CN203087363U - Laser weeding robot - Google Patents
Laser weeding robot Download PDFInfo
- Publication number
- CN203087363U CN203087363U CN201320036507.3U CN201320036507U CN203087363U CN 203087363 U CN203087363 U CN 203087363U CN 201320036507 U CN201320036507 U CN 201320036507U CN 203087363 U CN203087363 U CN 203087363U
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- motor
- drive system
- robot
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- weeding
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- 238000009333 weeding Methods 0.000 title claims abstract description 43
- 239000004065 semiconductor Substances 0.000 claims abstract description 19
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 241000196324 Embryophyta Species 0.000 abstract description 34
- 238000005286 illumination Methods 0.000 abstract 3
- 239000000446 fuel Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000010365 information processing Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000021393 food security Nutrition 0.000 description 1
- 230000002363 herbicidal effect Effects 0.000 description 1
- 239000004009 herbicide Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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- Guiding Agricultural Machines (AREA)
- Soil Working Implements (AREA)
- Catching Or Destruction (AREA)
Abstract
The utility model discloses a laser weeding robot which comprises a mobile cart, a control system and a driving system. The mobile cart comprises a main camera, wheels, a semi-conductor laser transmitter, an auxiliary illumination device, a secondary camera, a cart frame, a main camera support and a wheel motor. The driving system comprises a battery pack, a motor I, a coupler and a motor II. The control system comprises an image processor, an auxiliary illumination device switch, a robot switch, an input interface and an output interface. The laser weeding robot can select illumination time according to types and sizes of weeds, can save weeding time so as to guarantee laser weeding efficiency, and ensures that the weeds can be removed more quickly.
Description
Technical field
The utility model relates to a kind of laser weeding robot, belongs to the intertillage agricultural mechanical field.
Background technology
At present, extensively adopt the mode of artificial chemical weed control to carry out weeding, but along with the concern of people to food security, the mode of spraying chemical herbicide is replaced gradually, and has obtained certain effect by the mode of weeding by machine.
Yet also there is following problem in the mode of weeding by machine: owing to be subjected to the restriction of weeding by machine's control accuracy, cause the mechanical wounding of crop seedling easily, cause the damage ratio of crop seedling higher; Because different crop seedling line-spacing differences, planting type difference, the size of mechanical device are subjected to strict restriction; Weeding by machine preserves the seed of weeds, can cause the sprouting once more of weeds.
For the defective and the problem that overcome weeding by machine, the laser weeding receives publicity.But also there is certain problem in existing laser weeding robot: the motion complexity is unfavorable for application implementation; The Laser emission structure is lower, is damaged easily in the walking process; The weeding mechanism size is higher, is unfavorable for carrying out the identification of weeds; To kind and the not identification of size of weeds, can not determine best laser exposure; (as corn etc.) can not carry out operation when the height of crop is higher.
Summary of the invention
In order to overcome the deficiency of existing automation weeding system and device, the utility model provides a kind of laser weeding robot of easy operating simple in structure, utilize the fuel factor of laser to carry out the field weeding operation, robot architecture of the present utility model is simple, can between different crop row distances, carry out operation, recognition device is lower apart from ground, can the better recognition weeds.
The utility model laser weeding robot comprises travelling car, control system 2, drive system, control system 2 and drive system interconnect and are arranged on the travelling car, control system 2 is connected with drive system, and drive system provides power for whole laser weeding robot.
Travelling car described in the utility model comprises main camera 1, wheel 5, semiconductor laser transmitter 8, auxiliary lighting apparatus 9, secondary camera 10, vehicle frame 11, the main shooting headstock 13, wheel electrical machine, wherein main camera 1 is installed on the vehicle frame 11 by the main shooting headstock 13, auxiliary lighting apparatus 9 and secondary camera 10 are arranged on vehicle frame 11 belows, wheel electrical machine is installed on the axle that connects wheel, and be connected with drive system, each wheel is driven by a wheel electrical machine, and semiconductor laser transmitter (8) is arranged on the drive system.
Drive system described in the utility model comprises battery pack 3, motor I 4, shaft coupling 6, motor II 7, battery pack 3 provides power for motor I 4 and motor II 7, motor I 4 is connected with motor II 7 by shaft coupling 6, semiconductor laser transmitter 8 is arranged on the motor II 7, and battery pack 3 is connected with wheel electrical machine.
Control system described in the utility model 2 comprises image processor, auxiliary lighting apparatus switch, robot switch 12, input interface, output interface.
The utility model auxiliary lighting apparatus 9 is installed in vehicle frame 11 bottoms, and when the weather condition was unfavorable for carrying out weeds identification and location, control system 2 was opened the auxiliary lighting apparatus switch, guarantees that weed-eradicating robot carries out weeds identification accurately and location; This utility model can be carried out the selection of irradiation time according to the kinds of weeds and size, can save the weeding time, to guarantee the efficient of laser weeding, guarantees that weed-eradicating robot carries out weeding in mode faster.
The utility model master camera 1 is installed in vehicle frame 11 front portions, survey the information in the place ahead, and information passed to control system 2, control system passes to the direction of advance of drive system with the navigation dolly through information processing with information, guarantees that dolly walks along between crop row; Battery pack 3 is housed, for whole weed-eradicating robot provides power on the vehicle frame 11; Wheel 5 relies on vehicle frame to link together, and is driven by wheel electrical machine, and wheel electrical machine is contained on the axle that connects wheel; Auxiliary lighting apparatus 9 and secondary camera 10 are installed in vehicle frame 11 bottoms, when the weather condition is unfavorable for carrying out weeds identification and location, control system 2 is opened the auxiliary lighting apparatus switch, secondary camera 10 obtains the image in weeding zone and passes to control system 2, pass to drive system by control system 2 through processing and with locating information, turning to and rotating speed advancing of four wheel electrical machines of drive system control with the navigation dolly, simultaneously, after the positional information that obtains weeds, transmit information by control system to drive system, control is by two motor (motor I 4, motor II 7) executing agency's deflection of Gou Chenging, make the semiconductor laser transmitter 8 of motor front end in the executing agency point to the weeds position, simultaneously, give an order by control system, open semiconductor laser transmitter, weeds are shone, and, kill weeds by the fuel factor of laser according to the definite best irradiation time of weeds information that secondary camera 10 obtains.
The beneficial effects of the utility model are to utilize the fuel factor of laser to carry out the field weeding operation, robot architecture described in the utility model is little, can between different crop row distances, carry out operation, can carry out the selection of irradiation time according to kind and the size of weeds, can save the weeding time, to guarantee the efficient of laser weeding, guarantee that weed-eradicating robot carries out weeding in mode faster; When light intensity is unfavorable for carrying out weeds identification, can also carry out the adjusting of light by the mode of floor light, to help the collection that secondary camera carries out image.
Description of drawings
Fig. 1 is the utility model laser weeding robot structural representation;
Fig. 2 is the utility model laser weeding robot side-looking structural representation;
Fig. 3 is the utility model motor connection layout schematic diagram;
Fig. 4 is the utility model coupler structure schematic diagram;
Fig. 5 is the utility model laser weeding robot control scheme schematic diagram;
Among the figure: the 1st, main camera; The 2nd, control system; The 3rd, battery pack; The 4th, the motor I; The 5th, wheel; The 6th, shaft coupling; The 7th, the motor II; The 8th, semiconductor laser transmitter; The 9th, auxiliary lighting apparatus; The 10th, secondary camera; The 11st, vehicle frame; The 12nd, the robot switch; The 13rd, the main shooting headstock; The 14th, shaft coupling-motor I connecting hole; The 15th, shaft coupling-motor II connecting hole.
Embodiment
Below in conjunction with drawings and Examples the utility model is described in further detail, but the utility model protection domain is not limited to described content.
The utility model laser weeding robot travelling car, control system 2 and drive system, control system 2 and drive system are arranged on the travelling car, and control system 2 is connected with drive system, and drive system provides power for whole laser weeding robot;
Wherein travelling car comprises main camera 1, four wheels 5, semiconductor laser transmitter 8, auxiliary lighting apparatus 9, secondary camera 10, vehicle frame 11, the main shooting headstock 13, wheel electrical machine, wherein main camera 1 is installed on the vehicle frame 11 by the main shooting headstock 13, auxiliary lighting apparatus 9 and secondary camera 10 are arranged on vehicle frame 11 belows, wheel electrical machine is installed on the axle that connects wheel, wheel electrical machine is connected with drive system, each wheel is driven by a wheel electrical machine, and semiconductor laser transmitter 8 is arranged on the drive system; Drive system comprises battery pack 3, motor I 4, shaft coupling 6, motor II 7, battery pack 3 provides power for motor I 4 and motor II 7, motor I 4 is connected with motor II 7 by shaft coupling 6, and semiconductor laser transmitter 8 is arranged on the motor II 7, and battery pack 3 is connected with wheel electrical machine; Control system 2 comprises image processor, auxiliary lighting apparatus switch, robot switch 12, input interface, output interface (seeing Fig. 1-4);
Motor I 4 and motor II 7 rely on shaft coupling 6 to link together, shaft coupling-motor I connecting hole 14 and shaft coupling-motor II connecting hole 15 is arranged on the shaft coupling 6, and motor I 4 and motor II 7 couple together by shaft coupling-motor I connecting hole 14 and shaft coupling-motor II connecting hole 15 respectively; Two motors can guarantee that the semiconductor laser transmitter 8 that is positioned at motor II 7 rear ends can point to the position of weeds, and carry out weeding;
Carry out drive motors by motor I driver card, motor II driver card, wheel electrical machine driver card in the drive system, motor I driver card and motor II driver card are respectively according to the information that obtains from control system 2, the deflection angle of control motor I 4 and motor II 7, guarantee that semiconductor laser transmitter 8 points to weeds accurately, four wheel electrical machine driver cards are controlled four wheel electrical machines respectively, with the direct of travel and the speed of control laser weeding robot.
The image that this device utilizes main camera 1 to gather navigates, the assurance dolly is walked along between crop row, the image that utilizes secondary camera 10 to gather simultaneously carries out identification and the location of weeds, by advancing of drive system control dolly, simultaneously, after the positional information that obtains weeds, control the executing agency's deflection that constitutes by two motors by control system 2 to drive system transmission information, make the semiconductor laser transmitter 8 of motor front end in the executing agency point to the weeds positions; Simultaneously, give an order, open semiconductor laser transmitter 8, weeds are shone, and determine best irradiation time through handling the weeds information that obtains, kill weeds by the fuel factor of laser according to the image that secondary camera 10 is gathered by control system 2.
During use, open robot switch 12, be installed in the main camera 1 of vehicle frame 11 front portions, survey the information in the place ahead, and information passed to control system 2, control system turns to and speed through four wheel electrical machines of information processing control, and with the direction of advance of navigation dolly, the assurance dolly is walked along between crop row; Battery pack 3 is housed, for whole weed-eradicating robot provides power on the vehicle frame 11; Wheel 5 relies on vehicle frames to link together, and each wheel drives by a wheel electrical machine, wheel electrical machine be contained in connect wheel spool on; Auxiliary lighting apparatus 9 and secondary camera 10 are installed in vehicle frame 11 bottoms, when the weather condition is unfavorable for carrying out weeds identification and location, control system 2 is opened auxiliary lighting apparatus 9 switches, secondary camera 10 obtains the image in weeding zone and passes to control system 2, pass to drive system by control system 2 through processing and with locating information, when drive system is controlled advancing of dolly, after the positional information that obtains weeds, transmit information by control system to drive system, control is by two motor (motor I 4, motor II 7) executing agency's deflection of Gou Chenging, make the semiconductor laser transmitter 8 of motor front end in the executing agency point to the weeds position, simultaneously, give an order by control system, open generating laser, weeds are shone, and according to the definite best irradiation time of the weeds information of secondary camera 10 acquisitions, fuel factor by laser is killed weeds, and can carry out the adjusting of semiconductor laser transmitter 8 irradiation times according to kind and the size of weeds, to guarantee the efficient (see figure 5) of laser weeding.
Claims (4)
1. laser weeding robot, it is characterized in that: it comprises travelling car, control system (2) and drive system, control system (2) and drive system are arranged on the travelling car, and control system (2) is connected with drive system, and drive system provides power for whole laser weeding robot.
2. according to the described laser weeding robot of claim 1, it is characterized in that: travelling car comprises main camera (1), wheel (5), semiconductor laser transmitter (8), auxiliary lighting apparatus (9), secondary camera (10), vehicle frame (11), the main shooting headstock (13), wheel electrical machine, wherein main camera (1) is installed on the vehicle frame (11) by the main shooting headstock (13), auxiliary lighting apparatus (9) and secondary camera (10) are arranged on vehicle frame (11) below, wheel electrical machine is installed on the axle that connects wheel, and be connected with drive system, semiconductor laser transmitter (8) is arranged on the drive system.
3. according to the described laser weeding robot of claim 1, it is characterized in that: drive system comprises battery pack (3), motor I (4), shaft coupling (6), motor II (7), battery pack (3) provides power for motor I (4) and motor II (7), motor I (4) is connected with motor II (7) by shaft coupling (6), semiconductor laser transmitter (8) is arranged on the motor II (7), and battery pack (3) is connected with wheel electrical machine.
4. according to the described laser weeding robot of claim 1, it is characterized in that: control system (2) comprises image processor, auxiliary lighting apparatus switch, robot switch (12), input interface, output interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320036507.3U CN203087363U (en) | 2013-01-23 | 2013-01-23 | Laser weeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320036507.3U CN203087363U (en) | 2013-01-23 | 2013-01-23 | Laser weeding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203087363U true CN203087363U (en) | 2013-07-31 |
Family
ID=48838826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320036507.3U Expired - Fee Related CN203087363U (en) | 2013-01-23 | 2013-01-23 | Laser weeding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203087363U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106561093A (en) * | 2016-10-27 | 2017-04-19 | 中国农业大学 | Laser weeding robot based on four-degree-of-freedom parallel mechanism |
| CN109042607A (en) * | 2018-07-10 | 2018-12-21 | 江苏大学 | A kind of the flame weeding machine people system and implementation method of view-based access control model |
| CN109937999A (en) * | 2019-03-21 | 2019-06-28 | 中国科学院合肥物质科学研究院 | A kind of laser kills the device of mother drug plants |
| CN111570417A (en) * | 2020-05-29 | 2020-08-25 | 济南大学 | Laser cleaning device for lichen on rock surface |
-
2013
- 2013-01-23 CN CN201320036507.3U patent/CN203087363U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106561093A (en) * | 2016-10-27 | 2017-04-19 | 中国农业大学 | Laser weeding robot based on four-degree-of-freedom parallel mechanism |
| CN109042607A (en) * | 2018-07-10 | 2018-12-21 | 江苏大学 | A kind of the flame weeding machine people system and implementation method of view-based access control model |
| CN109937999A (en) * | 2019-03-21 | 2019-06-28 | 中国科学院合肥物质科学研究院 | A kind of laser kills the device of mother drug plants |
| CN111570417A (en) * | 2020-05-29 | 2020-08-25 | 济南大学 | Laser cleaning device for lichen on rock surface |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130731 Termination date: 20150123 |
|
| EXPY | Termination of patent right or utility model |