CN104904700A - Intelligent comprehensive crop weeding device and method - Google Patents
Intelligent comprehensive crop weeding device and method Download PDFInfo
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- CN104904700A CN104904700A CN201510281165.5A CN201510281165A CN104904700A CN 104904700 A CN104904700 A CN 104904700A CN 201510281165 A CN201510281165 A CN 201510281165A CN 104904700 A CN104904700 A CN 104904700A
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Abstract
The invention discloses an intelligent comprehensive crop weeding device and method. The intelligent comprehensive crop weeding device comprises a rack, a vision and intelligent electric control system, a depth and height adjusting device, a line space weeding device, a plant space weeding device and an intelligent pesticide spraying device. A three-point suspension mechanism located on the rack is connected with a walking machine. The vision and intelligent electric control system is used for acquiring relative position information of a plant and plant space weeding shovel and a nozzle and controlling the work states of the plant space weeding device and the intelligent pesticide spraying device. The depth and height adjusting device is used for adjusting the embedded depth of a line space weeding shovel and the plant space weeding shovel and the height of a chassis of the rack. The line space weeding device and the plant space weeding device are used for removing weeds of the line space of plants and weeds between the plants. The intelligent pesticide spraying device is used for removing the weeds which grow at the roots of the plants and can not be removed by the plant space weeding shovel. By the adoption of the intelligent comprehensive crop weeding device and method, the plants are protected against damage caused by the plant space weeding shovel, the problem that crop growth is impeded by the weeds growing at the roots of the plants is solved, and the weeds of the line space and the weeds between the plants of crops are comprehensively removed.
Description
Technical field
The present invention relates to crop management machinery, particularly the comprehensive weeder of the intelligent crops of one, belongs to agricultural mechanical field.
Background technology
The existence of weeds is the most general problem run in plant growing process, the especially weeds of plant root, and direct and crops competition moisture, nutrient and sunlight, have a strong impact on the growth of crops.Current field weeding is mainly by chemical agent weeding, cause widely using weed killer herbicide, although achieve remarkable effect, also bring a lot of problem, the spray pattern of rough formula causes the waste of the energy, causes the safety problem etc. that resistance weed and residue of pesticide cause.This just needs a kind of mode that large area dispenser can be replaced to carry out weeding.
Abuse this problem for weeding pesticide, have the research of corresponding weed-eradicating robot both at home and abroad.Nanjing Forestry University proposes a kind of weed-eradicating robot of direct application method, primary structure comprises main body, mechanical arm, wheel and camera, when spraying machine device people carries out work, first carry out technology according to camera collection field image and determine weeds position, then spray cultivation is carried out by control system adjusting mechanical arm relevant parameter, result shows, uses this kind of robot reasonably can carry out weeding, reduces the abuse of chemical agent.Australia also proposes a kind of intelligent farmland dispenser machine, and just can carry out decision-making determination weed killer herbicide consumption according to identification once discovery weeds, only to weeds spraying herbicide, cost only has 10% of conventional medicament weeding.Although significantly reduce the usage amount of weed killer herbicide, relative to weeding by machine, the use of weed killer herbicide or a lot, in the ranks and between the strain had with a certain distance from plant root, can replace chemical weed control by the mode of weeding by machine for plant.
Weeding by machine is a key technology in Agricultural Sustainable Development, start to be subject to increasing attention, on the current technology, in the ranks weeding technique is comparatively ripe, weeding ratio can reach more than 90%, and the domestic research being directed to the weeding machine of weeding between strain is in the starting stage.Osnabrueck, Germany university and Amazon have been developed jointly a kind of cycloid and have been uprooted (Dedousis, 2007), for in corn field in the ranks and weeding between strain, rounded being arranged on a rotary body of eight pawl weeding blade tooths forms weeding mechanism, rotary body is rotated by hydraulic pump drive, weeding blade tooth is moved in a circle, when machine advances, weeding blade tooth does remaining pendular motion, each weeding blade tooth all can independently launch and draw in, avoid contacting crops, but it cannot be removed the weeds in the wide region of 18mm around crop, improperly damage will be caused to crop if slightly adjusted, and it is larger by Influence To Soil, comparatively large clod damage crops can not be avoided.Agricultural University Of South China is as reference, propose a kind of intelligent strain inter-row weeder (Luo Xiwen etc. based on pendular motion more than blade tooth, 2012), the movement locus of weeding blade tooth is trochoidal curve, trochoidal latch closure part between strain in region time utilize weeding blade tooth to remove region weeds between strain, the radius of turn reducing one or a few weeding blade tooth can realize weeding blade tooth and dodge crop.Along with the increase seedling-damaging ratio of pace also increases, seedling-damaging ratio is within 8%, the weeding blade tooth quantity entering region between strain is relevant with the spacing in the rows that crop is planted, the crop planted within spacing in the rows 20cm can not to ensure between each strain that region all has weeding blade tooth to enter between strain and carry out weeding, therefore weeding cannot be carried out, the especially weeds of plant root between some strain.In order to solve the problem, the invention is intended to provide a kind of device carrying out weeding in all directions, between strain, weeder adopts L-type shovel, reduce the requirement to spacing in the rows, the protection domain of suitable increase plant root area, adopts weed shovel work between servo-hydraulic control strain, responds fast, accurate location, reduces seedling-damaging ratio; Increase intelligence spray medicine system, the weeds of the plant root that weed shovel between strain can not be removed are removed, adopt intelligence control system accurately to control chemical spraying device and aim at the dispenser of plant root position, weeding by machine combines with chemical weed control, the use of effective reduction weed killer herbicide, reaches the requirement of comprehensive weeding between plant.
Summary of the invention
The object of the present invention is to provide the comprehensive weeder of a kind of intelligent crops and method,
withrealize between the crop row being in different growing stages and carry out intelligence physical weed control and chemical weed control accurately between strain and combine; the comprehensive weeding of mechanical-electrical-hydraulic integration; both plant had been protected not by the damage of weeding cutter between strain; remove again the weeds of plant root; reach quick response; accurate location, increases work efficiency, and to realize between crop row and the comprehensive removing of weeds between strain.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
The comprehensive weeder of a kind of intelligent crops, is characterized in that: comprise weeder, intelligent chemical spraying device between frame (2), vision and Intelligent electronic control system, the degree of depth and arrangement for adjusting height, in the ranks weeder, strain; The three-point hitch (1) be positioned in frame (2) is connected with walking machine, is drawn move ahead by walking machine; Vision and Intelligent electronic control system, for gathering the relative position information of weed shovel between plant and strain (11) and shower nozzle (25), control the duty of weeder and intelligent chemical spraying device between strain; The degree of depth and arrangement for adjusting height are for regulating embedded depth and frame (2) chassis height of weed shovel (11) between weed shovel (15) and strain in the ranks; In the ranks between weeder and strain, weeder is used for the removing of weeds in the ranks and between strain of plant; Intelligence chemical spraying device is used for removing the weeds of the plant root that weed shovel between strain (11) can not be removed.
Described vision and Intelligent electronic control system comprise camera (13), image processor (14), intelligent controller (4), storage battery (3); Camera (13) be vertically mounted on shower nozzle (25) and in the ranks between weed shovel (15), the back lower place of frame (2), the relative position picture of weed shovel (11) and shower nozzle (25) for taking record plant center, between plant and strain; Image processor (14) is for receive and the image information that collects of identification camera (13) is gone forward side by side row relax, determine plant center, the relative position of weed shovel (11) and shower nozzle (25) between plant and strain, generate the movement locus of weed shovel (11) between strain; Intelligent controller (4), according to the movement locus generated, accurately controls weed shovel (11) between strain and open and to enter between strain weeding region or closedly dodge crop plant, and the magnetic valve (9) in intelligent chemical spraying device opens or closes; Storage battery (3) is for power supply.
In the ranks weeder is arranged on the lateral mid-point of frame (2), the dead astern of running wheel (18), in the ranks weed shovel (15) adopts triangular spade, detachably, the triangular spade of suitable width can be changed according to different line-spacings, fixed by adjustable positioner (16), the relative altitude of in the ranks weed shovel (15) and frame (2) is regulated, the embedded depth of weed shovel (11) between weed shovel (15) and strain between control lines by adjustable positioner (16); The center of running wheel (18) is provided with velocity sensor (19), the main speed of travel detecting weeder; Running wheel (18) is fixed by adjustable positioner (20), is regulated the height of frame chassis, meet the weeding requirement of the plant of different growing stage by adjustable positioner (20); When multiple comprehensive weeder unit uses side by side and carries out multirow weeding operation simultaneously, each unit works alone; Between described strain, weeder is made up of weed shovel (11), a pair hydraulic jack (22), one group of magnetic valve (24), displacement transducer (23) and intelligent controller (4) between a pair strain;
Intelligent controller (4) controls multiple described comprehensive weeder unit simultaneously; Between strain, weeder to be arranged between strain in weeder outer container (10), is positioned at frame (2) rear end; Weed shovel (11) between a pair strain of a unit, a pair hydraulic jack (22) and magnetic valve (24) are symmetrically arranged along the center line of frame (2); One end of hydraulic jack (22) is connected with hydraulic power unit output point, hydraulic power unit output point controls the transverse movement state of a pair hydraulic jack (22) by one group of magnetic valve (24), and the other end of hydraulic jack (22) is connected to form joint by the elongated slot nibs on weed shovel between pin and strain (11) top.
Between described strain in weeder, one end of the transverse motion mechanism connection bit displacement sensor (23) of hydraulic jack (22), Displacement Feedback element is used as in servo-drive system, the other end of displacement transducer (23) is connected with intelligent controller (4), intelligent controller (4) crossing out and retraction amount by hydraulic control oil cylinder (22), between accurate control strain, weed shovel (11) opens and to enter between strain weeding region or closedly dodge crop plant, and crossing out of hydraulic jack (22) is detected by displacement transducer (23) with retraction amount.
Described intelligent chemical spraying device comprises medicine storing pot (6), high-pressure pump (8), magnetic valve (9), grug transportation tube (7), spray medicine bar (12) and shower nozzle (25); Medicine storing pot (6) is arranged on vehicle frame (2) top medicine storing pot mount pad (5), connect high-pressure pump (8) by grug transportation tube (7), spray medicine bar (12) is fixed on vehicle frame (2); Shower nozzle (25) is outward-dipping, facing to plant root direction.
The comprehensive herbicidal methods of a kind of intelligent crops, is characterized in that comprising the following steps:
Step one, utilizes intelligent controller (4) to preset with plant centre distance to be the front and back position of S to be the border, front and back of plant protected field, removes, prevent from hindering seedling to wide around crop for the weeds in the region of S do not carry out weed shovel (11) between strain; Vision and Intelligent electronic control system are according to plant center location information, speed information that between plant and strain, the relative position information of weed shovel (11) and shower nozzle (25), velocity sensor (19) record, calculate delay time T1 and T2 that weed shovel between strain (11) arrives border before and after plant protected field, and shower nozzle (25) arrives the delay time T3 of plant center, and generate the movement locus of weed shovel between strain (11);
Step 2, when when between strain, weed shovel (11) arrives the front border of plant protected field, between strain, weed shovel (11) closes, protection plant preserves from, when when between strain, weed shovel (11) leaves plant center along with weeder moves ahead and arrives the rear border of plant protected field, between strain, weed shovel (11) opens and enters region between strain and carry out weeding operation;
Step 3, when shower nozzle (25) arrives plant center, magnetic valve (9) is opened, shower nozzle (25) aims at plant center spray medicine, when shower nozzle (25) leaves plant center, magnetic valve (9) cuts out, and prepares the spray medicine operation of next plant.
the present invention has beneficial effect:
(1) the present invention adopts L-type to shovel to stretch into region between plant strain and carry out weeding, and because the weeding position of L-type shovel is slender type, reduce between strain that weeder is to the requirement of plant spacing in the rows, when spacing in the rows is less, also replaceable small-sized weed shovel enters weeding between strain smoothly.
(2) owing to coordinating intelligent chemical spraying device to carry out weeding between strain together; weed shovel weeding is not carried out in the protection zone that can suitably expand around plant root; and adopt the mode of spray medicine; Hydrauservo System is utilized to respond fast; accurate control; both reduced seedling-damaging ratio and the speed of travel area requirement to walking machine, can remove the weeds of plant root again, weeding is more thorough.
(3) in the ranks between weeding with strain, weeding separates and works simultaneously, also by multiple weeding unit also together, can carry out multirow weeding simultaneously, improve operating efficiency.
(4) utilize the operation of servo-hydraulic control weeder, broken away from mechanically operated labyrinth, make the structure of weeder simpler.
Accompanying drawing explanation
Fig. 1 is the front view of the comprehensive weeder of the intelligent crops of the present invention
Fig. 2 is the control schematic diagram of weeder between strain of the present invention
Fig. 3 is the schematic diagram of shower nozzle shape of the present invention
Fig. 4 is the movement locus figure of weed shovel between strain of the present invention
In figure: 1 three-point hitch; 2 frames; 3 storage batterys; 4 intelligent controllers; 5 medicine storing pot mount pads; 6 medicine storing pots; 7 grug transportation tubes; 8 high-pressure pumps; 9 magnetic valves; Weeder outer container between 10 strains; Weed shovel between 11 strains; 12 spray medicine bars; 13 cameras; 14 image processors; 15 in the ranks weed shovels; 16 adjustable positioners; 17 inter-row weeder framves; 18 running wheels; 19 velocity sensors; 20 adjustable positioners; 21 pins; 22 hydraulic jacks; 23 displacement transducers; 24 magnetic valves; 25 shower nozzles; 26 plant; Weed shovel movement locus between 27 strains.
Embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described in further details.
The present invention is based on following a kind of design: (1) weeder adopts trifilar suspension mode to be connected to after walking machine, utilize running gear outputting power to be supplied to high-pressure pump 8 and hydraulic jack 22 carries out weeding operation; (2) in the ranks weeder adopts triangular spade to carry out weeding in the ranks, and between the strain that between strain, weeder adopts the center line along frame 2 to be symmetrically arranged, weed shovel 11 carries out weeding between strain, is responded fast and accurately control by Hydrauservo System; Between strain, weed shovel 11 carries out weeding between strain and carries out spray medicine with intelligent chemical spraying device to plant root position and match, and reaches the object of comprehensive weeding between plant; (3) adopt height adjustable, weeding cutter is adjustable, and the weeding mechanism that weeder unit can use side by side, to be suitable for more how different manipulating objects, increases work efficiency.
As shown in Figure 1, the comprehensive weeder of a kind of intelligent crops, comprises weeder, intelligent chemical spraying device between frame 2, vision and Intelligent electronic control system, the degree of depth and arrangement for adjusting height, in the ranks weeder, strain.The three-point hitch 1 be positioned in frame 2 is connected with walking machine, is drawn move ahead by walking machine; Vision and Intelligent electronic control system, for gathering the relative position information of weed shovel 11 and shower nozzle 25 between plant and strain, control the duty of weeder and intelligent chemical spraying device between strain; The degree of depth and arrangement for adjusting height are for regulating embedded depth and frame 2 chassis height of weed shovel 11 between weed shovel 15 and strain in the ranks; In the ranks between weeder and strain, weeder is used for the removing of plant weeds in the ranks and between strain; Intelligence chemical spraying device is used for removing the weeds of the plant root that weed shovel between strain 11 can not be removed.
As shown in Figure 2, between described strain, weeder is made up of weed shovel 11, a pair hydraulic jack 22, one group of magnetic valve 24, displacement transducer 23 and intelligent controller 4 between a pair strain, intelligent controller 4 can control multiple described comprehensive weeder unit simultaneously, between strain, weeder is arranged between strain in weeder outer container 10, in body frame rear end, weed shovel 11 between a pair strain of a unit, a pair hydraulic jack 22 and magnetic valve 24 are symmetrically arranged along the center line of frame 2, hydraulic jack 22 one end is connected with hydraulic power unit output point, hydraulic power unit output point controls the transverse movement state of a pair hydraulic jack 22 by one group of magnetic valve 24, and hydraulic jack 22 other end is connected to form joint by the elongated slot nibs on weed shovel 11 top between pin 21 and strain, one end connection bit displacement sensor 23 of the transverse motion mechanism of hydraulic jack 22, is used as Displacement Feedback element in servo-drive system, and the other end of displacement transducer 23 is connected with intelligent controller 4, between strain, weed shovel 11 selects L-type to shovel, there is cutting edge on the base of shovel, when weed shovel enters weeding region between strain, shovel into earth, the root of weeds between strain is cut off while loosening the soil, between strain, weed shovel 11 to carry out between strain in weeding operation process, do not carry out weed shovel 11 between strain to the weeds in the region of S wide around crop to remove, prevent from hindering seedling, when between strain, weed shovel 11 arrives the front border of plant protected field, between strain, weed shovel 11 closes, protection plant preserves from, when when between strain, weed shovel 11 leaves plant center along with weeder moves ahead and arrives the rear border of plant protected field, between strain, weed shovel 11 opens and enters region between strain and carry out weeding operation, intelligent controller 4 crossing out and retraction amount by hydraulic control oil cylinder 22, accurately control weed shovel 11 between strain and open and to enter between strain weeding region or closedly dodge crop plant, crossing out of hydraulic jack 22 is detected by displacement transducer 23 with retraction amount.As shown in Figure 3, the shower nozzle 25 of intelligence chemical spraying device makes outward-dipping shape, shower nozzle 25 is facing to plant root direction, when shower nozzle 25 arrives plant center, magnetic valve 9 is opened, and shower nozzle 25 aims at plant center spray medicine, when shower nozzle 25 leaves plant center, magnetic valve 9 cuts out, and prepares the spray medicine operation of next plant; Magnetic valve 9 is manipulated by intelligent controller 4.
As shown in Figure 4, the movement locus of weed shovel 11 between the comprehensive weeder strain of a kind of intelligent crops.Between strain, weed shovel 11 carries out between strain in weeding operation process, does not carry out weed shovel 11 between strain and removes, prevent from hindering seedling to the weeds in the region of S wide around crop; When between strain, weed shovel 11 arrives the front border of plant protected field, between strain, weed shovel 11 closes, protection plant preserves from, when when between strain, weed shovel 11 leaves plant center along with weeder moves ahead and arrives the rear border of plant protected field, between strain, weed shovel 11 opens and enters region between strain and carry out weeding operation; Vision and Intelligent electronic control system, according to plant center location information, speed information that between plant and strain, the relative position information of weed shovel 11 and shower nozzle 25, velocity sensor 19 record, generate the movement locus of weed shovel 11 between strain.
The present invention for capsicum field, its
the course of workas follows:
Before the weeding work of capsicum field, the parallel connection of multiple weeder unit can be realized multirow weeding simultaneously according to actual conditions, the triangular spade of suitable width is changed according to the actual line-spacing in capsicum field, according to the height of pepper plant, positioner 20 is regulated to fix frame 2 chassis height, positioner 16 is regulated to determine the rational embedded depth of weed shovel 11 between weed shovel 15 and strain in the ranks according to soil hardness and weeds in field situation, the three-point hitch 1 be positioned in frame 2 connects walking machine, open intelligent controller 4 power supply, start walking machine, walking machine outputting power is supplied to high-pressure pump 8 and hydraulic jack 22 carries out weeding operation, weeder is moved ahead by its traction, during weeder work, velocity sensor 19 detect lines vehicle speed on running wheel 18 is also transferred to intelligent controller 4, in the ranks weed shovel 15 carries out continual weeding in the ranks, camera 13 takes pepper plant position picture, the relative position picture of weed shovel 11 and shower nozzle 25 between pepper plant and strain, be transferred to image processor 14 to process, intelligent controller 4 is according to the boundary information of the plant protected field preset, the relative position information of weed shovel 11 and shower nozzle 25 between pepper plant and strain, speed information, generate the movement locus of weed shovel 11 between strain, when between strain, weed shovel 11 arrives the front border of plant protected field, between strain, weed shovel 11 closes, protection pepper plant preserves from, when when between strain, weed shovel 11 leaves plant center along with weeder moves ahead and arrives the rear border of plant protected field, between strain, weed shovel 11 opens and enters region between capsicum strain and carry out weeding operation, simultaneously, the work of intelligence chemical spraying device, when vision and control system detect that shower nozzle 25 arrives pepper plant center, magnetic valve 9 is opened, shower nozzle 25 aims at pepper plant root position spray medicine, when shower nozzle 25 leaves pepper plant center, magnetic valve 9 cuts out, prepare the spray medicine operation of next pepper plant, weeder non-stop run in the ranks, between strain, weeder and the circulation of the intelligent chemical spraying device course of work are carried out until complete all weeding operations, after capsicum field weeding end-of-job, between strain, weed shovel 11 is closed draws in below frame 2 chassis, weeder is promoted, powered-down by three-point hitch 1.
Finally should be noted that, above embodiment is only unrestricted for illustration of technical scheme of the present invention, although with reference to most preferred embodiment to invention has been detailed description, those skilled in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from the spirit and scope of technical solution of the present invention, it all should be encompassed within right of the present invention.
Claims (6)
1. the comprehensive weeder of intelligent crops, is characterized in that: comprise weeder, intelligent chemical spraying device between frame (2), vision and Intelligent electronic control system, the degree of depth and arrangement for adjusting height, in the ranks weeder, strain; The three-point hitch (1) be positioned in frame (2) is connected with walking machine, is drawn move ahead by walking machine; Vision and Intelligent electronic control system, for gathering the relative position information of weed shovel between plant and strain (11) and shower nozzle (25), control the duty of weeder and intelligent chemical spraying device between strain; The degree of depth and arrangement for adjusting height are for regulating embedded depth and frame (2) chassis height of weed shovel (11) between weed shovel (15) and strain in the ranks; In the ranks between weeder and strain, weeder is used for the removing of weeds in the ranks and between strain of plant; Intelligence chemical spraying device is used for removing the weeds of the plant root that weed shovel between strain (11) can not be removed.
2. the comprehensive weeder of the intelligent crops of one according to claim 1, is characterized in that: described vision and Intelligent electronic control system comprise camera (13), image processor (14), intelligent controller (4), storage battery (3); Camera (13) be vertically mounted on shower nozzle (25) and in the ranks between weed shovel (15), the back lower place of frame (2).
3. the comprehensive weeder of the intelligent crops of one according to claim 1, it is characterized in that: in the ranks weeder is arranged on the lateral mid-point of frame (2), the dead astern of running wheel (18), in the ranks weed shovel (15) adopts triangular spade, detachably, the triangular spade of suitable width can be changed according to different line-spacings, fixed by adjustable positioner (16); The center of running wheel (18) is provided with velocity sensor (19), and running wheel (18) is fixed by adjustable positioner (20); When multiple comprehensive weeder unit uses side by side and carries out multirow weeding operation simultaneously, each unit works alone; Between described strain, weeder is made up of weed shovel (11), a pair hydraulic jack (22), one group of magnetic valve (24), displacement transducer (23) and intelligent controller (4) between a pair strain;
Intelligent controller (4) controls multiple described comprehensive weeder unit simultaneously; Between strain, weeder to be arranged between strain in weeder outer container (10), is positioned at frame (2) rear end; Weed shovel (11) between a pair strain of a unit, a pair hydraulic jack (22) and magnetic valve (24) are symmetrically arranged along the center line of frame (2); One end of hydraulic jack (22) is connected with hydraulic power unit output point, hydraulic power unit output point controls the transverse movement state of a pair hydraulic jack (22) by one group of magnetic valve (24), and the other end of hydraulic jack (22) is connected to form joint by the elongated slot nibs on weed shovel between pin and strain (11) top.
4. the comprehensive weeder of the intelligent crops of one according to claim 1, it is characterized in that: between described strain in weeder, one end of the transverse motion mechanism connection bit displacement sensor (23) of hydraulic jack (22), in servo-drive system, be used as Displacement Feedback element, the other end of displacement transducer (23) is connected with intelligent controller (4).
5. the comprehensive weeder of the intelligent crops of one according to claim 1, is characterized in that: described intelligent chemical spraying device comprises medicine storing pot (6), high-pressure pump (8), magnetic valve (9), grug transportation tube (7), spray medicine bar (12) and shower nozzle (25); Medicine storing pot (6) is arranged on vehicle frame (2) top medicine storing pot mount pad (5), connect high-pressure pump (8) by grug transportation tube (7), spray medicine bar (12) is fixed on vehicle frame (2); Shower nozzle (25) is outward-dipping, facing to plant root direction.
6. the method for the comprehensive weeder of a kind of intelligent crops according to claim 1, is characterized in that comprising the following steps:
Step one, utilizes intelligent controller (4) to preset with plant centre distance to be the front and back position of S to be the border, front and back of plant protected field, removes, prevent from hindering seedling to wide around crop for the weeds in the region of S do not carry out weed shovel (11) between strain; Vision and Intelligent electronic control system are according to plant center location information, speed information that between plant and strain, the relative position information of weed shovel (11) and shower nozzle (25), velocity sensor (19) record, calculate delay time T1 and T2 that weed shovel between strain (11) arrives border before and after plant protected field, and shower nozzle (25) arrives the delay time T3 of plant center, and generate the movement locus of weed shovel between strain (11);
Step 2, when when between strain, weed shovel (11) arrives the front border of plant protected field, between strain, weed shovel (11) closes, protection plant preserves from, when when between strain, weed shovel (11) leaves plant center along with weeder moves ahead and arrives the rear border of plant protected field, between strain, weed shovel (11) opens and enters region between strain and carry out weeding operation;
Step 3, when shower nozzle (25) arrives plant center, magnetic valve (9) is opened, shower nozzle (25) aims at plant center spray medicine, when shower nozzle (25) leaves plant center, magnetic valve (9) cuts out, and prepares the spray medicine operation of next plant.
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| 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 |
| CN107912089A (en) * | 2017-11-06 | 2018-04-17 | 吉林大学 | In the ranks mechanical weeding device between strain |
| CN106304861B (en) * | 2016-10-19 | 2019-02-19 | 宁夏智源农业装备有限公司 | Grape intelligence weeder |
| CN109463108A (en) * | 2018-11-20 | 2019-03-15 | 青岛农业大学 | Leaf vegetables cropper and its control method |
| CN109699287A (en) * | 2019-03-06 | 2019-05-03 | 青岛农业大学 | Leaf vegetables cropper and its control method with harvesting height regulatory function |
| CN109937689A (en) * | 2019-04-15 | 2019-06-28 | 北京市农林科学院 | Suspension type both arms grass trimmer for orchard |
| CN113748834A (en) * | 2021-09-10 | 2021-12-07 | 西安工业大学 | Orchard weeding prevention and control method and weeding prevention and control robot thereof |
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