CN109964558A - A kind of Small plastic shed inside intelligence weeding gapper and application method - Google Patents
A kind of Small plastic shed inside intelligence weeding gapper and application method Download PDFInfo
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- CN109964558A CN109964558A CN201910313115.9A CN201910313115A CN109964558A CN 109964558 A CN109964558 A CN 109964558A CN 201910313115 A CN201910313115 A CN 201910313115A CN 109964558 A CN109964558 A CN 109964558A
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- mobile platform
- gapper
- small plastic
- weeding
- plastic shed
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- 238000009333 weeding Methods 0.000 title claims abstract description 49
- 239000004033 plastic Substances 0.000 title claims abstract description 38
- 229920003023 plastic Polymers 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 14
- 241000196324 Embryophyta Species 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 6
- 235000013311 vegetables Nutrition 0.000 claims description 23
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 11
- 229910052744 lithium Inorganic materials 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 3
- 230000010365 information processing Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000005553 drilling Methods 0.000 abstract description 5
- 230000006378 damage Effects 0.000 abstract description 3
- 238000005457 optimization Methods 0.000 description 7
- 238000012913 prioritisation Methods 0.000 description 7
- 239000011521 glass Substances 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000002985 plastic film Substances 0.000 description 2
- 229920006255 plastic film Polymers 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 235000002566 Capsicum Nutrition 0.000 description 1
- 240000008574 Capsicum frutescens Species 0.000 description 1
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 239000001390 capsicum minimum Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012258 culturing Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000010413 gardening Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 125000000391 vinyl group Chemical group [H]C([*])=C([H])[H] 0.000 description 1
- 229920002554 vinyl polymer Polymers 0.000 description 1
- 239000002023 wood Substances 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
-
- 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
- A01B41/00—Thinning machines
- A01B41/04—Thinning machines with rotating tools
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Working Implements (AREA)
- Catching Or Destruction (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention relates to weeding gapper intelligent inside a kind of Small plastic shed and application methods, intelligent weeding gapper includes the mobile platform for being equipped with running gear, and the master controller and robot arm device of installation on a mobile platform, the movable end of the robot arm device is equipped with except motor, range sensor and high-definition camera is dredged, except the output shaft of thin motor is connected with screw thread drill bit.The present invention drives equipment to move in Small plastic shed by running gear, it realizes and walks operation certainly, the height adjustment of mobile platform can be carried out by two-part support arm, meet different Small plastic sheds to use, pass through being used cooperatively for range sensor and high-definition camera, realize the precise positioning to target seedling and weeds, using except dredging, motor drive screw thread drilling bit high-speed rotates multiple target seedling and weeds are rejected, reduce the damage to seedling, labor intensity is reduced, the automation and intelligent level of weeding seedling thinning are improved.
Description
Technical field
The present invention relates to weeder field in field of agricultural equipment more particularly to arched shed, in particular to a kind of small arches
Intelligent weeding gapper and application method inside canopy.
Background technique
The greenhouse that China is utilized on vegetables produce is originated from the thirties in twentyth century.The founder Wu Geng of Chinese gardening subject
Mr. people Hangzhou look at bridge garden spot setting Wood frame glass cover breeding ground, started summer vegetable glass bed seedling-raising technique, changed later
Wooden frame is cob wall.To the later period fifties, Hangzhou Vegetable Research Institute original Hangzhou vegetables test site is planted using glass scholar greenhouse
Train tomato, capsicum.Plastic film is introduced from Japan the sixties, start to carry out Small plastic shed culturing vegetable using plastic film.60 years
For later period, the beginning of the seventies, hut starts to promote in various regions in plastics, mainly in winter-spring season nursery and the ealy maturing culture of vegetables.
Since the last century 80's, China's arched shed greenhouse industry is being rapidly developed, and the whole nation builds up and use greenhouse big
Canopy area is mostly plastic canopy and heliogreenhouse facility in oneself more than 170,000 hectares these greenhouses of warp.Removing is built general
Lead to Plastic tunnel, nested Plastic tunnel is also relatively conventional in vinyl house.
Small plastic shed is with the maximum difference of big arch shed: Small plastic shed does not have conditions permit to be manually entered internal progress field pipe
Reason, but the weeding in vegetable seedling period is extremely important, and the density of vegetables is the weight for influencing the output and quality of vegetables
Factor is wanted, the artificial weeding seedling thinning of traditional approach is relatively time-consuming, takes a lot of work, arduously, large labor intensity, and traditional manually removes
Careless seedling thinning is bigger for the injury of vegetable seedling.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides weeding gapper intelligent inside a kind of Small plastic shed and application method,
It can enter and carry out weeding seedling thinning operation inside Small plastic shed, the weeds and seedling for needing to reject can be automatically identified, significantly
Labor intensity is reduced, labor efficiency is improved.
The present invention is achieved through the following technical solutions, provides a kind of intelligent weeding gapper in Small plastic shed inside, including
The mobile platform of running gear, and the master controller and robot arm device of installation on a mobile platform, the mechanical arm are installed
The movable end of device is equipped with except motor, range sensor and high-definition camera is dredged, except the output shaft of thin motor is connected with screw thread
Drill bit, the range sensor, high-definition camera, robot arm device and running gear are electrically connected with master controller.
This programme drives mobile platform to move in Small plastic shed when in use, by running gear, realizes from walking, by away from
Master controller, the survey that master controller will receive are reached from the distance between sensor measurement vegetable seedling, and by measurement distance
Span is compared from set distance, if measurement distance is less than set distance, master control controls robot arm device movement,
The plant of required distance will not be met except dredging motor and be moved to, by except dredge motor drive screw thread bit will not meet away from
From desired plant removal；High-definition camera is by the picture transfer of capture to master controller simultaneously, master controller to crop with it is miscellaneous
Grass is distinguished, and GPS information is sent in the controller of robot arm device, and robot arm device will be needed except thin motor is moved to
Right above the weeds to be rejected or crop seedling, drive screw thread drilling bit high-speed rotary by target crop or miscellaneous using except dredging motor
Grass is rejected；Being used cooperatively for high-definition camera and range sensor, realizes precise positioning, reaches the mesh of point-to-point weeding seedling thinning
's.
As optimization, the robot arm device includes being fixed in the mechanical arm pedestal of mobile platform bottom surface and being mounted on machinery
Motor, range sensor and high-definition camera are dredged in described the removing of front end installation of δ mechanical arm on arm pedestal, the δ mechanical arm,
And range sensor and high-definition camera are located at except the two sides for dredging motor.This prioritization scheme uses the δ of parallel 3-DOF
Mechanical arm possesses higher flexibility ratio, and operating rate is fast, and performance is stablized, and the requirement of weeding seedling thinning is fully met, in order to guarantee to remove
Effect is dredged, except high torque direct current generator, while the connection between convenient and solar panel can be used in thin motor；It will be apart from biography
Sensor and high-definition camera are respectively arranged at except the two sides for dredging motor, facilitate installation, avoid influencing each other when installation.
As optimization, solar panel is installed, and be electrically connected on the mobile platform with solar panel
Lithium battery group.This prioritization scheme is generated electricity by solar panel, by illumination is that entire intelligent weeding is dredged when daytime
Seedling machine provides electric power, and extra electric power storage to lithium battery group lithium battery group is provided for intelligent weeding gapper night operation
Electric power, entire intelligence weeding gapper environmental protection, green, pollution-free, the saving energy.
As optimization, the running gear includes at least four driving electricity being connect respectively by support arm with mobile platform
The output shaft of machine, the driving motor is connected with driving wheel.Running gear in this prioritization scheme, each driving wheel are respectively connected with
Driving motor ensure that enough power, and conveniently individually be controlled each driving wheel, meets deflecting or turning requires,
Improve flexibility.
As optimization, the vertical projection of the mobile platform is located at the rectangle inside of each driving wheel formation.This prioritization scheme
The outside that driving wheel is arranged in mobile platform vertical projection, increase bearing area, improve the stability of complete machine.
As optimization, the support arm include the upper arm hinged with mobile platform, with the hinged lower arm of the upper arm, and
The both ends hydraulic stem hinged with upper arm, lower arm respectively.This prioritization scheme uses the support arm of two-part, and is provided by hydraulic stem
Support force allows intelligent weeding gapper freely to adjust height, meets the dimensional height of different arched sheds, and be conducive to improve
The stability of service system.
As optimization, between upper arm and lower arm, hinged by hinged shaft between upper arm and mobile platform, the hinged shaft is along moving
The moving direction of moving platform is arranged.The setting of this prioritization scheme makes mobile platform vertically carry out height adjustment, avoids putting
It is dynamic, improve the agility and stability of mobile platform height adjustment.
As optimization, front end and the upper end of the mobile platform quadrangle are respectively equipped with infrared with master controller electric connection
Obstacle avoidance sensor.Arched shed height is detected by the IR evading obstacle sensors of setting, and elevation information is reached into master controller, master control
Device processed based on the received elevation information control hydraulic stem controller, hydraulic stem controller control hydraulic stem movement, make to move
The height of platform is able to enter in Small plastic shed.
The application method of intelligent weeding gapper inside above-mentioned Small plastic shed, comprises the following processes:
1, it is exposed to sunlight by solar panel and provides electric power for entire intelligent weeding gapper, and by remaining electric power
It stores in lithium battery group, provides electric power for intelligence weeding gapper night operation；
2, it drives mobile platform to reach job site by driving motor, passes through the red of mobile platform four corners upper end and front end
The height of outer obstacle avoidance sensor detection Small plastic shed, and master controller is transmitted information to, master controller carries out information processing, then
Hydraulic controller work is driven, hydraulic controller drives hydraulic stem movement, and the height of entire mobile platform is allow to enter small arch
Inside canopy；
3, after mobile platform enters Small plastic shed inside, range sensor since vegetables ridge on one side measure between each vegetable seedling
Distance, and the distance between vegetable seedling will be measured and compared at a distance from setting, will if measurement distance is bigger than the distance of setting
It will not take measures, if the distance of measurement is smaller than the distance of setting, drive screw thread drilling bit high-speed rotary except motor is dredged, δ is mechanical
Armband is dynamic, and except motor and the overall movement of screw thread drill bit is dredged, the vegetable seedling that will be unsatisfactory for set distance is rejected, and achievees the purpose that seedling thinning；
During δ manipulator motion, high-definition camera captures image, and sends images to master controller, master controller identification
Weeds position is determined after weeds out, master controller control δ mechanical arm is moved to above weeds, by driving threaded bore except thin motor
Head rotation, weeds are rejected；
4, mobile platform moves on, and repeats above-mentioned work.
The invention has the benefit that driving equipment to move in Small plastic shed by running gear, realizes from operation is walked, lead to
The height adjustment of mobile platform can be carried out by crossing two-part support arm, met different Small plastic sheds and used, pass through range sensor
With being used cooperatively for high-definition camera, the precise positioning to target seedling and weeds is realized, drives screw thread using except thin motor
Drilling bit high-speed rotation multiple target seedling and weeds are rejected, and are reduced the damage to seedling, are reduced labor intensity, improve
The automation and intelligent level of weeding seedling thinning.
Detailed description of the invention
Fig. 1 is intelligent weeding gapper structural schematic diagram of the invention；
Fig. 2 is intelligent weeding gapper bottom view of the invention；
Fig. 3 is intelligent weeding seedling thinning side view of the invention；
Fig. 4 is partial enlarged view in intelligent weeding gapper of the invention；
It is as shown in the figure:
1, driving wheel, 2, hydraulic stem, 3, support arm, 4, IR evading obstacle sensors, 5, mobile platform, 6, solar panel, 7,
Driving motor, 8, mechanical arm pedestal, 9, δ mechanical arm, 10, range sensor, 11, high-definition camera, 12, except dredge motor, 13,
Screw thread drill bit, 14, lithium battery group, 15, master switch, 16, master controller, 17, hydraulic control system.
Specific embodiment
In order to clarify the technical characteristics of the invention, being illustrated below by specific embodiment to this programme.
Intelligent weeding gapper inside a kind of Small plastic shed as shown in Figure 1, the mobile platform 5 including being equipped with running gear,
And it is mounted on master switch 15, master controller 16 and robot arm device on mobile platform 5, master switch 15, master controller 16 and machine
Tool arm assembly is respectively positioned below mobile platform, and the front end that 5 four jiaos of mobile platform is respectively equipped with upper end electrically to be connected with master controller
The IR evading obstacle sensors 4 connect, mobile platform end are equipped with auxiliary and walk straight device, and auxiliary walks straight device mainly by decoder structure
At.
Robot arm device includes being fixed in the mechanical arm pedestal 8 of mobile platform bottom surface and being mounted on mechanical arm pedestal 8
The δ mechanical arm 9 of parallel 3-DOF, the front end of the δ mechanical arm 9 are equipped with except thin motor 12, range sensor 10 and high definition
Camera 11, range sensor and high-definition camera are located at except the two sides for dredging motor, are high torque direct current except motor is dredged
Machine is connected with screw thread drill bit 13, high torque direct current generator, range sensor 10, high definition in the output shaft of high torque direct current generator
Camera 11, robot arm device and running gear are electrically connected with master controller 16.
Running gear includes four driving motors 7 being connect respectively by support arm 3 with mobile platform, the driving motor
7 output shaft is connected with driving wheel 1, and four driving wheels are in distributed rectangular, and the vertical projection of mobile platform 5 is located at each driving wheel
1 rectangle inside formed.It is equipped with driving motor four support arm ends, it is former can to support that intelligent weeding gapper is realized
360 ° of ground turns around, and also supports the mutual conversion of intelligent weeding gapper forward-reverse.
Support arm 3 includes upper end and the hinged upper arm of mobile platform, the lower arm and two hinged with the lower end of the upper arm
Hydraulic stem 2 hinged with upper arm, lower arm respectively is held, hydraulic stem connects hydraulic control system 17, hydraulic control system and master control
Device is electrically connected.Support force is provided by hydraulic stem, allows intelligent weeding gapper freely to adjust height, meets different arches
The dimensional height of canopy improves the stability of system.As prioritization scheme, between upper arm and lower arm, upper arm and mobile platform it
Between it is hinged by hinged shaft, the hinged shaft is arranged along the moving direction of mobile platform, mobile flat when hydraulic stem stretches out or retracts
Vertical displacement only occurs for platform, avoids swinging, to guarantee the stability of mobile sample platform.
Solar panel 6, and the lithium battery being electrically connected with solar panel 6 are fixedly installed on mobile platform
Group 14, solar panel is fixed on mobile platform upper surface, and lithium battery group is fixed on mobile platform lower surface.Solar battery
Plate exposes to sunlight and provides electric power for entire intelligent weeding gapper, and is into lithium battery group by the storage of remaining electric power
Intelligent weeding gapper night operation provides electric power.
The application method of intelligent weeding gapper inside above-mentioned Small plastic shed, comprises the following processes:
1, it is exposed to sunlight by solar panel and provides electric power for entire intelligent weeding gapper, and by remaining electric power
It stores in lithium battery group, provides electric power for intelligence weeding gapper night operation.
2, it drives mobile platform to reach job site by driving motor, passes through mobile platform four corners upper end and front end
IR evading obstacle sensors detection Small plastic shed height, and transmit information to master controller, master controller carries out information processing,
Then driving hydraulic controller work, hydraulic controller drive hydraulic stem movement, so that entire mobile platform rises or decline
To suitable height, enter the height of entire mobile platform inside Small plastic shed.
3, after mobile platform enters Small plastic shed inside, the high-definition camera and range sensor of δ mechanical arm front end start work
Make, range sensor since vegetables ridge on one side measure the distance between each vegetable seedling, and will measure between vegetable seedling
Distance compares at a distance from setting, if measurement distance is bigger than the distance of setting, will not take measures, if the distance ratio of measurement
The distance of setting is small, then high torque direct current generator drive screw thread drilling bit high-speed rotary, δ mechanical arm drive high torque direct current generator and
Screw thread drill bit moves integrally, and the vegetable seedling for being unsatisfactory for set distance is rejected, achievees the purpose that seedling thinning；In δ manipulator motion
In the process, high-definition camera captures image, and sends images to master controller, and master controller identifies weeds by calculating
Afterwards and determine weeds position, master controller control δ mechanical arm is moved to above weeds, drives screw thread by high torque direct current generator
Bit rejects weeds；
4, mobile platform moves on, and repeats above-mentioned work.
The present invention uses the higher δ mechanical arm of flexibility ratio, can guarantee to realize comprehensive traverse scanning, realize without dead angle
Weeding seedling thinning；Weeding seedling thinning device uses point-to-point design, provides power, and mating assembly screw thread using high torque direct current generator
Drill bit, high-definition camera and range sensor in outfit realize precise positioning, achieve the purpose that point-to-point weeding seedling thinning；It utilizes
Solar energy provides energy, keeps entire intelligent weeding gapper environmentally friendly, green, pollution-free, saves the energy.
Certainly, above description is also not limited to the example above, technical characteristic of the present invention without description can by or
It is realized using the prior art, details are not described herein；Above embodiments and attached drawing are only used to illustrate the technical scheme of the present invention not
It is limitation of the present invention, is described the invention in detail referring to preferred embodiment, the ordinary skill people of this field
Member is it should be appreciated that variation, remodeling, the addition that those skilled in the art are made within the essential scope of the present invention
Or replacement also should belong to claims of the invention without departure from spirit of the invention.
Claims (9)
1. intelligent weeding gapper inside a kind of Small plastic shed, it is characterised in that: the mobile platform including being equipped with running gear
(5), and the master controller (16) and robot arm device that are mounted on mobile platform (5), the movable end peace of the robot arm device
Motor (12), range sensor (10) and high-definition camera (11) are dredged equipped with removing, except the output shaft of thin motor is connected with threaded bore
Head (13), the range sensor (10), high-definition camera (11), robot arm device and running gear with master controller (16)
It is electrically connected.
2. intelligent weeding gapper inside a kind of Small plastic shed according to claim 1, it is characterised in that: the mechanical arm dress
The δ mechanical arm (9) setting the mechanical arm pedestal (8) including being fixed in mobile platform bottom surface and being mounted on mechanical arm pedestal (8), institute
Motor, range sensor and high-definition camera, and range sensor and height are dredged in described the removing of front end installation for stating δ mechanical arm (9)
Clear camera is located at except the two sides for dredging motor.
3. intelligent weeding gapper inside a kind of Small plastic shed according to claim 1, it is characterised in that: the mobile platform
On be equipped with solar panel (6), and with solar panel (6) be electrically connected lithium battery group (14).
4. intelligent weeding gapper inside a kind of Small plastic shed according to claim 1, it is characterised in that: the running gear
The driving motor (7) being connect with mobile platform by support arm (3) respectively including at least four, the driving motor (7) it is defeated
Shaft is connected with driving wheel (1).
5. intelligent weeding gapper inside a kind of Small plastic shed according to claim 4, it is characterised in that: the mobile platform
(5) vertical projection is located at the rectangle inside of each driving wheel (1) formation.
6. intelligent weeding gapper inside a kind of Small plastic shed according to claim 4, it is characterised in that: the support arm
It (3) include the upper arm hinged with mobile platform, hinged with upper arm, lower arm respectively with the hinged lower arm of the upper arm and both ends
Hydraulic stem (2).
7. intelligent weeding gapper inside a kind of Small plastic shed according to claim 6, it is characterised in that: upper arm and lower arm it
Between, it is hinged by hinged shaft between upper arm and mobile platform, the hinged shaft is arranged along the moving direction of mobile platform.
8. intelligent weeding gapper inside a kind of Small plastic shed according to claim 1, it is characterised in that: the mobile platform
(5) front end of quadrangle and upper end are respectively equipped with the IR evading obstacle sensors (4) being electrically connected with master controller.
9. the application method of intelligent weeding gapper inside a kind of Small plastic shed, it is characterised in that comprise the following processes:
(1) it is exposed to sunlight by solar panel and provides electric power for entire intelligent weeding gapper, and by remaining electricity
Power is stored into lithium battery group, provides electric power for intelligence weeding gapper night operation；
(2) it drives mobile platform to reach job site by driving motor, passes through mobile platform four corners upper end and front end
IR evading obstacle sensors detect the height of Small plastic shed, and transmit information to master controller, and master controller carries out information processing, so
The work of rear-guard hydrodynamic pressure controller, hydraulic controller drive hydraulic stem movement, enter the height of entire mobile platform small
Inside arched shed；
(3) after mobile platform enters Small plastic shed inside, range sensor since vegetables ridge on one side measure each vegetable seedling it
Between distance, and the distance between vegetable seedling will be measured and compared at a distance from setting, if distance of the distance of measurement than setting
Small, then except thin motor drives screw thread bit, δ mechanical arm drives except motor and the overall movement of screw thread drill bit is dredged, will be unsatisfactory for
The vegetable seedling of set distance is rejected；During δ manipulator motion, high-definition camera captures image, and sends images to
Master controller, master controller determine weeds position after identifying weeds, and master controller control δ mechanical arm is moved to above weeds,
By the way that except motor drive screw thread bit is dredged, weeds are rejected；
(4) mobile platform moves on, and repeats above-mentioned work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910313115.9A CN109964558B (en) | 2019-04-18 | 2019-04-18 | Small arch shed internal intelligent weeding and seedling thinning machine and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910313115.9A CN109964558B (en) | 2019-04-18 | 2019-04-18 | Small arch shed internal intelligent weeding and seedling thinning machine and use method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109964558A true CN109964558A (en) | 2019-07-05 |
| CN109964558B CN109964558B (en) | 2023-11-03 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910313115.9A Active CN109964558B (en) | 2019-04-18 | 2019-04-18 | Small arch shed internal intelligent weeding and seedling thinning machine and use method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111955069A (en) * | 2020-08-26 | 2020-11-20 | 山东大学 | Profiling inter-plant weeding mechanism, weeding device and method |
| CN112715077A (en) * | 2020-12-31 | 2021-04-30 | 广西壮族自治区农业科学院 | Sugarcane tillering and thinning and planting management machine |
| CN115316372A (en) * | 2022-09-02 | 2022-11-11 | 中国农业大学 | Rice mechanical weeding method and weeding device based on high-speed gas jet |
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