CN116076479A

CN116076479A - Electric shock weeding device based on machine vision

Info

Publication number: CN116076479A
Application number: CN202211729285.3A
Authority: CN
Inventors: 李良勇; 马杰; 黄华东; 邹光富; 罗东玮; 李兰云
Original assignee: Guangdong Ruobo Intelligent Robot Co ltd
Current assignee: Guangdong Ruobo Intelligent Robot Co ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-05-09

Abstract

The invention discloses an electric shock weeding device based on machine vision, which comprises a device main body, wherein the device main body is respectively formed by connecting a driving mechanism and a control mechanism, the bottom of the control mechanism is provided with the driving mechanism for driving to walk, the top of the control mechanism is provided with a first camera, the outside of the control mechanism is respectively provided with a positioning sensor and a second camera, the second camera is obliquely arranged downwards, the bottom of the control mechanism is provided with a mechanical arm, the mechanical arm extends downwards and is provided with a weeding gun, and the inside of the control mechanism is provided with an information processor and a control switch, so that the effects of accurately weeding, avoiding soil pollution to a dealer and reducing the labor intensity and improving the weeding efficiency of a robot are effectively achieved.

Description

Electric shock weeding device based on machine vision

Technical Field

The invention relates to the technical field of weeding, in particular to an electric shock weeding device based on machine vision.

Background

The vitality of weeds is vigorous, the weeds can form a competition relationship with the forest and the fruit tree, and the weeds contend with water and fertilizer with the forest and the fruit tree, so that the growth of the forest and the fruit tree is adversely affected. Therefore, in the daily management process of the forest land or the orchard, weeding work needs to be performed timely. The toughness of weeds is very strong, so that weeding work is very difficult.

The existing weeding methods mostly adopt manual weeding or herbicide spraying weeding, but adopt a centralized weeding mode, so that soil pollution of different degrees can be caused to soil quality, small waste is caused, and the efficiency of the two weeding modes is lower.

Disclosure of Invention

The invention aims to provide an electric shock weeding device based on machine vision, which solves the problems in the background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an electric shock weeding device based on machine vision, includes the device main part, the device main part constitutes through actuating mechanism and control mechanism interconnect respectively, control mechanism's bottom is provided with the actuating mechanism that is used for driving the walking, control mechanism's top is provided with first camera, control mechanism's outside is provided with positioning sensor and second camera respectively, the second camera slope down sets up, control mechanism's bottom is provided with the arm, the arm downwardly extending and be provided with the weeding rifle, control mechanism inside is provided with information processor and control switch, first camera, second camera and positioning sensor all connect information processor, information processor connects control switch, control switch connects actuating mechanism, arm and weeding rifle respectively.

Preferably, the driving mechanism is arranged at the bottom four ends of the control mechanism.

Preferably, the driving mechanism is formed by connecting a supporting rod and a driving wheel respectively, one end of the supporting rod is clamped outside the control mechanism, a driving motor is movably arranged at the other end of the supporting rod, and the driving wheel is arranged at the bottom of the driving motor.

Preferably, the first camera, the second camera and the positioning sensor are all connected with the information processor through a wire tube, the information processor is connected with the control switch through the wire tube, and the control switch is respectively connected with the driving mechanism, the mechanical arm and the weeding gun through the wire tube.

Preferably, the bottom of first camera is provided with the support column, the support column extends to control mechanism inside, just the support column is hollow structure setting.

Preferably, two mechanical arms are arranged, and the two mechanical arms are symmetrically arranged at the bottom of the control mechanism.

Preferably, the weeding gun comprises a power supply device for providing electric quantity and a gun head for outputting electric power, and the weeding gun is downwards arranged at the bottom of the mechanical arm.

Preferably, the mechanical arm comprises a servo motor and a transmission arm, wherein the power output end of the servo motor is connected with one end of the transmission arm, the other end of the transmission arm is provided with a connecting rod, the bottom of the connecting rod extends downwards and is provided with a fixing seat, and the weeding gun is clamped in the middle of the fixing seat.

Compared with the prior art, the invention provides novel weeding equipment, which has the following effects: the driving mechanism is used for driving the whole device body to walk, the positioning sensor is used for achieving an autonomous positioning function, the first camera and the second camera are used for achieving a visual recognition function, then data are transmitted to the information processor for data analysis and processing, and the driving mechanism is started by the control switch to achieve path planning and automatic driving; the automatic weeding device has the advantages that the mechanical arm and the weeding gun are started through the control switch to achieve electric shock accurate weeding, the effect that accurate weeding is achieved effectively, soil pollution is not caused to a dealer, the labor intensity is reduced, and the automatic weeding of the robot is achieved, and the weeding efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the driving mechanism of the present invention.

Fig. 3 is a schematic structural view of the control mechanism of the present invention.

Fig. 4 is a schematic diagram of a connection structure between the mechanical arm and the weeding gun.

FIG. 5 is another schematic view of the robotic arm and weeding gun of the present invention.

The labels in the figures are shown in combination: 1. a device body; 2. a control mechanism; 3. a driving mechanism; 4. a mechanical arm; 5. weeding gun; 21. a first camera; 22. positioning a sensor; 23. a second camera; 24. an information processor; 25. a control switch; 31. a support rod; 32. a driving motor; 33. a driving wheel; 41. a servo motor; 42. a transmission arm; 43. a connecting rod; 44. a fixing seat; 51. a power supply device; 52. a gun head; 99. and (5) supporting the column.

Detailed Description

The invention is described below with reference to the accompanying drawings in a preferred manner:

in the description of the present invention, it should be understood that the terms "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "inner," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to make the description of the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention; furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated; thus, the definition of "first", "second" is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly including one or more such features.

Referring to fig. 1 to 5, an electric shock weeding device based on machine vision comprises a device main body 1, the device main body 1 is formed by connecting a driving mechanism 3 and a control mechanism 2 with each other, a driving mechanism 3 for driving walking is arranged at the bottom of the control mechanism 2, a first camera 21 is arranged at the top of the control mechanism 2, a positioning sensor 22 and a second camera 23 are arranged at the outside of the control mechanism 2 respectively, the second camera 23 is obliquely arranged downwards, a mechanical arm 4 is arranged at the bottom of the control mechanism 2, the mechanical arm 4 extends downwards and is provided with a weeding gun 5, an information processor 24 and a control switch 25 are arranged inside the control mechanism 2, the first camera 21, the second camera 23 and the positioning sensor 22 are all connected with the information processor 24, the information processor 24 is connected with the control switch 25, and the control switch 25 is respectively connected with the driving mechanism 3, the mechanical arm 4 and the weeding gun 5.

The working principle and the effect of the invention are as follows: the positioning sensor 22 can adopt the sensor of the laser radar to sense and identify the environmental target by AI, and transmit data to the information processor 24 for data analysis and processing, and then the driving mechanism 3 is started by the control switch 25 to realize autonomous positioning, path planning and automatic driving of the robot; the first camera 21 and the second camera 23 can realize AI three-dimensional visual recognition and a deep learning module thereof, so that the depth training and iteration of the robot visual nerve module are completed, and the recognition of the target crop of the robot is endowed with better efficiency; in the use process, on the vegetable ridge, GPS autonomous positioning is realized through the positioning sensor 22, and the positioning sensor 22 can adopt laser radar navigation to match with the first camera 21 for visual identification, path planning and automatic driving; through first camera 21 from top to bottom and the discernment of second camera 23 to weeds and vegetables AI, based on the cooperation of Delta parallelly connected arm 4 hand, accomplish the accurate weeding of electric shock, effectually reach accurate weeding and can not lead to the fact soil pollution to the house, reduce artifical intensity of labour, realize the automatic weeding of robot and improve the effect of weeding efficiency.

In this embodiment, the driving mechanisms 3 are disposed at the four ends of the bottom of the control mechanism 2; the control mechanism 2 is effectively supported and driven to walk through the driving mechanism 3, and the driving mechanism 3 is arranged at the four ends of the bottom of the control mechanism 2 so as to keep the stability of the support and prevent side turning.

In this embodiment, the driving mechanism 3 is formed by connecting a supporting rod 31 and a driving wheel 33, one end of the supporting rod 31 is clamped outside the control mechanism 2, a driving motor 32 is movably arranged at the other end of the supporting rod 31, and the driving wheel 33 is arranged at the bottom of the driving motor 32; the control mechanism 2 is effectively supported by the support rods 31, the driving wheels 33 are driven to rotate by the driving motors 32, the function of driving and walking is achieved, and the control switch 25 is connected with the driving motors 32 through a wire pipe to achieve a control instruction of starting or stopping the operation of the driving motors 32.

In this embodiment, the first camera 21, the second camera 23 and the positioning sensor 22 are all connected with the information processor 24 through a wire pipe, the information processor 24 is connected with the control switch 25 through a wire pipe, and the control switch 25 is respectively connected with the driving mechanism 3, the mechanical arm 4 and the weeding gun 5 through a wire pipe; the first camera 21 and the second camera 23 are effectively used for visual detection, the accurate positioning effect is achieved through the positioning sensor 22, data are transmitted to the information processor 24, the control switch 25 is started after data analysis is carried out, and the driving mechanism 3, the mechanical arm 4 and the weeding gun 5 are started to work through the control switch 25.

In this embodiment, a supporting column 99 is disposed at the bottom of the first camera 21, the supporting column 99 extends into the control mechanism 2, and the supporting column 99 is disposed in a hollow structure; the first camera 21 is supported by the supporting columns 99, and the line of the first camera 21 can be conveniently connected with the information processor 24 through the internal wiring of the supporting columns 99 by adopting the hollow structure, so that visual information can be transmitted.

In this embodiment, two mechanical arms 4 are provided, and the two mechanical arms 4 are symmetrically arranged at the bottom of the control mechanism 2; two mechanical arms 4 are arranged, so that the effect of uniformly weeding and improving weeding work efficiency is achieved, and the number of the mechanical arms 4 can be installed according to the actual condition of the whole size of the control mechanism 2.

In this embodiment, the weeding gun 5 includes a power supply device 51 for supplying electric power and a gun head 52 for outputting electric power, and the weeding gun 5 is disposed downward at the bottom of the mechanical arm 4; the power is supplied by the power supply 51 and the output electrode is supplied by the gun head 52, the electrode being adapted to provide an electrostatic impact to a weed species to damage or destroy said weed species.

In this embodiment, the mechanical arm 4 includes a servo motor 41 and a transmission arm 42, a power output end of the servo motor 41 is connected with one end of the transmission arm 42, a connecting rod 43 is disposed at the other end of the transmission arm 42, a bottom of the connecting rod 43 extends downward and is provided with a fixing seat 44, and the weeding gun 5 is clamped in the middle of the fixing seat 44; based on the principle of the DELTA mechanical arm 4, the servo motor 41 is used for providing power to rotate so as to drive the transmission arm 42, and the connecting rod 43 is driven to press down or lift up, so that the height of the weeding gun 5 is adjusted.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a machine vision-based electric shock weeding device, which comprises a device main body (1), device main part (1) constitutes through actuating mechanism (3) and control mechanism (2) interconnect respectively, the bottom of control mechanism (2) is provided with actuating mechanism (3) that are used for driving the walking, the top of control mechanism (2) is provided with first camera (21), the outside of control mechanism (2) is provided with location sensor (22) and second camera (23) respectively, second camera (23) slope down sets up, the bottom of control mechanism (2) is provided with arm (4), arm (4) downwardly extending and be provided with weeding rifle (5), the inside information processor (24) and the control switch (25) of being provided with of control mechanism (2), information processor (24) are all connected with location sensor (22), control switch (25) are connected to information processor (24), control switch (25) respectively, arm (3) and weeding rifle (5).

2. The machine vision-based electric shock weeding device according to claim 1, wherein the driving mechanisms (3) are arranged at the four ends of the bottom of the control mechanism (2).

3. The machine vision-based electric shock weeding device according to claim 1, wherein the driving mechanism (3) is formed by mutually connecting a supporting rod (31) and a driving wheel (33), one end of the supporting rod (31) is clamped outside the control mechanism (2), a driving motor (32) is movably arranged at the other end of the supporting rod (31), and the driving wheel (33) is arranged at the bottom of the driving motor (32).

4. The machine vision-based electric shock weeding device according to claim 1, wherein the first camera (21), the second camera (23) and the positioning sensor (22) are connected with the information processor (24) through a wire tube, the information processor (24) is connected with the control switch (25) through the wire tube, and the control switch (25) is respectively connected with the driving mechanism (3), the mechanical arm (4) and the weeding gun (5) through the wire tube.

5. The machine vision-based electric shock weeding device according to claim 1, wherein a supporting column (99) is arranged at the bottom of the first camera (21), the supporting column (99) extends to the inside of the control mechanism (2), and the supporting column (99) is arranged in a hollow structure.

6. The machine vision-based electric shock weeding device according to claim 1, wherein two mechanical arms (4) are arranged, and the two mechanical arms (4) are symmetrically arranged at the bottom of the control mechanism (2).

7. The machine vision-based electric shock weeding device according to claim 1, wherein the weeding gun (5) comprises a power supply device (51) for supplying electric quantity and a gun head (52) for outputting electric power, and the weeding gun (5) is downwards arranged at the bottom of the mechanical arm (4).

8. The machine vision-based electric shock weeding device according to claim 1, wherein the mechanical arm (4) comprises a servo motor (41) and a transmission arm (42), a power output end of the servo motor (41) is connected with one end of the transmission arm (42), a connecting rod (43) is arranged at the other end of the transmission arm (42), the bottom of the connecting rod (43) extends downwards and is provided with a fixing seat (44), and the weeding gun (5) is clamped in the middle of the fixing seat (44).