CN-121970548-A - Double-screw driving and fluid disturbance type paddy field weeding robot and automatic cruising weeding method

CN121970548ACN 121970548 ACN121970548 ACN 121970548ACN-121970548-A

Abstract

The invention discloses a double-screw driving and fluid disturbance type paddy field weeding robot and an automatic cruising weeding method, wherein the robot comprises a screw driving wheel mechanism, a transmission mechanism, a supporting frame, a sealed control cabin and a control system; the spiral driving wheel mechanism comprises two spiral driving wheels which are arranged in parallel, the spiral driving wheels are symmetrically arranged at the bottom of the supporting frame along a central shaft, the transmission mechanism is arranged on the two spiral driving wheels and used for realizing power transmission between the driving motor and a main shaft of the spiral driving wheels, the supporting frame is used for providing integral bearing and structural support for the spiral driving wheel mechanism and the sealed control cabin, and the control system is used for controlling the motor to drive and drive the spiral driving mechanism to rotate. According to the invention, the axial propelling force and the radial disturbance flow field are generated in the muddy water environment through the double spiral driving wheels, so that the synergistic effect of the hydrodynamic disturbance of the slurry and the damage of the root systems of weeds is formed, and the efficient physical weeding is realized under the condition of no chemical agent.

Inventors

HE JIE
XIE JIASHENG
HU LIAN
WANG PEI
LUO JIALONG
Ning Jintai
LIN HAN
DENG YUFEI
ZHAO RUNMAO

Assignees

华南农业大学

Dates

Publication Date: 20260505
Application Date: 20260112

Claims (10)

1. The double-screw driving and fluid disturbance type paddy field weeding robot is characterized by comprising a screw driving wheel mechanism, a transmission mechanism, a supporting frame, a sealing control cabin and a control system; The spiral driving wheel mechanism comprises two spiral driving wheels which are arranged in parallel, and the spiral driving wheels are symmetrically arranged at the bottom of the supporting frame along a central shaft; The transmission mechanism is arranged on the two spiral driving wheels and is used for realizing power transmission between the driving motor and the main shaft of the spiral driving wheels and driving the spiral driving wheels to rotate relative to the supporting frame; The support frame is used for providing integral bearing and structural support for the spiral wheel driving wheel mechanism and the sealed control cabin; the sealed control cabin is fixedly arranged at the top of the support frame; And the control system is used for controlling the transmission mechanism to drive the spiral wheel driving mechanism to rotate and is arranged in the sealed control cabin.
2. The double-screw driving and fluid-disturbance type paddy field weeding robot according to claim 1, wherein the screw driving wheel mechanism comprises a left screw driving wheel and a right screw driving wheel, which are installed on the support frame in parallel, wherein the central axes of the two screw driving wheels are parallel to each other, and the set distance is maintained to adapt to paddy field operation traveling paths with different widths; The spiral driving wheels are all provided with continuous spiral blades, wherein the left spiral driving wheel is a left-hand rotation spiral blade, the left-hand rotation spiral blade is arranged in a anticlockwise rotation direction along the axial direction, the right spiral driving wheel is a right-hand rotation spiral blade, and the right-hand rotation spiral blade is arranged in a clockwise rotation direction along the axial direction.
3. The double-screw drive and fluid disturbance type paddy field weeding robot according to claim 1, wherein the support frame comprises a U-shaped frame, a truss, a front bearing support member and a rear bearing support member; the number of the U-shaped frames is two, and the U-shaped frames are symmetrically arranged along the center, and the front end and the rear end of each U-shaped frame are respectively provided with a front bearing support piece and a rear bearing support piece; The number of the trusses is four, and the two U-shaped frames are transversely connected and reinforced through the four trusses which are distributed in a bilateral symmetry mode, so that the overall strength of the frame is improved, and the stability of the robot in a soft mud environment is enhanced.
4. A double-screw driving and fluid disturbance type paddy field weeding robot according to claim 3, wherein the transmission mechanism comprises a driven shaft, a driving shaft, a rolling bearing, a locking end cover and a driving motor; The number of the driven shafts and the driving shafts is four, and the driven shafts and the driving shafts are respectively provided with one rolling bearing which is fixed in the front bearing support piece and the rear bearing support piece through a clamping ring; the number of the driving motors is two, and the driving motors are respectively fixed on the two rear bearing support pieces through bolts; The number of the locking end covers is two, and the spiral wheel driving mechanism is axially fixed in the front bearing support piece and the rear bearing support piece through bolts.
5. The double-screw driving and fluid disturbance type paddy field weeding robot according to claim 1, wherein the sealed control cabin comprises a cabin body, a sealing ring, a sealing cover and a waterproof joint; the cabin body is fixedly arranged at the top of the supporting frame, the sealing cover is arranged at the top of the cabin body, the sealing ring is arranged between the cabin body and the sealing cover, the number of the waterproof joints is two, and the two waterproof joints are respectively arranged on the side plates of the cabin body.
6. The double-screw driving and fluid disturbance type paddy field weeding robot according to claim 5, further comprising a GPS navigation module and a camera cradle head, wherein the GPS navigation module is connected with the control system through CAN communication; The camera cradle head is arranged on the top surface of the sealing cover, is integrally connected with the robot control system, is provided with a 4G wireless communication module, and transmits image data back to the remote monitoring terminal or the cloud platform in real time, so that remote operation supervision and environment perception are realized; The solar energy charging device further comprises a solar energy charging plate, a battery and a power supply voltage stabilizing module, wherein the battery and the power supply voltage stabilizing module are arranged in the sealed control cabin body, and the solar energy charging plate is arranged above the top surface of the sealing cover.
7. A double-screw driving and fluid-perturbing paddy field weeding robot according to claim 1, wherein the left and right screw blades of the double-screw driving wheel are rotated in opposite directions; the double-spiral driving wheel rotates at an angular speed omega and advances along the horizontal direction at a linear speed v during operation to form a composite disturbance field with longitudinal shearing displacement and tangential shearing displacement, and the shearing displacement meets the following formula: Wherein, the For longitudinal shear displacement, the relative slip of the slurry medium in the forward direction is indicated; for tangential shear displacement, the slip of the mud particles about the helical axis is expressed, Is equivalent to the shearing radius, and when the helical blade of the helical driving wheel rotates in cement two-phase medium, the helical blade is driven according to the advancing angle The coupling effect of the longitudinal thrust and the tangential disturbance force is generated, and a periodic shearing disturbance field of a mud-root system interface is formed, so that the physical destruction and decoupling of the root system of the weeds are realized.
8. A double screw drive and fluid perturbation type paddy field weeding robot in accordance with claim 7, wherein the dynamic shear stress distribution of the slurry medium satisfies: Wherein, the For the apparent cohesion of the slurry, As normal stresses at the angular position of the blade, Is the internal friction angle of the steel plate, Is the shear depth attenuation coefficient when When the root system is in plastic sliding or breaking; shear strength of the root system bonding layer; In the rotation process of the spiral wheel, the shearing stress of the slurry is decomposed into: Wherein, the The longitudinal shear stress promotes the separation of the root system and the mud layer interface; for tangential shear stress, driving slurry to turn to form a reflux vortex area, and promoting secondary disturbance and burying of the root system; the double-helix driving wheel rotates reversely, i.e When the method is used, a symmetrical vortex flow field is formed, so that the slurry in the central area of the bottom of the robot generates superposition disturbance, and the concentration C of slurry suspended particles and the turbidity T in the disturbance flow field meet the following conditions: By adjusting the rotation speed omega of the spiral wheel and the operation propelling speed v, the disturbance intensity can be adaptively adjusted under different mud layer conditions, so that the root system is fully destroyed, the mud layer disturbance is uniform and the operation energy efficiency is optimal in the weeding process, thereby ensuring the stability and the economy of the whole operation; Shear power density per unit time generated by the blade The method meets the following conditions: The slurry-root system interface reaches the fracture condition, wherein In order to achieve an effective slip velocity, Decoupling the threshold power density for the root system; when the double spiral wheels work, the local disturbance intensity is regulated through differential control, and the control system regulates the rotation speed difference of the left wheel and the right wheel To maintain shear strength And the weeding continuity and stability are ensured.
9. An auto cruise weeding method based on a weeding robot in paddy field according to any one of claims 1-8, comprising the following steps: s1, acquiring field boundary information, and dividing an operation area into a central operation area and a contour area; s2, carrying out inward shrinking treatment on the boundary polygons of the outline area to obtain feasible working boundaries after inward shrinking; S3, generating a plurality of equidistant parallel strips in the contracted feasible working boundary area and the central working area according to a preset direction; s4, sorting the access sequence of the generated parallel strips according to Warnsdorff rules, and determining the sequence of the strips for the robot to sequentially cruise; s5, splicing paths of adjacent strips by utilizing a Dubins curve and a Reeds-Shepp curve to form a continuous and smooth robot motion track; s6, generating a self-adaptive cruising path covering the whole operation area by the steps, automatically driving the robot along the path through a GPS navigation module, stirring surface soil in the advancing process by the double-spiral driving wheel, changing the turbidity of a water layer, destroying root taking of weeds, preventing photosynthesis of the weeds, and realizing physical weeding.
10. The auto-cruise weeding method according to claim 9, wherein in step S1, the robot determines the current position through GPS positioning and operation area boundary information, and automatically divides the center operation area and the outline area according to the field shape, so as to ensure the integrity and efficiency of path planning; in the step S2, the retraction distance is determined according to the size of the robot and the safety clearance, so that the robot is ensured not to collide with the boundary during the operation of the contour area; in step S3, the stripe direction is preset or dynamically adjusted according to Tian Kuaichang width ratio to optimize the coverage path length; In the step S5, a Dubin curve is adopted to connect straight line sections in the same direction so as to keep forward smooth steering, and a Reeds-Shepp curve is adopted to realize reversing and turning so as to cope with the reversing requirement of a terminal; In step S6, the robot forms a closed-loop control system based on RTK-GNSS positioning data and a differential control algorithm in the operation process, and adjusts the rotation speed difference of the left and right spiral driving wheels in real time to correct the deviation, so that path self-adaptive tracking and continuous operation are realized, and continuity and safety in the operation process are ensured.

Description

Double-screw driving and fluid disturbance type paddy field weeding robot and automatic cruising weeding method Technical Field The invention belongs to the technical field of intelligent agricultural machinery, and particularly relates to a double-screw driving and fluid disturbance type paddy field weeding robot and an automatic cruising weeding method. Background At present, paddy field weeding is mostly realized by relying on manual or chemical agents. The chemical herbicide has high efficiency, but pollutes the environment and water quality, and can affect the quality of the rice growing environment. The existing part of mechanized weeding equipment can improve efficiency, but in a soft mud paddy field, the operation reliability is reduced due to the fact that a driving device is easy to sink into mud, meanwhile, an efficient planning algorithm is lacked, and full coverage of an operation area and path self-adaptive adjustment are difficult to achieve. In addition, existing systems tend to diverge in sensor, drive and path planning, and lack an integrated design, resulting in inadequate system performance and reliability. Therefore, an automatic cruising weeding robot suitable for paddy field environment is needed, which can keep good buoyancy and traction in muddy environment to realize mechanical physical weeding, combines efficient path planning and GPS navigation to realize full-coverage and efficient autonomous cruising operation, and has a comprehensive operation flow integrating sensing, planning and control. Disclosure of Invention The invention mainly aims to overcome the defects and shortcomings of the prior art and provides a double-screw driving and fluid disturbance type paddy field weeding robot and an automatic cruising weeding method. In order to achieve the above purpose, the present invention adopts the following technical scheme: a double-screw driving and fluid disturbance type paddy field weeding robot comprises a screw driving wheel mechanism, a transmission mechanism, a supporting frame, a sealed control cabin and a control system; The spiral driving wheel mechanism comprises two spiral driving wheels which are arranged in parallel, and the spiral driving wheels are symmetrically arranged at the bottom of the supporting frame along a central shaft; The transmission mechanism is arranged on the two spiral driving wheels and is used for realizing power transmission between the driving motor and the main shaft of the spiral driving wheels and driving the spiral driving wheels to rotate relative to the supporting frame; The support frame is used for providing integral bearing and structural support for the spiral wheel driving wheel mechanism and the sealed control cabin; the sealed control cabin is fixedly arranged at the top of the support frame; And the control system is used for controlling the transmission mechanism to drive the spiral wheel driving mechanism to rotate and is arranged in the sealed control cabin. The invention also provides an automatic cruising weeding method based on the paddy field weeding robot, which comprises the following steps: s1, acquiring field boundary information, and dividing an operation area into a central operation area and a contour area; s2, carrying out inward shrinking treatment on the boundary polygons of the outline area to obtain feasible working boundaries after inward shrinking; S3, generating a plurality of equidistant parallel strips in the contracted feasible working boundary area and the central working area according to a preset direction; s4, sorting the access sequence of the generated parallel strips according to Warnsdorff rules, and determining the sequence of the strips for the robot to sequentially cruise; s5, splicing paths of adjacent strips by utilizing a Dubins curve and a Reeds-Shepp curve to form a continuous and smooth robot motion track; s6, generating a self-adaptive cruising path covering the whole operation area by the steps, automatically driving the robot along the path through a GPS navigation module, stirring surface soil in the advancing process by the double-spiral driving wheel, changing the turbidity of a water layer, destroying root taking of weeds, preventing photosynthesis of the weeds, and realizing physical weeding. Compared with the prior art, the invention has the following advantages and beneficial effects: 1. The invention has the advantages of integrated design of the whole structure, improved rigidity and durability due to the double-screw driving structure and the reinforcing frame, good traction force and large contact area provided by the double-screw driving wheel, obvious enhancement of the anti-sinking capability and adaptability of the robot in a soft mud field, physical weeding realized by adopting a mechanical disturbance mode, double physical weeding of 'water-soil disturbance-light inhibition' and 'root system peeling' realized by utilizing the double-screw driving wheel, no chemical