CN108901206B - Orchard autopilot weeding tractor - Google Patents
Orchard autopilot weeding tractor Download PDFInfo
- Publication number
- CN108901206B CN108901206B CN201810505745.1A CN201810505745A CN108901206B CN 108901206 B CN108901206 B CN 108901206B CN 201810505745 A CN201810505745 A CN 201810505745A CN 108901206 B CN108901206 B CN 108901206B
- Authority
- CN
- China
- Prior art keywords
- information
- weeding
- image
- tractor
- orchard
- 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
Images
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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention relates to an orchard automatic driving weeding tractor, which comprises a tractor body, wherein a weeding device is arranged on the tractor body and comprises a guide rail and a knife rest movably arranged on the guide rail, a rotatable blade is arranged in the knife rest, and the weeding device realizes the rotation of the blade on the weeding device and the sliding movement of the knife rest through a control system arranged in the tractor body, so that the one-time clearing of weeds among rows of an orchard by the tractor body is realized; the invention realizes the automatic driving function under limited scenes without the help of expensive laser radar and a global positioning system, has the advantages of low cost, stable realization of fixed operation scenes and the like, and has high popularity.
Description
Technical Field
The invention relates to an orchard automatic driving weeding tractor, and belongs to the technical field of agricultural machinery.
Background
Agriculture is the basis of national economy, the fundamental way of the agriculture is mechanization, agricultural mechanization is an important mark of agricultural modernization, and the four-transformation synchronous propulsion is concerned. The intelligent agricultural machinery equipment represents the advanced productivity of agriculture, is a material basis for improving the production efficiency, changing the development mode and enhancing the comprehensive agricultural production capacity, and is also the focus of the technical competition of the international agricultural equipment industry.
At present, agricultural modernization in China is developed rapidly, rural land scale operation is carried out, agricultural labor is transferred in large quantities, technical requirements on agricultural machinery and equipment are higher, and product requirements are huge. The intelligent agricultural machinery unmanned driving technology is accelerated to develop, the supply capacity of agricultural machinery equipment is improved, the gap between the agricultural machinery equipment and foreign mainstream products is reduced, the development of modern agriculture is supported, and the significance in guaranteeing the safety of grains and industry is great.
The automatic driving weeding tractor can save the operation time for farmers, improve the operation efficiency, increase the operation income, improve the utilization of agricultural machinery, further reduce the labor cost and the time cost on the basis of mechanical automation and has wide market application prospect; most of the current automatic driving technologies rely on high-line beam laser radar and a global positioning system, and the driving technologies are high in cost and not popular.
Disclosure of Invention
The invention provides an orchard automatic driving weeding tractor, which realizes an automatic driving function in a limited scene on the premise of not using expensive laser radar and a global positioning system, has the advantages of low cost, stable realization of a fixed operation scene and the like, and has high popularity.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an orchard automatic driving weeding tractor comprises a tractor body, wherein a weeding device is arranged on the tractor body and comprises a guide rail and a knife rest movably arranged on the guide rail, a rotatable blade is arranged in the knife rest, and the weeding device realizes the rotation of the blade on the weeding device and the sliding movement of the knife rest through a control system arranged in the tractor body, so that the one-time clearing of weeds among rows of an orchard by the tractor body is realized;
as a further preferred aspect of the present invention, the control system includes a CAN bus, which is respectively communicated with the decision processing unit, the communication module, the execution control system and the weeding device, and the decision processing unit, the communication module, the execution control system and the weeding device CAN be shared and invoked with each other through the CAN bus;
the orchard self-adaption feature extraction system further comprises an image acquisition system and an image processing module, wherein the image processing module is communicated with the decision processing unit, the image acquisition system is communicated with the image processing module, the image acquisition system acquires image information of fruit trees on two sides of an orchard and weed image information among fruit tree rows through a monocular camera, and the image processing module performs feature extraction according to the image information acquired by the image acquisition system;
the decision processing unit determines a running path of the tractor body and the working condition of the weeding device according to the characteristic information extracted by the image processing module;
the execution control system comprises a transverse control unit and a longitudinal control unit, wherein the transverse control unit is used for controlling the steering of the tractor body, and the longitudinal control unit is used for controlling the longitudinal speed of the tractor body;
the communication module is communicated with the local terminal, so that an operator can remotely control the tractor body to stop emergently;
the weeding device controls the rotation start and stop of the blade and controls the sliding position of the knife rest on the guide rail, and finally weeding in an orchard is realized;
as a further preferred aspect of the present invention, the information communicated by the CAN bus and the decision processing unit includes environmental map information constructed by a camera and distribution information of weeds among rows of fruit trees;
the information communicated by the CAN bus and the communication module comprises the speed of the tractor body, the result of the decision processing unit, the state information of the execution control system and the state information of the weeding device;
the information of the communication between the CAN bus and the execution control system comprises a vehicle speed instruction and a steering instruction which are sent to the execution control system by the decision processing unit;
the information of the communication between the CAN bus and the weeding device comprises the rotation speed information of a blade of the weeding device and the target position information of the tool rest, which are sent by the decision processing unit;
as a further preferred aspect of the present invention, the image processing module performs image segmentation according to the color of the fruit tree, so as to extract the feature to be matched of each frame of image;
the image processing module calculates the similarity of all features in two frames by comparing two adjacent frames of images, and matches the most similar feature points in the adjacent frames to realize the splicing of the images of each frame, thereby constructing a visual map of the orchard environment;
the image processing module calculates the actual position information of each frame of target feature point through a monocular vision distance measurement algorithm;
the image processing module is used for carrying out image segmentation according to ground color, and extracting and calculating the position needing weeding;
as a further preferred aspect of the present invention, the decision processing unit calculates an expected travel path of the tractor through an image map constructed by the image processing module;
meanwhile, the decision processing unit calculates the expected speed and the expected steering wheel rotation angle at the next moment by adopting a PID (proportion integration differentiation) path tracking algorithm based on the course angle error and the transverse position error according to the obtained expected running path;
the decision processing unit controls the position of the knife rest according to the positioning of the position of the weeds so as to realize accurate weeding and high-efficiency weeding;
as a further preferable aspect of the present invention, the weeding device includes a guide rail mounted at the bottom of the tractor body, a limiting block is mounted in the middle of the guide rail, knife rests are respectively mounted at positions close to both ends of the guide rail, and the blade is mounted at the axial center position of the knife rest.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
the distance information of the image feature points is calculated by using a monocular camera triangle similarity based method, and a laser radar is replaced by the monocular camera to sense the environment;
after the expected track of the tractor is calculated, the steering wheel is controlled to turn and the speed of the tractor is controlled at the same time, so that the tractor can accurately run according to the expected track, and the tracking error is converged;
the row spacing of the orchard is generally wide, the rotating diameter of the mowing knife is generally small, if the mowing knife is fixed at the fixed position of the weeding tractor and cannot move, the weeding tractor is difficult to remove all weeds at one time, and the weeding machine needs to repeatedly and repeatedly drive among orchard rows.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic overall structure of a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the longitudinal geometric range finding of the monocular camera of the preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of the lateral geometric range finding of the monocular camera of the preferred embodiment of the present invention;
fig. 4 is a schematic diagram of the tracking control of the weeding tractor according to the preferred embodiment of the present invention;
fig. 5 is a schematic structural view of a weeding apparatus according to a preferred embodiment of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1-5, the orchard automatic driving weeding tractor comprises a tractor body, wherein a weeding device is arranged on the tractor body and comprises a guide rail and a tool rest movably arranged on the guide rail, a rotatable blade is arranged in the tool rest, and the weeding device realizes the rotation of the blade on the weeding device and the sliding movement of the tool rest through a control system arranged in the tractor body, so that the weeds in the rows of an orchard can be removed at one time by the tractor body;
as a further preferred aspect of the present invention, the control system includes a CAN bus, which is respectively communicated with the decision processing unit, the communication module, the execution control system and the weeding device, and the decision processing unit, the communication module, the execution control system and the weeding device CAN be shared and invoked with each other through the CAN bus;
the orchard self-adaption feature extraction system further comprises an image acquisition system and an image processing module, wherein the image processing module is communicated with the decision processing unit, the image acquisition system is communicated with the image processing module, the image acquisition system acquires image information of fruit trees on two sides of an orchard and weed image information among fruit tree rows through a monocular camera, and the image processing module performs feature extraction according to the image information acquired by the image acquisition system;
the decision processing unit determines a running path of the tractor body and the working condition of the weeding device according to the characteristic information extracted by the image processing module;
the execution control system comprises a transverse control unit and a longitudinal control unit, wherein the transverse control unit is used for controlling the steering of the tractor body, and the longitudinal control unit is used for controlling the longitudinal speed of the tractor body;
the communication module is communicated with the local terminal, so that an operator can remotely control the tractor body to stop emergently;
the weeding device controls the rotation start and stop of the blade and controls the sliding position of the knife rest on the guide rail, and finally weeding in an orchard is realized;
as a further preferred aspect of the present invention, the information communicated by the CAN bus and the decision processing unit includes environmental map information constructed by a camera and distribution information of weeds among rows of fruit trees;
the information communicated by the CAN bus and the communication module comprises the speed of the tractor body, the result of the decision processing unit, the state information of the execution control system and the state information of the weeding device;
the information of the communication between the CAN bus and the execution control system comprises a vehicle speed instruction and a steering instruction which are sent to the execution control system by the decision processing unit;
the information of the communication between the CAN bus and the weeding device comprises the rotation speed information of a blade of the weeding device and the target position information of the tool rest, which are sent by the decision processing unit;
as a further preferred aspect of the present invention, the image processing module performs image segmentation according to the color of the fruit tree, so as to extract the feature to be matched of each frame of image;
the image processing module calculates the similarity of all features in two frames by comparing two adjacent frames of images, and matches the most similar feature points in the adjacent frames to realize the splicing of the images of each frame, thereby constructing a visual map of the orchard environment;
the image processing module calculates the actual position information of each frame of target feature point through a monocular vision distance measurement algorithm;
the image processing module is used for carrying out image segmentation according to ground color, and extracting and calculating the position needing weeding;
as a further preferred aspect of the present invention, the decision processing unit calculates an expected travel path of the tractor through an image map constructed by the image processing module;
meanwhile, the decision processing unit calculates the expected speed and the expected steering wheel rotation angle at the next moment by adopting a PID (proportion integration differentiation) path tracking algorithm based on the course angle error and the transverse position error according to the obtained expected running path;
the decision processing unit controls the position of the knife rest according to the positioning of the position of the weeds so as to realize accurate weeding and high-efficiency weeding.
As shown in fig. 1, the image data collected by the image collecting system includes image information of fruit trees on both sides of the orchard and image information of weeds between rows of the orchard, the image data are transmitted to the image processing module for processing, the processed information includes characteristic pixel points representing outline characteristics of the fruit trees and characteristic pixel points representing position information of weeds, the processed characteristic pixel points are subjected to visual ranging, meanwhile, the characteristic pixel points representing the fruit trees in each frame are matched, and pictures of each frame are spliced according to matching results of the pixel points to form an environment map, so that an environment map formed by the fruit trees and position information of a weed field are constructed, the map information and the position information of the weed field are transmitted to the decision processing unit, in the decision processing unit, an expected driving path and expected position information of a blade holder are generated according to the established environment map, through the CAN bus, realize the transmission and the sharing of information, instruct execution control system to control the motion of tractor, instruct weeding device to control the action of rotary blade and driving motor and realize accurate and high-efficient weeding.
Fig. 2-3 show a method for extracting the actual position of an object on an image, and specifically, fig. 2 shows that there are three coordinate systems, namely an image coordinate system UO1V is represented by O2Camera coordinate system of origin, where O2The global coordinate system XO is the position of the camera's optical center3Y, wherein O3At O2Just below. The installation height H of a camera of a known image acquisition system relative to the ground, the included angle alpha of an optical axis of the camera relative to the horizontal ground, and the focal length O of the camera1O2F, the physical length dx of one pixel, the physical width dy. of one pixel, and the coordinates (0, v) of the pixel point to be measured.
In fig. 2, according to the principle of triangular geometry,
β＝α-γ
O3P＝H/tan(β)
then, the coordinate Y in the vertical direction in the world coordinate system corresponding to the pixel point is equal to O3P; wherein O is1P1For a pixel point P in an image1From the center of the image O1V is the coordinate of the pixel point to be measured in the longitudinal direction, and v' is the coordinate of the image center in the longitudinal direction.
As shown in fig. 3, a geometric schematic diagram of monocular camera transverse geometric distance measurement, a pixel point Q to be solved1Has the coordinates of (u, v), P1And Q1The components in the v direction are the same, Q is Q1The corresponding location points of the world coordinate system.
In figure 3 according to the principle of triangular geometry,
O2P＝H/sin(β)
PQ＝O2P*P1Q1/O2P1
then, the coordinate X in the vertical direction in the world coordinate system corresponding to the pixel point is PQ; wherein O is2P1The distance from the image pixel point to the optical center of the camera is obtained.
As shown in fig. 4, the tracking control schematic diagram of the weeding tractor, wherein P is the expected travel path, R is the centroid position of the mowing tractor, v is the travel direction of the current tractor, the heading angle is δ, v' is the slope direction of the expected travel path, i.e. the heading angle of the expected travel is θ, and RN is the lateral displacement e of the current tractor to the expected travel path.
Referring to the symbolic illustration in fig. 4, a PID tracking controller based on a heading angle error and a lateral position error is designed, wherein the heading angle error is δ - θ and the lateral position error is e. Setting the steering angle control amount u of the steering wheel transmitted to the tractor as a lateral error e (t)1(t) then u1(t)＝kp[e(t)+1/TI∫e(t)dt+TD*de(t)/dt]. The error epsilon (t) of the course angle is set to be transferred to the steering wheel steering angle control quantity u of the tractor2(t) then u2(t)＝kp[ε(t)+1/TI∫ε(t)dt+TD*dε(t)/dt]The final steering angle control amount u (t) u of the steering wheel1(t)+u2(t)。
The structure of the weeding device of fig. 5 is shown, wherein the guide rail is arranged at the bottom of the tractor and close to the ground, the middle of the guide rail is provided with a limit block, two knife rests are arranged at two sides of the limit block on the guide rail, and the blade is arranged at the axis position of the knife rest.
In the figure 5, the two side knife rests are driven by the motor and can freely move along the guide rail, and the optimal weeding position of the knife rest can be calculated according to the position of the weed field relative to the tractor, so that the weeding efficiency is improved.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (5)
1. The utility model provides an orchard autopilot weeding tractor, includes the tractor body, its characterized in that: the weeding device is arranged on the tractor body and comprises a guide rail and a knife rest movably arranged on the guide rail, a rotatable blade is arranged in the knife rest, and the weeding device realizes the rotation of the blade on the weeding device and the sliding movement of the knife rest through a control system arranged in the tractor body, so that the one-time clearing of weeds among rows of an orchard by the tractor body is realized;
the control system comprises a CAN bus which is respectively communicated with the decision processing unit, the communication module, the execution control system and the weeding device, and the decision processing unit, the communication module, the execution control system and the weeding device CAN be shared and called by the CAN bus;
the orchard self-adaption feature extraction system further comprises an image acquisition system and an image processing module, wherein the image processing module is communicated with the decision processing unit, the image acquisition system is communicated with the image processing module, the image acquisition system acquires image information of fruit trees on two sides of an orchard and weed image information among fruit tree rows through a monocular camera, and the image processing module performs feature extraction according to the image information acquired by the image acquisition system;
the decision processing unit determines a running path of the tractor body and the working condition of the weeding device according to the characteristic information extracted by the image processing module;
the execution control system comprises a transverse control unit and a longitudinal control unit, wherein the transverse control unit is used for controlling the steering of the tractor body, and the longitudinal control unit is used for controlling the longitudinal speed of the tractor body;
the communication module is communicated with the local terminal, so that an operator can remotely control the tractor body to stop emergently;
the weeding device controls the rotation start and stop of the blade and controls the sliding position of the knife rest on the guide rail, and finally weeding in an orchard is realized;
image data collected by the image collection system comprises image information of fruit trees on two sides of an orchard and image information of weeds between rows of the orchard, the image data are transmitted to the image processing module for processing, the processed information comprises characteristic pixel points representing outline characteristics of the fruit trees and characteristic pixel points representing weed position information, the processed characteristic pixel points are subjected to visual ranging, meanwhile, the characteristic pixel points representing the fruit trees in each frame are matched, pictures of each frame are spliced according to matching results of the pixel points to form an environment map, so that the environment map formed by the fruit trees and the position information of the weed grasslands are constructed, the map information and the position information of the weed grasslands are transmitted to the decision processing unit, in the decision processing unit, an expected driving path and the expected position information of a blade holder are generated according to the constructed environment map, and through a CAN bus, the information is transmitted and shared, the execution control system is guided to control the movement of the tractor, and the weeding device is guided to control the actions of the rotary blade and the driving motor to realize accurate and efficient weeding;
and meanwhile, the decision processing unit calculates the expected speed and the expected steering wheel angle at the next moment by adopting a PID (proportion integration differentiation) path tracking algorithm based on the course angle error and the transverse position error according to the obtained expected running path.
2. The orchard autonomous driving weeding tractor according to claim 1, wherein: the information communicated with the decision processing unit by the CAN bus comprises environmental map information constructed by a camera and weed distribution information among rows of fruit trees;
the information communicated by the CAN bus and the communication module comprises the speed of the tractor body, the result of the decision processing unit, the state information of the execution control system and the state information of the weeding device;
the information of the communication between the CAN bus and the execution control system comprises a vehicle speed instruction and a steering instruction which are sent to the execution control system by the decision processing unit;
the information of the CAN bus communicated with the weeding device comprises the information of the rotating speed of the blade of the weeding device and the information of the target position of the tool rest, which are sent by the decision processing unit.
3. The orchard autonomous driving weeding tractor according to claim 1, wherein: the image processing module performs image segmentation through the color of the fruit tree, so as to extract the feature to be matched of each frame of image;
the image processing module calculates the similarity of all features in two frames by comparing two adjacent frames of images, and matches the most similar feature points in the adjacent frames to realize the splicing of the images of each frame, thereby constructing a visual map of the orchard environment;
the image processing module calculates the actual position information of each frame of target feature point through a monocular vision distance measurement algorithm;
the image processing module is used for carrying out image segmentation according to the ground color, and extracting and calculating the position needing weeding.
4. The orchard autonomous driving weeding tractor according to claim 1, wherein: the decision processing unit calculates the expected running path of the tractor through an image map constructed by the image processing module;
the decision processing unit controls the position of the knife rest according to the positioning of the position of the weeds so as to realize accurate weeding and high-efficiency weeding.
5. The orchard autonomous driving weeding tractor according to claim 1, wherein: the weeding device comprises a guide rail arranged at the bottom of a tractor body, a limiting block is arranged in the middle of the guide rail, knife rests are respectively arranged at positions close to two ends of the guide rail, and blades are arranged at the axis positions of the knife rests.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810505745.1A CN108901206B (en) | 2018-05-24 | 2018-05-24 | Orchard autopilot weeding tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810505745.1A CN108901206B (en) | 2018-05-24 | 2018-05-24 | Orchard autopilot weeding tractor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108901206A CN108901206A (en) | 2018-11-30 |
| CN108901206B true CN108901206B (en) | 2021-05-18 |
Family
ID=64403574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810505745.1A Active CN108901206B (en) | 2018-05-24 | 2018-05-24 | Orchard autopilot weeding tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108901206B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101683037A (en) * | 2008-09-26 | 2010-03-31 | 中国农业大学 | Controller for fruit picking robot |
| CN102138377A (en) * | 2011-02-11 | 2011-08-03 | 华南农业大学 | Horizontal swing type inter-plant weeding device |
| US8019506B2 (en) * | 2005-08-18 | 2011-09-13 | Sauer-Danfoss Aps | Method of calibrating and steering a vehicle provided with a positioning system |
| CN202257227U (en) * | 2011-09-15 | 2012-05-30 | 西北农林科技大学 | Navigation system for orchard machinery |
| CN205336853U (en) * | 2016-01-06 | 2016-06-29 | 上海大学 | Intelligence is kept away and is hindered machine people that mows |
| CN106912208A (en) * | 2015-12-24 | 2017-07-04 | 哈尔滨华日义天节能环保设备有限公司 | A kind of weed-eradicating robot based on image recognition technology |
| CN107172895A (en) * | 2017-07-17 | 2017-09-19 | 广东工业大学 | Automatic weeder between a kind of strain |
| CN107912089A (en) * | 2017-11-06 | 2018-04-17 | 吉林大学 | In the ranks mechanical weeding device between strain |
-
2018
- 2018-05-24 CN CN201810505745.1A patent/CN108901206B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8019506B2 (en) * | 2005-08-18 | 2011-09-13 | Sauer-Danfoss Aps | Method of calibrating and steering a vehicle provided with a positioning system |
| CN101683037A (en) * | 2008-09-26 | 2010-03-31 | 中国农业大学 | Controller for fruit picking robot |
| CN102138377A (en) * | 2011-02-11 | 2011-08-03 | 华南农业大学 | Horizontal swing type inter-plant weeding device |
| CN202257227U (en) * | 2011-09-15 | 2012-05-30 | 西北农林科技大学 | Navigation system for orchard machinery |
| CN106912208A (en) * | 2015-12-24 | 2017-07-04 | 哈尔滨华日义天节能环保设备有限公司 | A kind of weed-eradicating robot based on image recognition technology |
| CN205336853U (en) * | 2016-01-06 | 2016-06-29 | 上海大学 | Intelligence is kept away and is hindered machine people that mows |
| CN107172895A (en) * | 2017-07-17 | 2017-09-19 | 广东工业大学 | Automatic weeder between a kind of strain |
| CN107912089A (en) * | 2017-11-06 | 2018-04-17 | 吉林大学 | In the ranks mechanical weeding device between strain |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108901206A (en) | 2018-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106017477B (en) | Visual navigation system of orchard robot | |
| US9603300B2 (en) | Autonomous gardening vehicle with camera | |
| CN112363503B (en) | Orchard vehicle automatic navigation control system based on laser radar | |
| CN101356877A (en) | Cucumber picking robot system and picking method in greenhouse | |
| CN205843680U (en) | A kind of orchard robotic vision navigation system | |
| CN105182976A (en) | Visual navigation strategy of agricultural robot | |
| CN111480457A (en) | Automatic visual identification picking device for Chinese prickly ash and control method thereof | |
| CN111194636A (en) | Intelligent cotton bud topping system | |
| WO2023050783A1 (en) | Weeding robot and method and apparatus for planning weeding path thereof, and medium | |
| CN108901206B (en) | Orchard autopilot weeding tractor | |
| CN107509399A (en) | A kind of green intelligent weed-eradicating robot | |
| Binbin et al. | Research progress on autonomous navigation technology of agricultural robot | |
| CN207269304U (en) | A kind of green intelligent weed-eradicating robot | |
| CN110780669A (en) | Forest robot navigation and information acquisition method | |
| Xie et al. | Multi-feature detection of in-field grain lodging for adaptive low-loss control of combine harvesters | |
| CN109634277B (en) | Unmanned operation system and operation method for grain harvester | |
| Möller | Computer vision–a versatile technology in automation of agricultural machinery | |
| CN115560754A (en) | Visual navigation method based on weed removal | |
| CN115280960A (en) | Combine harvester steering control method based on field vision SLAM | |
| Kanade et al. | Agricultural mobile robots in weed management and control | |
| Bakken et al. | Robot-supervised learning of crop row segmentation | |
| Hutsol et al. | Robotic technologies in horticulture: analysis and implementation prospects | |
| CN217425692U (en) | Tea plucker automatic navigation based on machine vision and 2D laser radar scanning | |
| Zeng et al. | A review of the research progress of pruning robots | |
| CN211745525U (en) | Intelligent cotton bud topping system |
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 |