CN108508889B - Small intelligent weeding and soil loosening device and control method - Google Patents
Small intelligent weeding and soil loosening device and control method Download PDFInfo
- Publication number
- CN108508889B CN108508889B CN201810173621.8A CN201810173621A CN108508889B CN 108508889 B CN108508889 B CN 108508889B CN 201810173621 A CN201810173621 A CN 201810173621A CN 108508889 B CN108508889 B CN 108508889B
- Authority
- CN
- China
- Prior art keywords
- tool rest
- shaft
- power
- sensor
- power device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000009333 weeding Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000002689 soil Substances 0.000 title claims description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 238000004458 analytical method Methods 0.000 claims description 10
- 238000010191 image analysis Methods 0.000 claims description 9
- 239000000428 dust Substances 0.000 claims description 7
- 238000007405 data analysis Methods 0.000 claims description 6
- 238000003703 image analysis method Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 claims 1
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 6
- 238000012271 agricultural production Methods 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- 239000003337 fertilizer Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004720 fertilization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
Classifications
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
-
- 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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Electromagnetism (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Mechanical Engineering (AREA)
- Artificial Intelligence (AREA)
- Medical Informatics (AREA)
- Game Theory and Decision Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Evolutionary Computation (AREA)
- Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Acoustics & Sound (AREA)
- Guiding Agricultural Machines (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses a small intelligent weeding and scarifying device and a control method, wherein the device comprises a frame, a power device and an operation part, the power device is positioned at the upper part of the frame, a traveling device is arranged at the lower part of the frame, the power device and the traveling device are connected through a traveling transmission shaft and transmit power, an infrared sensor and an ultrasonic sensor are arranged at the front and the rear of the traveling device, a GPS navigation device, a gyroscope, a horizontal sensor and a speed sensor are arranged on the frame, and an electric control system is also arranged on the power device. The invention can replace manpower to realize uninterrupted fatigue-free cultivation behavior, thereby realizing unmanned operation and simultaneously carrying out adaptive control according to various road surface conditions.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a small intelligent weeding and soil loosening device and a control method.
Background
Machine vision and image processing techniques: the machine vision technology is an indispensable technology for realizing automation of various agricultural production such as animal and plant growth environment control, planting, weeding, pruning, picking, plant protection, fertilization, cultivation and the like. The proper operation of any agricultural production robot depends on the correct identification of the work object.
Navigation technology: the navigation technology is popularized and applied in the running of automobiles, airplanes, ships and the like, and an important research topic is to establish a navigation system for determining the position and the running direction of a robot body for an agricultural robot running in a large range, so the navigation technology is very important;
the technology of the unmanned automobile has a certain level, namely, research results of image processing, path planning and control system research are respectively referred, but the technology is common to that of a common unmanned automobile as a robot system for agricultural cultivation, and the technology has great difference. The countries such as japan and the united states are relatively early in researching agricultural robots, the technology is relatively mature, and various agricultural production robots, transplanting robots, fertilizer robots and the like have been developed, and the technology and the application of the agricultural production robots, the transplanting robots, the fertilizer robots and the like are in the front of the world. The research of China in the aspect of agricultural robots also obtains a certain result, for example, vegetable grafting robots developed by China agricultural universities are widely applied. The cone collection robot developed by the northeast forestry university well solves the problem that the cones are picked by hand-held tools which are manually marketed. However, there is a certain problem that the general agricultural robot has insufficient intelligence, too much intervention is needed, and the production cost is often too high.
Disclosure of Invention
Aiming at the defect that the existing agricultural robots, particularly weeding and scarifying robots, lack intelligent control, the invention aims to enable the agricultural robots to realize the capabilities of autonomous learning, analysis and storage, path re-planning and the like by means of self-learning functions and the like of fuzzy logic, a neural network and intelligent simulation technology, reduce human intervention to the greatest extent and realize automatic operation.
As one aspect of the present invention, a small-sized intelligent weeding and soil loosening device is provided, which comprises a frame, a power device and a working part, wherein the power device is positioned at the upper part of the frame, a traveling device is arranged at the lower part of the frame, the power device and the traveling device are connected through a traveling transmission shaft and transmit power, an infrared sensor and an ultrasonic sensor are arranged at the front and the rear of the traveling device, a GPS navigation device, a gyroscope, a level sensor and a speed sensor are arranged on the frame, and an electric control system is also arranged on the power device.
Preferably, the working part comprises a front tool rest part connected to the front part of the power device, the front tool rest part comprises a front rotary tool and a front tool rest transmission shaft, the front tool rest part is pivotally connected with the power output part of the power device through the front tool rest transmission shaft, the working part further comprises a rear tool rest part connected to the rear part of the power device, the rear tool rest part comprises a rear rotary tool and a rear tool rest transmission shaft, and the rear tool rest part is pivotally connected with the power output part of the power device through the rear tool rest transmission shaft.
Preferably, the front tool rest transmission shaft comprises a first shaft and a second shaft, wherein the first shaft is connected with the power device, the second shaft is connected with the front rotary cutter, the first shaft and the second shaft are connected in a pivoting manner, and a first switching hydraulic lifting device is arranged between the power device and the front tool rest transmission shaft; the rear tool rest transmission shaft comprises a third shaft and a fourth shaft, the third shaft is connected with the power device, the fourth shaft is connected with the rear rotary cutter, the third shaft and the fourth shaft are connected in a pivoting mode, and a second switching hydraulic lifting device is arranged between the power device and the rear tool rest transmission shaft.
Preferably, a video device is mounted on top of the middle of the power plant.
Preferably, the video device employs a camera having an image recognition function and an automatic dust removal function.
Preferably, the electronic control system is used for carrying out data analysis and corresponding control on the operation of the whole weeding and soil loosening device, and the object of the data analysis comprises analysis on information such as road surface in front of the device, analysis on the operation path of the selected power part and analysis on the operation states of the selected front tool rest part and the rear tool rest part. In actual control, the method comprises the steps of planning a path and avoiding obstacles by utilizing position coordinate information, image information and various sensor information, controlling a power device to output power, and simultaneously controlling the gesture and rotation of a front cutter frame transmission shaft and a rear cutter frame transmission shaft by controlling the operation of a first switching hydraulic lifting device and a second switching hydraulic lifting device, and finally controlling the heights and positions of a front rotary cutter and a rear rotary cutter.
Preferably, the walking device further comprises a braking mechanism, wherein the braking mechanism is connected with the walking device and used for braking the walking device.
Preferably, the power means is an engine or a battery.
Preferably, when the engine is used as the power device, the weeding and scarifying device further comprises an accelerator control mechanism, a gear shifting mechanism and a clutch device, wherein the accelerator control mechanism and the gear shifting mechanism are connected with the engine, the accelerator control mechanism is used for controlling the power output of the engine, and the gear shifting mechanism is used for controlling and adjusting the power transmission.
As another aspect of the present invention, the present invention provides an intelligent weeding and soil loosening control method, which adopts the weeding and soil loosening device in any one of the above technical solutions, comprising the following steps:
s1: the remote control device is used for controlling a receiving device arranged in the electric control system to work and setting an initial running direction, and the remote control device controls the electric control system to work through signals;
s2: checking whether the remote control device sends a stop command, if yes, executing S12, if no, analyzing the road surface condition of the running direction by the electronic control system according to the video image collected by the camera, judging whether an obstacle or a channel exists, if no obstacle or channel is found, detecting the gradient of the current road surface through the gyroscope and the horizontal sensor, and if the detected current gradient is smaller than a certain gradient, determining that the running can be carried out, and executing S9;
s3: if an obstacle or a channel exists or a target object which is the same as a sample exists, respectively judging the distance between the obstacle and a vehicle body by utilizing an ultrasonic sensor and an infrared sensor, comprehensively judging an image result and a sensor result to obtain a distance signal, and if the distance is larger than a first threshold value, continuing to move forward;
s4: when the distance is smaller than a first threshold value, adjusting a given running speed, shifting gears, continuously correcting an accelerator according to a speed sensor, and when the vehicle speed is small, running forwards, and when the distance is smaller than a second threshold value, judging whether the obstacle or the target is needed to be kept away from or not to go forwards;
s5: detecting the gradient of the current road surface through a gyroscope and a level sensor, and executing S6 if the current gradient is detected to be larger than a certain gradient;
s6: the lens of the camera is controlled to rotate 180 degrees, the set running direction is reverse, the electric control system controls the gear shifting device, the clutch device and the throttle control mechanism to run, the left or right steering is judged to be at a certain angle according to the result of image analysis, when the camera runs to a first threshold value from the next obstacle, the signal of whether the camera needs to continue to run is obtained according to the step S4, if the camera needs to run, the step S7 is executed, and if the camera does not need to run, the step S9 is executed;
s7: the electronic control system controls the gear shifting device, the clutch device and the throttle control mechanism to operate, judges whether the gear shifting device, the clutch device and the throttle control mechanism turn left or right to a certain angle according to the result of image analysis so as to avoid obstacles, sets a low-speed operation speed, shifts gears and reduces the throttle, reduces the speed, measures the real-time speed through a speed sensor, and judges whether an oil way needs to be reduced or not;
s8: through image analysis, when the rotating angle and the obstacle have a certain angle difference, the direction is adjusted to lead the wheels to be aligned and to move straight for a certain time, and the distance between the vehicle body and the obstacle is continuously detected through an image analysis method in the time period and whether the vehicle body and the obstacle need to return to the original path again is judged to carry out cultivation or not;
s9: judging whether the current straight line cultivation surface is the edge of the previous edge to be cultivated, if so, controlling the gear shifting device, the clutch device and the throttle control mechanism to operate by the electric control system to realize high-speed operation, operating the tool rest at the rear of the corresponding operation direction, automatically adjusting the height of the tool rest according to the output condition of the tool rest, and executing S2;
s10: if not, the direction is adjusted to the edge of the original uncultivated surface, a large angle is adjusted, a small amount of time is required to run, the distance between the vehicle body and the edge of the uncultivated surface is continuously judged by utilizing the image, when the distance reaches a certain small value, the steering wheel is adjusted, the vehicle body is enabled to linearly run along the edge of the uncultivated surface, meanwhile, the real-time speed is measured by the speed sensor, whether the accelerator is needed to be increased is judged, and the S2 is started to be executed;
s11: the electric control system 7 controls the gear shifting device to be in a stop state, cuts off the clutch device and stops the throttle control mechanism.
The invention can replace manpower to realize uninterrupted fatigue-free cultivation behavior, thereby realizing unmanned operation and simultaneously carrying out adaptive control according to various road surface conditions.
Drawings
Fig. 1 is a schematic structural view of a weeding and scarifying apparatus according to the present invention.
Reference numerals: 1-a frame; 2-power means; 3-a walking device; 4-a walking transmission shaft; 5-a front tool holder portion; 6-a front tool rest transmission shaft; 7-an electric control system; 8-a video camera; 9-a first hydraulic switching lifting device; 10-rear tool holder part; 11-a rear tool holder transmission shaft; 12-forward rotating cutter; 13-a rear rotary cutter; 14-a first shaft; 15-second axis; 16-a third axis; 17-fourth axis; 18-a second switching hydraulic lifting device.
Detailed Description
The invention will now be described in further detail with reference to the drawings and specific examples, which are not intended to limit the invention thereto.
As shown in fig. 1, the present embodiment relates to a small intelligent weeding and soil loosening device, which comprises a frame 1 and a power device 2, wherein the power device 2 is located at the upper part of the frame 1 and is used for providing power for the whole weeding and soil loosening device, and preferably, the power device 2 can be an engine or a battery or other devices capable of providing power.
Further, a traveling device 3 is arranged at the lower part of the frame 1, the traveling device 3 is used for bearing the whole weeding and soil loosening device and driving the weeding and soil loosening device to move back and forth or rotate left and right, and the power device 2 and the traveling device 3 are connected through a traveling transmission shaft 4 and transmit power. An infrared sensor and an ultrasonic sensor are arranged in front of and behind the walking device 3, and the infrared sensor and the ultrasonic sensor are used for detecting road surface information including obstacle information and the like around the weeding and soil loosening device.
In addition, a GPS navigation device, a gyroscope, a level sensor and a speed sensor are arranged on the frame 1, wherein the GPS navigation device is used for acquiring position coordinate information of the weeding and soil loosening device and planning a path by utilizing the position coordinate information and a conventional GPS running track, the gyroscope and the level sensor are used for acquiring gradient information of a road surface where the weeding and soil loosening device is located, and the speed sensor is used for measuring running speed of the current weeding and soil loosening device.
A front tool rest part 5 for work is connected to the front part of the power unit 2, the front tool rest part 5 comprising a front rotary cutter 12 and a front tool rest drive shaft 6, in particular, the front tool rest part 5 being pivotally connected to the power take-off part of the power unit 2 via the front tool rest drive shaft 6, further, the front tool rest drive shaft 6 comprises a first shaft 14 and a second shaft 15, wherein the first shaft 14 is connected to the power unit 2, the second shaft 15 is connected to the front rotary cutter 12, and the first shaft 14 and the second shaft 15 are pivotally connected. In this way, power is output from the power unit 2 and passes through the front cutter carrier transmission shaft 6, so that the front rotary cutter 12 is driven to perform weeding and soil loosening operations. In order to control the rotation of the first shaft 14 and thus the position of the forward-blade carrier drive shaft 6 and the height and working position of the forward-blade 12, a first switching hydraulic lifting device 9 is arranged between the power unit 2 and the forward-blade carrier drive shaft 6.
Similarly, a rear tool rest portion 10 for work is connected to the rear of the power unit 2, the rear tool rest portion 10 including a rear rotary cutter 13 and a rear tool rest drive shaft 11, specifically, the rear tool rest portion 10 is pivotally connected to the power output portion of the power unit 2 through the rear tool rest drive shaft 11, the rear tool rest drive shaft 11 includes a third shaft 16 and a fourth shaft 17, the third shaft 16 is connected to the power unit 2, the fourth shaft 17 is connected to the rear rotary cutter 13, and the third shaft 16 and the fourth shaft 17 are pivotally connected. In this way, power is output from the power unit 2 and passes through the rear cutter carrier transmission shaft 11, so that the rear rotary cutter 13 is driven to perform weeding and soil loosening operations. In order to control the rotation of the third shaft 16 and thus the position of the rear holder drive shaft 11 and the height and working position of the rear rotary cutter 13, a second switching hydraulic lifting device 18 is arranged between the power device 2 and the rear holder drive shaft 11. Wherein, the front rotary cutter 12 and the rear rotary cutter 13 are respectively used for respectively performing weeding, soil loosening and other operations at the front part and the rear part of the weeding and soil loosening device.
The video equipment is installed on the middle top of the power device 2, preferably, a camera 8 is adopted, the model of the camera 8 is not required, but 360-degree rotation shooting can be realized to acquire images of the pavement in all directions of the weeding and scarifying device. The camera 8 has an image recognition function, that is, by using information such as trees, etc., the camera 8 can recognize a target obstacle, and can recognize other obstacles and conditions that interfere with the operation of the apparatus, such as walls and deep trenches. In addition, the mirror surface of the camera 8 has an automatic dust removing function, and in particular, the function is realized by a pneumatic dust removing device arranged on the camera 8, and the pneumatic dust removing device can have various options, for example, the pneumatic dust removing device comprises an air storage tank arranged on the frame 1 and a blowing nozzle arranged on the mirror surface of the camera 8, so as to blow the mirror surface to realize the purpose of dust removal.
The power device 2 is also provided with an electric control system 7, and the electric control system 7 is used for carrying out data analysis and corresponding control on the operation of the whole weeding and soil loosening device, and the object of the data analysis comprises analysis on information such as road surface in front of the device, analysis on the operation path of a selected power part, analysis on the operation states of the selected front tool rest part 5 and the rear tool rest part 10 and the like. In addition, in actual control, it includes planning a path and avoiding obstacles using position coordinate information, image information, various sensor information, etc., and controlling the power unit 2 to output power, and simultaneously controlling the posture and rotation of the front and rear blade carrier transmission shafts 6 and 11 by controlling the operation of the first and second switching hydraulic lifting devices 9 and 18, and finally controlling the heights and positions of the front and rear rotary blades 12 and 13, etc.
The weeding and scarifying device according to the present invention further comprises a braking mechanism, wherein the braking mechanism is connected with the running gear 3 and is used for braking the running gear 3. When the engine is adopted as the power device 2, the small intelligent weeding and scarifying device further comprises an accelerator control mechanism, a gear shifting mechanism and a clutch device, wherein the accelerator control mechanism and the gear shifting mechanism are connected with the engine, the accelerator control mechanism is used for controlling the power output of the engine, and the gear shifting mechanism is used for controlling and adjusting the power transmission. In order to operate the small intelligent weeding and scarifying device according to the present invention more conveniently, the device also comprises a remote control device which communicates with and matches the receiving device in the electronic control system 7. Therefore, an operator can start and stop the operation by using the remote controller, and the working states of front and back operation, turning and a tool rest in the operation process can be analyzed and decided according to images, ultrasonic waves and infrared sensors, so that unmanned operation is realized.
When the small intelligent weeding and scarifying device is used for operation, the specific control method is as follows:
s1: the remote control device is used for controlling a receiving device arranged in the electric control system 7 to work and setting an initial running direction, and the remote control device controls the electric control system 7 to work through signals;
s2: checking whether the remote control device sends a stop command, if yes, executing S12, if no, analyzing the road surface condition of the running direction by the electronic control system 7 according to the video image collected by the camera 8, judging whether an obstacle or a channel exists, if no obstacle or channel is found, detecting the gradient of the current road surface through the gyroscope and the horizontal sensor, if the detected current gradient is smaller than a certain gradient, determining that the running can be carried out, and executing S9;
s3: if an obstacle or a channel exists or an object the same as a sample exists, respectively judging the distance between the obstacle and a vehicle body by utilizing an ultrasonic sensor and an infrared sensor, comprehensively judging an image result and a sensor result to obtain a distance signal, and if the distance is greater than a first threshold value, for example, more than 2 meters, continuing to move forward;
s4: when the distance is smaller than a first threshold value, the given running speed is adjusted, the gear is shifted, the accelerator is continuously corrected according to the speed sensor, the vehicle runs forwards when the vehicle speed is small, and when the distance is smaller than a second threshold value, for example, 0.5 meter, whether the obstacle or the target is needed to be avoided or not is judged to be continued to go forwards.
S5: detecting the gradient of the current road surface through a gyroscope and a level sensor, and executing S6 if the current gradient is detected to be larger than a certain gradient;
s6: the lens of the camera 8 is controlled to rotate 180 degrees, the set running direction is reversed, the electric control system 7 controls the gear shifting device, the clutch device and the throttle control mechanism to run, and judges whether the camera turns to the left or the right to a certain angle according to the result of image analysis, when the camera runs to a first threshold value from the next obstacle, the camera carries out S7 according to the signal of whether the camera needs to continue to move forward or not obtained in S4, if the camera needs to move forward, the camera carries out S9 if the camera does not need to move forward;
s7: the electronic control system 7 controls the operation of the gear shifting device, the clutch device and the throttle control mechanism, judges whether the gear shifting device, the clutch device and the throttle control mechanism turn to the left or the right to a certain angle according to the result of image analysis so as to avoid obstacles, sets a low-speed running speed, shifts gears and reduces the throttle, reduces the speed, measures the real-time speed through a speed sensor, and judges whether an oil way needs to be reduced or not;
s8: through image analysis, when the rotating angle and the obstacle have a certain angle difference, the direction is adjusted to lead the wheels to be aligned and to move straight for a certain time, and the distance between the vehicle body and the obstacle is continuously detected through an image analysis method in the time period and whether the vehicle body and the obstacle need to return to the original path again is judged to carry out cultivation or not;
s9: judging whether the current straight line cultivation surface is the edge of the previous edge to be cultivated, if so, controlling the gear shifting device, the clutch device and the throttle control mechanism to operate by the electric control system 7 to realize high-speed operation, operating the tool rest at the rear of the corresponding operation direction, automatically adjusting the height of the tool rest according to the output condition of the tool rest, and executing S2;
s10: if not, the direction is adjusted to the edge of the original uncultivated surface, a large angle is adjusted, a small amount of time is required to run, the distance between the vehicle body and the edge of the uncultivated surface is continuously judged by utilizing the image, when the distance reaches a certain small value, the steering wheel is adjusted, the vehicle body is enabled to linearly run along the edge of the uncultivated surface, meanwhile, the real-time speed is measured by the speed sensor, whether the accelerator is needed to be increased is judged, and the S2 is started to be executed;
s11: the electric control system 7 controls the gear shifting device to be in a stop state, cuts off the clutch device and stops the throttle control mechanism.
Of course, what has been described above is a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principle of the present invention, and these modifications and adaptations are also considered as protecting the scope of the present invention.
Claims (1)
1. The utility model provides a control method of intelligent weeding and scarifying, adopts a small-size intelligent weeding and scarifying device, and it includes frame (1), power device (2) and operation portion, power device (2) are located the upper portion of frame (1) the lower part of frame (1) is equipped with running gear (3), power device (2) with connect and transmit power through walking transmission shaft (4) between running gear (3) all be equipped with infrared sensor and ultrasonic sensor around running gear (3) be equipped with GPS navigation device, gyroscope and level sensor and speed sensor on frame (1) still be equipped with electrical system (7) on power device (2);
the working part comprises a front tool rest part (5) connected to the front part of the power device (2), the front tool rest part (5) comprises a front rotary tool (12) and a front tool rest transmission shaft (6), the front tool rest part (5) is pivotally connected with a power output part of the power device (2) through the front tool rest transmission shaft (6), the working part further comprises a rear tool rest part (10) connected to the rear part of the power device (2), the rear tool rest part (10) comprises a rear rotary tool (13) and a rear tool rest transmission shaft (11), and the rear tool rest part (10) is pivotally connected with the power output part of the power device (2) through the rear tool rest transmission shaft (11);
the front tool rest transmission shaft (6) comprises a first shaft (14) and a second shaft (15), wherein the first shaft (14) is connected with the power device (2), the second shaft (15) is connected with the front rotary tool (12), the first shaft (14) and the second shaft (15) are connected in a pivoting mode, and a first switching hydraulic lifting device (9) is arranged between the power device (2) and the front tool rest transmission shaft (6); the rear cutter frame transmission shaft (11) comprises a third shaft (16) and a fourth shaft (17), the third shaft (16) is connected with the power device (2), the fourth shaft (17) is connected with the rear rotary cutter (13), the third shaft (16) and the fourth shaft (17) are connected in a pivoting mode, and a second switching hydraulic lifting device (18) is arranged between the power device (2) and the rear cutter frame transmission shaft (11);
the video equipment is arranged at the top of the middle of the power device (2);
the video equipment adopts a camera (8), and the camera (8) has an image recognition function and an automatic dust removal function;
the electric control system (7) is used for carrying out data analysis and corresponding control on the operation of the whole weeding and soil loosening device, the object of the data analysis comprises analysis on road surface information in front of the device, analysis on an operation path, analysis on operation states of a front tool rest part (5) and a rear tool rest part (10), in actual control, planning a path and avoiding obstacles by utilizing position coordinate information, image information and various sensor information, and controlling the power device (2) to output power, and simultaneously controlling the postures and rotation of a front tool rest transmission shaft (6) and a rear tool rest transmission shaft (11) by controlling the operation of the first switching hydraulic lifting device (9) and the second switching hydraulic lifting device (18), so as to finally control the heights and the positions of the front rotary tool (12) and the rear rotary tool (13);
the device also comprises a brake mechanism, wherein the brake mechanism is connected with the running gear (3) and is used for braking the running gear (3);
the power plant (2) is an engine;
when the engine is adopted as the power device (2), the weeding and scarifying device further comprises an accelerator control mechanism, a gear shifting mechanism and a clutch device, wherein the accelerator control mechanism and the gear shifting mechanism are connected with the engine, the accelerator control mechanism is used for controlling the power output of the engine, and the gear shifting mechanism is used for controlling and adjusting the power transmission;
the intelligent weeding and soil loosening control method comprises the following steps:
s1: the remote control device is used for controlling a receiving device arranged in the electric control system to work and setting an initial running direction, and the remote control device controls the electric control system to work through signals;
s2: checking whether the remote control device sends a stop command, if yes, executing S11, if no, the electronic control system analyzes the road surface condition of the running direction according to the video image collected by the camera, judging whether an obstacle or a channel exists, if no obstacle or channel is found, detecting the gradient of the current road surface through the gyroscope and the horizontal sensor, and if the detected current gradient is smaller than a certain gradient, determining that the running can be carried out, and executing S9;
s3: if an obstacle or a channel exists or a target object which is the same as a sample exists, respectively judging the distance between the obstacle and a vehicle body by utilizing an ultrasonic sensor and an infrared sensor, comprehensively judging an image result and a sensor result to obtain a distance signal, and if the distance is larger than a first threshold value, continuing to move forward;
s4: when the distance is smaller than a first threshold value, adjusting a given running speed, shifting gears, continuously correcting an accelerator according to a speed sensor, and when the vehicle speed is small, running forwards, and when the distance is smaller than a second threshold value, judging whether the obstacle or the target is needed to be kept away from or not to go forwards;
s5: detecting the gradient of the current road surface through a gyroscope and a level sensor, and executing S6 if the current gradient is detected to be larger than a certain gradient;
s6: the lens of the camera is controlled to rotate 180 degrees, the set running direction is reverse, the electric control system controls the gear shifting device, the clutch device and the throttle control mechanism to run, the left or right steering is judged to be at a certain angle according to the result of image analysis, when the camera runs to a first threshold value from the next obstacle, the signal of whether the camera needs to continue to run is obtained according to the step S4, if the camera needs to run, the step S7 is executed, and if the camera does not need to run, the step S9 is executed;
s7: the electronic control system controls the gear shifting device, the clutch device and the throttle control mechanism to operate, judges whether the gear shifting device, the clutch device and the throttle control mechanism turn left or right to a certain angle according to the result of image analysis so as to avoid obstacles, sets a low-speed operation speed, shifts gears and reduces the throttle, reduces the speed, measures the real-time speed through a speed sensor, and judges whether an oil way needs to be reduced or not;
s8: through image analysis, when the rotating angle and the obstacle have a certain angle difference, the direction is adjusted to lead the wheels to be aligned and to move straight for a certain time, and the distance between the vehicle body and the obstacle is continuously detected through an image analysis method in the time period and whether the vehicle body and the obstacle need to return to the original path again is judged to carry out cultivation or not;
s9: judging whether the current straight line cultivation surface is the edge needing cultivation before, if yes, controlling the gear shifting device, the clutch device and the throttle control mechanism to operate by the electric control system to realize high-speed operation, operating the tool rest at the rear of the corresponding operation direction, automatically adjusting the height of the tool rest according to the force output condition of the tool rest, and executing S2;
s10: if not, the direction is adjusted to the edge of the original uncultivated surface, a large angle is adjusted, a small amount of time is required to run, the distance between the vehicle body and the edge of the uncultivated surface is continuously judged by utilizing the image, when the distance reaches a certain small value, the steering wheel is adjusted to enable the vehicle body to linearly run along the edge of the uncultivated surface, meanwhile, the real-time speed is measured by the speed sensor, whether the accelerator is needed to be increased is judged, and the S2 is started to be executed;
s11: the electric control system controls the gear shifting device to be in a stop state, cuts off the clutch device and stops the throttle control mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173621.8A CN108508889B (en) | 2018-03-02 | 2018-03-02 | Small intelligent weeding and soil loosening device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173621.8A CN108508889B (en) | 2018-03-02 | 2018-03-02 | Small intelligent weeding and soil loosening device and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108508889A CN108508889A (en) | 2018-09-07 |
| CN108508889B true CN108508889B (en) | 2024-04-05 |
Family
ID=63377213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810173621.8A Active CN108508889B (en) | 2018-03-02 | 2018-03-02 | Small intelligent weeding and soil loosening device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108508889B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109526404A (en) * | 2018-11-13 | 2019-03-29 | 苏州索亚机器人技术有限公司 | A kind of intelligent grass-removing robot |
| CN111466165A (en) * | 2020-04-01 | 2020-07-31 | 信阳农林学院 | Multi-terrain weeding machine, control system and control method |
| DE102020210951B3 (en) * | 2020-08-31 | 2021-10-14 | Hochschule für Technik und Wirtschaft Dresden | Method for monitoring the mechanical automated removal of weeds |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205040180U (en) * | 2015-10-12 | 2016-02-24 | 黄正泽 | Agricultural apparatus with rotary tillage and ditching function |
| CN106054898A (en) * | 2016-07-26 | 2016-10-26 | 天津鲁赫环保科技有限公司 | Intelligent weeding machine and weeding method |
| CN106155053A (en) * | 2016-06-24 | 2016-11-23 | 桑斌修 | A kind of mowing method, device and system |
| CN106376251A (en) * | 2016-11-08 | 2017-02-08 | 宁夏智源农业装备有限公司 | Intelligent weeding machine for Chinese wolfberry |
| CN106455481A (en) * | 2014-05-22 | 2017-02-22 | 洋马株式会社 | Running system of work vehicle |
| CN106909148A (en) * | 2017-03-10 | 2017-06-30 | 南京沃杨机械科技有限公司 | Based on the unmanned air navigation aid of agricultural machinery that farm environment is perceived |
| CN107065870A (en) * | 2017-03-31 | 2017-08-18 | 深圳诺欧博智能科技有限公司 | Mobile robot autonomous navigation system and method |
| WO2017211308A1 (en) * | 2016-06-07 | 2017-12-14 | 苏州宝时得电动工具有限公司 | Automatically-moving gardening device |
| CN107554636A (en) * | 2017-08-29 | 2018-01-09 | 重庆大学 | A kind of robot ambulation control system and control method |
| CN207011224U (en) * | 2017-04-13 | 2018-02-16 | 冯元 | Miniature tracked agricultural robot |
| CN208029345U (en) * | 2018-03-02 | 2018-11-02 | 西安工业大学 | A kind of agricultural intelligent weeding and the robot that loosens the soil |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5016216B2 (en) * | 2005-12-05 | 2012-09-05 | 三菱農機株式会社 | Transplanter |
| US7953526B2 (en) * | 2006-01-18 | 2011-05-31 | I-Guide Robotics, Inc. | Robotic vehicle controller |
| CN107343495B (en) * | 2017-07-22 | 2020-11-17 | 王桂婷 | Self-propelled agricultural weeding and dewatering collection vehicle |
-
2018
- 2018-03-02 CN CN201810173621.8A patent/CN108508889B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106455481A (en) * | 2014-05-22 | 2017-02-22 | 洋马株式会社 | Running system of work vehicle |
| CN205040180U (en) * | 2015-10-12 | 2016-02-24 | 黄正泽 | Agricultural apparatus with rotary tillage and ditching function |
| WO2017211308A1 (en) * | 2016-06-07 | 2017-12-14 | 苏州宝时得电动工具有限公司 | Automatically-moving gardening device |
| CN106155053A (en) * | 2016-06-24 | 2016-11-23 | 桑斌修 | A kind of mowing method, device and system |
| CN106054898A (en) * | 2016-07-26 | 2016-10-26 | 天津鲁赫环保科技有限公司 | Intelligent weeding machine and weeding method |
| CN106376251A (en) * | 2016-11-08 | 2017-02-08 | 宁夏智源农业装备有限公司 | Intelligent weeding machine for Chinese wolfberry |
| CN106909148A (en) * | 2017-03-10 | 2017-06-30 | 南京沃杨机械科技有限公司 | Based on the unmanned air navigation aid of agricultural machinery that farm environment is perceived |
| CN107065870A (en) * | 2017-03-31 | 2017-08-18 | 深圳诺欧博智能科技有限公司 | Mobile robot autonomous navigation system and method |
| CN207011224U (en) * | 2017-04-13 | 2018-02-16 | 冯元 | Miniature tracked agricultural robot |
| CN107554636A (en) * | 2017-08-29 | 2018-01-09 | 重庆大学 | A kind of robot ambulation control system and control method |
| CN208029345U (en) * | 2018-03-02 | 2018-11-02 | 西安工业大学 | A kind of agricultural intelligent weeding and the robot that loosens the soil |
Non-Patent Citations (1)
| Title |
|---|
| 基于激光扫描的联合收割机自动导航方法研究;赵腾;中国博士学位论文全文数据库;66-80 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108508889A (en) | 2018-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111480457A (en) | Automatic visual identification picking device for Chinese prickly ash and control method thereof | |
| Nagasaka et al. | An autonomous rice transplanter guided by global positioning system and inertial measurement unit | |
| US10479354B2 (en) | Obstacle detection system for a work vehicle | |
| CN108508889B (en) | Small intelligent weeding and soil loosening device and control method | |
| Scarfe et al. | Development of an autonomous kiwifruit picking robot | |
| CN109154823A (en) | Utonomous working vehicle barrier detection system | |
| CN202085493U (en) | Tomato picking robot system | |
| WO2019238330A1 (en) | Method and device for operating autonomously operated work machines | |
| US20180319396A1 (en) | Obstacle detection system for a work vehicle | |
| CN105700406A (en) | Wireless network based large field agricultural machine remote operation and control platform | |
| CN113647262A (en) | Tree geometric shaping and trimming robot system and operation method thereof | |
| US20230297100A1 (en) | System and method for assisted teleoperations of vehicles | |
| KR20150052433A (en) | Fruit tree cultivation using robot arm | |
| Wang et al. | Remote control system based on the Internet and machine vision for tracked vehicles | |
| CN107504970A (en) | A kind of new closing type orchard navigation strategy based on Multi-information acquisition | |
| WO2023055383A1 (en) | Vehicle row follow system | |
| JP2022099084A (en) | Agricultural machine, and system and method controlling the same | |
| Nevliudov et al. | Development of the architecture of the base platform agricultural robot for determining the trajectory using the method of visual odometry | |
| CN208029345U (en) | A kind of agricultural intelligent weeding and the robot that loosens the soil | |
| CN212876777U (en) | Automatic device of picking of prickly ash | |
| WO2021132355A1 (en) | Work vehicle | |
| Hameed et al. | Task and motion planning for selective weed conrol using a team of autonomous vehicles | |
| CN205507418U (en) | Distant operation control platform of land for growing field crops agricultural machine based on wireless network | |
| Callegati et al. | Autonomous tracked agricultural ugv configuration and navigation experimental results | |
| CN113273375B (en) | Mower system capable of automatically planning path and automatic mower thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |