actual weed coordinate data and controls the motor driver 3, so that the walking motor 18 and the weeding motor 12 are controlled to work.
In the above scheme, the bionic travelling mechanism includes a first travelling mechanism 201, a second travelling mechanism 202, a third travelling mechanism 203 and a fourth travelling mechanism 204; the first traveling mechanism 201, the second traveling mechanism 202, the third traveling mechanism 203 and the fourth traveling mechanism 204 have the same structure, and specifically, the first traveling mechanism 201 includes a driving rod 4, a second rod member 21, a third rod member 22, a fourth rod member 23, a fifth rod member 24, a sixth rod member 25, a seventh rod member 26 and an eighth rod member 27; one end of the driving rod 4 is rigidly connected with the output end of the walking motor 18, the other end of the driving rod 4 is hinged with one end of the second rod piece 21, the other end of the second rod piece 21 is hinged with one end of the fourth rod piece 23, one end of the sixth rod piece 25 at the other end of the fourth rod piece 23 is hinged, and the other end of the sixth rod piece 25 is hinged with the middle section of the eighth rod piece 27; two ends of the rod member eight 27 are respectively hinged with one end of the rod member seven 26 and the foot part 28; the other end of the rod member seven 26 is arranged below the machine body 1 through a hinge, and the middle section of the rod member seven 26 is hinged at the hinged position of the rod member four 23 and the rod member six 25; one end of the third rod piece 22 is hinged on the machine body 1, and the other end is hinged at the hinged part of the second rod piece 21 and the fourth rod piece 23.
In the above scheme, the driving rod 4, the second rod piece 21, the third rod piece 22 and the fourth rod piece 23 form a track generation mechanism, and the fifth rod piece 24, the sixth rod piece 25, the seventh rod piece 26 and the eighth rod piece 27 form a parallelogram scaling mechanism.
In the scheme, the weeding device is rigidly connected with a weeding motor 12 and a driving shaft 11, and the driving shaft 11 is connected with a worm wheel 9 through a key; the worm 10 is connected with the fixed shaft 8, the fixed shaft 8 is fixed on the support frame through a bearing, the gear transmission mechanism is connected with the fixed shaft 8, the large gear 15 is in key connection with the fixed shaft 8, the small gear 14 is in key connection with the rotary tillage shaft 13, and the rotary tillage shaft 13 is fixed on the support frame 29 through a bearing.
In the above scheme, the support frame 29 is fixed on the machine body 1 through screws and nuts, and plays a supporting role for the worm 10 and the rotary tillage shaft 13.
In the above scheme, the weeding knife 16 is hoe-shaped; the weeding blade 16 starts at 45 ° to the ground.
In the above scheme, the weeding device further comprises a power supply system, wherein the power supply system comprises a solar panel 7 and a lithium battery pack 5, and the power supply system provides electric energy for the image processor 2, the industrial personal computer 6, the motor driver 3, the walking motor 18 and the weeding motor 12.
The implementation method of the bionic four-foot walking intelligent rotary tillage weeding device comprises the following steps: firstly, the starting state of a machine body 1 is a half-squat state, a camera 20 is installed at the front end of the machine body 1 for field image acquisition, the camera 20 is connected with an image processor 2, the image processor 2 identifies weed features through a neural network, converts pixel coordinates of weeds into actual weed coordinates in the soil, accurately positions the weeds, the image processor 2 is connected with an industrial personal computer 6, the industrial personal computer 6 controls a motor driver 3 to drive, four groups of walking mechanisms are respectively provided with four groups of walking motors 18 for realizing the advancing, retreating, rising and squat of the machine, the machine is in a standing posture at the beginning, then a first walking mechanism 201 and a diagonal third walking mechanism 203 are stepped out in situ, and a second walking mechanism 202 and a fourth walking mechanism 204 are kept still for supporting; when the body moves in place, the first walking mechanism 201 and the third walking mechanism 203 are put down, and the four legs land on the ground to stand in a balanced manner; then the wheels are stepped forward to the second walking mechanism 202 and the fourth walking mechanism 204, and the first walking mechanism 201 and the diagonal third walking mechanism 203 of the former first half cycle are supported; when the body moves to a new position, the first travel mechanism 201 and the third travel mechanism 203 are put down, and the four legs are grounded to maintain a standing posture.
Referring to fig. 1 to 5, the bionic four-foot walking intelligent rotary tillage weeding machine comprises a machine body 1, an image processor 2, a motor driver 3, a driving rod 4, a lithium battery pack 5, an industrial personal computer 6, a solar panel 7, a fixed shaft 8, a worm wheel 9, a worm 10, a driving shaft 11, a weeding motor 12, a rotary tillage shaft 13, a pinion 14, a gearwheel 15, a weeding cutter 16, a collecting box 17, a walking motor 18, a connecting rod 19, a camera 20, a rod piece two 21, a rod piece three 22, a rod piece four 23, a rod piece five 24, a rod piece six 25, a rod piece seven 26, a rod piece eight 27, a foot 28, a supporting frame 29, a first walking mechanism 201, a second walking mechanism 202, a third walking mechanism 203 and a fourth walking mechanism 204.
The camera 20 is arranged at the front end of the machine body 1 to collect field image information, the camera 20 is connected with the image processor 2, and the image processor 2 identifies weeds through image information collected in the camera 20 through a neural network and converts the coordinates of the weeds into real world coordinates to accurately position the weeds.
Image processor 2 and the industrial computer 6 electric connection among the control system, industrial computer 6 is connected with motor drive 3, and industrial computer 6 processing data controls motor drive 3, and motor drive 3 connects walking motor 18, and weeding motor 12 controls its drive. The power supply system is composed of a solar panel 7 and a lithium battery pack 5, and the power supply system is used for providing electric energy for the image processor 2, the industrial personal computer 6, the motor driver 3, the walking motor 18 and the weeding motor 12.
The bionic four-foot walking mechanism is connected by a connecting rod device, the connecting rod device is provided with four groups to form the bionic walking mechanism, the walking posture of a bionic horse of the bionic walking mechanism refers to a closed loop connecting rod mechanism formed by a Chebyshev four-bar mechanism, the closed loop connecting rod mechanism utilizes the function of 'instability of parallelogram can be zoomed', the closed loop connecting rod mechanism is integrated into the connecting rod mechanism, a driving rod 4, a second rod piece 21, a third rod piece 22 and a fourth rod piece 23 to form a track generation mechanism, a fifth rod piece 24, a sixth rod piece 25, a seventh rod piece 26 and an eighth rod piece 27 to form a parallelogram zooming mechanism, and the zooming mechanism can change the motion area of the rod pieces without changing the motion track of points on the original rod pieces and transmit the motion track to a ninth rod piece 28. The bionic four-foot walking mechanism is respectively driven by four walking motors 18, and four groups of walking mechanisms are respectively controlled by the four walking motors 18, so that the accuracy of foot falling points of the walking machine can be improved, and the walking speed of the walking machine can also be improved.
The weeding device is connected with the weeding motor 12 through a driving shaft 11, the driving shaft 11 is in key connection with a worm wheel 9 in worm gear transmission, the worm wheel and worm transmission is low in noise and stable in transmission, and the worm wheel 9 is used as a driving part to perform acceleration transmission. The support frame 29 is fixed on the machine body 1 through screws and nuts, and plays a role in supporting the worm 10 and the rotary tillage shaft 13. The rotary tillage shaft 13 is provided with a weeding cutter 16, the weeding cutter 16 is shaped like a hoe to weed the roots of the weeds, the rotary tillage cutter 16 stops at the original position by rotating at a high speed and throws the weeds and soil into a collecting box 17 by centrifugal force. A weighing sensor is arranged in the collecting box 17, when the weight of the collecting box 17 reaches a set value, the machine does not weed, the road characteristics are identified, weeds in the collecting box are scattered and poured to the edge of the road, and the weeds are dead after being dried.
Referring to the attached drawing 1, the bionic four-foot walking intelligent rotary tillage weeding machine comprises a machine body 1, a camera 20 is arranged at the front end of the machine body 1 for collecting images in the field, the camera 20 is fixed on the machine body 1 through a connecting rod 19 and connected with an image processor 2, the image processor 2 is connected with an industrial personal computer 6, the image processor 2 identifies weed features of pictures collected by the camera 20 through a neural network, pixel coordinates of weeds are converted into real world coordinates, accurate positioning is carried out on the weeds, the industrial personal computer 6 is connected with a motor driver 3, the motor driver 3 is connected with a walking motor 18 and a weeding motor 12, the walking motor 18 is connected with a bionic walking mechanism, the machine consists of four groups of bionic walking mechanisms, advancing, retreating, rising and squatting are realized, turning and changing are realized by changing the differential speed of the motors, four sets of bionic walking mechanisms are respectively controlled by four motors, so that the accuracy of foot falling points of the walking machine can be improved, and the walking speed of the walking machine can also be improved. When the machine is running, the first running gear 201 and the diagonal third running gear 203 are stepped off, and the second running gear 202 and the fourth running gear 204 are kept stationary in place for supporting. When the body moves to the right position, the first travelling mechanism 201 and the third travelling mechanism 203 are put down, and the four legs land on the ground to stand in a balanced manner. Then the wheels move to the other two running gears to stride forwards, and the former running gear of the first half period supports. When the body moves to a new position, the first traveling mechanism 201 and the third traveling mechanism 203 are lowered, and the four legs are grounded to keep a standing posture. This is a full gait cycle, alternating cycles to achieve forward movement of the robot. The weeding motor 12 is connected with a driving shaft 11 in the weeding device, the driving shaft 11 is connected with a worm wheel 9, the worm wheel 9 is used as a driving part of the worm and gear transmission device to do acceleration movement, the worm wheel 9 is meshed with a worm 10, the worm 10 is connected with a fixed shaft 8, the fixed shaft 8 is fixed on a support frame 29 through a bearing, the fixed shaft 8 is in key connection with a big gear 15, the big gear 15 is meshed with a small gear 14, a rotary tillage shaft 13 is in key connection with the small gear 14, a weeding cutter 16 is installed on the rotary tillage shaft 13, and the weeding cutter 16 removes the roots of weeds. The bionic walking device comprises a body 1, four groups of bionic walking mechanisms, a front walking mechanism, a rear walking mechanism, a rod piece, a first rod piece, a second rod piece, a third rod piece, a fourth rod piece, a fifth rod piece, a sixth rod piece, a seventh rod piece, a sixth rod piece, 1800-1805 mm and an eighth rod piece, wherein the width of the body 1 is 400-500 mm, the length of the body 1 is 700-750 mm, the height of the body 1 is 150-200 mm, the four groups of bionic walking mechanisms are installed on the body 1, the distance between the front walking mechanism and the rear walking mechanism is 330-350 mm, and a phase difference of 180 degrees is provided, the length of the rod piece is 560-565 mm, the length of the rod piece is 670-675 mm, the length of the rod piece is 1350-1355 mm, the length of the rod piece is 1800-1805 mm, and the length of the member is 1350-1360 mm, and the length of the selected rod piece needs to meet the mechanism characteristics. The distance between the front travelling mechanism and the rear travelling mechanism is 675mm, corresponding direct current motors are selected to drive the four groups of bionic travelling mechanisms according to a power formula p which is m multiplied by g multiplied by v, the driving shaft 11 in the weeding device is 150-170 mm long, is connected with a worm wheel 9, the rotary tillage shaft 13 is 280-480 mm long, a weeding knife 16 is arranged on the rotary tillage shaft 13, according to a centrifugal force formula F, the initial position of the weeding knife 16 forms 45 degrees with the upper part of the ground, the weeding knife 16 can be thrown into the collecting box 17 by the centrifugal force after running for one circle, the weeding knife 16 is in a hoe shape, can carry out the root system to weeds clearly and be difficult for twining the grass, install weighing sensor in the collecting box 17, the machine will not be weeding when the weight of collecting box 17 reaches the setting value, discernment road characteristic falls the weeds dispersion in the collecting box on the road limit, dies it with shining, and required electric energy is by lithium cell group 5 and solar panel 7 for its power supply in the machine.
The working process of the bionic four-foot walking intelligent rotary tillage weeding machine according to the embodiment of the invention is as follows:
the invention adopts visual positioning technology, rotary tillage weeding technology and centrifugal collection technology, firstly, the initial state of a machine body 1 is a half-squat state, a camera 20 is arranged at the front end of the machine body 1 for field image acquisition, the camera 20 is connected with an image processor 2, the image processor 2 identifies weed characteristics through a neural network and converts pixel coordinates of weeds into real world coordinates to accurately position the weeds, the image processor 2 is connected with an industrial personal computer 6, the industrial personal computer 6 controls a motor driver 3 to drive, four groups of walking mechanisms are respectively provided with four groups of walking motors 18 to realize the advancing, retreating, rising and squat of the machine, the machine is in a standing posture at the beginning, then a walking mechanism 201 and a diagonal walking mechanism 203 are stepped out, and the walking mechanism 202 and the walking mechanism 204 are kept still in place to play a supporting role. When the body moves to the right position, the first walking mechanism 201 and the third walking mechanism 203 are put down, and the four legs land on the ground to stand in a balanced manner. Then the wheels move to the other two running gears to stride forwards, and the former running gear of the first half period supports. When the body moves to a new position, the first travel mechanism 201 and the third travel mechanism 203 are put down, and the four legs are grounded to maintain a standing posture. This is a complete walking cycle, alternating cycles to achieve forward movement of the robot.
The turning and the line feed of the machine are realized by changing the differential speed of the motor. The weeding motor 12 is arranged at the tail of the machine body, when the machine walks to a positioned weed position, the machine recovers an initial half-squatting state to weed, the weeding motor 12 drives the driving shaft 11 to rotate, the driving shaft 11 drives the worm wheel 9, the worm wheel 9 is meshed with the worm 10, the worm 10 is connected with the fixed shaft 8 and is fixed on the support frame 29, the fixed shaft 8 is connected with the large gear 15, power is transmitted to the large gear 15, the large gear drives the small gear 14, the small gear 14 drives the rotary tillage shaft 13 to move at a high speed, after one circle of rotation, the weeding knife 16 stops at the 45-degree direction of the initial rotary tillage shaft 13, weeds are thrown into the collection box 17 by centrifugal force, the collection box 17 is internally provided with a weighing sensor, when the weight reaches a set value, weeding is stopped, the road characteristics are identified, and the weeds in the collection box are scattered and poured to the sides of roads and are dried. The power required by the whole machine comes from the lithium battery pack 5 and the solar panel 7.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (10)
1. A bionic four-foot walking intelligent rotary tillage weeding device is characterized by comprising a machine body (1), an image processor (2), a bionic walking mechanism and a weeding system; an image processor (2) is arranged above the machine body (1), and the image processor (2) is used for positioning weeds; a bionic travelling mechanism is arranged below the machine body (1); the bionic walking mechanism is driven by a walking motor (18) to drive the machine body (1) to move; the weeding system is arranged on the rear side above the machine body (1); the weeding system comprises a gear rotating mechanism; the gear in the gear rotating mechanism transmits power to the rotary tillage shaft (13), and the rotary tillage shaft (13) is provided with a weeding cutter (16).
2. The intelligent rotary tillage weeding device capable of walking according to claim 1, wherein a camera (20) is arranged in front of the machine body (1), and the camera (20) is connected with the image processor (2); the image processor (2) identifies weeds according to image information acquired by the camera (20) through a neural network and converts pixel coordinates of the weeds in the picture into actual weed coordinates in the land, so that accurate positioning of the weeds is achieved.
3. A bionic quadruped walking intelligent rotary tillage weeding device according to claim 2, wherein the image processor (2) is electrically connected with an industrial personal computer (6), the industrial personal computer (6) is connected with the motor driver (3), and the industrial personal computer (6) processes actual weed coordinate data in the land and controls the motor driver (3) so as to control the walking motor (18) and the weeding motor (12) to work.
4. A bionic four-footed walking intelligent rotary tillage weeding device according to claim 1, wherein the bionic walking mechanism comprises a first walking mechanism (201), a second walking mechanism (202), a third walking mechanism (203) and a fourth walking mechanism (204); the first traveling mechanism (201), the second traveling mechanism (202), the third traveling mechanism (203) and the fourth traveling mechanism (204) are identical in structure, and specifically, the first traveling mechanism (201) comprises a driving rod (4), a rod piece two (21), a rod piece three (22), a rod piece four (23), a rod piece five (24), a rod piece six (25), a rod piece seven (26) and a rod piece eight (27); one end of the driving rod (4) is rigidly connected with the output end of the walking motor (18), the other end of the driving rod (4) is hinged with one end of the second rod piece (21), the other end of the second rod piece (21) is hinged with one end of the fourth rod piece (23), one end of the sixth rod piece (25) at the other end of the fourth rod piece (23) is hinged, and the other end of the sixth rod piece (25) is hinged with the middle section of the eighth rod piece (27); two ends of the rod member eight (27) are respectively hinged with one end of the rod member seven (26) and the foot part (28); the other end of the rod member seven (26) is arranged below the machine body (1) through a hinge, and the middle section of the rod member seven (26) is hinged at the hinged position of the rod member four (23) and the rod member six (25); one end of the third rod piece (22) is hinged on the machine body (1), and the other end of the third rod piece is hinged at the hinged position of the second rod piece (21) and the fourth rod piece (23).
5. The intelligent bionic quadruped walking rotary tillage weeding device according to claim 4, wherein the driving rod (4), the second rod piece (21), the third rod piece (22) and the fourth rod piece (23) form a track generation mechanism, and the fifth rod piece (24), the sixth rod piece (25), the seventh rod piece (26) and the eighth rod piece (27) form a parallelogram scaling mechanism.
6. The intelligent rotary tillage weeding device for walking on four feet as claimed in claim 1, wherein in the weeding system, the weeding motor (12) is rigidly connected with the driving shaft (11), and the driving shaft (11) is connected with the worm gear (9) through a key; worm (10) are connected with fixed axle (8), fixed axle (8) are fixed on support frame (29) through the bearing, gear drive mechanism is connected with fixed axle (8), and is specific, gear wheel (15) and fixed axle (8) key-type connection, pinion (14) and rotary tillage axle (13) key-type connection, rotary tillage axle (13) are fixed on support frame (29) through the bearing.
7. A bionic quadruped walking intelligent rotary tillage weeding device according to claim 6, wherein the support frame (29) is arranged on the machine body (1) through bolts and supports the worm (10) and the rotary tillage shaft (13).
8. The intelligent bionic quadruped walking rotary tillage weeding device according to claim 1, wherein the weeding blades (16) are hoe-shaped; the starting position of the weeding knife (16) is 45 degrees above the ground.
9. A bionic quadruped walking intelligent rotary tillage weeding device according to claim 1, further comprising a power supply system, wherein the power supply system comprises a solar panel (7) and a lithium battery pack (5), and the power supply system supplies electric energy to the image processor (2), the industrial personal computer (6), the motor driver (3), the walking motor (18) and the weeding motor (12).
10. The implementation method of the intelligent bionic quadruped walking rotary tillage weeding device according to any one of claims 1 to 9 is characterized by comprising the following steps: firstly, the initial state of the machine body (1) is a half-squat state, a camera (20) is arranged at the front end of the machine body (1) for field image acquisition, the camera (20) is connected with an image processor (2), the image processor (2) identifies the weed features through a neural network, converts the pixel coordinates of the weeds into actual weed coordinates in the land, accurately positioning weeds, connecting an image processor (2) with an industrial personal computer (6), controlling a motor driver (3) to drive the industrial personal computer (6), respectively installing four groups of walking motors (18) on four groups of walking mechanisms to realize the advancing, retreating, rising and squatting of the weeding device, setting the weeding device in a standing posture at the beginning, then, a first walking mechanism (201) and a diagonal third walking mechanism (203) are stepped, and a second walking mechanism (202) and a fourth walking mechanism (204) are kept still in place for supporting and holding; when the body moves to the right position, the first walking mechanism 201) and the third walking mechanism (203) are put down, and the four legs land on the ground to stand in a balanced manner; then, the wheels move to the second walking mechanism (202) and the fourth walking mechanism (204) to stride forwards, and the first walking mechanism (201) and the diagonal third walking mechanism (203) in the first half cycle are supported; when the body moves to a new position, the first traveling mechanism (201) and the third traveling mechanism (203) are put down, and the four legs are grounded to keep a standing posture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210366934.1A CN114794067A (en) | 2022-04-08 | 2022-04-08 | Bionic four-foot walking intelligent rotary tillage weeding device and implementation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210366934.1A CN114794067A (en) | 2022-04-08 | 2022-04-08 | Bionic four-foot walking intelligent rotary tillage weeding device and implementation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114794067A true CN114794067A (en) | 2022-07-29 |
Family
ID=82534721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210366934.1A Pending CN114794067A (en) | 2022-04-08 | 2022-04-08 | Bionic four-foot walking intelligent rotary tillage weeding device and implementation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114794067A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203407396U (en) * | 2013-08-14 | 2014-01-29 | 李永贵 | Worm and gear hoeing device for weed extractor |
| CN206294493U (en) * | 2016-12-08 | 2017-07-04 | 江苏富禾农业科技有限公司 | A kind of rotary cultivator |
| WO2017181127A1 (en) * | 2016-04-15 | 2017-10-19 | The Regents Of The University Of California | Robotic plant care systems and methods |
| EP3811748A1 (en) * | 2019-10-24 | 2021-04-28 | Ekobot Ab | A weeding machine and a method for carrying out weeding using the weeding machine |
| CN113303319A (en) * | 2021-06-25 | 2021-08-27 | 江苏华源节水股份有限公司 | Intelligent weeding machine for field ridges |
| CN113632779A (en) * | 2021-09-16 | 2021-11-12 | 山东农业大学 | Laser intelligent weeding robot and weeding method |
-
2022
- 2022-04-08 CN CN202210366934.1A patent/CN114794067A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203407396U (en) * | 2013-08-14 | 2014-01-29 | 李永贵 | Worm and gear hoeing device for weed extractor |
| WO2017181127A1 (en) * | 2016-04-15 | 2017-10-19 | The Regents Of The University Of California | Robotic plant care systems and methods |
| CN206294493U (en) * | 2016-12-08 | 2017-07-04 | 江苏富禾农业科技有限公司 | A kind of rotary cultivator |
| EP3811748A1 (en) * | 2019-10-24 | 2021-04-28 | Ekobot Ab | A weeding machine and a method for carrying out weeding using the weeding machine |
| CN113303319A (en) * | 2021-06-25 | 2021-08-27 | 江苏华源节水股份有限公司 | Intelligent weeding machine for field ridges |
| CN113632779A (en) * | 2021-09-16 | 2021-11-12 | 山东农业大学 | Laser intelligent weeding robot and weeding method |
Non-Patent Citations (1)
| Title |
|---|
| 陈耀: "四足机器人的步态生成及控制研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| LU503171B1 (en) | Terrain self-adaption unmanned weeding robot for hillside orchard | |
| EP3609311B1 (en) | Automatic lawn trimmer and automatic lawn trimming method | |
| CN107486834A (en) | Chamber crop grows crusing robot | |
| CN110405785B (en) | Six-axis trimming robot and working method | |
| CN106614494A (en) | Environment-friendly agricultural production weeding equipment with liftable blade | |
| CN107873150A (en) | Based on solar powered agricultural weeder between machine vision strain | |
| CN114794067A (en) | Bionic four-foot walking intelligent rotary tillage weeding device and implementation method | |
| CN202524721U (en) | Intelligent inter-plant row mechanical weeding machine | |
| CN212159542U (en) | Crop blade spectrum data acquisition trolley | |
| CN210841314U (en) | Novel automatic whiteflower hogfennel root weeder | |
| CN203191808U (en) | Network based walking type rice field disease and pest monitoring system | |
| CN203537757U (en) | Deep ploughing machine | |
| WO2023108843A1 (en) | Intelligent weeding robot for orchards | |
| Samak et al. | Developing and evaluating a multi nozzle spraying machine powered by solar energy for agricultural smallholdings | |
| CN210726017U (en) | Weeding robot for weeding lawn | |
| CN202587769U (en) | Tilling depth automatic adjustment type micro-tillage machine | |
| CN113928444A (en) | A moving platform that is used for greenhouse seedbed to patrol and examine operation | |
| CN115119644B (en) | Field management device based on bionic travelling mechanism | |
| CN211745170U (en) | Electric rotary flattening machine for greenhouse | |
| CN113508678B (en) | Use profile modeling weeding device of unmanned aerial vehicle as adaptation slope topography and weeds height of carrier | |
| CN207305294U (en) | Self-walking micro-tiller | |
| CN218550579U (en) | Paddy field weeding robot based on vortex wheel type mechanism | |
| CN212753291U (en) | Weeding height adjusting device for track weeding machine | |
| CN219919016U (en) | Topography detection device for agricultural machine | |
| CN219514556U (en) | Impact type tillage machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220729 |