CN102428770A - Weeding robot system and weeding method thereof - Google Patents
Weeding robot system and weeding method thereof Download PDFInfo
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- CN102428770A CN102428770A CN2011102871889A CN201110287188A CN102428770A CN 102428770 A CN102428770 A CN 102428770A CN 2011102871889 A CN2011102871889 A CN 2011102871889A CN 201110287188 A CN201110287188 A CN 201110287188A CN 102428770 A CN102428770 A CN 102428770A
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Abstract
The invention discloses a weeding robot system and a weeding method thereof, relating to the robot field. The weeding robot system comprises a travelling dev ice, a vision device, a control device and a weeding device, wherein the travelling device is used for driving the weeding robot system to walk and driving the weeding device to weed; the vision device is arranged above the weeding device in order to collect grass images and send the grass images to the control device; the control device is used for generating control information according to the grass images in order to control the travelling device to walk and control the weeding device to weed; the weeding device is arranged in front of the traveling device in order to finish weeding work according to the control information of the control device. The weeding robot system and weeding method thereof achieve mechanical and automatic weeding, improve weeding efficiency when avoiding pollution and reduce labor intensity during weeding.
Description
Technical field
The present invention relates to the Robotics field, the particularly a kind of robot system and method for hoeing up weeds thereof of hoeing up weeds.
Background technology
Existing weeding system is mainly two kinds, a kind of chemical herbicide that is to use, and another kind is an artificial weeding.
Use chemical herbicide can cause problems such as the enhancing of soil pesticide resistance, the decline of farming soil fertility, food and water source environment pollution.China is that weed killer herbicide uses one of maximum country of total amount, and about 100,000 tons of year consumption weed killer herbicide accounts for ratio largest portion in the agricultural chemicals usage amount.Thin planting class crop with transplant type vegetables because the bare area area ratio is high, weeds take place that density is big, harm is comparatively serious.And use chemical herbicide in a large number, and make the safety of eating vegetables raw receive very big influence, along with living standards of the people improve, pollution-free vegetable, green vegetables, organic vegetable are walked to put on the dining table one after another.The important symbol of these vegetables reduces exactly or bans use of chemical substances such as agricultural chemicals, chemical fertilizer, weed killer herbicide.
Though artificial weeding can solve above-mentioned pollution problem, its efficient is low, cost is high, labour intensity is big, restricted season by crop growth.China's farmland weeding recruitment reaches hundred million workdays of 50-60 in every year, is equivalent to 1,400 ten thousand people and is engaged in weeding work throughout the year, and workload accounts for the total amount of labour used in farmland and surpasses 1/3.
Summary of the invention
The technical problem that (one) will solve
The technical problem that the present invention will solve is: how a kind of robot system and method for hoeing up weeds thereof of hoeing up weeds is provided, so that when avoiding polluting, improve weeding ratio, reduce the cost and the labour intensity of weeding.
(2) technical scheme
For solving the problems of the technologies described above, the present invention provides a kind of robot system of hoeing up weeds, and it comprises: running gear, sighting device, control device and weeding device;
Said running gear is used to drive the said robot system walking of hoeing up weeds, and drives said weeding device and hoe up weeds;
Said sighting device is arranged on the top of said weeding device, is used to gather seedling sketch picture and said seedling sketch is looked like to send to said control device;
Said control device generates control information according to said seedling sketch picture, walks to control said running gear, and controls said weeding device and hoe up weeds;
Said weeding device is arranged on the front end of said running gear, is used for accomplishing the operation of hoeing up weeds according to the control information of said control device.
Preferably, said control device comprises: upper control module and the next control module.
Preferably; Said upper control module is arranged on the said running gear; Be used for looking like to obtain the location coordinate information of crop seedling body, discrete crop seedling body along the tendency information of said running gear direction of advance and the navigation route information of said running gear, and these three kinds of information are sent to said the next control module according to the seedling sketch of said sighting device collection.
Preferably; Said the next control module is arranged on the said weeding device, is used for generating control information according to the said three kinds of information that receive, to control said running gear walking; And said control information sent to said weeding device, hoe up weeds to control said weeding device.
Preferably, said weeding device comprises: electro-hydraulic servo unit, at least one unit of hoeing up weeds, and hydraulic tracing control crane;
The said unit of hoeing up weeds comprises tine;
Said electro-hydraulic servo unit; Be used to receive the control information of said the next control module; And, control corner, rotating speed and the tilling depth of said tine, and control said hydraulic tracing control crane and carry out corresponding actions according to said unit and the capable distance of seedling of hoeing up weeds of said control information control;
Said hydraulic tracing control crane is connected with said running gear, is used for fixing said sighting device, the next control module, electro-hydraulic servo unit and the unit of hoeing up weeds, and according to the control of said electro-hydraulic servo unit, carries out with hydraulic tracing control and move.
Preferably, the said unit of hoeing up weeds also comprises hydraulic motor; Rotating speed and then the corner of controlling said tine and the rotating speed of said electro-hydraulic servo unit through controlling said hydraulic motor.
Preferably, said hydraulic motor output shaft is provided with displacement speed sensor, being used for measuring in real time the corner and the rotating speed of said tine, and measurement result is sent to said the next control module.
Preferably, said weeding device comprises that also one the 5th is taken turns, and the said the 5th takes turns the rear portion that is arranged on said hydraulic tracing control crane; The said the 5th takes turns and is provided with velocity sensor, with the gait of march of the said robot system of hoeing up weeds of real-time measurement, and measurement result is sent to said the next control module.
Preferably, said weeding device comprises two said unit of hoeing up weeds.
The present invention also provides a kind of method of hoeing up weeds of the said robot system of hoeing up weeds, and it comprises step:
A: sighting device sends to upper control module after gathering field seedling sketch picture;
B: said upper control module is handled said seedling sketch picture; Obtain the location coordinate information of crop seedling body, discrete crop seedling body follows the tendency information of walking apparatus direction of advance and the navigation route information of said running gear, and these three kinds of information is sent to the next control module;
C: said the next control module generates control information according to the said three kinds of information that receive, and said control information is sent to the electro-hydraulic servo unit, and controls said running gear walking according to said control information;
D: said electro-hydraulic servo unit receives said control information, controls hoe up weeds unit and the capable distance of seedling according to said control information, corner, rotating speed and the tilling depth of control tine, and control hydraulic tracing control crane carries out and hydraulic tracing control is moved.
(3) beneficial effect
The robot system and the method for hoeing up weeds thereof of hoeing up weeds according to the invention; Obtain field seedling sketch picture through sighting device; And through the self-navigation of control device realization running gear and keeping away seedling and hoeing up weeds of weeding device; Thereby realized the mechanical automation weeding, when avoiding polluting, improved weeding ratio, reduced the labour intensity of weeding.Simultaneously, adopt tractor as running gear, power concentration is supplied with, level of integrated system is high, and is easy to implement in the rural area; Two unit concurrent jobs of hoeing up weeds, drive has further improved operating efficiency.
Description of drawings
Fig. 1 is the frame for movement sketch map of the described robot system of hoeing up weeds of the embodiment of the invention;
Fig. 2 is the method flow diagram of hoeing up weeds of the described robot system of hoeing up weeds of the embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, specific embodiments of the invention describes in further detail.Following examples are used to explain the present invention, but are not used for limiting scope of the present invention.
Fig. 1 is the frame for movement sketch map of the described robot system of hoeing up weeds of the embodiment of the invention.As shown in Figure 1, shown in the robot system of hoeing up weeds comprise: running gear 100, sighting device 200, control device and weeding device 400.Shown in control device further comprise: upper control module 301 and the next control module 302.
Said running gear 100 is a tractor, be used to drive the said robot system walking of hoeing up weeds, and the said weeding device 400 of hydraulic-driven is hoed up weeds.The control room of tractor shown in said upper control module 301 is arranged on; Shown in weeding device 400 suspension be arranged on shown in the front end of tractor; Said sighting device 200 be arranged on said weeding device 400 directly over; Can obtain the broader vision visual field like this, and the end effector operating space is bigger.Said running gear 100 can also be other motor vehicles and machines such as agricultural tricycle, hand tractor.
Said sighting device 200 is a ccd video camera, and its fabric width of finding a view is 1.2m * 1.2m, can effectively cover the working range of said weeding device 400, and it is used to gather field seedling sketch picture, and said seedling sketch is looked like to send to said upper control module 301.
Said upper control module 301 is a chassis borne computer; Be used for obtaining the location coordinate information of crop seedling body, discrete crop seedling body along the tendency information of said tractor direction of advance and the navigation route information of said tractor as computing, and these three kinds of information are sent to said the next control module 302 according to the seedling sketch of said camera acquisition.
Said the next control module 302 is an embedded computer that is arranged on the said weeding device 400; Be used for generating control information according to the said three kinds of information that receive; Walk along guidance path to control said tractor, and control said weeding device 400 and hoe up weeds.
Said weeding device 400 further comprises: hydraulic tracing control crane 401, electro-hydraulic servo unit 402, the unit the 403, the 5th of hoeing up weeds take turns 404, velocity sensor 405, displacement speed sensor 406 and contour wheel 407.Weeding device described in the present embodiment 400 comprises two said unit 403 of hoeing up weeds, and the said unit 403 of hoeing up weeds further comprises: tine 4031 and hydraulic motor 4032.
Said hydraulic tracing control crane 401 is connected with the front end suspension of said tractor; Said video camera is fixed on the dead ahead of said hydraulic tracing control crane 401, said the next control module 302, electro-hydraulic servo unit 402, the unit the 403, the 5th of hoeing up weeds take turns 404 and contour wheel 407 be installed on the said hydraulic tracing control crane 401.Said hydraulic tracing control crane 401 can be carried out and the hydraulic tracing control action according to the control of said electro-hydraulic servo unit 402.
Said unit 403 and the capable distance of seedling of hoeing up weeds finely tuned according to the control information of said the next control module 302 in said electro-hydraulic servo unit 402, avoids accidentally injuring the strain of crop seedling; Said electro-hydraulic servo unit 402 is also according to the control information of said the next control module 302, through rotating speed and then the corner of controlling said tine 4031 and the rotating speed of controlling said hydraulic motor 4032; The tilling depth of said tine 4031 is controlled also according to the control information of said the next control module 302 in said electro-hydraulic servo unit 402, promptly controls said tine 4031 and gets into the degree of depth of soil, thereby effectively damage the root of weeds, guarantees effectively to remove weeds; Said electro-hydraulic servo unit 402 is controlled said hydraulic tracing control crane 401 and is carried out and the hydraulic tracing control action also according to the control information of said the next control module 302.
The said unit 403 of hoeing up weeds is two, is separately positioned on the left and right sides of said hydraulic tracing control crane 401 front ends.Through two said unit 403 of hoeing up weeds are set, can be simultaneously to the two row crop seedling strains operation of hoeing up weeds, improved the efficient of hoeing up weeds.Said tine 4031 is fan-shaped, and its center connects the output shaft of said hydraulic motor 4032, under said hydraulic motor 4032 drives, can rotate, thereby can realize that hiding Miao Zhuhe removes weeds through adjusting its corner.Said tine 4031 can also be sheet or other shapes.
The said the 5th take turns 404 be fixedly connected on said hydraulic tracing control crane 401 left back end; Said velocity sensor 405 is arranged on the said the 5th and takes turns on 404 the output shaft; Be used for measuring in real time the gait of march of the said robot system of hoeing up weeds, and measurement result is sent to said the next control module 302.
Said displacement speed sensor 406 is two, is separately positioned on the output shaft of hydraulic motor 4032 of said two unit 403 of hoeing up weeds, and is used for measuring in real time the corner and the rotating speed of said tine 4031, and measurement result is sent to said the next control module 302.Said the next control module 302 will be according to the feedback of said displacement speed sensor 406; Control information to sending to said electro-hydraulic servo unit 402 compensates; Thereby form the control loop of closed loop, guarantee that said tine 4031 keeps away seedling and hoe up weeds according to desired trajectory.
Said contour wheel 407 is four, and two front ends that are arranged on said hydraulic tracing control crane 401 wherein are near the position of the said unit 403 of hoeing up weeds; Two other is arranged on the left and right sides of said hydraulic tracing control crane 401.Said contour wheel 407 close proximity to grounds are advanced, and can be used for the tilling depth of the said tine 4031 of assist control.
Fig. 2 is the method flow diagram of hoeing up weeds of the described robot system of hoeing up weeds of the embodiment of the invention, and is as shown in Figure 2, and said method comprises:
Steps A: send to upper control module 301 behind the sighting device 200 collection field seedling sketch pictures;
Step B: said upper control module 301 is handled said seedling sketch picture; Obtain the location coordinate information of crop seedling body, discrete crop seedling body follows the tendency information of walking apparatus 100 directions of advance and the navigation route information of said running gear 100, and these three kinds of information is sent to the next control module 302;
Step C: said the next control module 302 generates control information according to the said three kinds of information that receive, and said control information is sent to electro-hydraulic servo unit 402, and controls said running gear 100 walkings according to said control information;
Step D: said electro-hydraulic servo unit 402 receives said control information; Control hoe up weeds unit 403 and the capable distance of seedling according to said control information; Corner, rotating speed and the tilling depth of control tine 4031, and control hydraulic tracing control crane 401 is carried out and the hydraulic tracing control action.
The said robot system and the method for hoeing up weeds thereof of hoeing up weeds of the embodiment of the invention; Obtain field seedling sketch as information through sighting device; And through the self-navigation of control device realization running gear and keeping away seedling and hoeing up weeds of weeding device; Thereby realized that mechanical automation hoes up weeds, when avoiding polluting, improved weeding ratio, reduced the labour intensity of weeding.Simultaneously, adopt tractor as running gear, power concentration is supplied with, level of integrated system is high, and is easy to implement in the rural area; Two unit concurrent jobs of hoeing up weeds, drive has further improved operating efficiency.
Above embodiment only is used to explain the present invention; And be not limitation of the present invention; The those of ordinary skill in relevant technologies field under the situation that does not break away from the spirit and scope of the present invention, can also be made various variations and modification; Therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (10)
1. the robot system of hoeing up weeds is characterized in that, comprising: running gear, sighting device, control device and weeding device;
Said running gear is used to drive the said robot system walking of hoeing up weeds, and drives said weeding device and hoe up weeds;
Said sighting device is arranged on the top of said weeding device, is used to gather seedling sketch picture and said seedling sketch is looked like to send to said control device;
Said control device generates control information according to said seedling sketch picture, walks to control said running gear, and controls said weeding device and hoe up weeds;
Said weeding device is arranged on the front end of said running gear, is used for accomplishing the operation of hoeing up weeds according to the control information of said control device.
2. the robot system of hoeing up weeds as claimed in claim 1 is characterized in that, said control device comprises: upper control module and the next control module.
3. the robot system of hoeing up weeds as claimed in claim 2; It is characterized in that; Said upper control module is arranged on the said running gear; Be used for looking like to obtain the location coordinate information of crop seedling body, discrete crop seedling body along the tendency information of said running gear direction of advance and the navigation route information of said running gear, and these three kinds of information are sent to said the next control module according to the seedling sketch of said sighting device collection.
4. the robot system of hoeing up weeds as claimed in claim 3; It is characterized in that; Said the next control module is arranged on the said weeding device, is used for generating control information according to the said three kinds of information that receive, to control said running gear walking; And said control information sent to said weeding device, hoe up weeds to control said weeding device.
5. the robot system of hoeing up weeds as claimed in claim 4 is characterized in that, said weeding device comprises: electro-hydraulic servo unit, at least one unit of hoeing up weeds, and hydraulic tracing control crane;
The said unit of hoeing up weeds comprises tine;
Said electro-hydraulic servo unit; Be used to receive the control information of said the next control module; And, control corner, rotating speed and the tilling depth of said tine, and control said hydraulic tracing control crane and carry out corresponding actions according to said unit and the capable distance of seedling of hoeing up weeds of said control information control;
Said hydraulic tracing control crane is connected with said running gear, is used for fixing said sighting device, the next control module, electro-hydraulic servo unit and the unit of hoeing up weeds, and according to the control of said electro-hydraulic servo unit, carries out with hydraulic tracing control and move.
6. the robot system of hoeing up weeds as claimed in claim 5 is characterized in that, the said unit of hoeing up weeds also comprises hydraulic motor; Rotating speed and then the corner of controlling said tine and the rotating speed of said electro-hydraulic servo unit through controlling said hydraulic motor.
7. the robot system of hoeing up weeds as claimed in claim 6; It is characterized in that; Said hydraulic motor output shaft is provided with displacement speed sensor, being used for measuring in real time the corner and the rotating speed of said tine, and measurement result is sent to said the next control module.
8. the robot system of hoeing up weeds as claimed in claim 5 is characterized in that, said weeding device comprises that also one the 5th is taken turns, and the said the 5th takes turns the rear portion that is arranged on said hydraulic tracing control crane; The said the 5th takes turns and is provided with velocity sensor, with the gait of march of the said robot system of hoeing up weeds of real-time measurement, and measurement result is sent to said the next control module.
9. the robot system of hoeing up weeds as claimed in claim 5 is characterized in that, said weeding device comprises two said unit of hoeing up weeds.
10. like the method for hoeing up weeds of the said robot system of hoeing up weeds of one of claim 1 to 9, it is characterized in that, comprise step:
A: sighting device sends to upper control module after gathering field seedling sketch picture;
B: said upper control module is handled said seedling sketch picture; Obtain the location coordinate information of crop seedling body, discrete crop seedling body follows the tendency information of walking apparatus direction of advance and the navigation route information of said running gear, and these three kinds of information is sent to the next control module;
C: said the next control module generates control information according to the said three kinds of information that receive, and said control information is sent to the electro-hydraulic servo unit, and controls said running gear walking according to said control information;
D: said electro-hydraulic servo unit receives said control information, controls hoe up weeds unit and the capable distance of seedling according to said control information, corner, rotating speed and the tilling depth of control tine, and control hydraulic tracing control crane carries out and hydraulic tracing control is moved.
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| CN2011102871889A CN102428770A (en) | 2011-09-23 | 2011-09-23 | Weeding robot system and weeding method thereof |
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| CN2011102871889A CN102428770A (en) | 2011-09-23 | 2011-09-23 | Weeding robot system and weeding method thereof |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103283331A (en) * | 2013-06-20 | 2013-09-11 | 苏州博田自动化技术有限公司 | Intelligent guiding transversely-moving machine tool |
| CN103355016A (en) * | 2013-07-24 | 2013-10-23 | 黑龙江省农业机械工程科学研究院 | Manipulator positioning system of weeding robot |
| CN103404379A (en) * | 2013-07-30 | 2013-11-27 | 西北农林科技大学 | Self-propelled intelligent flower thinning machine for orchard |
| CN104965100A (en) * | 2015-05-15 | 2015-10-07 | 中国农业大学 | Agricultural speed and distance measuring apparatus |
| CN105122987A (en) * | 2015-08-25 | 2015-12-09 | 山西省农业科学院旱地农业研究中心 | Miniature full-automatic intertillage weeding machine suitable for densely-planted high-stem crops |
| CN105961366A (en) * | 2016-06-15 | 2016-09-28 | 邢永安 | Garden weeding robot |
| CN106171087A (en) * | 2016-08-02 | 2016-12-07 | 柏伟伟 | Wireless image identification time Seedling multifunctional farm vehicle |
| CN106376251A (en) * | 2016-11-08 | 2017-02-08 | 宁夏智源农业装备有限公司 | Intelligent weeding machine for Chinese wolfberry |
| CN106912208A (en) * | 2015-12-24 | 2017-07-04 | 哈尔滨华日义天节能环保设备有限公司 | A kind of weed-eradicating robot based on image recognition technology |
| CN106304861B (en) * | 2016-10-19 | 2019-02-19 | 宁夏智源农业装备有限公司 | Grape intelligence weeder |
| CN109618572A (en) * | 2019-02-26 | 2019-04-16 | 东北农业大学 | A kind of Zhu Jian weeding mechanism with automatic adjusument function |
| CN114698624A (en) * | 2022-04-27 | 2022-07-05 | 中垦种业股份有限公司 | Efficient weeding method for paddy field |
| WO2022233307A1 (en) * | 2021-05-07 | 2022-11-10 | 天津理工大学 | Weeding robot based on crop stalk positioning, and weeding method |
| US11935289B2 (en) | 2021-03-31 | 2024-03-19 | EarthSense, Inc. | Agricultural analysis robotic systems and methods thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103283331B (en) * | 2013-06-20 | 2016-02-10 | 苏州博田自动化技术有限公司 | The traversing facility of a kind of intelligent steering |
| CN103283331A (en) * | 2013-06-20 | 2013-09-11 | 苏州博田自动化技术有限公司 | Intelligent guiding transversely-moving machine tool |
| CN103355016A (en) * | 2013-07-24 | 2013-10-23 | 黑龙江省农业机械工程科学研究院 | Manipulator positioning system of weeding robot |
| CN103404379A (en) * | 2013-07-30 | 2013-11-27 | 西北农林科技大学 | Self-propelled intelligent flower thinning machine for orchard |
| CN104965100A (en) * | 2015-05-15 | 2015-10-07 | 中国农业大学 | Agricultural speed and distance measuring apparatus |
| CN104965100B (en) * | 2015-05-15 | 2018-09-04 | 中国农业大学 | It is agricultural to test the speed and range unit |
| CN105122987A (en) * | 2015-08-25 | 2015-12-09 | 山西省农业科学院旱地农业研究中心 | Miniature full-automatic intertillage weeding machine suitable for densely-planted high-stem crops |
| CN106912208A (en) * | 2015-12-24 | 2017-07-04 | 哈尔滨华日义天节能环保设备有限公司 | A kind of weed-eradicating robot based on image recognition technology |
| CN105961366B (en) * | 2016-06-15 | 2018-11-20 | 重庆至和园林开发有限公司 | A kind of gardens weed-eradicating robot |
| CN105961366A (en) * | 2016-06-15 | 2016-09-28 | 邢永安 | Garden weeding robot |
| CN106171087A (en) * | 2016-08-02 | 2016-12-07 | 柏伟伟 | Wireless image identification time Seedling multifunctional farm vehicle |
| CN106171087B (en) * | 2016-08-02 | 2018-09-28 | 安徽泓森高科林业股份有限公司 | Wireless image identification time seedling multifunctional farm vehicle |
| CN106304861B (en) * | 2016-10-19 | 2019-02-19 | 宁夏智源农业装备有限公司 | Grape intelligence weeder |
| CN106376251A (en) * | 2016-11-08 | 2017-02-08 | 宁夏智源农业装备有限公司 | Intelligent weeding machine for Chinese wolfberry |
| CN109618572A (en) * | 2019-02-26 | 2019-04-16 | 东北农业大学 | A kind of Zhu Jian weeding mechanism with automatic adjusument function |
| US11935289B2 (en) | 2021-03-31 | 2024-03-19 | EarthSense, Inc. | Agricultural analysis robotic systems and methods thereof |
| WO2022233307A1 (en) * | 2021-05-07 | 2022-11-10 | 天津理工大学 | Weeding robot based on crop stalk positioning, and weeding method |
| 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 |
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Application publication date: 20120502 |