CN107873150A - Based on solar powered agricultural weeder between machine vision strain - Google Patents
Based on solar powered agricultural weeder between machine vision strain Download PDFInfo
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- CN107873150A CN107873150A CN201711179338.8A CN201711179338A CN107873150A CN 107873150 A CN107873150 A CN 107873150A CN 201711179338 A CN201711179338 A CN 201711179338A CN 107873150 A CN107873150 A CN 107873150A
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- weeder
- gear
- shaft
- machine vision
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- 238000009333 weeding Methods 0.000 claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 19
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 12
- 239000010959 steel Substances 0.000 claims description 12
- 229910052742 iron Inorganic materials 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 7
- 229910001220 stainless steel Inorganic materials 0.000 claims description 7
- 239000010935 stainless steel Substances 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000000087 stabilizing effect Effects 0.000 claims description 5
- 238000013500 data storage Methods 0.000 claims description 4
- 230000005855 radiation Effects 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims 1
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- 241000196324 Embryophyta Species 0.000 description 26
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- 230000018109 developmental process Effects 0.000 description 4
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- 230000033001 locomotion Effects 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 235000013311 vegetables Nutrition 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 241000951498 Brachypteraciidae Species 0.000 description 1
- 244000025254 Cannabis sativa Species 0.000 description 1
- 235000003283 Pachira macrocarpa Nutrition 0.000 description 1
- 206010036590 Premature baby Diseases 0.000 description 1
- 240000001085 Trapa natans Species 0.000 description 1
- 235000014364 Trapa natans Nutrition 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
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- 238000009395 breeding Methods 0.000 description 1
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- 238000007596 consolidation process Methods 0.000 description 1
- 238000012272 crop production Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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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
- 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
- A01B39/20—Tools; Details
- A01B39/22—Tools; Mounting tools
-
- 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
- A01B39/26—Arrangements for protecting plants, e.g. fenders
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Engineering (AREA)
- Soil Working Implements (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of based on solar powered agricultural weeder between machine vision strain,Including solar panel,Central controller drive device,Machine Vision Detection device,Weeder frame and weeder body,The front of the weeder frame is installed with Machine Vision Detection device,The feeder ear of the Machine Vision Detection device is connected with central controller drive device,The upper surface of the central controller drive device is axially connected to solar panel by rotary shaft,The weeder frame front is also installed with rotation side plate by adjusting screw,The right flank of the weeder frame is provided with support,The support is internally provided with gear-box,The axial end of the gear-box is connected by gear drive with weeder body,Using solar energy as power supply unit,Weeding controls between strain is carried out using the distance between weeding teeth and crop as threshold value,Realize strain spaced winding seedling weeding.
Description
Technical field
It is specially a kind of to be removed based on solar powered agricultural between machine vision strain the present invention relates to agricultural technology field
Careless device.
Background technology
Agricultural is that the industry of food and the raw material of industry is produced by cultivating animals and plants.Agricultural belongs to the primary industry, studies agriculture
The science of industry is agronomy.The subject of labour of agricultural is lived animals and plants, the product of acquisition be animals and plants in itself.We are profit
With the growth-development law of the biology such as animals and plants, the accreditation of all departments of product is obtained by artificial culture, is referred to as agriculture
Industry.Agricultural is to support the basic product of the development of the national economy and development.It is briefly that the mankind go to change nature with its wisdom
Environment, product is obtained using the growth and breeding of animals and plants, further exchanges a kind of system of economic well-being of workers and staff for.
For crops in field while growth, weeds also fight for moisture, fertilizer along with production and with crops
And sunlight, and the weed growth gesture that has is more vigorous than crops or even can substitute crops, is led if weed growth of leaving
Crop production reduction is caused even to have no harvest, artificial weeding, which exists, at present is unable to that weeding is not clean, needs to expend a large amount of manpowers and the time
Shortcoming, with the development of weeding technique, present herbicidal methods except widely it is familiar to people manually with hand-lifting grass, spray weeding
Agent weeding, also prevented and kill off using biotechnology, agricultural, physical heating weeds, mechanical mechanism weeding the methods of.Because applied chemistry
It is a kind of efficient, easily weeding means that herbicide, which eliminates weeds, is currently still a kind of commonplace used by peasant
Herbicidal methods, it turns out that：Although weeds can be eliminated by spraying chemical pesticide, largely not only to soil, ring
Border causes pollution, and have impact on the quality of vegetables, and very big harm is caused to health.Other several herbicidal methods
Because some Cost Problems and condition limitation are not also widely applied, as country and the public increasingly pay close attention to food peace
Entirely, the development of organic agriculture is focused on, weeding by machine's method turns into the focus of current research.
Using machinery except the weeds technology between removing crop seedling row is ripe, but for how accurate, efficient
Ground removes the technology also prematurity of the weeds between crop seedling and seedling, it is necessary to deeper research.Foreign countries have developed now
Gone out to integrate hydraulic control technology, image identifying and processing, be automatically positioned and navigate and the intellectuality of computer technology, automation
Weeding machine, but mostly in research, experimental stage, minority is mainly between big spacing in the rows, the preferable vegetable seedling of site preparation quality
Weeding operation, be using duplicate rows plantation on ridge, along with field crops again because spacing in the rows is smaller for weeding between vegetables strain
The reasons such as stalk, stubble be more, weeding machine is difficult to move even one step between automating strain, at present still in research and exploration.Institute
It is of great importance with studying weeding machine between the strain of suitable China's vegetable cultivation agriculture requirement.
The content of the invention
In order to overcome the shortcomings of prior art, present invention offer is a kind of to be regarded based on solar powered agricultural with machine
Weeder between feel strain, using solar powered mode, to weeder body and Machine Vision Detection device and weeder
Internal master controller provides electric energy, makes its normal operation, on the basis of autonomous, by being identified to weeds or crop, is
System can control power tool to carry out effective operation to the crop detected or weeds, realize mechanical system weeding, ensure simultaneously
The accuracy of operation.
The technical solution adopted for the present invention to solve the technical problems is：It is a kind of based on solar powered agricultural machine
Weeder between vision strain, including solar panel, central controller drive device, Machine Vision Detection device, weeder
Frame and weeder body, the front of the weeder frame are installed with Machine Vision Detection device, and the machine regards
Feel that the feeder ear of detector is connected with central controller drive device, the upper surface of the central controller drive device passes through
Rotary shaft is axially connected to solar panel, and the weeder frame front is also installed with rotation by adjusting screw
Side plate, the lower end of the rotation side plate are axially connected with ground connection roller, the right flank peace of the weeder frame by rotating shaft
Equipped with support, the support is internally provided with gear-box, and the axial end of the gear-box passes through gear drive and weeding
Device body is connected；
The front of the weeder frame is also installed with connecting plate, front and the rotating side board shaft of the connecting plate
To connection, the front of the connecting plate is additionally provided with tapered gearbox, and the outside of the tapered gearbox passes through chain and chain lifting motor
It is connected, the output end of the chain lifting motor is connected by sprocket wheel with the gear-box for the inside for being arranged on support, described
The upper surface of rotation side plate is also mounted by means of screws with height adjustment mechanism, and the fixing end of the height adjustment mechanism is with removing
Careless device frame is connected, and the axial connection end of the ground connection roller is additionally provided with ground-contour-following device；
The quantity of the weeder body is two, and is separately mounted to gear-box both ends, the weeder body
Centre be connected by axial connector with fixed mount, the upper end of the fixed mount is installed with crossbeam, the crossbeam
Upper end be installed with stainless steel protective cover, the lower end of the stainless steel protective cover is connected with the outer wall of gear-box, described
The output end of gear-box is connected by rotating shaft with fixed mount, and the outer surface of the rotating shaft is provided with gear train, the gear train
Lower end weeder body is connected to by chain drive.
As a kind of preferable technical scheme of the present invention, driving plate, the driving are provided with the weeder body
The front of plate is installed with central gear, and the axial end of the central gear is connected by jackshaft with driving plate, described
The centre of driving plate is also connected by central shaft with sprocket wheel, and the output end of the sprocket wheel passes through locking nut and fixed mount phase
Connection, the output end of the sprocket wheel also input chain by power and are connected with output gear, the output end of the output gear
It is connected with output shaft, elastic comb is also installed with the outer surface of the output shaft.
As a kind of preferable technical scheme of the present invention, the ground-contour-following device includes axial coupling, angle steel and tiltedly
Pull bar, the angle steel are connected with the left end of brace by axial coupling, and the right-hand member of the angle steel, which also extends through, is connected with bullet
Spring base, the lower end of the spring lever are installed with hanger, and the lower end of the hanger is fixedly mounted on oblique pull by adjusting screw
On bar, the outer surface of the spring lever is also intertwined and connected and has cluster spring, and the end of the hanger passes through transmission device and ground connection
Roller is connected.
As a kind of preferable technical scheme of the present invention, the transmission device and the grounding shaft being arranged on inside ground connection roller
It is connected, the output end of the grounding shaft is delivered on the first power transmission shaft of gear-box by Chain conveyer, first power transmission shaft
Output end be connected by straight spur gear with the second driving shaft of gear-box, the lower end of the second driving shaft and cone tooth
Axle axial connects, and the input of the bevel gear shaft is connected with drive shaft, the lower end of the drive shaft and power output shaft
It is connected.
As a kind of preferable technical scheme of the present invention, the weeder body includes fixing shell and rotating spindle,
The rotating spindle runs through the inside for being connected to fixing shell, and is connected in rotating spindle outer surface by pad with fixing shell
Connect, the lower end of the rotating spindle is connected with tooth rotating shaft, and the lower end of the tooth rotating shaft is connected with teeth, the rotating spindle
Rear portion be additionally provided with siding track and lower side rail, the left end of the upper siding track and lower side rail is fixedly mounted on fixation
On the inwall of shell, the upper siding track and lower side rail front are additionally provided with two-way angle electromagnetic iron, the two-way corner electricity
The upper end of magnet is connected with limit sensors, and the feedback signal terminal of the limit sensors is connected with master controller, described
Master controller is fixedly mounted on the upper surface of fixing shell, and the right-hand member of the upper siding track and lower side rail merges into unified rail
Road, and track output end by being provided with T-shaped sleeve, the lower end of the T-shaped sleeve is socketed with the second tooth rotating shaft, described
The outer surface of two tooth rotating shafts is also installed with the sleeve with helical orbit, and the lower end of the second tooth rotating shaft is also installed with
Weeding blade tooth.
As a kind of preferable technical scheme of the present invention, the tracking that is internally provided with of the central controller drive device is determined
Position system, the input of the tracing-positioning system pass through control circuit and solar panel, the tracing-positioning system bag
Mu balanced circuit and timing circuit are included, the mu balanced circuit receives the input voltage from solar power system, the voltage stabilizing electricity
The output end on road is connected with timing circuit, and the output end of the timing circuit is connected by photosensitive circuit with amplifying circuit,
The output end of the amplifying circuit is connected with direct current generator, the output end of the direct current generator and two-way angle electromagnetic iron and is
System aspect sensor is connected, and the output end of the system attitude sensor is connected with master controller.
As a kind of preferable technical scheme of the present invention, the feedback of the two-way angle electromagnetic iron and system attitude sensor
End is connected by control line with photosensitive circuit.
As a kind of preferable technical scheme of the present invention, the central controller drive device receives and comes from solar cell
The solar energy of plate, the central controller drive device include microcontroller and batteries, the input of the microcontroller
Solar voltage is received by photovoltaic module to input, the input of the microcontroller is connected with batteries, the sun
The output end of energy cell panel is connected by inverter with batteries, and the voltage output end of the microcontroller is connected to
DC load and AC load, the PORT COM of the microcontroller is connected with infrared interface module by CAN, described red
The output end of external tapping module is connected with Machine Vision Detection device, and the signal end of the microcontroller is also associated with data acquisition
Card, the data collecting card are connected with signal end with sensor assembly, the signal feedback end and micro-control of the sensor assembly
Device processed is connected, and the data terminal of the microcontroller is also associated with data storage.
As a kind of preferable technical scheme of the present invention, the sensor assembly includes temperature sensor, ambient humidity passes
Sensor and solar radiation degree instrument.
As a kind of preferable technical scheme of the present invention, the signal end of the microcontroller is also associated with wireless transceiver,
The signal end of the wireless transceiver is connected by wireless network with PC, and the PC is internally provided with Labview controls
Molding block, the interaction port of the Labview control modules are connected with human-computer interaction interface.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is a kind of based on solar powered agricultural machine
Weeder between device vision strain, using solar powered mode, to weeder body and Machine Vision Detection device and weeding
Master controller provides electric energy inside device, makes its normal operation, on the basis of autonomous, by knowing to weeds or crop
Not, system can control power tool to carry out effective operation to the crop detected or weeds, realize mechanical system weeding, simultaneously
It ensure that the accuracy of operation.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is weeder frame positive structure schematic of the present invention；
Fig. 3 is weeder body connection structure schematic diagram of the present invention；
Fig. 4 is the structural representation of ground-contour-following device of the present invention；
Fig. 5 is drive structural representation of the present invention；
Fig. 6 is weeder body cross-section structure block diagram of the present invention；
Fig. 7 is tracing-positioning system structural representation of the present invention；
Fig. 8 is central controller driving device structure schematic diagram of the present invention.
In figure marked as：
1- weeder frames；2- weeder bodies；3- central controller drive devices；4- ground-contour-following devices；5-
Machine Vision Detection device；6- solar panels；7- rotary shafts；8- is grounded roller；9- rotation side plates.
100- height adjustment mechanisms；101- chain lifting motors；102- sprocket wheels；103- connecting plates；104- tapered gearboxs；105-
Support；106- gear-boxes；107- fixed mounts；108- crossbeams；109- stainless steel protective covers；110- rotating shafts；111- gear trains；112-
Driving plate；113- sprocket wheels；114- locking nuts；115- elastic combs；116- output shafts；117- output gears；118- jackshafts；
119- central shafts；120- central gears；
200- fixing shells；201- rotating spindles；The upper siding tracks of 202-；The two-way angle electromagnetic iron of 203-；Siding track under 204-
Road；205- limit sensors；206- pads；207- master controllers；208- tooth rotating shafts；209- teeth；210-T jacket cylinders；211-
Second tooth rotating shaft；212- sleeves；213- weeding blade tooths；
300- tracing-positioning systems；301- inverters；302- mu balanced circuits；303- timing circuits；304- photosensitive circuits；
305- amplifying circuits；306- system attitude sensors；307- direct current generators；308- human-computer interaction interfaces；309- microcontrollers；
310- data collecting cards；311- data storages；312- DC loads；313- AC loads；314-CAN buses；315- is infrared
Interface module；316- wireless transceivers；317- batteries；318- photovoltaic modulies；319-Labview control modules；320- is passed
Sensor module；321- temperature sensors；322- ambient humidity sensors；323- solar radiation degree instrument；324-PC machines；
400- angle steel；401- braces；402- spring levers；403- hangers；404- cluster springs；405- transmission devices；
406- axial couplings；407- grounding shafts；408- straight spur gears；The power transmission shafts of 409- first；410- second driving shafts；411-
Bevel gear shaft；412- drive shafts；413- power output shafts.
Embodiment
It is as shown in figure 1, a kind of based on solar powered agricultural weeder between machine vision strain, including solar-electricity
Pond plate 6, central controller drive device 3, Machine Vision Detection device 5, weeder frame 1 and weeder body 2, it is described to remove
The front of careless device frame 1 is installed with Machine Vision Detection device 5, feeder ear and the center of the Machine Vision Detection device 5
Controller drive device 3 is connected, and the upper surface of the central controller drive device 3 is axially connected to too by rotary shaft 7
Positive energy cell panel 6, the front of weeder frame 1 are also installed with rotation side plate 9, the rotating side by adjusting screw
The lower end of plate 9 is axially connected with ground connection roller 8 by rotating shaft, and the right flank of the weeder frame 1 is provided with support 105,
The support 105 is internally provided with gear-box 106, and the axial end of the gear-box 103 is by gear drive 121 with removing
Careless device body 2 is connected.
As shown in figure 1, the front of the weeder frame 1 is also installed with connecting plate 103, the connecting plate 103
Front with rotation side plate 9 is axial is connected, the front of the connecting plate 103 is additionally provided with tapered gearbox 104, the tapered gearbox 104
Outside be connected by chain with chain lifting motor 101, the output end of the chain lifting motor 101 passes through sprocket wheel 102
The gear-box 106 of inside with being arranged on support 105 is connected, and the upper surface of the rotation side plate 9 is also fixed by screw pacifies
Equipped with height adjustment mechanism 100, the fixing end of the height adjustment mechanism 100 is connected with weeder frame 1, the ground connection
The axial connection end of roller 8 is additionally provided with ground-contour-following device 4.
During the progress weeding operation, by the use of central controller drive device 3 as power resources, connect by motor driving
Ground roller 8 rotates, and ground connection roller 8 transfers power to the driving plate of weeding part by Chain conveyer and gear drive, drives peace
Planetary gear train in weeding part driving plate rotates, the broach on such weeding part not only as tractor travels forward but also
Rotated around drive shaft, form spiral trajectory in operation earth's surface, the opposite weeding part track of two directions of motion forms water chestnut
Curried in earth's surface 20~30mm depth the latticed track of shape.It is different from weeds root system development degree using crop root
(crop root more flourishing than weeds root system), it is lethal to be grown in the weeds of the earth's surface earth's surface that will be dished out by broach, is commonly used in before seedling
Or the in good time weeding of after seedling.
As shown in Fig. 2 the quantity of the weeder body 2 is two, and it is separately mounted to the both ends of gear-box 106, institute
The centre for stating weeder body 2 is connected by axial connector with fixed mount 107, and the upper end of the fixed mount 107 is consolidated
Dingan County is equipped with crossbeam 108, and the upper end of the crossbeam 108 is installed with stainless steel protective cover 109, the stainless steel protective cover
109 lower end is connected with the outer wall of gear-box 106, and the output end of the gear-box 106 passes through rotating shaft 110 and fixed mount 107
It is connected, the outer surface of the rotating shaft 110 is provided with gear train 111, and the lower end of the gear train 111 is connected by chain drive
Weeder body 2.
As shown in figure 3, being provided with driving plate 112 on the weeder body 2, the front of the driving plate 112 is fixed
Central gear 120 is installed, the axial end of the central gear 120 is connected by jackshaft 118 with driving plate 112, described
The centre of driving plate 112 is also connected by central shaft 119 with sprocket wheel 113, and the output end of the sprocket wheel 113 passes through locking screw
Mother 114 is connected with fixed mount 107, and the output end of the sprocket wheel 113 also inputs chain by power and is connected with output gear 117
Connect, the output end of the output gear 117 is connected with output shaft 116, is also fixedly mounted on the outer surface of the output shaft 116
Flexible broach 115.
The drive shaft 412 is located at the center of driving plate 112, and by a pair of roller bearings, central gear 120 is packed in
One end of drive shaft 412, by key connection, in driving plate 112, the other end of drive shaft 412 stretches out driving plate 112, with
Axle bed on fixed mount 107 is locked by locking nut 114, and after unclamping locking nut 114, drive shaft 412 can be in fixed mount 107
Axle bed in rotate；In driving plate 112, using the axle center of drive shaft 412 as the center of circle, using twice of radius of central gear as radius
The jackshaft 118 parallel with drive shaft 412 is evenly equipped with circumference, is equipped with every jackshaft 118 identical with central gear 120
Idler gear, each idler gear can freely rotate around drive shaft 412 and be meshed respectively with central gear 120；Together
Idler gear is the same, in driving plate 112, using the axle center of drive shaft 412 as the center of circle, using four times of radiuses of central gear 120 as half
3 output shafts 116 parallel with drive shaft 412 are uniformly distributed on the circumference in footpath, one end of every output shaft 116 it is equipped with
The identical output gear of central gear 120, each output gear by key and output shaft 1116 it is equipped after respectively with individual centre
Gear is meshed.Elastic comb 115 vertically downward is fixedly mounted with every output shaft for stretching out driving plate 112.When coming from
During the power of land wheel, when inputting chain drive driven sprocket by power, because driven sprocket and driving plate 112 are fixedly mounted with, so
Power input chain can drive driving plate 112 to be rotated around drive shaft 412 by driven sprocket, due to the tooth in driving plate 112
All same is taken turns, drive shaft 412 and fixed mount 107 are fixed, in the rotary course of driving plate 112, drive output gear and output
Axle 116 rotates equal angular, so as to ensure that the broach on every output shaft vertically downward, is realized just as manual operation rake all the time
The process equally combed to crop seedling belt, by the topsoil within the scope of seedling band depth 20mm~30mm depths it is loose while,
Broach 115 will will take root shallower weeds and throw earth's surface, be allowed to withered and dead, reach the purpose for rooting out weeds between strain.
As shown in figure 4, the ground-contour-following device 4 includes axial coupling 406, angle steel 400 and brace 401, it is described
Angle steel 400 is connected with the left end of brace 401 by axial coupling 406, and the right-hand member of the angle steel 400, which also extends through, to be connected with
Spring lever 402, the lower end of the spring lever 402 are installed with hanger 403, and the lower end of the hanger 403 passes through adjusting screw
It is fixedly mounted on brace 401, the outer surface of the spring lever 402, which is also intertwined and connected, cluster spring 404, the hanger
403 end is connected by transmission device 405 with ground connection roller 8, can be with by the locking nut for adjusting the top of spring lever 402
Adjust the initial pressure of angle steel 400 over the ground.In the weeder course of work, due to the effect of spring, angle steel 400 can be along landing
Table fluctuates, and adapts to rough earth's surface, so as to improve herbicidal effect, solves due to surface vegetation, field topography, soil
The difference of earth consolidation and other physical mechanical indexs, causes weeder to move the problems such as unstable in vertical plane.
As shown in figure 5, the transmission device 405 is connected with the grounding shaft 406 being arranged on inside ground connection roller 8, it is described
The output end of grounding shaft 406 is delivered on the first power transmission shaft 409 of gear-box by Chain conveyer, first power transmission shaft 409
Output end is connected by straight spur gear 408 with the second driving shaft 410 of gear-box, under the second driving shaft 410
End is axially connected with bevel gear shaft 411, and the input of the bevel gear shaft 411 is connected with drive shaft 412, the drive shaft
412 lower end is connected with power output shaft 413, and the power is delivered to the of gear-box by grounding shaft 406 by Chain conveyer
One power transmission shaft 409, the first power transmission shaft 409 transfer power to second driving shaft 410 by straight spur gear 408, and second passes
Power input shaft of the moving axis 410 as bevel gear shaft 411, bevel gear shaft 411 is passed to by bevel gear engaged transmission power,
Last bevel gear shaft 411 transfers power to the drive shaft 412 of weeding part by Chain conveyer, the epicyclic train in driving plate
Rotated around central gear, drive the output shaft 413 being fixed together with planetary gear to rotate, and then driven and be arranged on output shaft
Broach motion on 413.
As shown in fig. 6, the weeder body 2 includes fixing shell 200 and rotating spindle 201, the rotating spindle
201 run through the inside for being connected to fixing shell 200, and pass through pad 206 and fixing shell 200 in the outer surface of rotating spindle 201
It is connected, the lower end of the rotating spindle 201 is connected with tooth rotating shaft 208, lower end and the phase of teeth 209 of the tooth rotating shaft 208
Connection, the rear portion of the rotating spindle 201 is additionally provided with siding track 202 and lower side rail 204, the upper He of siding track 202
The left end of lower side rail 204 is fixedly mounted on the inwall of fixing shell 200, the upper siding track 202 and lower side rail 204
Front is additionally provided with two-way angle electromagnetic iron 203, and the upper end of the two-way angle electromagnetic iron 203 is connected with limit sensors 205
Connect, the feedback signal terminal of the limit sensors 205 is connected with master controller 207, with weed shovel inside master controller 207
The distance between tooth and crop control as weeding between threshold value progress strain, realize strain spaced winding seedling weeding.The master controller 207 is solid
Dingan County is mounted in the upper surface of fixing shell 200, and the right-hand member of the upper siding track 202 and lower side rail 204 merges into unified track,
Described automatic and rail mechanism profile uses to switch tracks mechanism identical profile with guiding, and track output end by being provided with
T-shaped sleeve 210, the lower end of the T-shaped sleeve 210 are socketed with the second tooth rotating shaft 211, the outer surface of the second tooth rotating shaft 211
The sleeve 212 with helical orbit is also installed with, the lower end of the second tooth rotating shaft 211 is also installed with weeding blade tooth
213, whole device controls the switching electricity of two-way angle electromagnetic iron 203 to cause orbital transfer slide block movement using master controller 207
To realize moving up and down for weeding teeth rotating shaft, while using the sleeve 212 with helical orbit, to realize teeth in crop
Being transferred in gap or stretched out between strain, so as to reach weeding between strain and avoid the purpose of crop.
The master controller 207 always according to limit sensors 205 and system attitude sensor 306 obtain on weeds
With the coordinate position relation of crop, teeth motion path is calculated in control system.If the control system detects that the shovel stretched out
Tooth can hurt crop, and orbital transfer sliding block can keep the connection of siding track, teeth is remained the state of being transferred to, so as to reach
Avoid the purpose of crop.
As shown in fig. 7, the central controller drive device 3 is internally provided with tracing-positioning system 300, the tracking
For the input of alignment system 300 by control circuit and solar panel 6, the tracing-positioning system 300 includes voltage stabilizing electricity
Road 302 and timing circuit 303, the mu balanced circuit 302 receive the input voltage from solar power system, the voltage stabilizing electricity
The output end on road 302 is connected with timing circuit 303, and the output end of the timing circuit 303 passes through photosensitive circuit 304 and amplification
Circuit 305 is connected, and the output end of the amplifying circuit 305 is connected with direct current generator 307, the direct current generator 307 it is defeated
Go out end with two-way angle electromagnetic iron 203 and system attitude sensor 306 to be connected, the output of the system attitude sensor 306
End is connected with master controller 207, and the feedback end of the two-way angle electromagnetic iron 203 and system attitude sensor 306 passes through
Control line is connected with photosensitive circuit 304, because solar panel output voltage is about 20V, higher than tracing-positioning system just
Normal operating voltage 12V, while to improve the reliability and operating efficiency of tracing-positioning system, voltage stabilizing timing electricity has been respectively adopted
The mu balanced circuit 302 and timing that road and electric bridge amplifying circuit, the wherein chip of LM2576 models and the chip of NE555 models are formed
Circuit 303, it reduce further the energy consumption of tracing-positioning system.
When light shines the intensity difference of system both sides, the resistance of photo resistance is different, causes the balance of bridge circuit
Destroyed, now φ a ≠ φ b, have signal from a, and 2 points of b is output to amplifying circuit, and the triode in amplifying circuit can drive electricity
Machine works, and so as to be adjusted to the angle of solar panel, the light that tracing-positioning system both sides are shone until light is strong
When spending identical, electric bridge reaches balance, motor stalls again.So also just having reached makes solar panel automatically to the sun
It is tracked the requirement of positioning.
As shown in figure 8, the central controller drive device 3 receives the solar energy from solar panel 6, in described
Centre controller drive device 3 includes microcontroller 309 and batteries 317, and the input of the microcontroller 309 passes through photovoltaic
Component 316 receives solar voltage input, and the input of the microcontroller 309 is connected with batteries 317, the sun
The output end of energy cell panel 6 is connected by inverter with batteries 317, the voltage output end point of the microcontroller 309
DC load 312 and AC load 313 are not connected with, and the PORT COM of the microcontroller 309 is connected by CAN 314
There is infrared interface module 315, the output end of the infrared interface module 315 is connected with Machine Vision Detection device 5, so as to handle
The data message that Machine Vision Detection device 5 detects, the signal end of the microcontroller 309 are also associated with data collecting card 310,
The data collecting card 310 is connected with signal end with sensor assembly 320, the signal feedback end of the sensor assembly 320
It is connected with microcontroller 309, the data terminal of the microcontroller 309 is also associated with data storage 311, the sensor die
Block 320 includes temperature sensor 321, ambient humidity sensor 322 and solar radiation degree instrument 323, the temperature sensor 321
Including solar energy backboard temperature sensor and Battery temperature probe, the signal end of the microcontroller 309 is also associated with nothing
Line transceiver 316, the signal end of the wireless transceiver 316 are connected by wireless network with PC 324, the PC 324
Be internally provided with Labview control modules 325, the interaction port of the Labview control modules 325 and human-computer interaction interface
308 are connected, control core of the microcontroller 309 as sensor data acquisition node, and it is responsible for gathering solar irradiation
The relevant parameter such as degree, backboard temperature, battery temp, ambient temperature and humidity simultaneously sends parameter to main controlled node by CAN,
Communication mode between sensor data acquisition node and main controlled node uses CAN according to site environment, using more numbers
It is in charge of the data acquisition of regional according to acquisition node, the data so obtained are more accurate, there are data to adopt in monitoring system
When collecting node failure, malfunctioning node also can be relatively accurately positioned.And there is one in each data acquisition node
Solar energy irradiation instrument, a backboard temperature sensor, an environment humidity sensor.Each backboard temperature sensor can be put
The panel backside of the center position in the data acquisition node institute area under control domain is placed in, environment humidity sensor is positioned over the area
Ventilation in domain, solar energy irradiation instrument place the place with the regional center direct sunlight, and angle is kept with solar panel
Parallel, sensitive surface can not be blocked.
Innovative point of the present invention is：Using solar powered mode, to weeder body and Machine Vision Detection device with
And master controller provides electric energy inside weeder, makes its normal operation, on the basis of autonomous, by weeds or work
Thing identifies that system can control power tool to carry out effective operation to the crop detected or weeds, realize mechanical system weeding,
The accuracy of operation is ensure that simultaneously.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Claims (10)
- It is 1. a kind of based on solar powered agricultural weeder between machine vision strain, it is characterised in that：Including solar-electricity Pond plate (6), central controller drive device (3), Machine Vision Detection device (5), weeder frame (1) and weeder body (2), the front of the weeder frame (1) is installed with Machine Vision Detection device (5), the Machine Vision Detection device (5) feeder ear is connected with central controller drive device (3), and the upper surface of the central controller drive device (3) leads to Cross rotary shaft (7) and be axially connected to solar panel (6), weeder frame (1) front is also consolidated by adjusting screw Dingan County is equipped with rotation side plate (9), and the lower end of the rotation side plate (9) is axially connected with ground connection roller (8) by rotating shaft, described to remove The right flank of careless device frame (1) is provided with support (105), and the support (105) is internally provided with gear-box (106), institute The axial end for stating gear-box (103) is connected by gear drive (121) with weeder body (2)；The front of the weeder frame (1) is also installed with connecting plate (103), the front of the connecting plate (103) with Rotation side plate (9) axially connects, and the front of the connecting plate (103) is additionally provided with tapered gearbox (104), the tapered gearbox (104) Outside be connected by chain with chain lifting motor (101), the output end of the chain lifting motor (101) passes through sprocket wheel (102) gear-box (106) of the inside with being arranged on support (105) is connected, and the upper surface of the rotation side plate (9) also passes through Screw is installed with height adjustment mechanism (100), fixing end and the weeder frame of the height adjustment mechanism (100) (1) it is connected, the axial connection end of the ground connection roller (8) is additionally provided with ground-contour-following device (4).
- 2. according to claim 1 a kind of based on solar powered agricultural weeder between machine vision strain, it is special Sign is：The quantity of the weeder body (2) is two, and is separately mounted to gear-box (106) both ends, the weeding dress The centre for putting body (2) is connected by axial connector with fixed mount (107), and the upper end of the fixed mount (107) is fixed Crossbeam (108) is installed, the upper end of the crossbeam (108) is installed with stainless steel protective cover (109), the stainless steel protection The lower end of cover (109) is connected with the outer wall of gear-box (106), the output end of the gear-box (106) by rotating shaft (110) and Fixed mount (107) is connected, and the outer surface of the rotating shaft (110) is provided with gear train (111), under the gear train (111) End is connected to weeder body (2) by chain drive.
- 3. according to claim 1 a kind of based on solar powered agricultural weeder between machine vision strain, it is special Sign is：Driving plate (112) is provided with the weeder body (2), the front of the driving plate (112) is installed with Central gear (120), the axial end of the central gear (120) are connected by jackshaft (118) with driving plate (112), institute The centre for stating driving plate (112) is also connected by central shaft (119) with sprocket wheel (113), the output end of the sprocket wheel (113) It is connected by locking nut (114) with fixed mount (107), the output end of the sprocket wheel (113) also inputs chain by power It is connected with output gear (117), the output end of the output gear (117) is connected with output shaft (116), the output shaft (116) elastic comb (115) is also installed with outer surface.
- 4. according to claim 1 a kind of based on solar powered agricultural weeder between machine vision strain, it is special Sign is：The ground-contour-following device (4) includes axial coupling (406), angle steel (400) and brace (401), the angle steel (400) it is connected with the left end of brace (401) by axial coupling (406), the right-hand member of the angle steel (400) also extends through company Spring lever (402) is connected to, the lower end of the spring lever (402) is installed with hanger (403), the lower end of the hanger (403) It is fixedly mounted on by adjusting screw on brace (401), the outer surface of the spring lever (402) is also intertwined and connected and has combination bullet Spring (404), the end of the hanger (403) are connected by transmission device (405) with ground connection roller (8).
- 5. according to claim 4 a kind of based on solar powered agricultural weeder between machine vision strain, it is special Sign is：The transmission device (405) grounding shaft (406) internal with being arranged on ground connection roller (8) is connected, the grounding shaft (406) output end is delivered on the first power transmission shaft (409) of gear-box by Chain conveyer, first power transmission shaft (409) Output end is connected by straight spur gear (408) with the second driving shaft (410) of gear-box, the second driving shaft (410) lower end is axially connected with bevel gear shaft (411), and the input of the bevel gear shaft (411) is connected with drive shaft (412) Connect, the lower end of the drive shaft (412) is connected with power output shaft (413).
- 6. according to claim 1 a kind of based on solar powered agricultural weeder between machine vision strain, it is special Sign is：The weeder body (2) includes fixing shell (200) and rotating spindle (201), the rotating spindle (201) Pass through pad (206) and fixing shell through the inside for being connected to fixing shell (200), and in rotating spindle (201) outer surface (200) it is connected, the lower end of the rotating spindle (201) is connected with tooth rotating shaft (208), the lower end of the tooth rotating shaft (208) It is connected with teeth (209), the rear portion of the rotating spindle (201) is additionally provided with siding track (202) and lower side rail (204), the left end of the upper siding track (202) and lower side rail (204) is fixedly mounted on the inwall of fixing shell (200) On, the upper siding track (202) and lower side rail (204) front are additionally provided with two-way angle electromagnetic iron (203), described two-way turn The upper end of angle electromagnet (203) is connected with limit sensors (205), the feedback signal terminal of the limit sensors (205) with Master controller (207) is connected, and the master controller (207) is fixedly mounted on the upper surface of fixing shell (200), the upside The right-hand member of track (202) and lower side rail (204) merges into unified track, and track output end by being provided with T-shaped set Cylinder (210), the lower end of the T-shaped sleeve (210) is socketed with the second tooth rotating shaft (211), the appearance of the second tooth rotating shaft (211) Face is also installed with the sleeve (212) with helical orbit, and the lower end of the second tooth rotating shaft (211) is also installed with weeding Blade tooth (213).
- 7. according to claim 1 a kind of based on solar powered agricultural weeder between machine vision strain, it is special Sign is：The central controller drive device (3) is internally provided with tracing-positioning system (300), the track and localization system For the input of system (300) by control circuit and solar panel (6), the tracing-positioning system (300) includes voltage stabilizing electricity Road (302) and timing circuit (303), the mu balanced circuit (302) receives the input voltage from solar power system, described The output end of mu balanced circuit (302) is connected with timing circuit (303), and the output end of the timing circuit (303) passes through photosensitive Circuit (304) is connected with amplifying circuit (305), and the output end of the amplifying circuit (305) is connected with direct current generator (307) Connecing, the output end of the direct current generator (307) is connected with two-way angle electromagnetic iron (203) and system attitude sensor (306), The output end of the system attitude sensor (306) is connected with master controller (207).
- 8. according to claim 1 a kind of based on solar powered agricultural weeder between machine vision strain, it is special Sign is：The central controller drive device (3) receives the solar energy from solar panel (6), the center control Device drive device (3) includes microcontroller (309) and batteries (317), and the input of the microcontroller (309) passes through light Lying prostrate component (316) and receive solar voltage input, the input of the microcontroller (309) is connected with batteries (317), The output end of the solar panel (6) is connected by inverter (301) with batteries (317), the microcontroller (309) voltage output end is connected to DC load (312) and AC load (313), and the microcontroller (309) is led to News port is connected with infrared interface module (315) by CAN (314), the output end of the infrared interface module (315) with Machine Vision Detection device (5) is connected, and the signal end of the microcontroller (309) is also associated with data collecting card (310), described Data collecting card (310) is connected with signal end with sensor assembly (320), the signal feedback of the sensor assembly (320) End is connected with microcontroller (309), and the data terminal of the microcontroller (309) is also associated with data storage (311).
- 9. according to claim 8 a kind of based on solar powered agricultural weeder between machine vision strain, it is special Sign is：The sensor assembly (320) includes temperature sensor (321), ambient humidity sensor (322) and solar radiation Spend instrument (323).
- 10. according to claim 1 a kind of based on solar powered agricultural weeder between machine vision strain, it is special Sign is：The signal end of the microcontroller (309) is also associated with wireless transceiver (316), the wireless transceiver (316) Signal end is connected by wireless network with PC (324), and the PC (324) is internally provided with Labview control modules (319), the interaction port of the Labview control modules (319) is connected with human-computer interaction interface (308).
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| CN201711179338.8A CN107873150A (en) | 2017-11-23 | 2017-11-23 | Based on solar powered agricultural weeder between machine vision strain |
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| CN201711179338.8A CN107873150A (en) | 2017-11-23 | 2017-11-23 | Based on solar powered agricultural weeder between machine vision strain |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108982420A (en) * | 2018-07-12 | 2018-12-11 | 华南农业大学 | A kind of the rice crop row Midline positioning device and method of light-tactilely-perceptible |
| CN109983862A (en) * | 2019-04-10 | 2019-07-09 | 郑小柔 | A kind of the weeding dedicated unit and its application method of ridge interrow crop |
| CN112205101A (en) * | 2020-09-21 | 2021-01-12 | 华南农业大学 | Double-row type flexible weeding part between rice field plants |
| CN112616343A (en) * | 2020-12-31 | 2021-04-09 | 无锡卡尔曼导航技术有限公司 | Weeding ring type fertilizer applying device between plants |
| CN114175918A (en) * | 2022-01-08 | 2022-03-15 | 东北农业大学 | Cylindrical steel brush weeding roller telescopic damage weeding and pesticide application weeding combined machine |
| CN115039527A (en) * | 2022-06-22 | 2022-09-13 | 四川农业大学 | Soybean weeder |
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2017
- 2017-11-23 CN CN201711179338.8A patent/CN107873150A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108982420A (en) * | 2018-07-12 | 2018-12-11 | 华南农业大学 | A kind of the rice crop row Midline positioning device and method of light-tactilely-perceptible |
| CN108982420B (en) * | 2018-07-12 | 2020-01-17 | 华南农业大学 | Light-touch perception rice crop row center line positioning device and method |
| CN109983862A (en) * | 2019-04-10 | 2019-07-09 | 郑小柔 | A kind of the weeding dedicated unit and its application method of ridge interrow crop |
| CN109983862B (en) * | 2019-04-10 | 2021-11-02 | 郑小柔 | Special weeding device for inter-ridge crops and using method thereof |
| CN112205101A (en) * | 2020-09-21 | 2021-01-12 | 华南农业大学 | Double-row type flexible weeding part between rice field plants |
| CN112205101B (en) * | 2020-09-21 | 2021-11-26 | 华南农业大学 | Double-row type flexible weeding part between rice field plants |
| CN112616343A (en) * | 2020-12-31 | 2021-04-09 | 无锡卡尔曼导航技术有限公司 | Weeding ring type fertilizer applying device between plants |
| CN112616343B (en) * | 2020-12-31 | 2023-10-13 | 无锡卡尔曼导航技术有限公司 | Inter-plant weeding ring type fertilizer injection unit |
| CN114175918A (en) * | 2022-01-08 | 2022-03-15 | 东北农业大学 | Cylindrical steel brush weeding roller telescopic damage weeding and pesticide application weeding combined machine |
| CN114175918B (en) * | 2022-01-08 | 2023-08-01 | 东北农业大学 | Cylindrical steel brush weeding roller telescopic damage weeding and pesticide application weeding combination machine |
| CN115039527A (en) * | 2022-06-22 | 2022-09-13 | 四川农业大学 | Soybean weeder |
| CN115039527B (en) * | 2022-06-22 | 2023-11-03 | 四川农业大学 | Soybean weeder |
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