CN107509399A - A kind of green intelligent weed-eradicating robot - Google Patents
A kind of green intelligent weed-eradicating robot Download PDFInfo
- Publication number
- CN107509399A CN107509399A CN201710967257.8A CN201710967257A CN107509399A CN 107509399 A CN107509399 A CN 107509399A CN 201710967257 A CN201710967257 A CN 201710967257A CN 107509399 A CN107509399 A CN 107509399A
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- CN
- China
- Prior art keywords
- carrier dolly
- weed
- weeds
- weeder
- eradicating robot
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Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F29/00—Cutting apparatus specially adapted for cutting hay, straw or the like
- A01F29/02—Cutting apparatus specially adapted for cutting hay, straw or the like having rotating knives with their cutting edges in a plane perpendicular to their rotational axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Soil Sciences (AREA)
- Catching Or Destruction (AREA)
- Guiding Agricultural Machines (AREA)
- Soil Working Implements (AREA)
Abstract
The invention belongs to intelligent weeding apparatus technical field, it is low to there is intelligence degree for the existing weed-eradicating robot of solution, the technical problem of the secondary survival possibility of weeds after weeding be present, provide a kind of green intelligent weed-eradicating robot, including carrier dolly, weeder and reducing mechanism under carrier dolly and the vision inspection apparatus and guider on carrier dolly, the weeder can be horizontal along carrier dolly under the driving of drive device, vertically move, the reducing mechanism is arranged on the rear of weeder, a vision inspection apparatus is respectively symmetrically installed in the front of the carrier dolly and the left and right sides at rear.Weeds in row and in the ranks can accurately be removed using the present invention, intelligence degree is high, and to avoiding the possibility of the secondary survival of weeds after the weeds progress separating twice after removing.
Description
Technical field
The invention belongs to intelligent weeding apparatus technical field, and in particular to a kind of green intelligent weed-eradicating robot.
Background technology
Weeds and field-crop contention soil moisture and nutrient, fight for illumination and growing space, are also easy to grow disease in addition
Worm, so as to cause crop yield to decline.The traditional herbicidal methods in farmland have artificial weeding, weeding by machine, physical weed control, chemistry
Weeding etc., but this kind of method or efficiency is low, labour cost is too high, or it is difficult to remove weeds clean, and environment be present
Pollution, medicament residue is caused after adsorption by soil, influence succession crop.
With the development of modern intellectual technology and the enhancing of people's environmental consciousness, recent domestic has carried out green intelligence
The accurate herbicidal methods research of energy, reduces the usage amount of herbicide, reduces the pollution to environment.University of Illinois of the U.S.
Tony doctors Grift and Ta student Nhanael Gringrich develop a kind of solar energy weed-eradicating robot, can be accurate
Judge weeds, and weeds are cut off with knife, then spray herbicide in weeds incision.Dutch Wageningen universities
Tijmen Bakker etc. devise a kind of automatic weed-eradicating robot, using diesel engine as power, have independent steering system,
Four-wheel steering can be achieved；Using DGPS and machine vision navigation, robot can obtain the boundary information of crop automatically, along crop row
Line travels；Robot carries out weed identification using machine vision technique.Jiangsu University has invented a kind of sharp according to fuel factor principle
Light weed-eradicating robot, the robot are made up of Automatic guided vehicle, horizontal mobile device, laser weeder and control system；
Main vision system is used for guiding car body to travel, and is responsible for identifying weeds and is located from vision system, control system is according to weeds
Geographical location information controls dolly is mobile in crop row to move ahead, and horizontal mobile device is for controlling condenser lens in transverse direction
It is mobile, so as to focus on weeds, weeds are killed using the fuel factor of laser.
These weed-eradicating robots can obtain good effect under certain environment, but could not total integration green ring
The advantage of the technologies such as guarantor, intellectuality, new energy, there is environmental pollution, intelligence degree is low, weeds being present, secondary survival may
The problems such as property.
The content of the invention
The present invention for solve existing weed-eradicating robot exist intelligence degree is low, the secondary survival of weeds be present after weeding may
A kind of technical problem of property, there is provided green intelligent weed-eradicating robot.
The technical solution adopted by the present invention is as follows:
A kind of green intelligent weed-eradicating robot, including carrier dolly, the weeder under carrier dolly and crushing
Device and vision inspection apparatus and guider on carrier dolly, driving of the weeder in drive device
Under can along carrier dolly laterally, vertically move, the reducing mechanism is arranged on the rear of weeder, before the carrier dolly
The left and right sides of side and rear is respectively symmetrically installed by one vision inspection apparatus.
The drive device includes the weeding cutter traverse gear being arranged under carrier dolly and weeding cutter longitudinal direction
Transmission device, the weeder are arranged on weeding cutter traverse gear, and the weeder is horizontal in weeding cutter
Under the jointly controlling of transmission device and weeding cutter longitudinal driving device can along carrier dolly laterally, vertically move.
The vision inspection apparatus, including image capture module, image transmission module and image processing module, described image
Acquisition module is used to gather image；Described image transport module, for the image information collected to be transferred into image procossing mould
Block；Described image processing module, for handling the image collected, so as to identify the weeds in field-crop.
The carrier dolly includes car body and the wheel under car body, and the wheel is provided with band brake apparatus.
The wheel is using the elastic wheel for being capable of elastic telescopic up and down.
The top of the carrier dolly is provided with solar panel.
Beneficial effects of the present invention：
1st, weeder of the invention can move horizontal and vertical, and after finding weeds, either inter-row weed is also
It is weeds in row, can be purged；
2nd, carrier car wheel integrated model of the invention can upper and lower elastic telescopic, adapt to different terrain, in addition with
Braking system, controller sends instruction locking wheel after finding weeds, robot stop motion, realizes accurate weeding；
3rd, the present invention is provided with vision inspection apparatus and guider, is gathered respectively using vision inspection apparatus and guider
Comprising crops, the area image of weeds and area image in the ranks comprising navigation information, the characteristic vector of color space is utilized
Weed identification is carried out, weed identification rate is high；
4th, weed-eradicating robot of the invention is attached with reducing mechanism, and weeds are crushed, avoid after weeding exist it is miscellaneous
The secondary survival possibility of grass, and the medicament that herbicide etc. may be harmful to crop need not be sprayed, it is green safe；
The 5th, solar panel is installed on carrier dolly of the invention, powered using solar power generation during robot manipulating task,
Increase the endurance of robot.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the paralell composition of weed-eradicating robot overall plan of the present invention；
Fig. 3 is the weed identification functions of modules figure of weed-eradicating robot of the present invention；
Fig. 4 is the navigation module functional diagram of weed-eradicating robot of the present invention；
In figure：1- carrier dollies, 2- weeders, 3- reducing mechanisms, 4- vision inspection apparatus, 5- weedings cutter laterally pass
Dynamic device, 6- weeding cutter longitudinal driving devices.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
As shown in figure 1, a kind of green intelligent weed-eradicating robot, including carrier dolly 1, weeder 2, reducing mechanism 3, regard
Feel detection means 4 and guider.
The weeder 2 is arranged on the lower section of carrier dolly 1, and the weeder 2 is driven by drive device, the drive
Dynamic device includes the weeding cutter traverse gear 5 and weeding cutter longitudinal driving device 5 being arranged under carrier dolly 1, institute
State weeding cutter traverse gear 5 to be vertically arranged with weeding cutter longitudinal driving device 5, laterally transmission fills the weeding cutter
Putting 5 can vertically move under the gearing of weeding cutter longitudinal driving device 5 along weeding cutter longitudinal driving device 5, described
Weeder 2 is arranged on weeding cutter traverse gear 5, and the weeder 2 is in weeding cutter traverse gear 5
Can be along the transverse shifting of weeding cutter traverse gear 5 under transmission, i.e., described weeder 2 is in weeding cutter traverse gear
5 and weeding cutter longitudinal driving device 5 jointly controlling under can along carrier dolly 1 laterally, vertically move.The weeder 2
Weeds in field-crop row and in the ranks can be purged under the driving of drive device.
The reducing mechanism 3 is arranged on the rear of weeder 2, and the reducing mechanism 3 is used to carry out the weeds removed
Crush, on the one hand avoid the secondary survival of weeds, the weeds on the other hand crushed can become fertilizer by microorganism decomposition, return agriculture
Field, more energy-conserving and environment-protective.
The vision inspection apparatus 4, thing and weeds are allocated as intelligence district, vision inspection apparatus 4 includes IMAQ mould
Block, image transmission module and image processing module, described image acquisition module are used to gather image；Described image transport module,
For the image information collected to be transferred into image processing module；Described image processing module, for the image to collecting
Handled, so as to identify the weeds in field-crop.The image recognition algorithm of the vision inspection apparatus 4 uses secondary splitting
Method, the gray scale difference first with plant and soil color are split, and split plant and weeds, then using leaf shape
State feature distinguishes plant and weeds, and the positional information of weeds is provided for weed-eradicating robot.In order to which multi-faceted detection removes
The operating mode of careless robot, one vision inspection apparatus 4 is respectively symmetrically installed in the left and right sides at the front of carrier dolly 1 and rear.
The guider, is mainly used in Path Recognition, at present to use machine vision navigation and GPS navigation more.
The carrier dolly 1 includes car body and the wheel under car body, described in order to realize multi-faceted rotation
Wheel uses universal wheel, is moved for ease of weed-eradicating robot in farmland, and the wheel integrated model of carrier dolly 1 can upper and lower bullet
Property stretch, adapt to a variety of landform, the wheel is using the elastic wheel for being capable of elastic telescopic up and down.In addition there is band-type brake on wheel
Device carries out accurate weeding, it is necessary to locking wheel when clearing up weeds.
The top of the carrier dolly 1 is provided with solar panel, and solar panel can be as weed-eradicating robot
Accessory power supply, increase the endurance of robot.
The weed-eradicating robot of the present invention is real using image detection device while navigation according to navigation information real-time navigation
Shi Lianxu detect crops and its in the ranks go in soil.Once recognizing weeds, the band brake apparatus on wheel removes wheel lock up
Careless robot pause motion, then pass through weeding cutter traverse gear 5 and the Union Movement of weeding cutter longitudinal driving device 5
Control weeder 2 enters in every trade, the accurate removing of inter-row weed, and the weeds after removing are crushed and returned by reducing mechanism 3
Soil.After completing weeds removal and crushing, weed-eradicating robot continues to move and carry out in real time navigation and weeds detect, in next step
Weeding is prepared.
The paralell composition of weed-eradicating robot overall plan of the present invention is as shown in Fig. 2 the weeds of weed-eradicating robot of the present invention
Identification module functional diagram is as shown in figure 3, the navigation module functional diagram of weed-eradicating robot is as shown in Figure 4.
The weed-eradicating robot of the present invention carries out separating twice processing to the weeds after removing, weeds be present after avoiding weeding
Secondary survival possibility, and the use of herbicide etc. can be greatly reduced, and also the present invention largely introduces advanced intelligence inspection
Survey technology, it is a kind of novel herbicidal machine people of green intelligent.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
- A kind of 1. green intelligent weed-eradicating robot, it is characterised in that：Including carrier dolly (1), under carrier dolly (1) Weeder (2) and reducing mechanism (3) and vision inspection apparatus (4) and guider on carrier dolly (1), institute State weeder (2) under the driving of drive device can along carrier dolly (1) laterally, vertically move, the reducing mechanism (3) sets Put and one vision is respectively symmetrically installed in the rear of weeder (2), the front of the carrier dolly (1) and the left and right sides at rear Detection means (4).
- A kind of 2. green intelligent weed-eradicating robot according to claim 1, it is characterised in that：The drive device includes setting Put weeding cutter traverse gear (5) and weeding cutter longitudinal driving device (5) under carrier dolly (1), the weeding Device (2) is arranged on weeding cutter traverse gear (5), and the weeder (2) is in weeding cutter traverse gear (5) and under the jointly controlling of weeding cutter longitudinal driving device (5) can along carrier dolly (1) laterally, vertically move.
- A kind of 3. green intelligent weed-eradicating robot according to claim 1 or 2, it is characterised in that：The vision-based detection dress Put (4), including image capture module, image transmission module and image processing module, described image acquisition module, which is used to gather, schemes Picture；Described image transport module, for the image information collected to be transferred into image processing module；Described image handles mould Block, for handling the image collected, so as to identify the weeds in field-crop.
- A kind of 4. green intelligent weed-eradicating robot according to claim 1 or 2, it is characterised in that：The carrier dolly (1) Wheel including car body and under car body, the wheel are provided with band brake apparatus.
- A kind of 5. green intelligent weed-eradicating robot according to claim 4, it is characterised in that：The wheel using can on The elastic wheel of lower elastic telescopic.
- A kind of 6. green intelligent weed-eradicating robot according to claim 1 or 2, it is characterised in that：The carrier dolly (1) Top be provided with solar panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710967257.8A CN107509399A (en) | 2017-10-17 | 2017-10-17 | A kind of green intelligent weed-eradicating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710967257.8A CN107509399A (en) | 2017-10-17 | 2017-10-17 | A kind of green intelligent weed-eradicating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107509399A true CN107509399A (en) | 2017-12-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710967257.8A Pending CN107509399A (en) | 2017-10-17 | 2017-10-17 | A kind of green intelligent weed-eradicating robot |
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| Country | Link |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110419315A (en) * | 2019-09-02 | 2019-11-08 | 安徽农业大学 | A kind of foreign body eliminating apparatus and its control method |
| CN111357468A (en) * | 2020-03-13 | 2020-07-03 | 西安海裕能源科技有限公司 | A full-automatic weeding robot for photovoltaic power plant |
| CN114451082A (en) * | 2021-12-15 | 2022-05-10 | 中国农业大学 | Inline real-time mechanical weeding equipment and weeding method |
| CN114793492A (en) * | 2022-04-24 | 2022-07-29 | 内蒙古农业大学 | Novel weeding robot based on agricultural weed removal |
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| WO2015199629A1 (en) * | 2014-06-25 | 2015-12-30 | Dokuz Eylül Üniversitesi Rektörlügü | Solar powered three-axis mobile agricultural automation |
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| CN207269304U (en) * | 2017-10-17 | 2018-04-27 | 中国科学院合肥物质科学研究院 | A kind of green intelligent weed-eradicating robot |
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| AU2009202785A1 (en) * | 2008-07-09 | 2010-01-28 | Ivm Ip Pty Ltd | Target vegetation treatment method and apparatus |
| CN202907683U (en) * | 2012-06-18 | 2013-05-01 | 西北农林科技大学 | Efficient weeding robot based on multi-spectral vision |
| WO2015199629A1 (en) * | 2014-06-25 | 2015-12-30 | Dokuz Eylül Üniversitesi Rektörlügü | Solar powered three-axis mobile agricultural automation |
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| CN205336757U (en) * | 2016-01-05 | 2016-06-29 | 潍坊友容实业有限公司 | Weeder is used in saline and alkaline land cotton field |
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| CN207269304U (en) * | 2017-10-17 | 2018-04-27 | 中国科学院合肥物质科学研究院 | A kind of green intelligent weed-eradicating robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110419315A (en) * | 2019-09-02 | 2019-11-08 | 安徽农业大学 | A kind of foreign body eliminating apparatus and its control method |
| CN111357468A (en) * | 2020-03-13 | 2020-07-03 | 西安海裕能源科技有限公司 | A full-automatic weeding robot for photovoltaic power plant |
| CN114451082A (en) * | 2021-12-15 | 2022-05-10 | 中国农业大学 | Inline real-time mechanical weeding equipment and weeding method |
| CN114793492A (en) * | 2022-04-24 | 2022-07-29 | 内蒙古农业大学 | Novel weeding robot based on agricultural weed removal |
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