CN108901206A - A kind of orchard automatic Pilot weeding tractor - Google Patents
A kind of orchard automatic Pilot weeding tractor Download PDFInfo
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- CN108901206A CN108901206A CN201810505745.1A CN201810505745A CN108901206A CN 108901206 A CN108901206 A CN 108901206A CN 201810505745 A CN201810505745 A CN 201810505745A CN 108901206 A CN108901206 A CN 108901206A
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- 238000009333 weeding Methods 0.000 title claims abstract description 32
- 239000002420 orchard Substances 0.000 title claims abstract description 30
- 241000196324 Embryophyta Species 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 32
- 238000004891 communication Methods 0.000 claims description 18
- 235000013399 edible fruits Nutrition 0.000 claims description 17
- 230000007613 environmental effect Effects 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 6
- 238000003709 image segmentation Methods 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000005457 optimization Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 244000025254 Cannabis sativa Species 0.000 description 2
- 230000000916 dilatatory effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Working Implements (AREA)
- Harvester Elements (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention relates to a kind of orchard automatic Pilot weeding tractors, including tractor ontology, weeder is installed on tractor ontology, it includes guide rail and the knife rest that is movably mounted on guide rail, the rotatable blade of installation in knife rest, weeder passes through the sliding of rotation and knife rest that the control system realization weeder cutter of tractor body interior is arranged in, to realize tractor ontology in the disposable removing of orchard inter-row weed；The present invention realizes the Function for Automatic Pilot under limited scene under the premise of not by expensive laser radar and global positioning system, has many advantages, such as at low cost, the stable realization of fixed operation scene, can popularization height.
Description
Technical field
The present invention relates to a kind of orchard automatic Pilot weeding tractors, belong to agricultural machinery technological field.
Background technique
Agricultural is the basis of national economy, and fundamental solution is that mechanization, mechanization of agriculture are the weights of agricultural modernization
Indicate, simultaneously advances the overall situation concerning " four change ".Intelligent agricultural machinery equipment represents agriculture advanced productivity, is to improve production effect
What rate, the material base for overall productivity in agriculture of transforming the mode of development, enhance and International Agriculture equipment industrial technology competed
Focus.
Currently, China's agricultural modernization accelerated development, rural holding scale management, agricultural workforce largely shift, to agriculture
The requirement of machine equipment technology is higher, and product demand is huge.The unmanned technology of intelligent agricultural machinery is accelerated development, Agricultural Machinery Equipment supply is promoted
Ability, diminution and external main product gap, support modern agricultural development, guarantee grain and Industrial Security are significant.
Automatic Pilot weeding tractor can save the activity duration to farmer, improve operating efficiency, increase operation and receive
Benefit improves the utilization of agricultural machinery, further decreases human cost and time cost on the basis of mechanical automation, has very wide
Wealthy market application prospect；Current automatic Pilot technology is needed mostly by high line beam laser radar and global positioning system
System, this driving technology is at high cost, does not have popularization.
Summary of the invention
The present invention provides a kind of orchard automatic Pilot weeding tractor, fixed not by expensive laser radar and the whole world
Under the premise of the system of position, the Function for Automatic Pilot under limited scene is realized, there is at low cost, stable realization of fixed operation scene etc.
Advantage, can popularization height.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of orchard automatic Pilot weeding tractor, including tractor ontology, install weeder on tractor ontology,
It includes guide rail and the knife rest that is movably mounted on guide rail, and the rotatable blade of installation, weeder pass through setting in knife rest
The rotation of weeder cutter and the sliding of knife rest are realized in the control system of tractor body interior, to realize
Disposable removing of the tractor ontology in orchard inter-row weed；
As present invention further optimization, control system above-mentioned includes CAN bus, respectively with decision-making treatment list
Member, communication module, executive control system are connected with weeder, and decision-making treatment unit, communication module, executive control system
Mutually it can share and call by CAN bus with weeder；
It further include image capturing system and image processing module, wherein image processing module is connected with decision-making treatment unit
Logical, image capturing system is connected with image processing module, and image capturing system acquires orchard two sides fruit by monocular cam
The weed images information of tree Image information and fruit tree in the ranks, image processing module is according to image capturing system acquired image
Information carries out feature extraction；
Decision-making treatment unit above-mentioned determines the row of tractor ontology according to the characteristic information that image processing module extracts
Sail the work operating condition of path and weeder；
Executive control system above-mentioned includes crosswise joint unit, is used to control the steering of tractor ontology, further includes
Longitudinally controlled unit is used to control the longitudinal velocity of tractor ontology；
Communication module above-mentioned is in communication with each other with local terminal, and operator realizes the urgent of long-range control tractor ontology
Stop；
The rotation start and stop of weeder control blade above-mentioned, and sliding position of the knife rest on guide rail is controlled, it is final real
Existing orchard weeding；
As present invention further optimization, the information of CAN bus above-mentioned and decision-making treatment unit communication includes camera shooting
The Environmental Map Information of head building and the distributed intelligence of fruit tree inter-row weed；
The information that CAN bus is communicated with communication module includes the speed of tractor ontology, the result of decision-making treatment unit, holds
The status information of row control system and the status information of weeder；
The information that CAN bus is communicated with executive control system includes the vehicle that decision-making treatment unit is assigned to executive control system
Speed instruction and steering order；
The information that CAN bus is communicated with weeder includes the rotation that decision-making treatment unit is assigned to the blade of weeder
The target position information of rotary speed information and knife rest；
As present invention further optimization, image processing module above-mentioned carries out image segmentation by the color of fruit tree,
To extract the feature to be matched of each frame image；
Image processing module above-mentioned calculates the similitude of all features in two frames by comparing adjacent two field pictures, and
Characteristic point most similar in consecutive frame is matched, realizes the splicing of each frame image, to construct the vision of orchard environment
Map；
Image processing module calculates the actual position information of each frame target feature point by monocular vision location algorithm；
Image processing module carries out image segmentation according to ground color, extracts and calculates the position for needing weeding；
As present invention further optimization, image that aforementioned decision-making treatment unit is constructed by image processing module
Figure, calculates the expected travel path of tractor；
Decision-making treatment unit is missed according to the expected travel path obtained using based on course angle error and lateral position simultaneously
The PID path tracking algorithm of difference, calculates the desired speed and desired orientation disk corner of subsequent time；
Decision-making treatment unit controls the position of knife rest according to the positioning of weeds position to realize accurate weeding and efficiently remove
Grass；
As present invention further optimization, weeder above-mentioned includes the guide rail for being mounted on tractor body bottom portion,
Limited block is installed in the middle position of guide rail, and mounting tool post is distinguished at the position close to guide rail both ends, and blade is mounted on knife rest
Shaft core position.
By above technical scheme, compared with the existing technology, the invention has the advantages that：
Present invention uses the range informations that image characteristic point is calculated based on the similar method of monocular cam triangle, with list
Mesh camera replaces laser radar to perceive environment；
After calculating the desired track of tractor, while wheel steering and speed are controlled, makes tractor accurately
Desirably track travels, and tracking error is restrained；
The line space in orchard is generally wider, and the rotating diameter of hay knife is typically small, if hay knife is fixed on weeding and drags
Position is fixed in machine drawing and irremovable words, weeding tractor are to be difficult to disposably remove all weeds, is needed repeatedly reciprocal
In the ranks travelled in orchard, the present invention by control hay knife transverse direction movement and tractor travel speed realization orchard in the ranks
The disposable removing of weeds, improves weeding ratio.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the overall structure diagram of the preferred embodiment of the present invention；
Fig. 2 is the schematic diagram of longitudinal geometry ranging of the monocular cam of the preferred embodiment of the present invention；
Fig. 3 is the schematic diagram of the lateral geometry ranging of the monocular cam of the preferred embodiment of the present invention；
Fig. 4 is the tracing control schematic diagram of the weeding tractor of the preferred embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the weeder of the preferred embodiment of the present invention.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As Figure 1-Figure 5, a kind of orchard automatic Pilot weeding tractor of the invention, including tractor ontology, are being dragged
Weeder is installed on machine drawing ontology comprising guide rail and the knife rest being movably mounted on guide rail, the interior installation of knife rest are rotatable
Blade, weeder pass through be arranged in tractor body interior control system realize weeder cutter rotation and
The sliding of knife rest, to realize tractor ontology in the disposable removing of orchard inter-row weed；
As present invention further optimization, control system above-mentioned includes CAN bus, respectively with decision-making treatment list
Member, communication module, executive control system are connected with weeder, and decision-making treatment unit, communication module, executive control system
Mutually it can share and call by CAN bus with weeder；
It further include image capturing system and image processing module, wherein image processing module is connected with decision-making treatment unit
Logical, image capturing system is connected with image processing module, and image capturing system acquires orchard two sides fruit by monocular cam
The weed images information of tree Image information and fruit tree in the ranks, image processing module is according to image capturing system acquired image
Information carries out feature extraction；
Decision-making treatment unit above-mentioned determines the row of tractor ontology according to the characteristic information that image processing module extracts
Sail the work operating condition of path and weeder；
Executive control system above-mentioned includes crosswise joint unit, is used to control the steering of tractor ontology, further includes
Longitudinally controlled unit is used to control the longitudinal velocity of tractor ontology；
Communication module above-mentioned is in communication with each other with local terminal, and operator realizes the urgent of long-range control tractor ontology
Stop；
The rotation start and stop of weeder control blade above-mentioned, and sliding position of the knife rest on guide rail is controlled, it is final real
Existing orchard weeding；
As present invention further optimization, the information of CAN bus above-mentioned and decision-making treatment unit communication includes camera shooting
The Environmental Map Information of head building and the distributed intelligence of fruit tree inter-row weed；
The information that CAN bus is communicated with communication module includes the speed of tractor ontology, the result of decision-making treatment unit, holds
The status information of row control system and the status information of weeder；
The information that CAN bus is communicated with executive control system includes the vehicle that decision-making treatment unit is assigned to executive control system
Speed instruction and steering order；
The information that CAN bus is communicated with weeder includes the rotation that decision-making treatment unit is assigned to the blade of weeder
The target position information of rotary speed information and knife rest；
As present invention further optimization, image processing module above-mentioned carries out image segmentation by the color of fruit tree,
To extract the feature to be matched of each frame image；
Image processing module above-mentioned calculates the similitude of all features in two frames by comparing adjacent two field pictures, and
Characteristic point most similar in consecutive frame is matched, realizes the splicing of each frame image, to construct the vision of orchard environment
Map；
Image processing module calculates the actual position information of each frame target feature point by monocular vision location algorithm；
Image processing module carries out image segmentation according to ground color, extracts and calculates the position for needing weeding；
As present invention further optimization, image that aforementioned decision-making treatment unit is constructed by image processing module
Figure, calculates the expected travel path of tractor；
Decision-making treatment unit is missed according to the expected travel path obtained using based on course angle error and lateral position simultaneously
The PID path tracking algorithm of difference, calculates the desired speed and desired orientation disk corner of subsequent time；
Decision-making treatment unit controls the position of knife rest according to the positioning of weeds position to realize accurate weeding and efficiently remove
Grass.
Shown in Fig. 1, image capturing system acquired image data, image information and orchard including orchard two sides fruit tree
The image information of inter-row weed, these image datas pass to image processing module and are handled, and information that treated includes table
Show the feature pixel of fruit tree contour feature and indicates the feature pixel of weeds location information, it will treated feature pixel
It carries out visual token and matching is carried out to the feature pixel of expression fruit tree in each frame simultaneously and according to the matching result of pixel
The picture of each frame is carried out to be spliced to form environmental map, to build the environmental map of fruit tree formation and the position on weeds ground
Confidence breath, is sent to decision-making treatment unit for the location information of cartographic information and weeds ground, in decision-making treatment unit, according to building
Vertical environmental map generates desired driving path and the desired locations information of tip holder realizes information by CAN bus
It transmits and shared, instructs the movement of executive control system manipulation tractor, instruct weeder manipulation rotating blade and drive electricity
Accurate and efficient weeding is realized in the movement of machine.
Shown in Fig. 2-Fig. 3, method to extract object physical location on image, specifically, shown in Fig. 2, there are three coordinates
System, is image coordinate system UO respectively1V, with O2For the camera coordinate system of origin, wherein O2For the position of camera optical center, the earth
Coordinate system XO3Y, wherein O3Positioned at O2Underface.The camera of known image acquisition system is taken the photograph with respect to the mounting height H on ground
Angle α of the camera optical axis relative to level ground, the focal length O of video camera1O2=f, the physical length dx of pixel, one
The physical width dy. of a pixel, pixel coordinate (0, v) to be measured.
In Fig. 2, according to triangle geometrical principle,
β=α-γ
O3P=H/tan (β)
Then, in the corresponding world coordinate system of pixel longitudinal direction coordinate Y=O3P；Wherein O1P1For pixel in image
P1Range image center O1Pixel distance, v is the coordinate of pixel to be measured in the longitudinal direction, v ' be picture centre in the longitudinal direction
Coordinate.
As shown in figure 3, the geometrical principle figure of monocular cam transverse direction geometry ranging, pixel Q to be asked1Coordinate be
(u,v),P1And Q1Component on the direction v is identical, Q Q1The location point of corresponding world coordinate system.
According to triangle geometrical principle in Fig. 3,
O2P=H/sin (β)
PQ=O2P*P1Q1/O2P1
Then, in the corresponding world coordinate system of pixel vertical direction coordinate X=PQ；Wherein O2P1It is arrived for image slices vegetarian refreshments
Camera light gains in depth of comprehension distance.
As shown in figure 4, the tracing control schematic diagram of weeding tractor, P is expected travel path in figure, R be mow it is dilatory
The centroid position of machine, v are the driving direction of current tractor, and course angle δ, v ' are the slope direction of expected travel path, i.e.,
It is expected that the course angle of traveling is θ, RN is lateral displacement e of the current tractor with expected travel path.
Symbol description in referring to fig. 4 designs the PID tracking control unit based on course angle error and transverse position error,
Wherein course angle error ε=δ-θ, transverse position error e.Setting lateral error e (t) passes to the wheel steering of tractor
Angle control amount is u1(t), then u1(t)=kp [e (t)+1/TI ∫ e (t) dt+TD*de (t)/dt].Course angle error ε (t) is set to pass
Passing steering wheel of tractor corner control amount is u2(t), then u2(t)=kp [ε (t)+1/TI ∫ ε (t) dt+TD*d ε (t)/dt], side
To the final corner control amount u (t) of disk=u1(t)+u2(t)。
The structure chart of the weeder of Fig. 5, wherein guide rail is mounted on dilatory motor spindle closely face, the intermediate installation of guide rail
There is limited block, there are two knife rest, blade is mounted on the shaft core position of knife rest for the two sides installation of guide rail upper limit position block.
Two side tool posts, can be along guide rail free movement by motor driven in Fig. 5, can be according to weeds with respect to the position of tractor
It sets, the best weeding position of knife rest is calculated, thus to improve the efficiency of weeding.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in the application fields.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
The meaning of "and/or" described herein refers to that the case where respective individualism or both exists simultaneously wraps
Including including.
The meaning of " connection " described herein can be between component be directly connected to be also possible to pass through between component
Other components are indirectly connected with.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (6)
1. a kind of orchard automatic Pilot weeding tractor, including tractor ontology, it is characterised in that：It is installed on tractor ontology
Weeder comprising guide rail and the knife rest being movably mounted on guide rail, the interior rotatable blade of installation of knife rest, weeder
Control system by the way that tractor body interior is arranged in realizes the rotation of weeder cutter and the sliding of knife rest,
To realize tractor ontology in the disposable removing of orchard inter-row weed.
2. automatic Pilot weeding tractor in orchard according to claim 1, it is characterised in that：Control system above-mentioned includes
CAN bus is connected with decision-making treatment unit, communication module, executive control system and weeder respectively, and decision-making treatment
Unit, communication module, executive control system and weeder can be mutually shared by CAN bus and be called；
It further include image capturing system and image processing module, wherein image processing module is connected with decision-making treatment unit, figure
As acquisition system is connected with image processing module, image capturing system passes through monocular cam and acquires orchard two sides fruit tree image
The weed images information of information and fruit tree in the ranks, image processing module according to image capturing system acquired image information into
Row feature extraction；
Decision-making treatment unit above-mentioned determines the traveling road of tractor ontology according to the characteristic information that image processing module extracts
The work operating condition of diameter and weeder；
Executive control system above-mentioned includes crosswise joint unit, is used to control the steering of tractor ontology, further includes longitudinal direction
Control unit is used to control the longitudinal velocity of tractor ontology；
Communication module above-mentioned is in communication with each other with local terminal, realizes the urgent of long-range control tractor ontology for operator
Stop；
The rotation start and stop of weeder control blade above-mentioned, and sliding position of the knife rest on guide rail is controlled, finally realize fruit
Garden weeding.
3. automatic Pilot weeding tractor in orchard according to claim 2, it is characterised in that：CAN bus above-mentioned with certainly
The information of plan processing unit communication includes the Environmental Map Information of camera building and the distributed intelligence of fruit tree inter-row weed；
The information that CAN bus is communicated with communication module includes the speed of tractor ontology, the result of decision-making treatment unit, executes control
The status information of system processed and the status information of weeder；
The information that CAN bus is communicated with executive control system includes that decision-making treatment unit is assigned to the speed of executive control system and refers to
Order and steering order；
The information that CAN bus is communicated with weeder includes the rotary rpm that decision-making treatment unit is assigned to the blade of weeder
The target position information of information and knife rest.
4. automatic Pilot weeding tractor in orchard according to claim 2, it is characterised in that：Image processing module above-mentioned
Image segmentation is carried out by the color of fruit tree, to extract the feature to be matched of each frame image；
Image processing module above-mentioned calculates the similitude of all features in two frames by comparing adjacent two field pictures, and by phase
Most similar characteristic point is matched in adjacent frame, realizes the splicing of each frame image, to construct the vision map of orchard environment；
Image processing module calculates the actual position information of each frame target feature point by monocular vision location algorithm；
Image processing module carries out image segmentation according to ground color, extracts and calculates the position for needing weeding.
5. automatic Pilot weeding tractor in orchard according to claim 4, it is characterised in that：Aforementioned decision-making treatment unit is logical
The image map for crossing image processing module building, calculates the expected travel path of tractor；
Decision-making treatment unit is according to the expected travel path obtained simultaneously, using based on course angle error and transverse position error
PID path tracking algorithm calculates the desired speed and desired orientation disk corner of subsequent time；
Decision-making treatment unit controls the position of knife rest according to the positioning of weeds position to realize accurate weeding and efficient weeding.
6. automatic Pilot weeding tractor in orchard according to claim 2, it is characterised in that：Weeder above-mentioned includes
It is mounted on the guide rail of tractor body bottom portion, limited block is installed in the middle position of guide rail, is punished in the position close to guide rail both ends
Other mounting tool post, blade are mounted on the shaft core position of knife rest.
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| CN201810505745.1A CN108901206B (en) | 2018-05-24 | 2018-05-24 | Orchard autopilot weeding tractor |
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| CN201810505745.1A CN108901206B (en) | 2018-05-24 | 2018-05-24 | Orchard autopilot weeding tractor |
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| CN108901206B CN108901206B (en) | 2021-05-18 |
Family
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114158543A (en) * | 2021-12-17 | 2022-03-11 | 重庆文理学院 | Hybrid weeding robot between ranks of crawler-type hillside orchard |
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| CN107912089A (en) * | 2017-11-06 | 2018-04-17 | 吉林大学 | In the ranks mechanical weeding device between strain |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114158543A (en) * | 2021-12-17 | 2022-03-11 | 重庆文理学院 | Hybrid weeding robot between ranks of crawler-type hillside orchard |
| CN114158543B (en) * | 2021-12-17 | 2023-01-10 | 重庆文理学院 | Hybrid weeding robot between trunk is gone in crawler-type hillside orchard |
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