CN105230224B - Intelligent weeding machine and weed removing method thereof - Google Patents
Intelligent weeding machine and weed removing method thereof Download PDFInfo
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- CN105230224B CN105230224B CN201510746468.XA CN201510746468A CN105230224B CN 105230224 B CN105230224 B CN 105230224B CN 201510746468 A CN201510746468 A CN 201510746468A CN 105230224 B CN105230224 B CN 105230224B
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Abstract
The invention provides an intelligent weeding machine and a weed removing method thereof. The intelligent weeding machine comprises a movable cart. The movable cart is provided with a working platform. A computer, cameras and an integrated controller are arranged on the working platform. The integrated controller is connected with the computer and the cameras in an electrical control mode, and an inter-row weeding device located on the front side and an in-row weeding device located on the back side are arranged below the working platform. The inter-row weeding device comprises a weeding mechanism, the in-row weeding device comprises two weeding mechanisms which are symmetrical in a left-and-right mode, an inside-outside moving mechanism is arranged between the two weeding mechanisms, the inside-outside moving mechanism comprises a transverse-movement air cylinder, and a stretchable rod of the transverse-movement air cylinder is connected with the weeding mechanism located on the outer side. The weeding mechanisms comprise upper comb plates and lower comb plates, cutters are arranged between the upper comb plates and the lower comb plates, in-row teeth are arranged at the front ends of the upper comb plates and the front ends of the lower comb plates, cutting edges are arranged at the edges of the front sides of the cutters, pesticide applying devices are arranged on the lower comb plates, and the integrated controller is connected with the transverse-movement air cylinder and the pesticide applying devices in an electrical control mode.
Description
Technical field
The invention belongs to agricultural machinery technological field, is related to a kind of farmland farming and weaving weeding apparatus, particularly a kind of intelligence is removed
Careless machine and its weeds sweep-out method.
Background technology
Weeds fight for soil moisture and nutrient with crops, occupy farmland space, affect crop growth, not only reduce
The yield and quality of crops, has also encouraged growing and spreading for pest and disease damage indirectly.For management of weeds, develop both at home and abroad
Go out various method weedings, such as artificial weeding, chemical weed control, weeding by machine, biological weed control, photochemistry weeding etc..Artificial weeding
High labor intensive, inefficiency have been not suitable with the needs of modern agricultural development.Chemical weed control is relatively time saving and energy saving, weeding effect
Rate is also higher, and for paroxysmal crop smothering, chemical weed control takes effect most soon, so deep welcome by vast farmerses, becomes current
Main weeding system, be at home and abroad widely used.If but chemical weed control herbicide improper use, not only waste weeding
Agent, and Practice for Pesticide Residue in Agricultural Products amount can be caused exceeded, the pollution by pesticides such as soil, water environment, or even personnel's poisoning.Therefore, exist
While controlling weeds effective using chemical herbicide, the amount of application of herbicide should be reduced as far as possible to reduce its harm.
At present, chemical weed control practices realizes the sprinkling of chemical herbicide generally using plant equipment.In China, generally adopt
Hand sprayer or engine-driven atomiser pesticide-applying weeding, also have aerial sprays weeding.In the U.S., current application equipment has spray boom to spray
Mist machine, spread application utensil etc..But weeds and crop mix in farmland, no matter the shortcoming of these methods is ground whether there is weeds,
Herbicide is all earthward equably sprayed, and spraying apparatus often have mist droplet phenomenon, so during sprinkling herbicide not
Crop can be can hurt with avoiding, also pollution by pesticides can be excessively caused because of herbicide consumption, so as to the poisoning that herbicide occurs.Cause
This, chemical weed control practices while time-consuming and labour also brings the problem for wasting and polluting, does not meet modern agriculture
Require.
In prior art, in the work of field weeding, nearly all manually weeding or chemical weed control are completed, and are on the one hand worked
Intensity is big, and efficiency is low；On the other hand, the pollution such as ecological deterioration, water quality, soil is caused to be on the rise.With labor cost
The shortage between twenty and fifty labour, and the needs preserved the ecological environment are improved constantly, the intelligentized demand of weeding machineization is more next
It is stronger.
The content of the invention
The purpose of the present invention is there are the problems referred to above for existing technology, it is proposed that it is a kind of by the ranks with row in weeds
Separately cut off, while the intelligent weeder and its weeds sweep-out method of weed identification accuracy rate is improved using various recognition method.
The purpose of the present invention can be realized by following technical proposal：A kind of intelligent weeder, including moving cart, it is described
Moving cart has work platformses, and computer and integrated manipulator are arranged on the work platformses, and the both sides of the computer are each
Photographic head is provided with, the integrated manipulator electricly connects computer and photographic head, and the lower section of the work platformses arranges and is located at
Front side weeder in the ranks and positioned at weeder in the row of rear side, the weeder in the ranks includes a weeding mechanism,
In the row, weeder includes symmetrical Liang Bu weedings mechanism, and inside and outside travel mechanism is arranged between Liang Bu weedings mechanism,
The inside and outside travel mechanism includes flat-removing air cyclinder, and the expansion link connection of the flat-removing air cyclinder is located at the weeding mechanism in outside, described
Weeding mechanism includes upper comb dent plate and lower fishback, and cutter, the upper comb dent are arranged between the upper comb dent plate and lower fishback
The front end of plate and lower fishback arranges rows of teeth, and the front side edge of the cutter is arranged on the lower fishback along being blade
Device for administration of drugs, the integrated manipulator electricly connect flat-removing air cyclinder and device for administration of drugs.
This intelligent weeder is with the drilling crop such as veterinary antibiotics in agricultural leading industries as manipulating object.Weeding in row
When weeding operation is carried out in crop row, which is located at the mechanism of weeder weeding in the ranks for the left and right Liang Bu weedings mechanism of device
Outer fix, length of the two ends distance of interior weeder more than in the ranks weeder at once；And interior weeder of being expert at
When left and right Liang Bu weedings mechanism avoids crop, which is located at the inner side of the mechanism of weeder weeding in the ranks, at once interior weeding dress
Length of the two ends distance put less than or equal to weeder in the ranks.
In above-mentioned intelligent weeder, the blade indention shape of the cutter, the sawtooth wedge angle of the zigzag fashion
For right angle or acute angle.
In above-mentioned intelligent weeder, the fixed ledger-plate in inner side of the lower fishback is moved before and after the cutter connection
Motivation structure.
In above-mentioned intelligent weeder, the movable mechanism includes motor, and the rotating shaft of the motor drives
Connecting eccentric wheel, the eccentric are connected with connecting rod, and the driving end of the connecting rod is hinged on above-mentioned cutter, the cutter it is upper
Lower two sides correspondence is formed with upper comb dent plate or lower fishback and is slidably connected, and the integrated manipulator electricly connects motor.It is logical
The cutter of the ledger-plate and reciprocating action in front and back of crossing down fishback coordinates, and weeds are effectively cut.
In above-mentioned intelligent weeder, the teeth of the upper comb dent plate are downward-sloping, its angle of inclination be 35 ° to 75 °,
The increment of the increment of the upper comb dent plate teeth and lower fishback teeth mutually gathers close.Thus upper comb dent plate and lower fishback
Teeth form Duckbill type, further beneficial to weeds combing is got up, to facilitate excision.
In above-mentioned intelligent weeder, the device for administration of drugs includes depositing medicine-chest, and the medicine-chest of depositing connects grug transportation tube, described
Electrically-controlled valve is set in the import of grug transportation tube, and the end of the grug transportation tube connects medicinal drop, and the teeth bottom side of the lower fishback sets
Dispenser sponge is put, the mouth of pipe of the medicinal drop is contacted, described
Humidity sensor connects above-mentioned integrated manipulator by circuit, and the integrated manipulator is electrically connected above-mentioned electrically-controlled valve.
In above-mentioned intelligent weeder, the bottom side of the work platformses arranges fore-stock and after-poppet, the fore-stock
Bottom be fixedly mounted with the weeding mechanism of above-mentioned weeder in the ranks, the after-poppet has two sub-stents, the bottom of the sub-stent
End is fixedly mounted with the weeding mechanism of weeder in above-mentioned row, and the work platformses are fixedly mounted on the bottom surface with guide rail, the top of the sub-stent
End arranges roller, is formed and be slidably connected in the embedded guide rail of the roller.Weeding mechanism is driven to do inside and outside putting down to shifting in flat-removing air cyclinder
During dynamic, sub-stent synchronizes sliding in guide rail by roller, by the guide effect of guide rail, further lifts weeding
The stability of translation motion inside and outside mechanism.
In above-mentioned intelligent weeder, the moving cart also includes four wheels, and four wheels are by double
Cross arm independent suspension is connected to below work platformses, and double cross arm independent suspension includes Top Crossbeam and lower cross arm, and Top Crossbeam is hinged on
On the bottom surface of work platformses, vehicle wheel rotation is connected on lower cross arm, is hinged between Top Crossbeam and lower cross arm, and Top Crossbeam is with
Amortisseur is housed between transverse arm.By the effect of amortisseur, to avoid because of pavement roughness and caused walking vibrations, improve
Smooth running, to guarantee the stability of camera photographing picture.
A kind of weeds sweep-out method of intelligent weeder, comprises the following steps：
1) intelligent weeder is positioned over into one end in the ranks, so as to which the weeder in the ranks of front side is located at interior in the ranks, rear side
Row in weeder stretch in the adjacent inline crops in both sides；
2), intelligent weeder is walked forward, directly passes through upper comb dent plate positioned at weeding mechanism in the ranks and lower fishback is combed
Reason weeds, then cut off weeds by cutter, the weeds otch for just having cut through are smeared finally by device for administration of drugs and applied
Medicine；
3) scene in the adjacent lines of both sides is shot by photographic head, scene information transmission to integrated manipulator is carried out point
Analysis, and analysis process and result are passed through into Computer display out, including the method that following items recognize crop：
Ith, recognized using color characteristic：
Image to collecting carries out point by point scanning, splits green plant and soil according to the rgb value of each pixel, that is, utilizes
Color characteristic first isolates green plant from Soil Background, then again by detecting the color characteristic of target area distinguish weeds and
Crop；
IIth, recognized using morphological characteristic：
Plants identification based on morphological characteristic is mainly by studying the border style (curvature or lobate feature) of blade and whole
Individual blade shape (area, length, width, girth, square, non-dimensional ratio etc.) is realizing；Known using deformable template method
The blade of other partial occlusion：The end of blade is detected first, then model is placed on each end of blade, and made by deformation
Model is matched with whole blade, and model structure is determined with the contour line for representing blade shape by the variable skeleton of blade；
IIIth, recognized using spectral signature：
Under the irradiation of visible ray (400～700nm wave bands) or near infrared light (700～2500nm wave bands), weeds with soil
Earth and weeds have difference with the spectral reflectivity of crop；
IVth, recognized using textural characteristics：
Repeated arrangement of the texture for certain basic model (tone primitive), can be by observing whether texture measure shows
Write and change to determine the border between two kinds of texture pattern；
Vth, pattern-recongnition method：
It is identified using artificial neural network, support vector machine, Bayes classifier, decision tree and discriminant analysiss pattern
Weeds and crop；
4), identify that green plant is crop, integrated manipulator manipulation flat-removing air cyclinder retraction expansion link, drive weeding mechanism are inside
Side shifting is realized avoiding to leave inline crops, and intelligent weeder continues to move ahead, until photographic head detection passes fully through crop, collects
Flat-removing air cyclinder being manipulated again into controller and stretching out expansion link, movement reenters space in row laterally to drive weeding mechanism；
5), identify that green plant is weeds, the weeding mechanism in row is stretched into by upper comb dent plate and lower fishback combing weeds,
Then weeds are cut off by cutter, finally by device for administration of drugs to the weeds otch spread application that just cut through.
In above-mentioned weeds sweep-out method, the humidity sensor senses the humidity information of dispenser sponge, and by humidity
Information is sent in real time to integrated manipulator, and integrated manipulator carries out the judgement of dispenser sponge Chinese medicine liquid hold-up by detection data,
Once judging that medicinal liquid content is not enough, integrated manipulator control electrically-controlled valve is opened, and makes medicinal liquid by medicine-chest is deposited through grug transportation tube, by drop medicine
Pipe is dropped on dispenser sponge；Until the sensing humidity value of humidity sensor is up to standard, integrated manipulator is carried out by detection data
Dose judges, further controls electrically-controlled valve and close, complete feeding operations.
Compared with prior art, this intelligent weeder and its weeds sweep-out method are with the vegetable in agricultural leading industries, water
The drilling crops such as fruit are object of study, are divided into weeding two parts in weeding in the ranks and row.Using the particularity of farmland weeding, base
The elevation information of weeds in crop plant and row is obtained in binocular vision, recognizes ground blue target to reduce by color characteristic
Image Stereo matching operand, identifies from pixels across histogram-fitting curve further according to crop plant spatial distribution characteristic
Crop plant, and then recognize weeds in trip.In order to reduce the amount of calculation of Stereo matching, to improve the real-time of image procossing
Property, plan image background segmentation result and combine with Stereo matching operation.Further with multispectral characteristic, shape facility, stricture of vagina
The reason method such as feature and pattern recognition, especially lifts the precision of weed identification in row, realizes automation apparatus field weeding
Intelligent operation.
Description of the drawings
Fig. 1 is the dimensional structure diagram of this intelligent weeder.
Fig. 2 is the structural representation of the interior weeder of row in this intelligent weeder.
Fig. 3 is the schematic diagram of cutter drives structure in this intelligent weeder.
In figure, 1, work platformses；2nd, photographic head；3rd, computer；4th, integrated manipulator；5th, fore-stock；6th, sub-stent；7th, on
Fishback；8th, lower fishback；9th, cutter；10th, eccentric；11st, connecting rod；12nd, flat-removing air cyclinder；13rd, guide rail；14th, roller；15th, car
Wheel.
Specific embodiment
The following is the specific embodiment of the present invention and combine accompanying drawing, technical scheme is further described,
But the present invention is not limited to these embodiments.
As shown in Figure 1, Figure 2 and Figure 3, this intelligent weeder includes moving cart, and moving cart has work platformses 1, work
Make on platform 1, to arrange computer 3 and integrated manipulator 4, the both sides of computer 3 are each provided with photographic head 2, and integrated manipulator 4 is electric
Control connection computer 3 and photographic head 2, the lower section of work platformses 1 is arranged positioned at the weeder in the ranks of front side and positioned at rear side
Weeder in row, in the ranks weeder include a weeding mechanism, in row, weeder includes symmetrical two weedings
Mechanism, arranges inside and outside travel mechanism between Liang Bu weedings mechanism, inside and outside travel mechanism includes flat-removing air cyclinder 12, flat-removing air cyclinder 12
Weeding mechanism of the expansion link connection positioned at outside, weeding mechanism include upper comb dent plate 7 and lower fishback 8, upper comb dent plate 7 and lower comb
The front end that cutter 9, upper comb dent plate 7 and lower fishback 8 are arranged between tooth plate 8 arranges rows of teeth, and the front side edge edge of cutter 9 is
Blade, arranges device for administration of drugs on lower fishback 8, integrated manipulator 4 electricly connects flat-removing air cyclinder 12 and device for administration of drugs.
When weeding operation is carried out in crop row, which is located in the ranks for the left and right Liang Bu weedings mechanism of the interior weeder of row
The outer fix of weeder weeding mechanism, the two ends of interior weeder are apart from the length more than weeder in the ranks at once；And
Be expert at interior weeder left and right Liang Bu weedings mechanism avoid crop when, which is located at the inner side position of the mechanism of weeder weeding in the ranks
Put, at once length of the two ends distance of interior weeder less than or equal to weeder in the ranks.
A kind of mode, the blade indention shape of cutter 9, the sawtooth wedge angle of zigzag fashion is right angle or acute angle.
Another way, the fixed ledger-plate in inner side of lower fishback 8, the movable mechanism of the connection of cutter 9.Movable machine
Structure includes motor, and the rotating shaft drive connection eccentric 10 of motor, eccentric 10 are connected with connecting rod 11, the driving end of connecting rod 11
It is hinged on cutter 9, the correspondence of two sides up and down of cutter 9 is formed with upper comb dent plate 7 or lower fishback 8 and is slidably connected, integrated control
Device processed 4 electricly connects motor.Coordinated by cutter 9 of the ledger-plate of lower fishback 8 with front and back reciprocating action, weeds are carried out
Effectively cut.
The teeth of upper comb dent plate 7 are downward-sloping, and its angle of inclination is 35 ° to 75 °, and the increment of 7 teeth of upper comb dent plate is with
The increment of 8 teeth of fishback mutually gathers close.Thus the teeth of upper comb dent plate 7 and lower fishback 8 form Duckbill type, further profit
In weeds combing is got up, to facilitate excision.
Device for administration of drugs includes depositing medicine-chest, deposits medicine-chest connection grug transportation tube, electrically-controlled valve is arranged in the import of grug transportation tube, grug transportation tube
End connects medicinal drop, and the teeth bottom side of lower fishback 8 arranges dispenser sponge, the mouth of pipe contact dispenser sponge of medicinal drop, dispenser
Humidity sensor is placed in sponge, by circuit connection integrated manipulator 4, integrated manipulator 4 is electrically connected electrically-controlled valve humidity sensor.
The bottom side of work platformses 1 arranges fore-stock 5 and after-poppet, and the bottom of fore-stock 5 is fixedly mounted with removing in the ranks weeder
Careless mechanism, after-poppet have two sub-stents 6, and the bottom of sub-stent 6 is fixedly mounted with the weeding mechanism of weeder in row, work platformses
1 is fixedly mounted on the bottom surface with guide rail 13, and the top of sub-stent 6 arranges roller 14, roller 14 is formed in being embedded in guide rail 13 and is slidably connected.
During flat-removing air cyclinder 12 drives weeding mechanism to do inside and outside moving flat, sub-stent 6 is carried out in guide rail 13 together by roller 14
Step sliding, by the guide effect of guide rail 13, further lifts the stability of translation motion inside and outside weeding mechanism.
Moving cart also includes four wheels 15, and four wheels 15 are connected to work platformses by double cross arm independent suspension
Below 1, double cross arm independent suspension includes Top Crossbeam and lower cross arm, and Top Crossbeam is hinged on the bottom surface of work platformses 1,15 turns of wheel
It is dynamic to be connected on lower cross arm, it is hinged between Top Crossbeam and lower cross arm, amortisseur is housed between Top Crossbeam and lower cross arm.Pass through
The effect of amortisseur, to avoid because of pavement roughness and caused walking vibrations, improves smooth running, to guarantee photographic head
The stability of 2 photographic pictures.
A kind of weeds sweep-out method of intelligent weeder, comprises the following steps：
1) intelligent weeder is positioned over into one end in the ranks, so as to which the weeder in the ranks of front side is located at interior in the ranks, rear side
Row in weeder stretch in the adjacent inline crops in both sides；
2), intelligent weeder is walked forward, directly passes through upper comb dent plate 7 and lower fishback 8 positioned at weeding mechanism in the ranks
Combing weeds, then cut off weeds by cutter 9, the weeds otch for just having cut through are smeared finally by device for administration of drugs
Dispenser；
3) scene in the adjacent lines of both sides is shot by photographic head 2, scene information transmission is carried out to integrated manipulator 4
Analysis, and analysis process and result are shown by computer 3, including the method that following items recognize crop：
Ith, recognized using color characteristic：
Image to collecting carries out point by point scanning, splits green plant and soil according to the rgb value of each pixel, that is, utilizes
Color characteristic first isolates green plant from Soil Background, then again by detecting the color characteristic of target area distinguish weeds and
Crop；
For example, research finds that the color of milpa blade is bottle green, and the color in strain heart district domain is light green color, right
This, is partitioned into Semen Maydiss and weeds green plantss region from Soil Background first with color characteristic, recycles maize seedling strain heart face
Color characteristic mapping maize plant, recognizes milpa, the plant regional of the non-milpa for obtaining finally according to the connectivity of region
As Semen Maydiss weeds in field.
IIth, recognized using morphological characteristic：
Plants identification based on morphological characteristic is mainly by studying the border style (curvature or lobate feature) of blade and whole
Individual blade shape (area, length, width, girth, square, non-dimensional ratio etc.) is realizing；Known using deformable template method
The blade of other partial occlusion：The end of blade is detected first, then model is placed on each end of blade, and made by deformation
Model is matched with whole blade, and model structure is determined with the contour line for representing blade shape by the variable skeleton of blade；
For example, the unifacial leaf and broadleaf weed difference in formalness is very big, and monocotyledon weed blade is narrow and upright；
Broadleaf weed blade width, surface area are big.Therefore, it can using the difference of form distinguish weeds and crop.Research is based on shape
The weed identification method of state feature, by analyzing the elongation and compactness of blade come subregion tomato seedling and weeds.Using variable
Shape template method is identified to the weeds in Sugarbeet Fields, and the model can remove the 83% weeds pixel being blocked, and weeds are known
Rate is not 81%～87%.
IIIth, recognized using spectral signature：
Under the irradiation of visible ray (400～700nm wave bands) or near infrared light (700～2500nm wave bands), weeds with soil
Earth and weeds have difference with the spectral reflectivity of crop；
For example, the reflectance of Radix Betae and weeds in the range of 435～1000nm, research knot are determined with imaging spectrometer
Fruit rate of accuracy reached is to 91%.The characteristic wavelength point of identification Radix Dauci Sativae and weeds is chosen using quadratic discriminatory analysis method, with 450,
The combination of 550 and 700nm three interference filters for being characterized wavelength points reaches 72% to the discrimination of Radix Dauci Sativae and weeds.
Visible ray and near infrared band gather the image of multi-wavelength, are then carried on the back from image using two spectrum channels (660 and 800nm)
Split Cotton Gossypii and weeds in scape, and develop the Robust Statistics algorithm based on local histogram.Measurement Cotton Gossypii, field thistle, Oryza sativa L.
With the spectral reflectivity of the Four Plants in 350～2500nm wavelength bands such as barnyard grass, discrimination is up to 100%.
IVth, recognized using textural characteristics：
Repeated arrangement of the texture for certain basic model (tone primitive), can be by observing whether texture measure shows
Write and change to determine the border between two kinds of texture pattern；
For example, the textural characteristics of Semen Tritici aestivi and weeds are analyzed using fourier spectrum, with one direction and multi-direction stricture of vagina
The difference of reason pattern distinguishes Semen Tritici aestivi and weeds.10 gray level co-occurrence matrixes features of analytical calculation, 12 gray scale stroke matrix characters
With 3 gray features, wheat weedses are recognized using this 25 textural characteristics.Chosen on the basis of crop row center
Texture block, calculates the co-occurrence matrix for quantifying the H color spaces that series is 8 grades, extracts 5 textural characteristics parameters, poly- using K averages
The classification of each piece of class method discriminant analysiss.
Vth, pattern-recongnition method：
It is identified using artificial neural network, support vector machine, Bayes classifier, decision tree and discriminant analysiss pattern
Weeds and crop；
For example, model the Helianthi for collecting, weeds and pedological map picture as input data, one is constructed based on mistake
The artificial neural network of difference back-propagation algorithm, and by reducing the edge of the resolution of image, cutting Soil Background reducing
Picture size is improving the learning rate of neutral net.The textural characteristics of Semen Maydiss and weeds are extracted as support vector machine classifier
Input vector, Semen Maydiss and weeds are identified using the support vector machine method, by contrast find support vector machine side
The accuracy rate of method identification weeds is higher than BP neural network.With color and position feature as identification parameter, using Bayes classifier
To distinguish Herba Astragali Sinici, weeds and soil, under the conditions of accurate prior probability is obtained, mistake classification rate minimum 6.4%.Use respectively
Discriminant analysiss, decision tree and the recognition methodss of artificial neural network Three models are identified to the weeds in corn field, and weeds are known
Rate is not respectively 87%, 76% and 81%.
4), identify green plant for crop, the manipulation 12 retraction expansion link of flat-removing air cyclinder of integrated manipulator 4, drive weeding mechanism
Realize avoiding to medial movement to leave inline crops, intelligent weeder continues to move ahead, until the detection of photographic head 2 passes fully through work
Thing, integrated manipulator 4 manipulate flat-removing air cyclinder 12 again and stretch out expansion link, drive the movement laterally of weeding mechanism to reenter empty in row
Between；
5), identify that green plant is weeds, the weeding mechanism stretched in row is miscellaneous by upper comb dent plate 7 and lower 8 combing of fishback
Grass, then cuts off weeds by cutter 9, finally by device for administration of drugs to the weeds otch spread application that just cut through.
Humidity sensor senses the humidity information of dispenser sponge, and humidity information is sent in real time to integrated manipulator 4, collection
The judgement of dispenser sponge Chinese medicine liquid hold-up is carried out by detection data into controller 4, once judge that medicinal liquid content is not enough, integrated control
The control electrically-controlled valve of device processed 4 is opened, and is made medicinal liquid by medicine-chest is deposited through grug transportation tube, is dropped on dispenser sponge by medicinal drop；Until wet
The sensing humidity value of degree sensor is up to standard, and integrated manipulator 4 carries out dose judgement by detection data, further controls electrically-controlled valve
Close, complete feeding operations.
This intelligent weeder and its weeds sweep-out method are with the drilling such as veterinary antibiotics in agricultural leading industries crop to grind
Study carefully object, be divided into weeding two parts in weeding in the ranks and row.Using the particularity of farmland weeding, obtained based on binocular vision and made
In thing plant and row, the elevation information of weeds, recognizes ground blue target to reduce image Stereo matching computing by color characteristic
Amount, identifies crop plant, Jin Ershi further according to crop plant spatial distribution characteristic from pixels across histogram-fitting curve
Chu Hang not interior weeds.In order to reduce the amount of calculation of Stereo matching, to improve the real-time of image procossing, plan image background
Segmentation result is combined with Stereo matching operation.Further with multispectral characteristic, shape facility, textural characteristics and pattern recognition
Etc. method, the precision of weed identification in row is especially lifted, the intelligent operation of automation apparatus field weeding is realized.
Specific embodiment described herein is only explanation for example spiritual to the present invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement or replaced using similar mode to described specific embodiment
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more having used work platformses 1 herein；Photographic head 2；Computer 3；Integrated manipulator 4；Fore-stock 5；Point
Support 6；Upper comb dent plate 7；Lower fishback 8；Cutter 9；Eccentric 10；Connecting rod 11；Flat-removing air cyclinder 12；Guide rail 13；Roller 14；Wheel
15 grade terms, but it is not precluded from the probability using other terms.Using these terms just for the sake of more easily description and
Explain the essence of the present invention；It is all contrary with spirit of the invention to be construed as any additional restriction.
Claims (9)
1. a kind of intelligent weeder, including moving cart, the moving cart have work platformses, arrange on the work platformses
Computer and integrated manipulator, the both sides of the computer are each provided with photographic head, and the integrated manipulator electricly connects calculating
Machine and photographic head, it is characterised in that the lower section of the work platformses is arranged positioned at the weeder in the ranks of front side and positioned at rear side
Row in weeder, the weeder in the ranks includes a weeding mechanism, and in the row, weeder includes symmetrical
Liang Bu weedings mechanism, arrange between Liang Bu weedings mechanism inside and outside travel mechanism, the inside and outside travel mechanism includes flat-removing air cyclinder,
Weeding mechanism of the expansion link connection of the flat-removing air cyclinder positioned at outside, the weeding mechanism include upper comb dent plate and lower comb
Plate, the front end that cutter, the upper comb dent plate and lower fishback are arranged between the upper comb dent plate and lower fishback arrange rows of
Teeth, the front side edge of the cutter arrange device for administration of drugs along being blade on the lower fishback, the automatically controlled company of the integrated manipulator
Connect flat-removing air cyclinder and device for administration of drugs.
2. intelligent weeder according to claim 1, it is characterised in that the blade indention shape of the cutter, it is described
The sawtooth wedge angle of zigzag fashion is right angle or acute angle.
3. intelligent weeder according to claim 1, it is characterised in that the fixed ledger-plate in inner side of the lower fishback,
The cutter connection moves forward and backward mechanism.
4. intelligent weeder according to claim 3, it is characterised in that the movable mechanism includes motor, institute
State the rotating shaft drive connection eccentric of motor, the eccentric is connected with connecting rod, the driving end of the connecting rod is hinged on above-mentioned
On cutter, the correspondence of two sides up and down of the cutter is formed with upper comb dent plate or lower fishback and is slidably connected, the integrated control
Device electricly connects motor.
5. intelligent weeder according to claim 1, it is characterised in that the teeth of the upper comb dent plate are downward-sloping, its
Angle of inclination is 35 ° to 75 °, and the increment of the increment of the upper comb dent plate teeth and lower fishback teeth mutually gathers close.
6. intelligent weeder according to claim 1, it is characterised in that the device for administration of drugs includes depositing medicine-chest, described to deposit
Medicine-chest connects grug transportation tube, arranges electrically-controlled valve in the import of the grug transportation tube, the end connection medicinal drop of the grug transportation tube, it is described under
The teeth bottom side of fishback arranges dispenser sponge, and the mouth of pipe of the medicinal drop contacts above-mentioned dispenser sponge, in the dispenser sponge
Humidity sensor is placed, the humidity sensor connects above-mentioned integrated manipulator by circuit, on the integrated manipulator is electrically connected
State electrically-controlled valve.
7. intelligent weeder according to claim 1, it is characterised in that the bottom side of the work platformses arrange fore-stock and
After-poppet, the bottom of the fore-stock are fixedly mounted with the weeding mechanism of above-mentioned weeder in the ranks, and the after-poppet has Liang Ge branches
Frame, the bottom of the sub-stent are fixedly mounted with the weeding mechanism of weeder in above-mentioned row, and being fixedly mounted on the bottom surface with for the work platformses is led
Rail, the top of the sub-stent arrange roller, formed and be slidably connected in the embedded guide rail of the roller.
8. intelligent weeder according to claim 1, it is characterised in that the moving cart also includes four wheels, institute
State four wheels to be connected to below work platformses by double cross arm independent suspension, double cross arm independent suspension includes Top Crossbeam with
Transverse arm, Top Crossbeam are hinged on the bottom surface of work platformses, and vehicle wheel rotation is connected on lower cross arm, phase between Top Crossbeam and lower cross arm
Mutually it is hinged, amortisseur is housed between Top Crossbeam and lower cross arm.
9. a kind of weeds sweep-out method of intelligent weeder, adopts intelligence weeder as claimed in claim 1, its feature to exist
In comprising the following steps：
1) intelligent weeder is positioned over into one end in the ranks, so as to which the weeder in the ranks of front side is located at interior in the ranks, the row of rear side
Interior weeder is stretched in the adjacent inline crops in both sides；
2), intelligent weeder is walked forward, directly passes through upper comb dent plate positioned at weeding mechanism in the ranks and lower fishback combing is miscellaneous
Grass, then cuts off weeds by cutter, finally by device for administration of drugs to the weeds otch spread application that just cut through；
3) scene in the adjacent lines of both sides is shot by photographic head, scene information transmission is analyzed to integrated manipulator, and
Process will be analyzed and result will pass through Computer display out, including the method that following items recognize crop：
Ith, recognized using color characteristic：
Image to collecting carries out point by point scanning, splits green plant and soil according to the rgb value of each pixel, i.e., using color
Feature first isolates green plant from Soil Background, then again by detecting the color characteristic of target area distinguishing weeds and work
Thing；
IIth, recognized using morphological characteristic：
Based on the plants identification of morphological characteristic mainly by studying the border style and whole blade shape of blade realizing；Utilize
Deformable template method carrys out the blade that identification division is blocked：The end of blade is detected first, and model is placed in into each leaf then
On end, and by deformation model is matched with whole blade, model structure by blade variable skeleton and represent blade
The contour line of shape is determined；
IIIth, recognized using spectral signature：
Under the irradiation of visible ray or near infrared light, weeds have difference with the spectral reflectivity of crop with soil and weeds
It is different；
IVth, recognized using textural characteristics：
Texture is the repeated arrangement of certain basic model, can determine two by whether observation texture measure significantly changes
Plant the border between texture pattern；
Vth, pattern-recongnition method：
Weeds are identified using artificial neural network, support vector machine, Bayes classifier, decision tree and discriminant analysiss pattern
With crop；
4), identify green plant for crop, integrated manipulator manipulation flat-removing air cyclinder retraction expansion link, the inside sidesway of drive weeding mechanism
Dynamic to realize avoiding to leave inline crops, intelligent weeder continues to move ahead, until photographic head detection passes fully through crop, integrated control
Device processed manipulates flat-removing air cyclinder again and stretches out expansion link, and movement reenters space in row laterally to drive weeding mechanism；
5), identify that green plant is weeds, the weeding mechanism stretched in row passes through upper comb dent plate and lower fishback combing weeds, then
Weeds are cut off by cutter, finally by device for administration of drugs to the weeds otch spread application that just cut through.
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