CN106912208A - A kind of weed-eradicating robot based on image recognition technology - Google Patents
A kind of weed-eradicating robot based on image recognition technology Download PDFInfo
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- CN106912208A CN106912208A CN201510981594.3A CN201510981594A CN106912208A CN 106912208 A CN106912208 A CN 106912208A CN 201510981594 A CN201510981594 A CN 201510981594A CN 106912208 A CN106912208 A CN 106912208A
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- data processing
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- weeding
- adjusting rod
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Classifications
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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
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
- A01B39/19—Rod weeders, i.e. weeder with rotary rods propelled beneath the soil surface
-
- 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
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
-
- 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
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/28—Other machines specially adapted for working soil on which crops are growing with special additional arrangements
Abstract
The invention discloses a kind of weed-eradicating robot based on image recognition technology, belong to technical field of agricultural machinery.Weed-eradicating robot provided by the present invention includes movable frames, data processing and motion control device and weeding machine arm.Wherein, data acquisition module in data processing and motion control device can gather crop map picture, after Crop Information of the image that image recognizing and processing unit in data processing module will be obtained in the Database Unit for prestoring is compared, generation response signal, weeds are rooted out by moving control module for controlling end performs device.Weed-eradicating robot provided by the present invention has the characteristics of weeding ratio is high, and seedling-damaging ratio is low, it is adaptable to popularization and application.
Description
Technical field
The present invention relates to a kind of weed-eradicating robot based on image recognition technology, belong to technical field of agricultural machinery.
Background technology
China is considered as always large agricultural country, and 80% population is peasant, and seldom, mechanization of agriculture, the demand for automating are unlike developed country is so urgent, and farming machine man-based development is very delayed for soil owning amount per capita.Now, China quietly entered aging population period, and in addition under the policy implication of Development of China's Urbanization, the quantity of labour force in rural area greatly reduces.This also causes that agriculture production cost is constantly being improved, and the working strength of peasant is also increasingly weighed.
At present, China is main using chemical agent weeding and the mode of artificial weeding in terms of the production link of crop field weeding, is characterized in that big labour intensity, time and effort consuming, efficiency is low, less effective, and after the completion of weeder makees, seedling is still threatened by different degrees of crop smothering.Pesticide abuse also largely causes the direct or indirect economic loss of peasant (such as：Personal poisoning, exceeded Practice for Pesticide Residue in Agricultural Products amount, environmental pollution, poisoning, biological chain destruction, agricultural chemicals waste etc.) with the improvement of people ' s living standards, people are not only satisfied with and solve the basic living problems, and start increasingly to pay attention to the environment that oneself is depended on for existence, the safety to food is increasingly paid close attention to.Simultaneously as improper use, a large amount of drifts losses of agricultural chemicals, pesticide efficacy is only 30% or so (developed country is up to 60~70%).While largely agricultural chemicals is wasted, the severe contamination of agroecological environment is also created.
Foreign countries' research to mechanical weeding technology since the 1950's.It is expert in terms of room machine weeding, occurs in that conservation tillage agricultural machinery and implement such as soil miller, tooth form weeding hoe, variously-shaped weed shovel and basket weeder etc. of various patterns.Between strain in terms of weed control equipment, it is proposed that the equipment such as finger-type weeder, torsion bar weeder and brush weeder.But in real work, easy damage crops during Weeds distribution between strain, the damage to crop is larger.At present, China's seedling room machine weeding main working parts form has rotation hoe-type, Horizontal disc, Verticle disk formula, tapered disk formula, light rake, sprocket-type etc..Although have being improved to traditional weeding machine, it is still present that seedling-damaging ratio is high, the low problem of weeding ratio.
The content of the invention
To solve the technical problems such as existing weed-eradicating robot weeding ratio is low, seedling-damaging ratio is high, the invention provides a kind of weed-eradicating robot based on image recognition technology, the technical scheme taken is as follows：
It is an object of the invention to provide a kind of weed-eradicating robot based on image recognition technology, the weed-eradicating robot includes movable frames 1, data processing and motion control device 2 and weeding machine arm 3, wherein, data processing and motion control device 2 include data acquisition module 21, data processing module 22 and motion-control module 23；The upper arm 31 of weeding machine arm 3 is connected in movable frames 1, upper arm 31 is by the first joint 35 that can be rotated along direction of advance vertical direction and forearm 32, forearm 32 passes through second joint 36 and can be connected along the upper end of adjusting rod 33 of itself axial stretching, and the lower end of adjusting rod 33 is connected with the connection weeding Kun 34 perpendicular to the axial direction of adjusting rod 33；Data acquisition module 21 is arranged on the front end of the moving direction of movable frames 1, field image information can be gathered and image information is sent to data processing module 22, the motion-control module 23 that data processing module 22 carries out after data processing by being connected with mechanical arm 1 roots out weeds.
Preferably, the movable frames 1 include rectangular frame 11, connecting bracket 12 and mobile device 13, wherein, one end of connecting bracket 12 is fixedly connected with the side long of rectangular frame 11, short side of the other end parallel to rectangular frame 11.
Preferably, the mobile device 13 is roller, tire or crawler belt, and other can realize mobile device between field.
Preferably, weeding machine arm 3 includes upper arm 31, forearm 32, adjusting rod 33, weeding Kun 34, first joint 35 and second joint 36, wherein, the upper end of upper arm 31 is fixedly connected on connecting bracket 12 parallel on the side of the short side of rectangular frame 11, and lower end is connected by the first joint 35 with forearm 32, forearm 32 passes through second joint 36 and can be connected along the upper end of adjusting rod 33 of itself axial stretching, and the lower end of adjusting rod 33 is connected with the connection weeding Kun 34 perpendicular to the axial direction of adjusting rod 33.
It is highly preferred that the forearm 32, second joint 36 and adjusting rod 33 at one on the straight line on ground.
Preferably, the weeding Kun 34 includes the leaf bar roller 342 and blade roller 343 of main shaft 341 and coaxial connection side by side, wherein, wherein, the axial direction of main shaft 341 is parallel to the ground, one end is connected with the end of adjusting rod 33, main shaft 341 passes through the center of leaf bar roller 342 and blade roller 343, can be rotated by the blade on moving belt movable vane bar roller 342 and blade roller 343 or leaf bar, the soil near rice shoot is stirred in movement in order to pass through leaf bar and blade, on the one hand weeds can be rooted out, on the other hand can also increases the porousness of soil.
Preferably, the adjusting rod 33, is provided with spring, screw thread or the slide bar being connected with data processing and motion control device 2.Or other can be by controlling to adjust the device of height.
Preferably, first joint 35, rotating fulcrum is provided with the connection end of upper arm 31, so as to forearm 32 can be made, adjusting rod 33 and weeding Kun 34 are rotated centered on the fulcrum.
Preferably, the second joint 36, bearing is provided with the connection end of the connection end of upper arm 32 or adjusting rod 33, so that cocoa makes adjusting rod 33 and weeding Kun 34 or rotated in the horizontal direction together with second joint 36.
More preferably,Data processing and motion control device 2 include data acquisition module 21,Data processing module 22 and motion-control module 23,Wherein,Data acquisition module 21 is arranged on rectangular frame 11 and is connected with the side bottom surface long of connecting bracket 12,The data acquisition unit of data acquisition module 21 is towards ground,Quantity is identical with the quantity of connecting bracket 12 and mechanical arm 3,Data acquisition module 21 is connected by electric wire or interface with data processing module 22,Data processing module 22 has data processing unit,Database Unit and control instruction generation unit,Data processing unit receives the information that data acquisition module 21 sends,Processing information is generated after by being compared with Database Unit,And send processing information to control instruction generation unit,Control instruction is generated by control instruction production unit and motion-control module 23 is transferred to,Motion-control module 23 and adjusting rod 33,First joint 35,Second joint 36 and main shaft 341 are connected,With the movement locus of control machinery arm 3,So as to root out weeds and avoid rice shoot.
Specifically, described data acquisition module, can be camera or other can realize the device of image data acquiring.
What the present invention was obtained has the beneficial effect that：
(1) weed-eradicating robot of the invention is walked using machine vision navigation technology guiding weed-eradicating robot along proportion of crop planting direction, using machine vision technique detection crops row crop position during walking, the seedling-damaging ratio of weed-eradicating robot can be effectively reduced, seedling-damaging ratio can be controlled in less than 5%.
(2) transmission system of weed-eradicating robot of the invention transfers power to weeding part.On the premise of weeding component working performance is met, the features such as also need quick response the transmission system of design is reached light weight and durability high, weeding ratio is high.
Brief description of the drawings
Plan structure structural representation when Fig. 1 is weed-eradicating robot application of the present invention.
Backsight structure structural representation when Fig. 2 is weed-eradicating robot application of the present invention.
Fig. 3 is weed-eradicating robot sectional perspective structural representation of the present invention.
Fig. 4 is the positive structure diagram of weed-eradicating robot weeding machine arm of the present invention.
Fig. 5 is weed-eradicating robot weeding machine arm dimensional structure diagram of the present invention.
Fig. 6 is the connection control schematic diagram of weed-eradicating robot data processing of the present invention and motion control device.
Fig. 7 is the movement locus and the state fitted with field of the weeding Kun of mechanical arm of weeding ro bot of the present invention when in use；
Wherein, a, the movement locus of weeding Kun；The fit-state of b, weeding Kun and field.
In figure：1, movable frames；2, data processing and motion control device；3, weeding machine arm；11, rectangular frame；12, connecting bracket；13, mobile device；21, data acquisition module；22, data processing module；23, motion-control module；31, upper arm；32, forearm；33, adjusting rod；34, weeding Kun；35, the first joint；36, second joint；341, main shaft；342, leaf bar roller；343, blade roller.
Specific embodiment
With reference to specific embodiment, the present invention will be further described, but the present invention should not be limited by the examples.
Material of the present invention, method and instrument, without specified otherwise, are this area conventional material, method and instrument, and those skilled in the art can be obtained by commercial channel.
The present invention will be further described below in conjunction with the accompanying drawings.Fig. 1 is weed-eradicating robot of the invention top view in use, and Fig. 2 is rearview, and Fig. 3 is sectional perspective structural representation.As can be seen that weed-eradicating robot of the invention, mainly by movable supporting frame 1, data processing and telecontrol equipment 2 and weeding machine arm 3 are constituted from Fig. 1-3.Wherein, movable supporting frame 1 includes the rectangular frame 11 parallel to ground being connected with tractor, the connecting bracket 12 being connected on the direction of advance side side long of rectangular frame 11 and the mobile device 13 between ground and rectangular frame 11.Data processing and telecontrol equipment 2 are also disposed on the direction of advance side side long of rectangular frame 11, the difference is that being arranged on the lower surface on the side long.Wherein, the unit of gathered data information, can be camera, and ground is pointed in its direction, in order to gather terrestrial information.In this embodiment, mobile device 13 uses tire.It is worth noting that, the true form of rectangular frame 11 is round rectangle, the shape of this part is not limited to round rectangle and rectangle, can be the shape that other are applied to weeding.Wherein, adjacent connecting bracket 12 is set by the way of one is long and the other is short distribution straggly.
Fig. 4 is the positive structure diagram of weed-eradicating robot weeding machine arm of the present invention.Fig. 5 is weed-eradicating robot weeding machine arm dimensional structure diagram of the present invention.As can be seen that weeding machine arm 3 mainly has upper arm 31 from Fig. 4 and Fig. 5, forearm 32, adjusting rod 33, weeding Kun 34, the first joint 35, second joint 36 is constituted.Wherein, upper arm 31 is inclined to set, and upper end is fixed in connecting bracket 12, and lower end is connected by the first joint 35 with forearm 32.First joint 35 is provided with fulcrum with the connection end of upper arm 31, so that the forearm of weeding machine arm 3 part below 32 can rotate.The lower end of forearm 32 is connected by second joint 36 with adjusting rod 33.Any one end that second joint 36 is connected with forearm 32 or adjusting rod 33 is provided with the bearing that can drive lower part along the radial rotating of adjusting rod 33, to realize the rotation of second joint part below 36.Spring is provided with adjusting rod 33, it is possible to use the landform of different height.The lower end of adjusting rod 33 is connected by the main shaft 341 axially vertical with its with weeding Kun 34.Weeding Kun 34 is main by main shaft 341, and leaf bar roller 342 and blade roller 343 are constituted.Wherein, the perfoliate-leaf bar roller 342 of main shaft 341 and the center of blade roller 343, to drive the two to rotate.Leaf bar roller 342 and blade roller 343 are designed using block form, and leaf bar roller 342 is located at inner side (relative to adjusting rod 33), and blade roller 343 is located at outside.Leaf bar roller 342 is along the circumferential direction provided with leaf bar, and blade roller 343 is along the circumferential direction provided with blade, and the rotation of leaf bar and blade can go out weeds and to stir soil.
Fig. 6 is the connection control schematic diagram of weed-eradicating robot data processing of the present invention and motion control device.From fig. 6 it can be seen that data processing and motion control device 2 include data acquisition module 21, data processing module 22 and motion-control module 23.During actual setting, data acquisition module 21 is arranged on rectangular frame 11 and is connected with the side bottom surface long of connecting bracket 12, the data acquisition unit of data acquisition module 21 towards ground, to carry out the collection of ground weeds and rice shoot data.The quantity of data acquisition module 21 is identical with the quantity of connecting bracket 12 and mechanical arm 3, to realize individually control.Data acquisition module 21 is connected by electric wire or interface with data processing module 22, and the data in order to collect are transferred to data processing module 22.Data processing module 22 has data processing unit, Database Unit and control instruction generation unit, data processing unit receives the information that data acquisition module 21 sends, processing information is generated after by being compared with Database Unit, and send processing information to control instruction generation unit, control instruction is generated by control instruction production unit and motion-control module 23 is transferred to, motion-control module 23 is connected with adjusting rod 33, the first joint 35, second joint 36 and main shaft 341, with the movement locus of control machinery arm 3.
Fig. 7 is the movement locus of the weeding Kun of mechanical arm of weeding ro bot of the present invention when in use and the state diagram fitted with field.Wherein Fig. 7 a are the movement locus of weeding Kun, and Fig. 7 b are the fit-states of weeding Kun and field.From Fig. 7 b, weeding Kun 34 is fitted in the surface of field, and both spacing are controlled in the diameter slightly larger than rice shoot.Because two weeding Kun on a field are using one in front and one in back setting, the situation that can be prevented effectively from the folder seedlings of weeding Kun 34 occurs.In use, data processing module 22 is transferred data to after the gathered data of data acquisition module 21 of data processing and motion control device 2 to be processed, and generate control instruction, motion-control module 23 transmits commands to adjusting rod 33, the first joint 35, second joint 36 and main shaft 341 again, the motion of control machinery arm, to avoid rice shoot.
Number weed-eradicating robot of the present invention according to treatment and the principle of motion control device is, object is first caught by the camera in data acquisition module 21, pre-processed by the image of 22 pairs of objects for being captured of data processing module again, characteristic information by extracting caught object after pretreatment again, and by the new identification of comparing of feature of weeds and rice shoot in characteristic information and Database Unit, finally classified and generated action command to caught object, action executing part is sent to by the instruction of motion-control module the last 23 again, weeding or avoidance action is performed.
Although the present invention is disclosed as above with preferred embodiment; but it is not limited to the present invention, any person skilled in the art, without departing from the spirit and scope of the present invention; can do various changes and modification, therefore being defined of should being defined by claims of protection scope of the present invention.
Claims (10)
1. a kind of weed-eradicating robot based on image recognition technology, it is characterised in that including movable frames (1), data processing and fortune
Dynamic control device (2) and weeding machine arm (3), wherein, data processing and motion control device (2) are including data acquisition
Module (21), data processing module (22) and motion-control module (23)；The upper arm (31) of weeding machine arm (3)
Be connected in movable frames (1), upper arm (31) by can along direction of advance vertical direction rotate the first joint (35)
With forearm (32), forearm (32) by second joint (36) with can be along adjusting rod (33) upper end of itself axial stretching
Connection, the lower end of adjusting rod (33) is connected with connection weeding Kun (34) perpendicular to adjusting rod (33) axial direction；Data are adopted
Collection module (21) is arranged on the front end of movable frames (1) moving direction, can gather field image information and believe image
Breath sends data processing module (22) to, and data processing module (22) connects after carrying out data processing by with mechanical arm (1)
The motion-control module (23) for connecing roots out weeds.
2. a kind of weed-eradicating robot based on image recognition technology according to claim 1, it is characterised in that the removable motivation
Frame (1) includes rectangular frame (11), connecting bracket (12) and mobile device (13), wherein, connecting bracket (12)
One end be fixedly connected with the side long of rectangular frame (11), short side of the other end parallel to rectangular frame (11).
3. weed-eradicating robot according to claim 2, it is characterised in that the mobile device (13) is roller, tire or shoe
Band.
4. weed-eradicating robot according to claim 1, it is characterised in that weeding machine arm (3) includes upper arm (31), forearm
(32), adjusting rod (33), weeding Kun (34), the first joint (35) and second joint (36), wherein, upper arm (31)
Upper end be fixedly connected on connecting bracket (12) parallel on the side of rectangular frame (11) short side, lower end is closed by first
Section (35) be connected with forearm (32), forearm (32) by second joint (36) with can be along the regulation of itself axial stretching
The connection of bar (33) upper end, the lower end of adjusting rod (33) and connection weeding Kun (34) perpendicular to adjusting rod (33) axial direction
It is connected.
5. weed-eradicating robot according to claim 4, it is characterised in that the forearm (32), second joint (36) and regulation
Bar (33) is at one on the straight line on ground.
6. weed-eradicating robot according to claim 4, it is characterised in that the weeding Kun (34) including main shaft (341) and
Leaf bar roller (342) and blade roller (343) of coaxial connection side by side, wherein, wherein, the axial direction of main shaft (341) and
Ground is parallel, and one end is connected with the end of adjusting rod (33), and main shaft (341) is rolled through leaf bar roller (342) and blade
The center of (343) is taken turns, can be by the blade on moving belt movable vane bar roller (342) and blade roller (343) or leaf bar
Rotate.
7. a kind of weed-eradicating robot based on image recognition technology according to claim 1, it is characterised in that the adjusting rod
(33) spring, screw thread or the slide bar being connected with data processing and motion control device (2), are provided with.
8. a kind of weed-eradicating robot based on image recognition technology according to claim 1, it is characterised in that first joint
(35), it is provided with rotating fulcrum in the connection end of upper arm (31).
9. a kind of weed-eradicating robot based on image recognition technology according to claim 1, it is characterised in that the second joint
(36), it is provided with bearing in the connection end of the connection end of upper arm (32) or adjusting rod (33).
10. a kind of weed-eradicating robot based on image recognition technology according to claim 1, it is characterised in that data processing and fortune
Dynamic control device (2) includes data acquisition module (21), data processing module (22) and motion-control module (23),
Wherein, data acquisition module (21) is arranged on rectangular frame (11) and is connected with the side bottom surface long of connecting bracket (12),
The data acquisition unit of data acquisition module (21) towards ground, quantity and connecting bracket (12) and mechanical arm (3)
Quantity is identical, and data acquisition module (21) is connected by electric wire or interface with data processing module (22), data processing mould
Block (22) receives data and adopts with data processing unit, Database Unit and control instruction generation unit, data processing unit
The information that collection module (21) sends, by being compared with Database Unit after generate processing information, and will treatment letter
Breath sends control instruction generation unit to, generates control instruction by control instruction production unit and is transferred to motion-control module
(23), motion-control module (23) and adjusting rod (33), the first joint (35), second joint (36) and main shaft (341)
Connection, with the movement locus of control machinery arm (3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510981594.3A CN106912208B (en) | 2015-12-24 | 2015-12-24 | Weeding robot based on image recognition technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510981594.3A CN106912208B (en) | 2015-12-24 | 2015-12-24 | Weeding robot based on image recognition technology |
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| Publication Number | Publication Date |
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| CN106912208A true CN106912208A (en) | 2017-07-04 |
| CN106912208B CN106912208B (en) | 2022-10-25 |
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| CN201510981594.3A Active CN106912208B (en) | 2015-12-24 | 2015-12-24 | Weeding robot based on image recognition technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108901206A (en) * | 2018-05-24 | 2018-11-30 | 东南大学 | A kind of orchard automatic Pilot weeding tractor |
| CN110134129A (en) * | 2019-05-24 | 2019-08-16 | 华南理工大学 | The paddy field weed-killer machine automatic seedling avoiding system controlled based on deep learning and ADRC |
| CN110338040A (en) * | 2019-08-19 | 2019-10-18 | 冠生园（集团）有限公司 | Automatic irrigation system based on Internet of Things safety |
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| CN103770114A (en) * | 2014-01-24 | 2014-05-07 | 成都万先自动化科技有限责任公司 | Weeding service robot |
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| CN110338040A (en) * | 2019-08-19 | 2019-10-18 | 冠生园（集团）有限公司 | Automatic irrigation system based on Internet of Things safety |
| CN110338040B (en) * | 2019-08-19 | 2021-09-07 | 冠生园（集团）有限公司 | Automatic irrigation system based on safety of Internet of things |
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| Publication number | Publication date |
|---|---|
| CN106912208B (en) | 2022-10-25 |
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