CN106258028B - A kind of intelligent thinning of machine vision servo is hoed up weeds equipment - Google Patents
A kind of intelligent thinning of machine vision servo is hoed up weeds equipment Download PDFInfo
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- CN106258028B CN106258028B CN201610630220.1A CN201610630220A CN106258028B CN 106258028 B CN106258028 B CN 106258028B CN 201610630220 A CN201610630220 A CN 201610630220A CN 106258028 B CN106258028 B CN 106258028B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B41/00—Thinning machines
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Abstract
Hoe up weeds equipment the present invention relates to a kind of intelligent thinning of machine vision servo, mainly including machine vision servo control system, transverse-moving mechanism, ground feeler mechanism, seedling thinning unit and final singling unit.During work, machine vision servo control system gathers and handles crop image information, the speed signal sent with reference to fifth wheel, completes crop row identification and is positioned with target crop, and seedling thinning provides foundation to the data obtained with final singling in order to control.Machine vision servo control system sends control instruction to each control unit, by controlling transverse-moving mechanism in real time, seedling thinning unit and final singling unit is set to be directed at crop row, and drilling crop is divided into by equidistant crop cluster according to plant growth interval by seedling thinning unit, final singling unit again removes the listless crop of small and weak disease, strong sprout is left, finally realizes the mechanical thinning of drilling crop.Seedling thinning, final singling are completed in one-stop operation of the present invention and three agronomy of hoeing up weeds, and seedling thinning distance and final singling precision can be flexibly set according to different demands, meet diversified thinning demand.
Description
Technical field
The invention belongs to agriculture equipment technical field, more particularly to a kind of intelligent thinning of machine vision servo is hoed up weeds
Equipment.
Background technology
For most drilling crops, application rate is all far super to stay seedling amount, causes seedling crowded, to ensure that seedling has enough skies
Between growth and nutrition draw, answer timely thinning.Thinning is generally divided into seedling thinning and two stages of final singling, and seedling thinning is by after germination
Continuous crop seedling row is divided into some clusters by drilling crop according to plant growth spacing in the rows, and certain amount crop, Ran Houtong are stayed per cluster
Crossing final singling will remove per weak seedling in cluster and sick seedling, and the strong sprout in retaining per cluster, so as to improve the ventilation and penetrating light condition of seedling, promotes
Root growth and development.The currently used application and thinning-out method someone break seedling in China and chemical thinning.Due to the operation labor of artificial thinning
Dynamic efficiency is low, intensity is high, with high costs, and chemical thinning can bring the drawbacks such as chemical injury of crops and environmental pollution, therefore to efficient
The thinning machine demand of environmental protection grows to even greater heights.
In mechanical thinning, crop is its emphasis and difficult point to row and final singling link.Drilling crop is uneven and raw by planting
The influence for situations such as long situation differs, the seedling row and irregular after crop germination, thinning machine are not allowed row to cause spacing uneven
With staying seedling excessive, crop growth is influenced.Final singling link equally influences crop yield, stays seedling excessive in final singling, seedling is mutual
Fertilizer is striven, water is striven and wins honour for, causes Crop development bad；Stay seedling very few, field light leak is serious, it is impossible to make full use of soil fertility resource.
The content of the invention
In view of the shortcomings of the prior art, hoe up weeds equipment the present invention provides a kind of intelligent thinning of machine vision servo.
A kind of intelligent thinning of machine vision servo is hoed up weeds equipment, including car body, walking mechanism and suspension mechanism, is further included
Ground feeler mechanism, transverse-moving mechanism, seedling thinning unit, final singling unit and machine vision servo control system；Wherein, ground profiling machine
Structure is installed on car body；
The transverse-moving mechanism, line slideway 11, thinning knife are equipped with the feeler mechanism of ground perpendicular to equipment direction of advance
Tool contiguous block 9 is slidably disposed on line slideway 11；Electric putter 10 is installed on line slideway 11, and is connected with thinning cutter
Connect block 9 to connect, the rectilinear movement of control thinning cutter contiguous block 9；
The seedling thinning unit, dual Piston pair go out the front end that driving cylinder 5 is connected to thinning cutter contiguous block 9, dual Piston
It is double go out driving cylinder 5 the outer ends of two piston rods in left and right be separately installed with seedling thinning cutter 4, and left and right seedling thinning cutter 4 is oppositely arranged；
When left and right piston rod is withdrawn, the blade of left and right seedling thinning cutter 4 is closed to uproot crop；When left and right piston rod stretches out, left and right
The blade of seedling thinning cutter 4, which is opened, avoids crop, while hoe goes the weeds of crop both sides；
The final singling unit, rotation motor 8 are connected to the rear end of thinning cutter contiguous block 9, are provided with rotation motor 8
Final singling cutter 7；Respectively there is a blade at the both ends of the final singling cutter 7, and two blade parallels are in equipment direction of advance；8 band of rotation motor
Dynamic final singling cutter 7 rotates, and blade, which is rotated to hoe during bottom, goes crop, and two blades avoid crop by the spacer region of bottom successively,
Seedling is preferentially stayed on the basis of seedling thinning；
The machine vision servo control system, color camera 3 is provided with thinning cutter contiguous block 9；The walking
Mechanism includes fifth wheel 13；Color camera 3 and fifth wheel 13 are connected to controller integral box 6 by data cable respectively；Dual-active
Plug pair goes out driving cylinder 5, rotation motor 8 and electric putter 10 and is connected to controller by respective drive system and data cable respectively
Integral box 6；The controller integral box 6 is loaded on car body, and core processor, dual-active equipped with pre installation software package are equipped with it
Plug pair goes out driving cylinder control unit, rotation motor control unit and electric putter control unit；
Wherein, fifth wheel 13 is used to test and send speed signal；Color camera 3 is used to gathering and sending crop map picture letter
Breath；The core processor is handled crop image information analysis by pre installation software package, and combines the speed that fifth wheel 13 is sent
Signal is spent, going out driving cylinder control unit, rotation motor control unit and electric putter control unit to dual Piston pair sends control
Instruction, so that by controlling corresponding drive system to drive dual Piston pair to go out driving cylinder 5, rotation motor 8 and electric putter 10
Movement.
The dual Piston it is double go out driving cylinder 5 and rotation motor 8 movement by it is pneumatic, surge or electronic mode is real
It is existing.
The ground feeler mechanism uses parallel link mechanism.
Multigroup seedling thinning unit, final singling unit, thinning cutter contiguous block 9, electric putter 10 and color camera 3 are integrated in same
On line slideway 11, multirow synchronization job is carried out.
Beneficial effects of the present invention are：
(1) present invention controls thinning cell operation by machine vision servo control system, and one-stop operation is completed seedling thinning, determined
Seedling and three agronomy of hoeing up weeds；And corresponding seedling thinning distance and final singling precision can be flexibly set according to the different demands of crop thinning,
It effectively prevent the use limitation brought since thinning spacing is non-adjustable, ensure different type, different growing stage, not of the same race
The diversified thinning demand of the crop of plant situation.For increase peasant's harvest, reduce agricultural pollution, raising production efficiency, promotion agriculture
Industry rapid economic development provides strong technical support and equipment Safeguard.
(2) crop row position is detected using machine vision in real time, and controls transverse-moving mechanism to make seedling thinning cutter and final singling
Cutter follows the trail of crop row, is directed at crop row in real time, improves thinning accuracy rate, and seedling is hindered in reduction, reduces loss；Using machine vision intelligence
Can identify seedling thinning ensuing crop cluster, position strong sprout position in crop cluster, according to go it is weak stay strong principle, remove weak seedling and sick seedling, leave
Strong sprout, improves thinning precision, and then improves seedling percent, increases yield.
Brief description of the drawings
Fig. 1 is that a kind of intelligent thinning of machine vision servo of the present invention is hoed up weeds the structure diagram of equipment.
Fig. 2 is seedling thinning operation schematic diagram of the present invention.
Fig. 3 is final singling operation schematic diagram of the present invention.
Fig. 4 is the traversing operation schematic diagram of the present invention.
Label declaration：1- trifilar suspension framves；2- car bodies；3- color cameras；4- seedling thinning cutters；5- dual Pistons are double to be gone out to drive
Cylinder；6- controller integral boxes；7- final singling cutters；8- rotation motors；9- thinning cutter contiguous blocks；10- electric putters；11- straight lines are led
Rail；12- ground feeler mechanism；13- fifth wheels.
Embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description.It is emphasized that the description below
It is merely exemplary, the scope being not intended to be limiting of the invention and its application.
A kind of intelligent thinning of machine vision servo as shown in Figure 1 is hoed up weeds equipment, and the front of car body 2 is equipped with trifilar suspension frame
1, equipment is connected by trifilar suspension frame 1 with dynamic traction device.
The lower section of car body 2 is equipped with four-wheel walking mechanism, and one of traveling wheel uses fifth wheel 13, for testing and sending speed
Spend signal.
Ground feeler mechanism arranged on 2 side of car body uses widely used parallel four-bar profiling machine in existing agricultural machinery and implement
Structure, parallel link mechanism are made of one group of parallelogram lindage and copy land wheel.
Transverse-moving mechanism is to be equipped with line slideway 11, thinning cutter perpendicular to equipment direction of advance on the feeler mechanism of ground
Contiguous block 9 is slidably disposed on line slideway 11；Electric putter 10 is installed on line slideway 11, is connected positioned at thinning cutter
The relative position of block 9, and be connected with thinning cutter contiguous block 9.
Seedling thinning unit is that dual Piston pair goes out the front end that driving cylinder 5 is connected to thinning cutter contiguous block 9, and dual Piston is double
The outer end for going out two piston rods in left and right of driving cylinder 5 is separately installed with seedling thinning cutter 4, and left and right seedling thinning cutter 4 is oppositely arranged；When
When left and right piston rod is withdrawn, the blade closure of left and right seedling thinning cutter 4；When left and right piston rod stretches out, the knife of left and right seedling thinning cutter 4
Piece is opened.
Final singling unit is that rotation motor 8 is connected to the rear end of thinning cutter contiguous block 9, and it is fixed to be provided with rotation motor 8
Seedling cutter 7；Respectively there is a blade at the both ends of the final singling cutter 7, and two blade parallels are in equipment direction of advance.
Machine vision servo control system, including color camera 3 are installed on 9 front end of thinning cutter contiguous block, for gathering
And crop map is sent as information；Controller integral box 6 is installed on car body 2, is equipped with it at the core equipped with pre installation software package
Manage device, dual Piston pair and go out driving cylinder control unit, rotation motor control unit and electric putter control unit.Fifth wheel 13, coloured silk
Form and aspect machine 3 is connected to controller integral box 6 by data cable respectively；Dual Piston pair, which goes out driving cylinder 5, rotation motor 8 and electricity, to be pushed away
Bar 10 is connected to controller integral box 6 by respective drive system and data cable respectively.The core processor by pacifying in advance
Software is filled to the processing of crop image information analysis, and combines the speed signal that fifth wheel 13 is sent, goes out driving to dual Piston pair
Cylinder control unit, rotation motor control unit and electric putter control unit send control instruction, so that by controlling corresponding drive
Dynamic system drive dual Piston pair goes out the movement of driving cylinder 5, rotation motor 8 and electric putter 10.
The dual Piston it is double go out driving cylinder 5 and being driven through for rotation motor 8 are pneumatic, surge or the mode such as electronic is real
It is existing.
The present invention can be according to field planting situation and user demand, by the seedling thinning unit, final singling unit, thinning of different groups of numbers
Cutter contiguous block 9, electric putter 10 and color camera 3 are integrated on same line slideway 11, are combined into the thinner of different model.
Illustrate that a kind of intelligent thinning of machine vision servo is hoed up weeds the operation principle of equipment below：
First, corresponding operating mode is set to the pre installation software package of core processor according to crop thinning demand, adjusted
Seedling thinning distance and final singling precision, meet diversified thinning demand.
Equipment is connected by trifilar suspension frame 1 with dynamic traction device, dynamic traction device can be farm tractor or its
Its farm power pulling equipment.Equipment can be installed on the front portion of dynamic traction device, i.e. equipment is preposition；Also can be by power traction
The postposition three-link hitch of device carries, i.e., equipment postposition, occupation mode are flexible.
Color camera 3 gathers crop picture signal, and sends to core processor, core processor and pass through pre installation software package
To crop map as signal analysis and processing, the speed signal sent with reference to fifth wheel 13, obtains crop row physical location information, concurrently
Send control instruction to dual Piston it is double go out driving cylinder control unit and rotation motor control unit, 4 folding of control seedling thinning cutter with
Final singling cutter 7 rotates, and realizes intelligent thinning work.
As shown in Fig. 2, seedling thinning cutter 4 is located at below soil face, dual Piston pair goes out driving cylinder control for equidistant seedling thinning operation
Unit receives the control instruction of core processor, and the drive system driving dual Piston that control dual Piston pair goes out driving cylinder 5 is double
Going out driving cylinder 5 to move, double piston-rod stretches out the opening and closing that seedling thinning cutter 4 is driven with retracting, when seedling thinning cutter 4 closes,
Crop is uprooted by it, and crop is avoided when seedling thinning cutter 4 is opened, and the weeds of crop both sides are uprooted while leaving crop in centre
Go.
Final singling operation is as shown in figure 3, final singling is that seedling is preferentially stayed on the basis of seedling thinning.In seedling thinning Hou Liumiao areas, machine
Visual servoing control system gathers crop image information by color camera 3, sends to core processor and carries out analyzing and processing figure
Picture, determines dominant crop position in Liu Miao areas, and by the drive system of rotation motor control unit control rotation motor 8, driving
Rotation motor 8 rotates, so as to drive final singling cutter 7 to rotate.In same seedling thinning Hou Liumiao areas, final singling cutter 7 rotates a circle, final singling
Two blades of cutter 7 successively by bottom when, weak seedling, sick seedling hoe are gone, two blades avoid strong by the spacer region of bottom successively
Seedling, leaves strong sprout position.So far, thinner one-stop operation completes seedling thinning, hoes up weeds and three agronomy of final singling, realizes efficient machine
Tool thinning works.
Traversing operation as shown in figure 4, machine vision servo control system by color camera 3 gather crop image information,
Send to core processor and carry out analyzing and processing image, when crop row deviation seedling thinning cutter 4 and 7 center of final singling cutter, at core
Reason device obtains both offset distances according to crop image information, the speed signal sent with reference to fifth wheel 13, sends control instruction to electricity
Push rod control unit, the drive system by controlling electric putter 10 drive electric putter 10 to elongate or shorten certain distance, realize knife
Tool decreases or even eliminates offset distance to row.
In operation process, parallel link mechanism carrying transverse-moving mechanism, seedling thinning unit, final singling unit and color camera 3,
Under the action of copy land wheel and parallelogram lindage, according to actual landform dipping and heaving, ensure stable cutter embedded depth
And color camera 3 is away from ground level.
Claims (4)
- Equipment, including car body, walking mechanism and suspension mechanism 1. a kind of intelligent thinning of machine vision servo is hoed up weeds, its feature exist In further including ground feeler mechanism, transverse-moving mechanism, seedling thinning unit, final singling unit and machine vision servo control system；Wherein, Ground feeler mechanism is installed on car body；The transverse-moving mechanism, line slideway (11), thinning cutter are equipped with the feeler mechanism of ground perpendicular to equipment direction of advance Contiguous block (9) is slidably disposed on line slideway (11)；Electric putter (10) is installed on line slideway (11), and and thinning Cutter contiguous block (9) connects, the rectilinear movement of control thinning cutter contiguous block (9)；The seedling thinning unit, dual Piston pair go out the front end that driving cylinder (5) is connected to thinning cutter contiguous block (9), dual Piston It is double go out driving cylinder (5) the outer ends of two piston rods in left and right be separately installed with seedling thinning cutter (4), and left and right seedling thinning cutter (4) phase To setting；When left and right piston rod is withdrawn, the blade of left and right seedling thinning cutter (4) is closed to uproot crop；When left and right, piston rod is stretched When going out, the blade of left and right seedling thinning cutter (4), which is opened, avoids crop, while hoe goes the weeds of crop both sides；The final singling unit, rotation motor (8) are connected to the rear end of thinning cutter contiguous block (9), are installed on rotation motor (8) There is final singling cutter (7)；Respectively there is a blade at the both ends of the final singling cutter (7), and two blade parallels are in equipment direction of advance；Rotate horse Final singling cutter (7) rotation is driven up to (8), blade, which is rotated to hoe during bottom, goes crop, and two blades are successively by the spacer region of bottom Crop is avoided, seedling is preferentially stayed on the basis of seedling thinning；The machine vision servo control system, is provided with color camera (3) on thinning cutter contiguous block (9)；The walking Mechanism includes fifth wheel (13)；Color camera (3) and fifth wheel (13) are connected to controller integral box by data cable respectively (6)；Dual Piston pair goes out driving cylinder (5), rotation motor (8) and electric putter (10) and passes through respective drive system and data respectively Line is connected to controller integral box (6)；The controller integral box (6) is loaded on car body, and is set in controller integral box (6) There are the core processor equipped with pre installation software package, dual Piston pair to go out driving cylinder control unit, rotation motor control unit and electricity Push rod control unit；Wherein, fifth wheel (13) is used to test and send speed signal；Color camera (3) is used to gathering and sending crop map picture letter Breath；The core processor is handled crop image information analysis by pre installation software package, and combines what fifth wheel (13) was sent Speed signal, goes out driving cylinder control unit, rotation motor control unit and electric putter control unit to dual Piston pair and sends control System instruction, so as to be pushed away by controlling corresponding drive system to drive dual Piston pair to go out driving cylinder (5), rotation motor (8) and electricity The movement of bar (10).
- 2. a kind of intelligent thinning of machine vision servo according to claim 1 is hoed up weeds equipment, it is characterised in that the dual-active Plug it is double go out driving cylinder (5) and the respective movement of rotation motor (8) respectively by pneumatically, surge or electronic mode is realized.
- 3. a kind of intelligent thinning of machine vision servo according to claim 1 is hoed up weeds equipment, it is characterised in that the ground Feeler mechanism uses parallel link mechanism.
- 4. a kind of intelligent thinning of machine vision servo according to claim 1 is hoed up weeds equipment, it is characterised in that multigroup will be dredged Seedling unit, final singling unit, thinning cutter contiguous block (9), electric putter (10) and color camera (3) are integrated in same line slideway (11) on, multirow synchronization job is carried out.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610630220.1A CN106258028B (en) | 2016-08-03 | 2016-08-03 | A kind of intelligent thinning of machine vision servo is hoed up weeds equipment |
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|---|---|---|---|
| CN201610630220.1A CN106258028B (en) | 2016-08-03 | 2016-08-03 | A kind of intelligent thinning of machine vision servo is hoed up weeds equipment |
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| CN106258028A CN106258028A (en) | 2017-01-04 |
| CN106258028B true CN106258028B (en) | 2018-04-13 |
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| CN106922238B (en) * | 2017-04-28 | 2019-06-04 | 中国农业大学 | A kind of intelligent agricultural machinery automatic aligning device |
| CN108174636A (en) * | 2018-03-22 | 2018-06-19 | 山西省农业科学院作物科学研究所 | Dicotyledonous crops experimental field thinner |
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| CN112005638B (en) * | 2020-09-18 | 2022-07-01 | 河南农业大学 | Carrot weeding and thinning machine |
| CN112715077B (en) * | 2020-12-31 | 2022-03-25 | 广西壮族自治区农业科学院 | Sugarcane tillering and thinning and planting management machine |
| CN112740855B (en) * | 2021-01-20 | 2021-12-07 | 中国农业科学院兰州畜牧与兽药研究所 | Seedling thinning device for alfalfa seed field |
| CN113016549B (en) * | 2021-01-27 | 2022-08-19 | 广西壮族自治区农业科学院 | Cultivation method for promoting tillering and stem forming of sugarcane and internode sugar accumulation under continuous cropping obstacle |
| CN115380650B (en) * | 2022-01-11 | 2023-08-15 | 浙江理工大学 | Electric drive multi-drive agricultural machinery opposite-row transverse movement deflection device |
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| CN2458848Y (en) * | 2000-10-13 | 2001-11-14 | 张卫明 | Machine for final singling |
| CN2932951Y (en) * | 2006-07-11 | 2007-08-15 | 赵玉喜 | Special mechanical hoe for weeding seeding crop |
| WO2010119040A2 (en) * | 2009-04-15 | 2010-10-21 | Oliver Di Signorini Luciano | Weeder with rotating members having hook-like elements |
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| CN106258028A (en) | 2017-01-04 |
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