CN109042607A - A kind of the flame weeding machine people system and implementation method of view-based access control model - Google Patents
A kind of the flame weeding machine people system and implementation method of view-based access control model Download PDFInfo
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- CN109042607A CN109042607A CN201810749576.6A CN201810749576A CN109042607A CN 109042607 A CN109042607 A CN 109042607A CN 201810749576 A CN201810749576 A CN 201810749576A CN 109042607 A CN109042607 A CN 109042607A
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- weeds
- flame
- control system
- bocca
- machine people
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M15/00—Flame-throwers specially adapted for purposes covered by this subclass
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses the flame weeding machine people systems and implementation method of a kind of view-based access control model, are related to field of agricultural equipment, which includes moving trolley, navigation camera, Multi-freedom-degreemanipulator manipulator, weed identification camera, flame weeding device and control system；The camera that navigates in this method guarantees that moving trolley is advanced along crop line direction, weed identification camera carries out identification positioning to weeds in row, moving trolley is controlled along the travel speed of crop line direction according to the distributed intelligence of weeds in row by control system, electronic gas flow control valve is adjusted according to the size information of weeds in row, to obtain the fuel gas of corresponding discharge, controlling more free manipulators according to the location information of weeds in row is directed at bocca wait cut weeds, and bocca is made to keep opposing stationary with wait cut weeds, it is burnt to death by the flame that weeder sprays wait cut weeds, burn grass-seed to death simultaneously, pest and worm's ovum, soil carries out deinsectization.Installation cost is low, the rapidly and efficiently good not welding of rate, effect.
Description
Technical field
The present invention relates to field of agricultural equipment, in particular to the flame weeding machine people system of a kind of view-based access control model and realization
Method.
Background technique
Farmland weed seriously affects the growth of crop, reduces crop yield.Traditional weeding system has artificial weeding, biology
It prevents and kill off, weeding by machine and chemical weed control etc..Artificial weeding low efficiency, labor intensive are big；Biological insect control utilizes restriction or checking relation in five elements between biology
Characteristic, gone out with certain crop except weeds with the crop restriction or checking relation in five elements, but there is significant limitation；Weeding by machine's required precision
High, easily accidental injury crop, and mechanical structure bad adaptability also results in serious moisture evaporation and loses；Chemical weed control cost is increasingly
It improves, the formula of chemical herbicide is different, and the type of weeding is restricted, and a kind of chemical herbicide cannot be by field variety classes
Weeds all remove, a variety of herbicides are used in conjunction with and the drug effect that may interact, improve overall cost, furthermore spray when slightly
There is carelessness that intoxicating phenomenon will occur, chemical herbicide, which is used for a long time, can be such that the chemical component in soil increases, and cause crops
Chemical component residual quantity it is super quasi-, chemical herbicide can retain the stronger weeds of drug resistance, cause need higher concentration next time
Medicament wiped out and treated insect pests and plant diseases, serious pollution of ecological environment and influence health of people.
Domestic and foreign scholars have studied a variety of hot herbicidal methods in succession, such as flame weeding, laser weeding, microwave weeding, infrared
Radiate weeding etc..Since laser weeding, microwave weeding, infra-red radiation weeding energy consumption are big, equipment is expensive, and in weeding process
It encounters out-of-flatness ground and is easy damaged in collision, intelligently require high, progress is little, is unable to large-scale promotion application.Flame
The principle of weeding is the moisture using high temperature evaporation weeds, destroys cell wall, removes weeds in the short term, weeds are after kindling
The slight variation that will appear color, subsequently becomes brown, dead after a few days, also has while weeding and sterilizes to soil
With the adjection of deinsectization, there can be the energy clear to avoid the generation for changing ground stubble and crop rotation phenomenon in agricultural tillage, flame weeding
It is clean, installation cost is low, herbicidal effect is good, many merits such as nontoxic to people, smaller to plant hazard.The external end of the eighties starts to grind
Study carefully flame weeding, there are many practical popularizations, external flame weeder is divided into the Backpack type that structure is simple, is easy to make and big rule
The fire hoe equipment of mould, but Backpack type weeder relies on manual operation, and labour occupies greatly and low efficiency, large-scale fire hoe are set
It is standby to may be only available for weeding in the ranks, weeds in row cannot be removed.Domestic flame weeding technical research is started late, and not yet seeing has
The report of the similar equipment of production, a kind of flame weeder that CN202931961U is announced is simple mobile, needs manual operation,
The flame weeder that CN2191534Y is announced is simple Backpack type, needs worker operation, one kind that CN202456191U is announced
A kind of flame weeding deinsectization device that flaming weeder and CN203040507U are announced all may be only available for weeding in the ranks, Bu Nengqing
Except weeds in row.
Have not yet to see the automation flame weeding device or scheme that can remove inter-row weed.
In addition, also there is research and utilization high-voltage electricity generation module weeds to be killed by electrode, but only rest on theory mostly
Or the experimental stage, it there is no practicability.
Summary of the invention
For the deficiency of existing automation flame weeding technology and equipment, the purpose of the present invention is to provide one kind based on view
The flame weeding machine people system and implementation method of feel remove weeds in row using flame weeding technique to high-efficiency to realize.
In order to solve the above technical problems, the specific technical solution that the present invention uses is as follows:
A kind of flame weeding machine people's system of view-based access control model, it is characterised in that: including moving trolley, navigation camera,
Multi-freedom-degreemanipulator manipulator, weed identification camera, flame weeding device and control system；
The moving trolley includes wheel, wheel stand, vehicle frame and power module；The navigation camera is installed on vehicle frame
Above front end；Multi-freedom-degreemanipulator manipulator is installed between wheel；Weed identification camera is fixed on Multi-freedom-degreemanipulator manipulator end；
Flame weeding device includes combustible gas pressure container, safety valve, high pressure flexible metallic conduit, steel pipe and bocca；Bocca is fixed
In Multi-freedom-degreemanipulator manipulator end, combustible gas pressure container is fixed on above vehicle frame.
Further, electronic gas flow control valve and electronic ignition switch are provided on the steel pipe；The electronics point
Fire switch is mounted on one end on steel pipe close to bocca, and electronic gas flow control valve is mounted on steel pipe close to high-pressure metal
One end of hose.
Further, the gas in the combustible gas pressure container passes sequentially through metal hose, steel pipe reaches bocca；
The gas pressure vessel is arranged on trolley, and gas pressure vessel is provided with safety valve.
Further, Multi-freedom-degreemanipulator manipulator is Serial manipulator or parallel manipulator.
Further, the combustible gas pressure container is arranged in moving trolley.
Further, the power module is used to provide power supply for control system.
The method of flame weeding machine people's system of view-based access control model, comprising the following steps:
Step 1, navigation camera obtains front picture and navigates, to guarantee moving trolley along crop line direction row
Into；
Step 2, while moving trolley is advanced, weed identification camera obtains lower section crop row picture in real time, and transmits
To control system；
Step 3, control system is to step 2) in obtain picture handled in real time, identify the position of crop in picture
It sets, the position of weeds, size, distributed intelligence；
Step 4, distributed intelligence of the control system according to weeds, the speed that control moving trolley is advanced along crop line direction；
Step 5, control system according to the location information of crop and weeds control Multi-freedom-degreemanipulator manipulator end movement to
It cuts weeds region, is directed at bocca wait cut weeds, and bocca is made to keep opposing stationary with wait cut weeds；Meanwhile controlling system
System is opened according to the size information of weeds and adjusts electronic gas flow control valve, to obtain the fuel gas of corresponding discharge；
Step 6, control system start electronic ignition switch, and bocca, which jets out flames, to be burnt to death wait cut weeds, while burning grass to death
Seed, pest and worm's ovum also carry out sterilizing deinsectization to soil；
Step 7, control system close electronic gas flow control valve, fray-out of flame；
Step 8, control system control Multi-freedom-degreemanipulator manipulator carry out the weeding operation in next period.
The present invention have the utility model has the advantages that
The present invention guarantees that moving trolley is advanced along crop line direction by navigation camera, and weed identification camera is in row
Weeds carry out identification positioning, are advanced according to the distributed intelligence control moving trolley of weeds in row along crop line direction by control system
Speed, electronic gas flow control valve is adjusted to obtain the fuel gas of corresponding discharge according to the size information of weeds in row,
Controlling more free manipulators according to the location information of weeds in row is directed at bocca wait cut weeds, and make bocca with wait clean
Grass keeps opposing stationary, burns inter-row weed to death by the flame that weeder sprays, while burning grass-seed, pest and worm's ovum to death,
Sterilizing deinsectization also has been carried out to soil while rapidly and efficiently rate removes inter-row weed, has avoided the hair for changing ground stubble and crop rotation phenomenon
It is raw, and installation cost is low, herbicidal effect is good, the not many merits such as welding nontoxic to people.
Detailed description of the invention
Fig. 1 is that the present invention is based on flame weeding machine people's system global structure schematic diagrames of vision.
Fig. 2 is the electronic gas flow control valve and electronic ignition switch position view being related in Fig. 1 of the present invention.
Fig. 3 is that the present invention is based on flame weeding machine people's system farm work schematic diagrames of vision.
Appended drawing reference is as follows:
1. wheel, 2. wheel stands, 3. vehicle frames, 4. moving trolleys, 5. power modules, 6. control systems, 7. navigation camera shootings
Head, 8. safety valves, 9. flame weeding devices, 10. combustible gas pressure containers, 11. high pressure flexible metallic conduits, 12. multiple degrees of freedom machines
Tool hand, 13. weed identification cameras, 14. steel pipes, 15. boccas, 16. electronic ignition switch, the control of 17. electronic gas flows
Valve.
Specific embodiment
In the following with reference to the drawings and specific embodiments, technical solution of the present invention is described in further detail.
In conjunction with shown in attached drawing 1, the flame weeding machine people system and implementation method of view-based access control model of the invention are small by moving
Vehicle 4, navigation camera 7, Multi-freedom-degreemanipulator manipulator 12, weed identification camera 13, flame weeding device 9,6 groups of control system
At；
Wherein moving trolley includes wheel 1, wheel stand 2, vehicle frame 3, power module 5；Navigation camera 7 is installed on vehicle frame
Above 3 front ends；Multi-freedom-degreemanipulator manipulator 12 is installed between wheel 1；Weed identification camera 13 is fixed on multi freedom degree mechanical
12 end of hand；Flame weeding device 9 includes combustible gas pressure container 10, safety valve 8, high pressure flexible metallic conduit 11, steel pipe 14, spray
Burner 15, bocca 15 are fixed on 12 end of Multi-freedom-degreemanipulator manipulator, and combustible gas pressure container 10 is fixed on 3 top of vehicle frame.
Multi-freedom-degreemanipulator manipulator 12 is Serial manipulator or parallel manipulator.
In conjunction with shown in attached drawing 2, electronic gas flow control valve 17, electronic ignition switch 16, electronics are provided on steel pipe 14
Ignition switch 16 is mounted on one end on steel pipe 14 close to bocca 15, and electronic gas flow control valve 17 is mounted on steel pipe 14
Close to one end of high pressure flexible metallic conduit 11.
In conjunction with attached Fig. 1 and 2 and 3, using flame weeding machine people's system of view-based access control model of the invention, realize automatic
The method of crop flame weeding operation in the ranks are as follows:
Navigation camera 7 obtains front picture and navigates, to guarantee that moving trolley 4 is advanced along crop line direction；It moves
While dynamic trolley 4 is advanced, weed identification camera 13 obtains lower section crop row picture in real time, and passes to control system 6；Control
System 6 processed handles picture in real time, identifies the position of crop in picture, the information such as position, size, the distribution of weeds；
Distributed intelligence of the control system 6 according to weeds, the speed that control moving trolley 4 is advanced along crop line direction；Control system 6 simultaneously
The more 12 end movement of free degree manipulator is controlled to region to be cut weeds according to the location information of crop and weeds, makes bocca
15 are aligned wait cut weeds, and bocca 15 is made to keep opposing stationary with wait cut weeds；While control system 6 is according to the size of weeds
Information opens and adjusts electronic gas flow control valve 17, to obtain the fuel gas of corresponding discharge；Control system 6 starts electricity
Sub- ignition switch 16, bocca 15, which jets out flames, to be burnt to death wait cut weeds, while burning grass-seed, pest and worm's ovum to death, also to soil into
Row sterilizing deinsectization；Control system 6 closes electronic gas flow control valve 17, fray-out of flame；Control system 6 controls multiple degrees of freedom machine
Tool hand 12 carries out the weeding operation in next period.
The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not
In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement
Or modification all belongs to the scope of protection of the present invention.
Claims (7)
1. a kind of flame weeding machine people's system of view-based access control model, it is characterised in that: including moving trolley (4), navigation camera
(7), Multi-freedom-degreemanipulator manipulator (12), weed identification camera (13), flame weeding device (9) and control system (6)；
The moving trolley (4) includes wheel (1), wheel stand (2), vehicle frame (3) and power module (5)；The navigation camera shooting
Head (7) is installed on above vehicle frame (3) front end；Multi-freedom-degreemanipulator manipulator (12) is installed between wheel (1)；Weed identification camera
(13) it is fixed on Multi-freedom-degreemanipulator manipulator (12) end；Flame weeding device (9) includes combustible gas pressure container (10), safety
Valve (8), high pressure flexible metallic conduit (11), steel pipe (14) and bocca (15)；Bocca (15) is fixed on Multi-freedom-degreemanipulator manipulator
(12) end, combustible gas pressure container (10) are fixed on above vehicle frame (3).
2. a kind of flame weeding machine people's system of view-based access control model according to claim 1, it is characterised in that: the steel pipe
(14) electronic gas flow control valve (17) and electronic ignition switch (16) are provided on；Electronic ignition switch (16) installation
Close to the one end of bocca (15) on steel pipe (14), electronic gas flow control valve (17) is mounted on steel pipe (14) close to height
Press the one end of metal hose (11).
3. a kind of flame weeding machine people's system of view-based access control model according to claim 1, it is characterised in that: described flammable
Gas in gas pressure vessel (10) passes sequentially through metal hose (11), steel pipe (14) reaches bocca (15)；The gas
Pressure vessel (10) is arranged on trolley (4), and gas pressure vessel (10) is provided with safety valve (8).
4. a kind of flame weeding machine people's system of view-based access control model according to claim 1, it is characterised in that: multiple degrees of freedom
Manipulator (12) is Serial manipulator or parallel manipulator.
5. a kind of flame weeding machine people's system of view-based access control model according to claim 1, it is characterised in that: described flammable
Gas pressure vessel (10) is arranged on moving trolley (4).
6. a kind of flame weeding machine people's system of view-based access control model according to claim 1, it is characterised in that: the power supply
Module (5) is used to provide power supply for control system (6).
7. a kind of method of flame weeding machine people's system of view-based access control model according to any one of claims 1 to 6, special
Sign is, comprising the following steps:
Step 1, navigation camera (7) obtains front picture and navigates, to guarantee moving trolley (4) along crop line direction
It advances；
Step 2, while moving trolley (4) is advanced, weed identification camera (13) obtains lower section crop row picture in real time, and
Pass to control system (6)；
Step 3, control system (6) is to step 2) in obtain picture handled in real time, identify the position of crop in picture
It sets, the position of weeds, size, distributed intelligence；
Step 4, distributed intelligence of the control system (6) according to weeds, the speed that control moving trolley (4) is advanced along crop line direction
Degree；
Step 5, control system (6) control Multi-freedom-degreemanipulator manipulator (12) end movement according to the location information of crop and weeds
It to region to be cut weeds, is directed at bocca (15) wait cut weeds, and bocca (15) is made to keep opposing stationary with wait cut weeds；
Meanwhile control system (6) opens according to the size information of weeds and adjusts electronic gas flow control valve (17), to obtain phase
Answer the fuel gas of flow；
Step 6, control system (6) start electronic ignition switch (16), and bocca (15), which jets out flames, to be burnt to death wait cut weeds, together
When burn grass-seed, pest and worm's ovum to death, sterilizing deinsectization also is carried out to soil；
Step 7, control system (6) close electronic gas flow control valve (17), fray-out of flame；
Step 8, control system (6) control the weeding operation that Multi-freedom-degreemanipulator manipulator (12) carry out next period.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810749576.6A CN109042607A (en) | 2018-07-10 | 2018-07-10 | A kind of the flame weeding machine people system and implementation method of view-based access control model |
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| CN201810749576.6A CN109042607A (en) | 2018-07-10 | 2018-07-10 | A kind of the flame weeding machine people system and implementation method of view-based access control model |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109673602A (en) * | 2019-01-09 | 2019-04-26 | 湖南农业大学 | A kind of laser deinsectization device and method based on machine vision |
| CN110447627A (en) * | 2019-09-06 | 2019-11-15 | 东北农业大学 | A kind of crushing flaming weeder based on machine vision |
| CN111183966A (en) * | 2020-03-17 | 2020-05-22 | 中国农业大学 | Self-propelled soil flame steam deinsectization weeder |
| CN114097760A (en) * | 2021-10-20 | 2022-03-01 | 舒城县皖香源茶叶有限公司 | Adjustable weeding device for tea planting |
| CN115088472A (en) * | 2022-06-21 | 2022-09-23 | 河南农业大学 | Wound type weeding robot based on machine vision |
| US11553636B1 (en) * | 2022-06-21 | 2023-01-17 | FarmWise Labs Inc. | Spacing-aware plant detection model for agricultural task control |
| CN116114683A (en) * | 2022-12-23 | 2023-05-16 | 天津理工大学 | Flame weeding machine capable of detecting weed density and crops |
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| CN203040507U (en) * | 2013-01-18 | 2013-07-10 | 广东省农业科学院植物保护研究所 | Flame weeding and deinsectization device |
| CN203087363U (en) * | 2013-01-23 | 2013-07-31 | 昆明理工大学 | Laser weeding robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109673602A (en) * | 2019-01-09 | 2019-04-26 | 湖南农业大学 | A kind of laser deinsectization device and method based on machine vision |
| CN110447627A (en) * | 2019-09-06 | 2019-11-15 | 东北农业大学 | A kind of crushing flaming weeder based on machine vision |
| CN111183966A (en) * | 2020-03-17 | 2020-05-22 | 中国农业大学 | Self-propelled soil flame steam deinsectization weeder |
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| CN114097760A (en) * | 2021-10-20 | 2022-03-01 | 舒城县皖香源茶叶有限公司 | Adjustable weeding device for tea planting |
| CN115088472A (en) * | 2022-06-21 | 2022-09-23 | 河南农业大学 | Wound type weeding robot based on machine vision |
| US11553636B1 (en) * | 2022-06-21 | 2023-01-17 | FarmWise Labs Inc. | Spacing-aware plant detection model for agricultural task control |
| CN115088472B (en) * | 2022-06-21 | 2024-02-02 | 河南农业大学 | Wound weeding robot based on machine vision |
| CN116114683A (en) * | 2022-12-23 | 2023-05-16 | 天津理工大学 | Flame weeding machine capable of detecting weed density and crops |
| CN116114683B (en) * | 2022-12-23 | 2024-05-28 | 天津理工大学 | Flame weeding machine capable of detecting weed density and crops |
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