CN210538435U - Air bag type weeding robot and system - Google Patents
Air bag type weeding robot and system Download PDFInfo
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- CN210538435U CN210538435U CN201921159296.6U CN201921159296U CN210538435U CN 210538435 U CN210538435 U CN 210538435U CN 201921159296 U CN201921159296 U CN 201921159296U CN 210538435 U CN210538435 U CN 210538435U
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Abstract
The utility model provides an air bag type weeding robot and system relates to weeding technical field. The robot comprises a vehicle body, a mechanical hand, a camera assembly, an air pump and a controller. The vehicle body is moved by the track assembly. The manipulator includes the cloud platform, articulates in the arm of cloud platform and installs the gripper on the arm, and the gripper can be close to each other or keep away from, and installs the gasbag on the arm lock of gripper. The camera assembly is located above the gripper. The air pump is communicated with the air bag through an air duct, and an electromagnetic directional valve for controlling the air pump to inflate and deflate is arranged on the air duct. The controller is respectively and electrically connected with the vehicle body, the electromagnetic directional valve, the manipulator and the camera assembly. The weeding robot is small in size and convenient to operate, friction force between the mechanical claw and weeds can be increased through the air bag on the mechanical claw, the weeds can be pulled out at one time, and weeding precision and efficiency are improved.
Description
Technical Field
The utility model relates to a weeding technical field particularly, relates to an air bag type weeding robot and system.
Background
In the agricultural and horticultural industries, the growth of weeds can severely affect the growth of crops or landscape plants. The existing weeding modes mainly comprise artificial weeding, mechanical weeding and chemical weeding. The manual weeding mode needs more labor force and large workload, and is not suitable for large-batch weeding. The chemical weeding mode mainly adopts herbicide spraying to weed, and the mode easily causes secondary pollution to the environment and herbicide residue on crops to cause health risks. The existing mechanical weeding robot usually adopts a mode of cutting off weeds to weed, the roots of the cut-off weeds still exist, the weeds are easy to continue to root and sprout, and the weeding effect is poor.
SUMMERY OF THE UTILITY MODEL
The utility model provides a gasbag formula weeding robot and system aims at improving the poor problem of weeding effect of weeding robot.
The utility model discloses a realize like this:
a gas bag type weeding robot comprising:
the vehicle body comprises a chassis, crawler assemblies respectively arranged on two sides of the chassis and a driving motor for driving the crawler assemblies to move;
the manipulator comprises a cradle head arranged on the chassis, a mechanical arm hinged to the cradle head and a mechanical claw arranged at the free end of the mechanical arm, wherein the mechanical claw is provided with a first clamping arm and a second clamping arm which can be close to or far away from each other, and air bags are arranged on the first clamping arm and the second clamping arm;
the camera assembly is arranged at one end, close to the mechanical claw, of the mechanical arm, is positioned above the mechanical claw and comprises a mounting bracket hinged with the mechanical arm and a camera module fixed on the mounting bracket;
the air pump is arranged on the chassis and communicated with the air bags on the first clamping arm and the second clamping arm through air guide pipes, and the air guide pipes are provided with electromagnetic directional valves for controlling the air pump to inflate and deflate;
and the controller is respectively electrically connected with the driving motor, the electromagnetic directional valve, the manipulator and the camera assembly.
Further, in the preferred embodiment of the present invention, the mechanical arm includes a first swing arm, a second swing arm and a third swing arm hinged in sequence, the first swing arm is connected to the pan/tilt head through a first steering engine, the first steering engine drives the first swing arm to rotate, the second swing arm is provided with and drives a second steering engine rotating the second swing arm, the third swing arm is provided with a third steering engine driving the third swing arm to rotate
Further, in the preferred embodiment of the present invention, the track assembly includes a track, and an active wheel and a driven wheel both disposed inside the track, wherein the active wheel is connected to the driving motor, and the driven wheel is used for tensioning the track.
Further, in the preferred embodiment of the present invention, the air bags in the first and second clamp arms are provided with air pressure sensors.
Further, in the preferred embodiment of the present invention, the chassis is further provided with a gray sensor, and the gray sensor is electrically connected to the controller.
Further, in the preferred embodiment of the present invention, the chassis is further provided with a temperature and humidity sensor, and the temperature and humidity sensor is electrically connected to the controller.
Further, in the preferred embodiment of the present invention, the first arm lock and the second arm lock are installed through the mounting plate on the mechanical arm, the first arm lock is close to one end of the mechanical arm is provided with a first gear, the second arm lock is close to one end of the mechanical arm is provided with a second gear engaged with the first gear, and the first gear is provided with a fifth steering gear for driving the first gear to rotate.
Further, in the preferred embodiment of the present invention, the first arm lock and the second arm lock are kept away from one end of the mechanical arm is provided with an arc-shaped guide block, two arc-shaped guide blocks are symmetrically arranged, and the airbag is installed on the two side walls opposite to the arc-shaped guide blocks.
Further, in the preferred embodiment of the present invention, the chassis includes an upper chassis and a lower chassis which are sequentially arranged from top to bottom, the air pump and the holder are disposed on the upper chassis, and the controller is disposed on the lower chassis.
The utility model also provides a gasbag formula weeding robot system, including foretell gasbag formula weeding robot and user terminal, gasbag formula weeding robot with user terminal wireless connection.
The utility model has the advantages that:
the utility model discloses a weeding robot that above-mentioned design obtained, during the use, the track subassembly through the automobile body drives the automobile body and gos forward, and convenient operation can be suitable for various topography. When weeding, through gripper centre gripping weeds, the gasbag on the control air pump is to the gripper is aerifyd for the gripper can better centre gripping weeds, makes the weeds root system be extracted out completely when extracting weeds, realizes once only weeding, improves weeding robot's work efficiency and work accuracy.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural view of a gas-bag type weeding robot according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of the gripper of FIG. 1;
FIG. 3 is a schematic illustration of the gripper of FIG. 1 for weeding;
fig. 4 is a control block diagram of a gas-bag type weeding robot according to embodiment 1 of the present invention.
Icon: a vehicle body 10; a chassis 11; an upper chassis 11 a; a lower chassis 11 b; a track assembly 12; a crawler belt 14; a driving wheel 15; a driven wheel 16; a drive motor 13; a manipulator 20; a pan/tilt head 21; a robot arm 22; a first radial arm 22 a; a second radial arm 22 b; a third radial arm 22 c; a gripper 23; a first clamp arm 24; a second clamp arm 25; an air bag 26; an air pressure sensor 27; a mounting plate 28; an arc-shaped guide block 29; a camera assembly 30; a mounting bracket 31; a camera module 32; an air pump 40; an air duct 41; the electromagnetic directional valve 42; a controller 50; a first steering engine 61; a second steering engine 62; a third steering engine 63; and a fifth steering engine 65.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Example 1
Referring to fig. 1 to 4, the present embodiment provides a gas bag type weeding robot 1 including a vehicle body 10, a robot arm 20, a camera assembly 30, an air pump 40, and a controller 50.
The vehicle body 10 includes a chassis 11, track assemblies 12 respectively mounted on both sides of the chassis 11, and a driving motor 13 for driving the track assemblies 12 to move. The driving motor 13 drives the track assembly 12 to move, and the whole vehicle body 10 is driven to move. Adopt crawler-type motion for gasbag formula weeding robot 100 can adapt to multiple topography, is applicable to different operational environment, and application range is wider.
Further, in the preferred embodiment, track assembly 12 includes a track 14, and a drive wheel 15 and a driven wheel 16 disposed inside track 14, drive wheel 15 being coupled to drive motor 13, and driven wheel 16 for tensioning track 14. More preferably, 4-6 driven wheels 16 are arranged on the crawler belt assemblies 12 on the two sides of the vehicle body, so that the stability of the movement process is further ensured. The output shaft of the driving motor 13 is connected with the driving wheel 15 to drive the driving wheel 15 to rotate.
Further, in the preferred embodiment, the chassis 11 includes an upper chassis 11a, a lower chassis 11b, and side plates 17 disposed on opposite sides of the upper and lower chassis 11a, 11 b. The driving motor 13 is fixed to the side plate 17, and for example, the driving motor 13 is fixed to the side plate 17 by screws. In one embodiment, the upper chassis 11a, the lower chassis 11b and the side plates 17 are a unitary structure.
Further, a certain gap is formed between the upper chassis 11a and the lower chassis 11b, and an object placing space is formed between the upper chassis 11a and the lower chassis 11b, so that other devices can be conveniently installed or articles can be conveniently placed.
The manipulator 20 comprises a pan-tilt 21 mounted on the chassis 11, a robot arm 22 hinged to the pan-tilt 21, and a gripper 23 mounted at a free end of the robot arm 22.
Further, in the preferred embodiment, a pan/tilt head 21 is fixed to the upper surface of the upper chassis 11a to provide support for the robot arm 22. In this embodiment, the cradle head 21 is an electric cradle head.
Further preferably, the robotic arm 22 includes a first radial arm 22a, a second radial arm 22b and a third radial arm 22c, which are articulated in sequence. The first swing arm 22a is connected to the pan/tilt head 21 through a first steering gear 61. First steering wheel 61 sets up on cloud platform 21, and cloud platform 21 drive first steering wheel 61 rotates around vertical axle. The output end of the first steering engine 61 is connected with the first radial arm 22a, and drives the first radial arm 22a to rotate around the horizontal shaft. The second swing arm 22b is hinged to one end, far away from the pan-tilt head 21, of the first swing arm 22a, a second steering engine 62 is arranged at the hinged position of the first swing arm and the second swing arm, and the second steering engine 62 drives the second swing arm 22b to rotate around the first swing arm 22 a. The third radial arm 22c is hinged to one end, far away from the first radial arm 22a, of the second radial arm 22b, a third steering engine 63 is arranged at the hinged position of the third radial arm 22c and the first radial arm 22a, and the third steering engine 63 drives the third radial arm 22c to rotate around the second radial arm 22 b. The three sections of spiral arms are controlled to rotate through the three steering engines, so that the mechanical arm 22 can realize bending or stretching movement similar to human joints, the mechanical claw 23 is convenient to control to be close to or far away from a target object to be constructed, the action is flexible, and the operation is convenient.
The gripper 23 has a first gripper arm 24 and a second gripper arm 25 that can move toward and away from each other, and an air bag 26 is mounted on each of the first gripper arm 24 and the second gripper arm 25. Through set up gasbag 26 on two arm lock for when centre gripping weeds, can improve the arm lock and pull out weeds to weeds clamping-force, pull out weeds more easily.
Further, in the preferred embodiment, air pressure sensors 27 are disposed on the air bags 26 of the first clamping arm 24 and the second clamping arm 25. The air pressure sensor 27 detects the air pressure value of the air bag 26, and the air inflation amount of the air bag 26 is controlled by the air pressure sensor 27.
Further, in the preferred embodiment, the first and second clamp arms 24 and 25 are mounted to the ends of the robotic arm 22 by mounting plates 28. The mounting plate 28 is used to connect the gripper 23 and the robot arm 22. One end of the first clamping arm 24 close to the mechanical arm 22 is provided with a first gear 24a, one end of the second clamping arm 25 close to the mechanical arm 22 is provided with a second gear 25a meshed with the first gear 24a, and the first gear 24a is provided with a fifth steering engine 65 for driving the first gear 24a to rotate. The first clamping arm 24 and the second clamping arm 25 are controlled to be opened or closed by the forward rotation or the reverse rotation of the fifth steering engine 65. For example, the fifth steering engine 65 is controlled to rotate forward to make the first clamping arm 24 and the second clamping arm 25 approach each other to clamp weeds, and the fifth steering engine 65 is controlled to rotate backward to make the first clamping arm 24 and the second clamping arm 25 away from each other to release weeds.
It should be noted that, in other embodiments of the present invention, other gripper structures that can be close to or away from each other may also be adopted, and the gripper structure that can hold an article is the prior art, and is not described herein again.
Further, in the preferred embodiment, the ends of the first clamping arm 24 and the second clamping arm 25 away from the mechanical arm 22 are provided with an arc-shaped guide block 29, the two arc-shaped guide blocks 29 are symmetrically arranged, and the air bag 26 is mounted on the side wall of the two arc-shaped guide blocks 29 at the opposite positions. The two arc-shaped guide blocks 29 are symmetrically arranged to enclose a substantially elliptical holding space in which the two air bags 26 are installed. The size of the clamping space is controlled by controlling the inflation quantity of the air bag 26, so that different weeds can be clamped.
Preferably, the outer wall of the arc-shaped guide block 29 is sleeved with a protective sleeve, and the protective sleeve is made of rubber or silica gel. The protective sleeve can reduce abrasion and is convenient to replace and maintain.
It should be noted that the air bag 26 is fixedly connected to the arc-shaped guide block 29 by a fixing method such as adhesion, and in other embodiments, the air bag 26 may be fixed by a binding band, but is not limited thereto.
The camera assembly 30 is mounted at one end of the mechanical arm 22 close to the gripper 23, is located above the gripper 23, and includes a mounting bracket 31 fixed to the fifth steering engine 65 and a camera module 32 fixed to the mounting bracket 31. Preferably, the camera module 32 is an OpenMV smart camera.
The air pump 40 is mounted on the chassis 10 and is communicated with the air bags 26 on the first clamping arm 24 and the second clamping arm 25 through an air duct 41, and an electromagnetic directional valve 42 for controlling the air pump 40 to inflate and deflate is arranged on the air duct 41. Further, the air pump 40 is mounted on the upper surface of the upper chassis 11a and disposed at a rear position of the pan/tilt head 21, so as to avoid interference with the movement of the robot arm 22.
The controller 50 is electrically connected to the driving motor 13, the electromagnetic directional valve 42, the robot 20, and the camera assembly 30, respectively. Namely, the controller controls the movement of the vehicle body 10 by controlling the driving motor 13, and the controller 50 controls the inflation and deflation of the air bag 26 by controlling the electromagnetic directional valve 42; the controller 50 controls the movement of the manipulator 20 by controlling a first steering engine 61, a second steering engine 62, a third steering engine 63 and a fifth steering engine 65; the controller 50 controls the image taken by the camera assembly 30 by controlling the camera module 32.
Further, the controller 50 is arranged on the upper surface of the lower chassis 11b, the controller is preferably a single chip microcomputer, and the model of the single chip microcomputer is preferably STM32F407ZGT 6.
It should be noted that, it is the conventional technology that uses single chip microcomputer control driving motor, steering wheel etc. to be current, for example patrol and examine robot etc. among the prior art, and the repeated description is not repeated here, and the technical scheme of this application does not relate to the improvement and the protection to the computer program.
Further, in the preferred embodiment, a gray sensor 70 is disposed on the chassis 11, and the gray sensor 70 is electrically connected to the controller 50. Preferably, two grayscale sensors 70 are disposed in parallel at the middle of the lower surface of the lower chassis 11 b. The gray sensor 70 is used to detect a patrol path of the airbag type robot.
Further, a temperature and humidity sensor 80 is further disposed on the chassis 11, and the temperature and humidity sensor 80 is electrically connected to the controller 50.
The working process of the air bag type weeding robot of the embodiment is as follows:
the grayscale sensor 70 transmits the detected path signal to the controller 50, and the controller 50 controls the movement of the vehicle body 10. Meanwhile, the camera assembly 30 takes a real-time image and processes the image, when weeds are identified and the weeds are waited to enter the center of the visual field, the camera assembly 32 sends a stop signal to the controller 50, and the controller 50 controls the robot to stop moving through the driving motor 13. The controller 50 then controls a plurality of steering gears to move so that the mechanical arm 22 clamps weeds at a fixed distance. The weeds are gripped by closing the first and second grip arms 24 and 25, and then the mechanical arm 22 is moved to pull out the weeds. When grass is clamped, the controller 50 controls the air pump 40 to inflate the air bag 26, after the air pressure sensor 27 on the air bag 26 detects certain pressure, a signal is sent back to the controller 50, the controller 50 controls the air pump 40 to stop inflating the air bag 26, and therefore friction force brought by the air bag 26 can clamp the grass more tightly during grass clamping, one-time weeding is achieved, and working efficiency of the weeding robot is improved. After the grass clamping is finished, the controller 50 controls the air bag 26 to deflate, releases the first clamping arm 24 and the second clamping arm 25, releases the pulled weeds, and realizes the pulling of the weeds. And continuously controlling the weeding robot to remove the next weed. In addition, the temperature and humidity sensor collects temperature and humidity information in the field in real time to the controller 50 when the weeding robot works.
Example 2
The present embodiment provides an air-bag weeding robot system including the air-bag weeding robot 100 of embodiment 1 and a user terminal connected to the air-bag weeding robot 100. In this embodiment, the air bag type weeding robot 100 and the controller 50 are connected by a wireless module, a wireless transmission module is installed on the controller 50, a wireless receiving module is installed on the user terminal, and communication between the user terminal and the controller 50 is realized by a wireless transmission mode. In this embodiment, the user terminal is a mobile phone, and the control is realized by installing corresponding software on the mobile phone. The user terminal can display the moving direction of the air bag type weeding robot 100, the collected temperature and humidity data and the like.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A gas bag type weeding robot, comprising:
the vehicle body comprises a chassis, crawler assemblies respectively arranged on two sides of the chassis and a driving motor for driving the crawler assemblies to move;
the manipulator comprises a cradle head arranged on the chassis, a mechanical arm hinged to the cradle head and a mechanical claw arranged at the free end of the mechanical arm, wherein the mechanical claw is provided with a first clamping arm and a second clamping arm which can be close to or far away from each other, and air bags are arranged on the first clamping arm and the second clamping arm;
the camera assembly is arranged at one end, close to the mechanical claw, of the mechanical arm, is positioned above the mechanical claw and comprises a mounting bracket hinged with the mechanical arm and a camera module fixed on the mounting bracket;
the air pump is arranged on the chassis and communicated with the air bags on the first clamping arm and the second clamping arm through air guide pipes, and the air guide pipes are provided with electromagnetic directional valves for controlling the air pump to inflate and deflate;
and the controller is respectively electrically connected with the driving motor, the electromagnetic directional valve, the manipulator and the camera assembly.
2. The air bag type weeding robot according to claim 1, wherein the mechanical arm comprises a first spiral arm, a second spiral arm and a third spiral arm which are sequentially hinged, the first spiral arm is connected with the holder through a first steering engine, the first steering engine drives the first spiral arm to rotate, a second steering engine used for driving the second spiral arm to rotate is arranged on the second spiral arm, and a third steering engine used for driving the third spiral arm to rotate is arranged on the third spiral arm.
3. A gas-bag weeding robot as claimed in claim 1, wherein the track assembly includes a track, and a driving wheel and a driven wheel provided inside the track, the driving wheel being connected to the driving motor, and the driven wheel being used to tension the track.
4. A gas-bag type weeding robot as claimed in claim 1, wherein the gas bags on the first and second clamp arms are each provided with a gas pressure sensor thereon.
5. A gas-bag weeding robot as claimed in claim 1, wherein a grayscale sensor is further provided on the chassis, and the grayscale sensor is electrically connected to the controller.
6. The air bag type weeding robot of claim 1, wherein a temperature and humidity sensor is further arranged on the chassis, and the temperature and humidity sensor is electrically connected with the controller.
7. The air bag type weeding robot according to claim 1, wherein the first clamping arm and the second clamping arm are mounted on the mechanical arm through mounting plates, a first gear is arranged at one end, close to the mechanical arm, of the first clamping arm, a second gear meshed with the first gear is arranged at one end, close to the mechanical arm, of the second clamping arm, and a fifth steering engine used for driving the first gear to rotate is arranged on the first gear.
8. A gas bag type weeding robot as claimed in claim 7, wherein an arc-shaped guide block is arranged at each end of the first clamping arm and the second clamping arm away from the mechanical arm, the two arc-shaped guide blocks are symmetrically arranged, and the gas bags are mounted on the side walls of the two arc-shaped guide blocks, which are opposite to each other.
9. The air bag type weeding robot of claim 1, wherein the chassis comprises an upper chassis and a lower chassis which are arranged in sequence from top to bottom, the air pump and the holder are arranged on the upper chassis, and the controller is arranged on the lower chassis.
10. A gas-bag weeding robot system comprising the gas-bag weeding robot according to any one of claims 1 to 9 and a user terminal, wherein the gas-bag weeding robot and the user terminal are wirelessly connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921159296.6U CN210538435U (en) | 2019-07-23 | 2019-07-23 | Air bag type weeding robot and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921159296.6U CN210538435U (en) | 2019-07-23 | 2019-07-23 | Air bag type weeding robot and system |
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| CN210538435U true CN210538435U (en) | 2020-05-19 |
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| CN201921159296.6U Active CN210538435U (en) | 2019-07-23 | 2019-07-23 | Air bag type weeding robot and system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112136381A (en) * | 2020-09-29 | 2020-12-29 | 郑州轻工业大学 | Weeding robot for corn field and control system of weeding robot |
| CN112276896A (en) * | 2020-09-14 | 2021-01-29 | 安徽广祺智能电器股份有限公司 | Electric power remote centralized control system |
| CN112544204A (en) * | 2020-12-03 | 2021-03-26 | 武汉理工大学 | Weeding robot based on RISC-V embedded processor and control method |
| CN112692831A (en) * | 2020-12-24 | 2021-04-23 | 深圳市亚博智能科技有限公司 | Mechanical arm control system and mechanical arm |
| CN113100217A (en) * | 2021-03-12 | 2021-07-13 | 华南理工大学 | Auxiliary mechanism suitable for paddy field treading type weeding |
| CN114009418A (en) * | 2021-12-08 | 2022-02-08 | 昆明理工大学 | Crawler-type multifunctional weeding robot |
| CN114698624A (en) * | 2022-04-27 | 2022-07-05 | 中垦种业股份有限公司 | Efficient weeding method for paddy field |
| CN116724982A (en) * | 2023-08-15 | 2023-09-12 | 忻州市农业产业发展中心 | Automatic weeding and pesticide spraying equipment for animal husbandry |
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2019
- 2019-07-23 CN CN201921159296.6U patent/CN210538435U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276896A (en) * | 2020-09-14 | 2021-01-29 | 安徽广祺智能电器股份有限公司 | Electric power remote centralized control system |
| CN112136381A (en) * | 2020-09-29 | 2020-12-29 | 郑州轻工业大学 | Weeding robot for corn field and control system of weeding robot |
| CN112544204A (en) * | 2020-12-03 | 2021-03-26 | 武汉理工大学 | Weeding robot based on RISC-V embedded processor and control method |
| CN112692831A (en) * | 2020-12-24 | 2021-04-23 | 深圳市亚博智能科技有限公司 | Mechanical arm control system and mechanical arm |
| CN113100217A (en) * | 2021-03-12 | 2021-07-13 | 华南理工大学 | Auxiliary mechanism suitable for paddy field treading type weeding |
| CN113100217B (en) * | 2021-03-12 | 2022-05-24 | 华南理工大学 | Auxiliary mechanism suitable for paddy field treading type weeding |
| CN114009418A (en) * | 2021-12-08 | 2022-02-08 | 昆明理工大学 | Crawler-type multifunctional weeding robot |
| CN114698624A (en) * | 2022-04-27 | 2022-07-05 | 中垦种业股份有限公司 | Efficient weeding method for paddy field |
| CN114698624B (en) * | 2022-04-27 | 2023-05-16 | 中垦种业股份有限公司 | Efficient weeding method for paddy field |
| CN116724982A (en) * | 2023-08-15 | 2023-09-12 | 忻州市农业产业发展中心 | Automatic weeding and pesticide spraying equipment for animal husbandry |
| CN116724982B (en) * | 2023-08-15 | 2023-10-24 | 忻州市农业产业发展中心 | Automatic weeding and pesticide spraying equipment for animal husbandry |
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