CN207269304U - A kind of green intelligent weed-eradicating robot - Google Patents
A kind of green intelligent weed-eradicating robot Download PDFInfo
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- CN207269304U CN207269304U CN201721349569.4U CN201721349569U CN207269304U CN 207269304 U CN207269304 U CN 207269304U CN 201721349569 U CN201721349569 U CN 201721349569U CN 207269304 U CN207269304 U CN 207269304U
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- carrier trolley
- weed
- weeds
- weeder
- eradicating robot
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Abstract
The utility model belongs to intelligent weeding apparatus technical field, it is low there are intelligence degree to solve existing weed-eradicating robot, there are the technical problem of the secondary survival possibility of weeds after weeding, provide a kind of green intelligent weed-eradicating robot, including carrier trolley, weeder and reducing mechanism under carrier trolley and the vision inspection apparatus and guider on carrier trolley, the weeder can be horizontal along carrier trolley under the driving of driving device, vertically move, the reducing mechanism is arranged on the rear of weeder, a vision inspection apparatus is respectively symmetrically installed in the front of the carrier trolley and the left and right sides at rear.Weeds in row and in the ranks can accurately be removed using the utility model, intelligence degree is high, and to avoiding the possibility of the secondary survival of weeds after the weeds progress separating twice after removing.
Description
Technical field
The utility model belongs to intelligent weeding apparatus technical field, and in particular to a kind of green intelligent weed-eradicating robot.
Background technology
Weeds and field-crop contention soil moisture and nutrient, fight for illumination and growing space, are also easy to grow disease in addition
Worm, so as to cause crop yield to decline.The traditional herbicidal methods in farmland have artificial weeding, weeding by machine, physical weed control, chemistry
Weeding etc., but this kind of method or inefficiency, labour cost are excessive, or be difficult to remove weeds totally, and there are environment
Pollution, caused medicament residue after adsorption by soil, influences succession crop.
With the development of modern intellectual technology and the enhancing of people's environmental consciousness, recent domestic has carried out green intelligence
The accurate herbicidal methods research of energy, reduces the usage amount of herbicide, reduces the pollution to environment.University of Illinois of the U.S.
The student Nhanael Gringrich of Tony doctors Grift and Ta develop a kind of solar energy weed-eradicating robot, can be accurate
Judge weeds, and weeds are cut off with knife, then spray herbicide in weeds incision.Dutch Wageningen universities
Tijmen Bakker etc. devise a kind of automatic weed-eradicating robot, using diesel engine as power, have independent steering system,
Four-wheel steering can be achieved；Using DGPS and machine vision navigation, robot can obtain the boundary information of crop automatically, along crop row
Line travels；Robot carries out weed identification using machine vision technique.Jiangsu University has invented a kind of sharp according to fuel factor principle
Light weed-eradicating robot, the robot are made of Automatic guided vehicle, horizontal mobile device, laser weeder and control system；
Main vision system is used for guiding car body to travel, and is responsible for identifying weeds and is located from vision system, control system is according to weeds
Geographical location information controls trolley is mobile in crop row to move ahead, and horizontal mobile device is for controlling condenser lens in transverse direction
It is mobile, so as to focus on weeds, weeds are killed using the fuel factor of laser.
These weed-eradicating robots can obtain good effect under certain environment, but could not total integration green ring
The advantage of the technologies such as guarantor, intelligence, new energy, there is environmental pollution, intelligence degree is low, there are the secondary survival of weeds is possible
The problems such as property.
Utility model content
There are intelligence degree is low, there are the secondary survival of weeds after weeding to solve existing weed-eradicating robot for the utility model
A kind of technical problem of possibility, there is provided green intelligent weed-eradicating robot.
The technical solution adopted in the utility model is as follows:
A kind of green intelligent weed-eradicating robot, including carrier trolley, the weeder under carrier trolley and crushing
Device and vision inspection apparatus and guider on carrier trolley, driving of the weeder in driving device
Under can along carrier trolley laterally, vertically move, the reducing mechanism is arranged on the rear of weeder, before the carrier trolley
The left and right sides of side and rear is respectively symmetrically installed by one vision inspection apparatus.
The driving device includes the weeding cutter traverse gear being arranged under carrier trolley and weeding cutter longitudinal direction
Transmission device, the weeder are installed on weeding cutter traverse gear, and the weeder is horizontal in weeding cutter
Under the jointly controlling of transmission device and weeding cutter longitudinal driving device can along carrier trolley laterally, vertically move.
The vision inspection apparatus, including image capture module, image transmission module and image processing module, described image
Acquisition module is used to gather image；Described image transport module, for the image information collected to be transferred to image procossing mould
Block；Described image processing module, for handling the image collected, so as to identify the weeds in field-crop.
The carrier trolley includes car body and the wheel under car body, and the wheel is equipped with band brake apparatus.
The wheel is using the elastic wheel for being capable of elastic telescopic up and down.
The top of the carrier trolley is equipped with solar panel.
The beneficial effects of the utility model：
1st, the weeder of the utility model can be moved horizontal and vertical, either miscellaneous in the ranks after finding weeds
Weeds in grass or row, can be purged；
2nd, the carrier car wheel integrated model of the utility model can upper and lower elastic telescopic, adapt to different terrain, in addition
Also braking system, controller sends instruction locking wheel after finding weeds, and robot stop motion, realizes accurate weeding；
3rd, the utility model is equipped with vision inspection apparatus and guider, is distinguished using vision inspection apparatus and guider
Collection includes crops, the area image of weeds and the area image in the ranks comprising navigation information, utilizes the feature of color space
Vector carries out weed identification, and weed identification rate is high；
4th, the weed-eradicating robot of the utility model is attached with reducing mechanism, and weeds are crushed, and is deposited after avoiding weeding
In the secondary survival possibility of weeds, and the medicament that herbicide etc. may be harmful to crop need not be sprayed, it is green safe；
The 5th, solar panel is installed, when robot manipulating task is supplied using solar power generation on the carrier trolley of the utility model
Electricity, increases the cruising ability of robot.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model；
Fig. 2 is the paralell composition of the utility model weed-eradicating robot overall plan；
Fig. 3 is the weed identification functions of modules figure of the utility model weed-eradicating robot；
Fig. 4 is the navigation module functional diagram of the utility model weed-eradicating robot；
In figure：1- carrier trolleies, 2- weeders, 3- reducing mechanisms, 4- vision inspection apparatus, 5- weedings cutter laterally pass
Dynamic device, 6- weeding cutter longitudinal driving devices.
Embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained, shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of green intelligent weed-eradicating robot, including carrier trolley 1, weeder 2, reducing mechanism 3, regard
Feel detection device 4 and guider.
The weeder 2 is arranged on the lower section of carrier trolley 1, and the weeder 2 is driven by driving device, the drive
Dynamic device includes the weeding cutter traverse gear 5 and weeding cutter longitudinal driving device 5 being arranged under carrier trolley 1, institute
State weeding cutter traverse gear 5 to be vertically arranged with weeding cutter longitudinal driving device 5, laterally transmission fills the weeding cutter
Putting 5 can vertically move under the gearing of weeding cutter longitudinal driving device 5 along weeding cutter longitudinal driving device 5, described
Weeder 2 is installed on weeding cutter traverse gear 5, and the weeder 2 is in weeding cutter traverse gear 5
Can be along 5 transverse shifting of weeding cutter traverse gear under transmission, i.e., described weeder 2 is in weeding cutter traverse gear
5 and weeding cutter longitudinal driving device 5 jointly controlling under can along carrier trolley 1 laterally, vertically move.The weeder 2
Weeds in field-crop row and in the ranks can be purged under the driving of driving device.
The reducing mechanism 3 is arranged on the rear of weeder 2, and the reducing mechanism 3 is used to carry out the weeds removed
Crush, on the one hand avoid the secondary survival of weeds, the weeds on the other hand crushed can become fertilizer by microorganism decomposition, return agriculture
Field, more energy conservation and environmental protection.
The vision inspection apparatus 4, is allocated as thing and weeds, vision inspection apparatus 4 includes Image Acquisition mould for intelligence district
Block, image transmission module and image processing module, described image acquisition module are used to gather image；Described image transport module,
For the image information collected to be transferred to image processing module；Described image processing module, for the image to collecting
Handled, so as to identify the weeds in field-crop.The image recognition algorithm of the vision inspection apparatus 4 uses secondary splitting
Method, the gray scale difference first with plant and soil color are split, and split plant and weeds, then using leaf shape
State feature distinguishes plant and weeds, and the positional information of weeds is provided for weed-eradicating robot.In order to which multi-faceted detection removes
The operating mode of careless robot, a vision inspection apparatus 4 is respectively symmetrically installed in the left and right sides at the front of carrier trolley 1 and rear.
The guider, is mainly used for Path Recognition, at present to use machine vision navigation and GPS navigation more.
The carrier trolley 1 includes car body and the wheel under car body, described in order to realize multi-faceted rotation
Wheel uses universal wheel, is moved for ease of weed-eradicating robot in farmland, and the wheel integrated model of carrier trolley 1 can upper and lower bullet
Property stretch, adapt to a variety of landform, the wheel is using the elastic wheel for being capable of elastic telescopic up and down.In addition there is band-type brake on wheel
Device carries out accurate weeding, it is necessary to locking wheel when clearing up weeds.
The top of the carrier trolley 1 is equipped with solar panel, and solar panel can be as weed-eradicating robot
Accessory power supply, increases the cruising ability of robot.
The weed-eradicating robot of the utility model is filled according to navigation information real-time navigation while navigation using image detection
Soil in putting real-time continuous detection crops and its in the ranks going.Once recognizing weeds, the band brake apparatus on wheel embraces wheel
Extremely, weed-eradicating robot pause motion, then passes through weeding cutter traverse gear 5 and weeding cutter longitudinal driving device 5
Resultant motion control weeder 2 into every trade, the accurate of inter-row weed remove, the weeds after removing are crushed by reducing mechanism 3
And return soil.After completing weeds removal and crushing, weed-eradicating robot continues to move and carry out in real time navigation and weeds detect, and is
Next step weeding is prepared.
The paralell composition of the utility model weed-eradicating robot overall plan is as shown in Fig. 2, the utility model weeding machine
The weed identification functions of modules figure of people is as shown in figure 3, the navigation module functional diagram of weed-eradicating robot is as shown in Figure 4.
The weed-eradicating robot of the utility model carries out separating twice processing to the weeds after removing, exists after avoiding weeding
The secondary survival possibility of weeds, and the use of herbicide etc. can be greatly reduced, and the utility model largely introduce it is advanced
Intelligent testing technology, be a kind of green intelligent novel herbicidal machine people.
While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from the principle of the utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (6)
- A kind of 1. green intelligent weed-eradicating robot, it is characterised in that：Including carrier trolley (1), under carrier trolley (1) Weeder (2) and reducing mechanism (3) and vision inspection apparatus (4) and guider on carrier trolley (1), institute State weeder (2) under the driving of driving device can along carrier trolley (1) laterally, vertically move, the reducing mechanism (3) sets Put and one vision is respectively symmetrically installed in the rear of weeder (2), the front of the carrier trolley (1) and the left and right sides at rear Detection device (4).
- A kind of 2. green intelligent weed-eradicating robot according to claim 1, it is characterised in that：The driving device includes setting Put weeding cutter traverse gear (5) and weeding cutter longitudinal driving device (5) under carrier trolley (1), the weeding Device (2) is installed on weeding cutter traverse gear (5), and the weeder (2) is in weeding cutter traverse gear (5) and under the jointly controlling of weeding cutter longitudinal driving device (5) can along carrier trolley (1) laterally, vertically move.
- A kind of 3. green intelligent weed-eradicating robot according to claim 1 or 2, it is characterised in that：The vision-based detection dress Put (4), including image capture module, image transmission module and image processing module, described image acquisition module, which is used to gather, schemes Picture；Described image transport module, for the image information collected to be transferred to image processing module；Described image handles mould Block, for handling the image collected, so as to identify the weeds in field-crop.
- A kind of 4. green intelligent weed-eradicating robot according to claim 1 or 2, it is characterised in that：The carrier trolley (1) Wheel including car body and under car body, the wheel are equipped with band brake apparatus.
- A kind of 5. green intelligent weed-eradicating robot according to claim 4, it is characterised in that：The wheel using can on The elastic wheel of lower elastic telescopic.
- A kind of 6. green intelligent weed-eradicating robot according to claim 1 or 2, it is characterised in that：The carrier trolley (1) Top be equipped with solar panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721349569.4U CN207269304U (en) | 2017-10-17 | 2017-10-17 | A kind of green intelligent weed-eradicating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721349569.4U CN207269304U (en) | 2017-10-17 | 2017-10-17 | A kind of green intelligent weed-eradicating robot |
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| Publication Number | Publication Date |
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| CN207269304U true CN207269304U (en) | 2018-04-27 |
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| CN201721349569.4U Active CN207269304U (en) | 2017-10-17 | 2017-10-17 | A kind of green intelligent weed-eradicating robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107509399A (en) * | 2017-10-17 | 2017-12-26 | 中国科学院合肥物质科学研究院 | A kind of green intelligent weed-eradicating robot |
| CN109041602A (en) * | 2018-09-12 | 2018-12-21 | 芜湖县兰馨油桃种植专业合作社 | A kind of weeder of short plant plantation |
| TWI687154B (en) * | 2018-12-21 | 2020-03-11 | 陳殿樟 | Device for elimination of grass seeds on farm |
-
2017
- 2017-10-17 CN CN201721349569.4U patent/CN207269304U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107509399A (en) * | 2017-10-17 | 2017-12-26 | 中国科学院合肥物质科学研究院 | A kind of green intelligent weed-eradicating robot |
| CN109041602A (en) * | 2018-09-12 | 2018-12-21 | 芜湖县兰馨油桃种植专业合作社 | A kind of weeder of short plant plantation |
| TWI687154B (en) * | 2018-12-21 | 2020-03-11 | 陳殿樟 | Device for elimination of grass seeds on farm |
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