CN117502413A - Laser weeding robot based on mechanical arm - Google Patents
Laser weeding robot based on mechanical arm Download PDFInfo
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- CN117502413A CN117502413A CN202311475308.7A CN202311475308A CN117502413A CN 117502413 A CN117502413 A CN 117502413A CN 202311475308 A CN202311475308 A CN 202311475308A CN 117502413 A CN117502413 A CN 117502413A
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- mechanical arm
- laser
- weeding
- robot based
- frame
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- 238000009333 weeding Methods 0.000 title claims abstract description 42
- 241000196324 Embryophyta Species 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 239000012636 effector Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 241000124284 Mitella diphylla Species 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 238000012271 agricultural production Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 206010059866 Drug resistance Diseases 0.000 description 1
- 240000007651 Rubus glaucus Species 0.000 description 1
- 235000011034 Rubus glaucus Nutrition 0.000 description 1
- 235000009122 Rubus idaeus Nutrition 0.000 description 1
- 241000700605 Viruses Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000029553 photosynthesis Effects 0.000 description 1
- 238000010672 photosynthesis Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Automation & Control Theory (AREA)
- Soil Working Implements (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention provides a laser weeding robot based on a mechanical arm, which comprises a movable frame, a terminal control system, a sensor data acquisition device, a laser and a mechanical arm working system. And determining the pose of the weeds by utilizing image recognition, and weeding in and among the rows by utilizing a mechanical arm with adjustable pose to cooperate with a laser. Wherein, the arm can the multi-angle rotation with the compensation by the change of the weeds and laser beam position of dolly forward production to improve the precision and the efficiency of weeding operation. The laser weeding robot based on the mechanical arm provided by the invention aims to solve the technical problem that the existing automatic weeding device cannot thoroughly, accurately and efficiently clear weeds, can automatically perform weeding operation, protects crops and surrounding environment, and has the advantages of simple structure, easiness in control, environmental protection, high efficiency, accuracy and the like.
Description
Technical Field
The invention relates to the field of agricultural robots, in particular to a laser weeding robot based on a mechanical arm.
Background
The weeds in the field have various damages to crops and agricultural production, such as competing nutrition and moisture to limit the growth of the crops, blocking light to influence photosynthesis, and being used as a virus insect host to spread diseases and insect pests, being mixed with the crops to influence harvest and the like. Weeds are a major obstacle in agricultural production activities and need to be controlled by appropriate means.
In the past, people have generally used manual weeding methods, which are time-consuming, labor-consuming and have poor effects. In modern agricultural production, weeds are controlled in a variety of ways. Including chemical control, physical control, biological control, and the like. Improper treatment with chemical weeding can pollute the soil environment, and if weeds generate drug resistance, the weeding effect can be affected, and the residual medicament can influence the health of eaters. Biological weeding is limited by environmental conditions, and takes longer time to exert effect, so that the control means is complex.
In recent years, mechanical weeding methods have therefore become increasingly important. However, mechanical weeding still has the following problems: because the positions of weeds in the rows are different, the weeding mechanism end execution device cannot work on the weeds in the rows at the same time; because the end execution device of the weeding mechanism is fixed, mechanical damage is easily caused to crops in the travelling process, and the weeding mechanism cannot be automatically adjusted according to the types and the heights of weeds, so that the weeding mechanism cannot be used for sufficiently and efficiently removing the weeds.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problems that the automatic weeding device can not completely, accurately and efficiently remove weeds by utilizing the mechanical arm with adjustable setting height and displacement to remove weeds in combination with a laser on the basis of the existing automatic weeding device.
(II) technical scheme
In order to solve the technical problems, the invention provides a laser weeding robot based on a mechanical arm, which comprises a movable frame, a terminal control system, a sensor data acquisition device, a laser and a mechanical arm working system. The movable frame is made of industrial aluminum materials with four grooves, and modules can be continuously added according to requirements, wherein the modules comprise a battery pack, a frame, a wheel bracket and wheels; the terminal control system is in information transmission with the image acquisition device, the laser and the mechanical arm through a wireless network and the like; the sensor data acquisition device is used for acquiring positioning information and image information; the terminal control system is used for controlling the movable frame and the mechanical arm working system to carry out laser weeding operation according to the positioning information and the image information; the mechanical arm is used for adjusting the position of the laser and the direction of emitting laser light.
The mechanical arm working system is arranged below the frame, the mechanical arm is formed by connecting two connecting rods and a plurality of joints in series, the mechanical arm base is connected to the sliding table through bolts, the base is connected with the connecting rods through rotary joints, the two connecting rods are connected through coaxial rotary connectors, and the end effector is also connected with the connecting rods through the rotary joints.
The mechanical arm working system is connected with the two-shaft sliding table, and the two-shaft sliding table is fixed on the movable frame. The mechanical arm moves back and forth and left and right through the two-axis sliding table, and the position of the laser at the tail end of the mechanical arm is adjusted by adjusting the rotation angle of each connecting node of the mechanical arm.
The sensor data acquisition device is divided into two parts, one of which is a positioning information acquisition device; the device comprises a laser radar, a monocular camera and an Inertial Measurement Unit (IMU), wherein a sensor is fixed at the front end of a frame. The laser radar is used for establishing a dense map, the monocular camera uses ORB characteristic points for characteristic extraction and matching, scaling and drifting calibration are carried out under the cooperation of an Inertial Measurement Unit (IMU), and a visual field is provided for movement of the frame.
The sensor data acquisition device is divided into two parts, wherein the two parts are image recognition systems; the device is positioned at the tail end of the mechanical arm and comprises a monocular camera which is used for identifying crops and weeds and judging whether the crops are blocked or not in the weeding working process, namely judging whether crops are blocked or not on a laser emitting path of the laser emitter.
The moving mode of the moving frame is that a 4-motor control wheel type moves, and a two-wheel differential steering motion model is adopted during steering. The whole frame is built by 3030 industrial aluminum materials with four grooves, so that the stability of the movable frame is ensured, and various modules are conveniently installed according to requirements so as to complete more agricultural works.
(III) beneficial effects
The laser weeding robot based on the mechanical arm provided by the invention has the advantages that the positions and the postures of weeds are determined by utilizing image recognition, and weeding among rows is realized by utilizing the thermal effect of laser, so that the laser weeding robot is simple in structure and easy to control, weeds among rows and in rows can be cleared at the same time, the mechanical arm can rotate at multiple angles, the change of the positions of the weeds and the laser beams caused by the advance of a trolley can be compensated, the laser beams are kept stationary relative to the weeds, the accuracy and the efficiency of weeding operation are greatly improved, and the environment of crops and surrounding soil is not damaged.
Drawings
Fig. 1 is a schematic view of a mechanical structure provided by the present invention. In the figure, 1 is terminal control equipment, 2 is a two-axis sliding table of a mechanical arm system, 3 is a movable frame, 4 is a mechanical arm system laser generator, 5 is a positioning monocular camera, 6 is a laser radar and IMU unit, 7 is a mechanical arm, and 8 is an image recognition monocular camera.
Fig. 2 is a schematic structural diagram of a mechanical arm provided by the invention. In the figure, 1 is a mechanical arm connecting rod, 2 is a mechanical arm joint, 3 is a mechanical arm base, 4 is an image recognition monocular camera, 5 is a laser generator, and 6 is a hand grip.
Fig. 3 is a schematic diagram of a modular system provided by the present invention. The middle part comprises a movable frame, a terminal control system, a sensor data acquisition device, a mechanical arm working system and the like.
Detailed Description
Fig. 1 is a schematic structural diagram of a weeding robot based on a mechanical arm. As shown in fig. 1, the weeding robot comprises a movable frame, a terminal control system, a sensor data acquisition device, a laser, a mechanical arm working system and the like.
The movable frame is built by 3030 industrial aluminum and controlled by a 4-motor, and the widened multi-terrain tire adopting the two-wheel differential rotation motion model ensures the stability of the robot in farmlands. The moving speed and the moving direction can be judged automatically according to the position under the control of the terminal.
The terminal control system is controlled by the raspberry group 4B, receives data collected by each sensor through an internal wireless communication module, analyzes the data and issues commands to the actuators through PICO.
The sensor data acquisition device is divided into two parts, one of which is positioning information acquisition. The device is positioned on the same structure at the front end of the mobile frame and comprises a laser radar, a monocular camera and an Inertial Measurement Unit (IMU). And synchronously aligning sensor data, carrying out feature extraction and depth estimation on the acquired image by using laser radar and camera data by using a terminal control system, carrying out pose estimation in a tracking thread by using the extracted feature and depth information together with data of an Inertial Measurement Unit (IMU), constructing a point cloud map, and carrying out map optimization. The data of the laser radar is used to improve the closed loop matching accuracy and to perform global optimization.
The sensor data acquisition device is divided into two parts, and the two parts are image recognition. This section is primarily weed and crop identification, including a monocular camera. The method is used for identifying crops and weeds and judging whether the crops are blocked or not in the weeding working process, namely judging whether the laser transmitter transmits laser paths to block the crops or not.
The mechanical arm working system is connected with the two-shaft sliding table, and the two-shaft sliding table is fixed on the movable frame. The communication module receives the instruction of the terminal control system to adjust the pose of the terminal control system, and adjusts the position of the laser generator and the orientation of the emitting opening.
The concrete working flow of the weeding robot in the invention is as follows:
1. the sensor data acquisition device collects positioning information, including the positioning of the robot itself and the approximate position of the weed crop; transmitting the message to a terminal module through a communication module;
2. the terminal control system receives the positioning information and controls the mobile frame to move to a designated place;
3. the terminal control system controls an image recognition part on the mechanical arm to acquire specific information and issues an instruction for adjusting the mechanical arm;
4. the mechanical arm adjusts the pose according to the instruction, and the laser emits laser to weed.
5. Searching for the next operation site to carry out the circulating operation.
According to the small agricultural robot, crops and weeds can be accurately identified through information analysis collected by the sensor data acquisition device; in actual operation, manual work removal and decontamination are realized, accurate operation is realized, and the requirements of high precision and low seedling error rate of accurate agriculture are met.
Claims (8)
1. The utility model provides a laser weeding robot based on arm, includes removal frame, terminal control system, sensor data acquisition device, laser instrument and arm operating system, its characterized in that:
the movable frame uses an industrial aluminum frame with four grooves, and any module can be added according to the requirements;
the terminal control system is used for analyzing all data transmitted back by the installed modules, transmitting instructions to all the modules according to the analyzed data, and controlling all the modules to complete corresponding work;
the sensor data acquisition device is used for collecting various data in the environment and assisting the terminal equipment to complete the self-positioning and image recognition of the mobile frame;
the mechanical arm working system is provided with a laser and is used for receiving a terminal instruction and accurately and effectively completing laser weeding work.
2. The laser weeding robot based on the mechanical arm according to claim 1, wherein the moving mode of the moving frame is that the wheel type movement is controlled by a 4-motor, and a two-wheel differential steering motion model is adopted during steering; the whole frame is built by 3030 industrial aluminum materials with four grooves, so that the stability of the movable frame is ensured, and various modules are convenient to install according to requirements.
3. The laser weeding robot based on the mechanical arm according to claim 1, wherein the terminal control system comprises an industrial personal computer and a communication module, wherein the communication module comprises a WiFi module, a Bluetooth module, a thread network and the like; the system is used for analyzing data, communicating with each working module and transmitting commands.
4. The laser weeding robot based on the mechanical arm according to claim 1, wherein the sensor data acquisition module can be divided into two parts, including positioning information acquisition and image information acquisition; the positioning data is acquired by using a monocular camera, a laser radar and an Inertial Measurement Unit (IMU), the laser radar is used for establishing a dense map, the monocular camera is used for extracting and matching characteristics by using ORB characteristic points, scaling and drifting calibration are carried out under the cooperation of the Inertial Measurement Unit (IMU), and a visual field is provided for the movement of the frame.
5. The laser weeding robot based on the mechanical arm according to claim 1, wherein the image information is collected by a monocular camera and used for identifying crops and weeds, and judging whether the crops are blocked or not in the weeding working process, namely, whether the laser transmitter transmits the crop blockage or not on the laser path.
6. The laser weeding robot based on the mechanical arm according to claim 1, wherein the mechanical arm is formed by connecting two connecting rods and a plurality of joints in series, the mechanical arm base is connected on the sliding table through bolts, the base and the connecting rods are connected through rotary joints, the two connecting rods are connected through coaxial rotary connectors, and the end effector is also connected with the connecting rods through the rotary joints.
7. The laser weeding robot based on the mechanical arm according to claim 1, wherein the mechanical arm working system comprises a two-axis sliding table, the auxiliary mechanical arm moves on the frame, and the mechanical arm end effector is operated together to accurately align weeds for treatment through rotation of the joints of the mechanical arm and the assistance of the two-axis sliding table.
8. The laser weeding robot based on the mechanical arm according to claim 1, wherein the laser and the image information data acquisition camera are arranged at the tail end of the mechanical arm, so that the mechanical arm can be operated to perform more accurate operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311475308.7A CN117502413A (en) | 2023-11-08 | 2023-11-08 | Laser weeding robot based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311475308.7A CN117502413A (en) | 2023-11-08 | 2023-11-08 | Laser weeding robot based on mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117502413A true CN117502413A (en) | 2024-02-06 |
Family
ID=89744961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311475308.7A Pending CN117502413A (en) | 2023-11-08 | 2023-11-08 | Laser weeding robot based on mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117502413A (en) |
-
2023
- 2023-11-08 CN CN202311475308.7A patent/CN117502413A/en active Pending
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