CN207644507U - A kind of intelligent weed-eradicating robot being applicable in complicated landform - Google Patents
A kind of intelligent weed-eradicating robot being applicable in complicated landform Download PDFInfo
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- CN207644507U CN207644507U CN201721334555.5U CN201721334555U CN207644507U CN 207644507 U CN207644507 U CN 207644507U CN 201721334555 U CN201721334555 U CN 201721334555U CN 207644507 U CN207644507 U CN 207644507U
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- weed
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- carrier trolley
- grinding device
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Abstract
The utility model belongs to intelligent weeding apparatus technical field, to solve the technical issues of existing weed-eradicating robot lacks the adaptability of the complicated landforms such as and puddles of water ground concave-convex to farmland, provide a kind of intelligent weed-eradicating robot being applicable in complicated landform, including carrier trolley, uprooting weed mechanical paw and grinding device under carrier trolley and the accumulator on carrier trolley and vision module, the carrier trolley includes car body and the crawler attachment positioned at the car body lower section left and right sides, the uprooting weed mechanical paw is arranged by lifting gear in the lower section of car body, the lifting gear can be moved all around under the drive of the drive, the grinding device is arranged at the rear of uprooting weed mechanical paw, the grinding device is controlled by grinding device control system.Efficient weeding work can be carried out in complicated landform using the utility model, while cterpillar drive increases machine and the unitary ground area on ground, reduces the damage to farmland ground.
Description
Technical field
The utility model belongs to intelligent weeding apparatus technical field, and in particular to a kind of intelligent weeding being applicable in complicated landform
Robot.
Background technology
In order to reduce herbicide dosage, environmental protection, intelligent herbicidal methods research has been carried out in the U.S., Europe etc. in succession.Closely
Year, China has also carried out the correlative study including weed-eradicating robot.Currently, although domestic intelligence weed-eradicating robot is in science
Quick development is obtained in boundary, technology is also increasingly mature.But existing weed-eradicating robot is only in relatively flat working environment
It is middle could efficient operation, lack the adaptability of the complicated landforms such as and puddles of water ground concave-convex to farmland, in reality in complicated landform
Weeds be substantially all manually to repair, artificial weeding not only increases the workload of labourer, and working efficiency is low.
Utility model content
The utility model is to solve existing weed-eradicating robot shortage to fit the complicated landforms such as farmland bumps and puddles of water ground
Should be able to power the technical issues of, provide a kind of intelligent weed-eradicating robot being applicable in complicated landform.
The technical solution adopted in the utility model is as follows：
A kind of intelligent weed-eradicating robot being applicable in complicated landform, including carrier trolley, the uprooting weed under carrier trolley
Mechanical paw and grinding device and the accumulator on carrier trolley and vision module, the carrier trolley includes car body
With the crawler attachment of the left and right sides below car body, the crawler attachment includes crawler belt, driving wheel and driven wheel, the active
Crawler belt power control box is installed, installation direction transmission system at the driven wheel, the direction transmission system is by direction at wheel
Control system controls, and the uprooting weed mechanical paw is arranged by lifting gear in the lower section of car body, and the lifting gear is driving
It can all around be moved under the driving of device, the grinding device is arranged in the rear of uprooting weed mechanical paw, the grinding device
It is controlled by grinding device control system.
The driving device includes the X-direction single-degree-of-freedom machine being arranged between two crawler attachments of left and right below car body
People and Y direction robot of single degree of freedom, the lifting gear is vertically provided on X-direction robot of single degree of freedom, described
Uprooting weed mechanical paw can be front and back left in the case where X-direction robot of single degree of freedom and Y direction robot of single degree of freedom jointly control
It moves right.
A vision module is respectively symmetrically installed in the front of the carrier trolley and the left and right sides at rear.
The top of the carrier trolley is equipped with solar panel, and the solar panel is connected with accumulator.
The front of the carrier trolley is equipped with lighting system.
The lower section of the grinding device, which is equipped with, crushes collecting box.
The beneficial effects of the utility model：
1. walking mechanism of the utility model by using crawler attachment as carrier trolley, due to the carrying of crawler attachment
Ability is big, earth-grasping force is strong, thus using crawler attachment as carrier trolley walking mechanism in complicated landform equally have it is good
Good traveling and pass through performance so that entire weed-eradicating robot can carry out efficient weeding work in complicated landform, simultaneously
Cterpillar drive increases machine and the unitary ground area on ground, reduces the damage to farmland ground.
2. the utility model is jointly controlled by X-direction robot of single degree of freedom and Y direction robot of single degree of freedom
Uprooting weed mechanical paw, which moves, to be realized in weeds row, accurate removing in the ranks.
3. the utility model realizes after-treatment and the receipts for the weeds pulled out by grinding device and crushing collecting box
Collection can become the fertilizer for nourishing soil by the weeds of after-treatment and collection, to play by certain processing technology
Environmentally protective effect.
4. the utility model enhances the continuous of the utility model by the way that solar panel is arranged in the top of carrier trolley
Boat ability so that the utility model can walk over long distances.
5. the utility model on carrier trolley by being arranged lighting system so that the utility model can be rather dark
Under conditions of carry out operation.
Description of the drawings
Fig. 1 is the structural schematic diagram one of the utility model；
Fig. 2 is the structural schematic diagram two of the utility model；
Fig. 3 is the structural schematic diagram three of the utility model；
In figure：1- car bodies, 2- vision modules, 3-Y axis direction robot of single degree of freedom, 4- crawler belts, 5-X axis directions list are free
Spend robot, 6- lifting gears, 7- uprooting weed mechanical paws, 8- grinding devices, 9- crawler belt power control boxes, 10- driving wheels, 11-
Crushing collecting box, 12- driven wheels, the directions 13- transmission system, 14- solar panels, 15- lighting systems, 16- accumulators,
17- heading control loops.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
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 embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
As shown in Figure 1, 2, 3, a kind of intelligent weed-eradicating robot being applicable in complicated landform, including carrier trolley, be mounted on carry
Uprooting weed mechanical paw 7 and grinding device 8 under body trolley and the accumulator 16 on carrier trolley and vision module 2,
The carrier trolley includes car body 1 and the crawler attachment positioned at the lower section of car body 1 left and right sides, the crawler attachment include crawler belt 4,
Driving wheel 10 and driven wheel 12 are equipped with crawler belt power control box 9 at the driving wheel 10, and crawler belt power control box 9 is by carrying
Driving wheel 10 is driven to be rotated for enough power, to drive crawler belt 4 to move, installation direction passes at the driven wheel 12
Dynamic system 13, the direction transmission system 13 are controlled by heading control loop 17, and the uprooting weed mechanical paw 7 passes through lifting gear
6 are arranged in the lower section of car body 1, and the lifting gear 6 is driven by driving device, and the driving device includes being arranged under car body 1
X-direction robot of single degree of freedom 5 between two crawler attachments of side left and right and Y direction robot of single degree of freedom 3, the lifting
Device 6 is vertically provided on X-direction robot of single degree of freedom 5, and the lifting gear 6 drives uprooting weed mechanical paw 7 in X-axis side
It can all around be moved under jointly controlling to robot of single degree of freedom 5 and Y direction robot of single degree of freedom 3, the extirpator
Battery module is contained in the inside of tool paw 7, and the battery module is powered by accumulator 16, and the setting of the grinding device 8 exists
The rear of uprooting weed mechanical paw 7, the grinding device 8 are controlled by 8 control system of grinding device, the lower section of the grinding device 8
Equipped with collecting box 11 is crushed, a vision module 2, institute are respectively symmetrically installed in the front of the carrier trolley and the left and right sides at rear
State vision module 2 independently selects suitable mounting height and angle, the accumulator 16 to be used for according to field real-time geographic situation
All components that need to be powered in the utility model are powered.
2 one side of vision module in the utility model is used for acquiring comprising crops, the area image of weeds and navigation
Information in the ranks, row inner region area image, so that plant and weeds be accurately distinguished out, on the other hand, four symmetrical visions
The closed loop feedback signal of module 2 is passed to heading control loop 17, to two crawler belts 4 of adjusting of control direction transmission system 13
Speed is turned.
The top of the carrier trolley be equipped with solar panel 14, the solar panel 14 can according to light into
Row self-steering to obtain the luminous energy of maximum area, the solar panel 14 be connected with accumulator 16 to weed-eradicating robot into
The row energy is supported.The utility model enhances the utility model by the way that solar panel 14 is arranged in the top of carrier trolley
Cruising ability so that can walk over long distances when the utility model at work, while have the advantages that environment protecting and power-saving.
It is additionally provided with lighting system 15 in front of the carrier trolley, allows intelligent weed-eradicating robot in rather dark item
Operation is carried out under part.Simultaneously by the combined use of lighting system 15 and vision module 2, the condition of production of crop can be carried out
Real time monitoring.
The operation principle and the course of work of the utility model：It includes agriculture that the utility model is acquired respectively using vision module 2
Crop, the area image of weeds and navigation information in the ranks, row inner region area image, utilize conspicuousness detection algorithm to eliminate background shadow
It rings, the characteristic information of crop and weeds is recovered using binocular solid algorithm, is distinguished plant and weeds with this, be weeding
Robot provides the location information of weeds；Then lifting gear 6 drives uprooting weed mechanical paw 7 to drop to satisfactory position,
Jointly control uprooting weed mechanical paw 7 by X-direction robot of single degree of freedom 5 and Y direction robot of single degree of freedom 3 later to transport
It is dynamic carry out in weeds row, accurate removing in the ranks, while by the weeds pulled out by grinding device 8 and crush collecting box 11 into
Row after-treatment and collection.It can become to nourish soil by certain processing technology by the weeds of after-treatment and collection
Fertilizer, to play environmentally protective effect.
The intelligent weed-eradicating robot of the utility model can be adapted for the weeds processing of complicated landform, while have high precision
Degree and efficient advantage.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case where not departing from the principles of the present invention 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)
1. a kind of intelligent weed-eradicating robot being applicable in complicated landform, it is characterised in that：Including carrier trolley, it is mounted on carrier trolley
Under uprooting weed mechanical paw (7) and grinding device (8) and the accumulator (16) on carrier trolley and vision module
(2), the carrier trolley includes car body (1) and the crawler attachment positioned at car body (1) the lower section left and right sides, the crawler attachment packet
Crawler belt (4), driving wheel (10) and driven wheel (12) are included, crawler belt power control box (9) is installed at the driving wheel (10), it is described
Installation direction transmission system (13) at driven wheel (12), the direction transmission system (13) are controlled by heading control loop (17),
The uprooting weed mechanical paw (7) is arranged by lifting gear (6) in the lower section of car body (1), and the lifting gear (6) fills in driving
It can all around be moved under the driving set, the grinding device (8) is arranged in the rear of uprooting weed mechanical paw (7), the crushing
Device (8) is controlled by grinding device (8) control system.
2. a kind of intelligent weed-eradicating robot being applicable in complicated landform according to claim 1, it is characterised in that：The driving
Device includes X-direction robot of single degree of freedom (5) and Y-axis side of the setting between two crawler attachments of left and right below car body (1)
To robot of single degree of freedom (3), the lifting gear (6) is vertically provided on X-direction robot of single degree of freedom (5), described
Uprooting weed mechanical paw (7) is in the case where X-direction robot of single degree of freedom (5) and Y direction robot of single degree of freedom (3) jointly control
It can all around move.
3. a kind of intelligent weed-eradicating robot being applicable in complicated landform according to claim 1 or 2, it is characterised in that：It is described
A vision module (2) is respectively symmetrically installed in the front of carrier trolley and the left and right sides at rear.
4. a kind of intelligent weed-eradicating robot being applicable in complicated landform according to claim 1 or 2, it is characterised in that：It is described
The top of carrier trolley is equipped with solar panel (14), and the solar panel (14) is connected with accumulator (16).
5. a kind of intelligent weed-eradicating robot being applicable in complicated landform according to claim 1 or 2, it is characterised in that：It is described
The front of carrier trolley is equipped with lighting system (15).
6. a kind of intelligent weed-eradicating robot being applicable in complicated landform according to claim 1 or 2, it is characterised in that：It is described
The lower section of grinding device (8), which is equipped with, crushes collecting box (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721334555.5U CN207644507U (en) | 2017-10-17 | 2017-10-17 | A kind of intelligent weed-eradicating robot being applicable in complicated landform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721334555.5U CN207644507U (en) | 2017-10-17 | 2017-10-17 | A kind of intelligent weed-eradicating robot being applicable in complicated landform |
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| Publication Number | Publication Date |
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| CN207644507U true CN207644507U (en) | 2018-07-24 |
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| CN201721334555.5U Active CN207644507U (en) | 2017-10-17 | 2017-10-17 | A kind of intelligent weed-eradicating robot being applicable in complicated landform |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600202A (en) * | 2017-10-17 | 2018-01-19 | 中国科学院合肥物质科学研究院 | A kind of intelligent weed-eradicating robot for being applicable complicated landform |
| CN109006783A (en) * | 2018-08-01 | 2018-12-18 | 牛贞伟 | A kind of WEEDING DEVICE, farmland intelligence uprooting weed robot |
| CN109533492A (en) * | 2019-01-07 | 2019-03-29 | 桂林电子科技大学 | A kind of intelligent cereal bagging device and method based on binocular vision |
-
2017
- 2017-10-17 CN CN201721334555.5U patent/CN207644507U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600202A (en) * | 2017-10-17 | 2018-01-19 | 中国科学院合肥物质科学研究院 | A kind of intelligent weed-eradicating robot for being applicable complicated landform |
| CN109006783A (en) * | 2018-08-01 | 2018-12-18 | 牛贞伟 | A kind of WEEDING DEVICE, farmland intelligence uprooting weed robot |
| CN109533492A (en) * | 2019-01-07 | 2019-03-29 | 桂林电子科技大学 | A kind of intelligent cereal bagging device and method based on binocular vision |
| CN109533492B (en) * | 2019-01-07 | 2024-01-12 | 桂林电子科技大学 | Intelligent grain bagging device and method based on binocular vision |
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