CN109964558B - Small arch shed internal intelligent weeding and seedling thinning machine and use method - Google Patents
Small arch shed internal intelligent weeding and seedling thinning machine and use method Download PDFInfo
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- CN109964558B CN109964558B CN201910313115.9A CN201910313115A CN109964558B CN 109964558 B CN109964558 B CN 109964558B CN 201910313115 A CN201910313115 A CN 201910313115A CN 109964558 B CN109964558 B CN 109964558B
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- 238000009333 weeding Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 17
- 241000196324 Embryophyta Species 0.000 claims abstract description 23
- 235000013311 vegetables Nutrition 0.000 claims description 23
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 10
- 229910052744 lithium Inorganic materials 0.000 claims description 10
- 238000005457 optimization Methods 0.000 description 14
- 239000011521 glass Substances 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 238000010413 gardening Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000002985 plastic film Substances 0.000 description 2
- 229920006255 plastic film Polymers 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 235000002566 Capsicum Nutrition 0.000 description 1
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 241000758706 Piperaceae Species 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
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- 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
Abstract
The invention relates to an intelligent weeding and seedling-thinning machine in a small arch shed and a use method thereof. According to the invention, the walking device drives equipment to move in the small arch shed, so that self-walking operation is realized, the height of the mobile platform can be adjusted through the two-section supporting arm, different small arch sheds are satisfied, the accurate positioning of target seedlings and weeds is realized through the cooperation of the distance sensor and the high-definition camera, the thinning motor is utilized to drive the screw drill to rotate the multi-target seedlings and weeds at a high speed to remove the multi-target seedlings and weeds, the damage to the seedlings is reduced, the labor intensity is reduced, and the automation and intelligent level of weeding and thinning are improved.
Description
Technical Field
The invention relates to the field of agricultural equipment, in particular to the field of weeding devices in a small arch shed, and particularly relates to an intelligent weeding and thinning machine in the small arch shed and a using method.
Background
The greenhouse utilized in vegetable production in China is derived from the twenty-century 30 s. The foundation Wu Gengmin of Chinese gardening discipline is provided with a wood frame glass covering hotbed in Hangzhou bridge gardening places, thereby developing the technique of growing seedlings of summer vegetables by using the glass hotbed, and changing the wood frame into a soil wall later. The tomatoes and the peppers are cultivated in a glass greenhouse by the Hangzhou vegetable institute in the original Hangzhou vegetable test field until the later 50 s. At 60 s, plastic films were introduced from japan, and small-arch greenhouse cultivation of vegetables was started using plastic films. The plastic medium-small sheds are promoted in various places in the late 60 s and early 70 s, and mainly grow seedlings and early-maturing vegetables in winter and spring.
Since the 80 s of the last century, the national arch greenhouse industry has rapidly developed, and the vast majority of these greenhouses, which have been built and used nationally over 17 ten thousand hectares, are plastic arch and sunlight greenhouse facilities. And the built common small-sized arch shed is removed, and the small-sized arch shed is nested in the plastic greenhouse.
The big canopy is the biggest difference with little canopy lies in: the small arch shed does not have the condition of allowing manual work to enter the interior for field management, but weeding in the period of vegetable seedlings is very important, the density of vegetables is an important factor affecting the yield and quality of the vegetables, manual weeding and seedling thinning in the traditional mode is time-consuming, labor-consuming and labor-consuming, labor intensity is high, and damage of the traditional manual weeding and seedling thinning to vegetable seedlings is large.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the intelligent weeding and seedling-thinning machine in the small arch shed and the application method thereof, which can enter the small arch shed to carry out weeding and seedling-thinning operation, can automatically identify weeds and seedlings to be removed, greatly reduces the labor intensity and improves the labor efficiency.
The invention provides an intelligent weeding and thinning machine in a small arch shed, which comprises a mobile platform, a total controller and a mechanical arm device, wherein the mobile platform is provided with a traveling device, the total controller and the mechanical arm device are arranged on the mobile platform, a thinning motor, a distance sensor and a high-definition camera are arranged at the movable end of the mechanical arm device, a threaded drill bit is fixedly connected with an output shaft of the thinning motor, and the distance sensor, the high-definition camera, the mechanical arm device and the traveling device are electrically connected with the total controller.
When the device is used, the travelling device drives the mobile platform to move in the small arch shed to realize self-walking, the distance between vegetable seedlings is measured through the distance sensor, the measured distance is transmitted to the master controller, the master controller compares the received measured distance with the set distance, if the measured distance is smaller than the set distance, the master controller controls the mechanical arm device to act, the thinning motor is moved to plants which do not meet the distance requirement, and the thinning motor drives the screw drill to rotate to remove the plants which do not meet the distance requirement; meanwhile, the high-definition camera transmits the captured pictures to the master controller, the master controller distinguishes crops from weeds, GPS information is sent to the controller of the mechanical arm device, the mechanical arm device moves the thinning motor to the position right above weeds or crop seedlings to be removed, and the thinning motor is utilized to drive the screw drill to rotate at a high speed so as to remove target crops or weeds; the high-definition camera and the distance sensor are matched for use, so that accurate positioning is realized, and the aim of point-to-point weeding and seedling thinning is fulfilled.
As optimization, the mechanical arm device comprises a mechanical arm base fixedly connected to the bottom surface of the mobile platform and a delta mechanical arm arranged on the mechanical arm base, wherein the front end of the delta mechanical arm is provided with a dredging motor, a distance sensor and a high-definition camera, and the distance sensor and the high-definition camera are respectively positioned on two sides of the dredging motor. The optimization scheme adopts delta mechanical arms with three degrees of freedom in parallel, has higher flexibility, high working speed and stable performance, completely meets the requirements of weeding and thinning, can adopt a high-torque direct current motor for ensuring the thinning effect, and is convenient to connect with a solar panel; the distance sensor and the high-definition camera are respectively arranged on two sides of the dredging motor, so that the installation is convenient, and the mutual influence is avoided during the installation.
As optimization, the mobile platform is provided with a solar panel and a lithium battery pack electrically connected with the solar panel. This optimization scheme generates electricity through solar cell panel, provides electric power for whole intelligent weeding and seedling-thinning machine through illumination during daytime to with unnecessary electric power storage to lithium cell group provide electric power for intelligent weeding and seedling-thinning machine work at night, whole intelligent weeding and seedling-thinning machine environmental protection, green, pollution-free, the energy saving.
As optimization, the walking device comprises at least four driving motors which are respectively connected with the mobile platform through supporting arms, and the output shafts of the driving motors are connected with driving wheels. The running gear in this optimization scheme, every drive wheel all is connected with driving motor, has guaranteed sufficient power, and the convenience is carried out individual control to each drive wheel moreover, satisfies diversion or turn requirement, improves the flexibility.
As an optimization, the vertical projection of the mobile platform is positioned inside the rectangle formed by the driving wheels. According to the optimization scheme, the driving wheels are arranged on the outer side of the vertical projection of the mobile platform, so that the supporting area is increased, and the stability of the whole machine is improved.
As optimization, the supporting arm comprises an upper arm hinged with the mobile platform, a lower arm hinged with the upper arm, and a hydraulic rod with two ends respectively hinged with the upper arm and the lower arm. This optimization scheme adopts two segmentation support arms to provide holding power through the hydraulic stem, make intelligent weeding and thinning machine height-adjusting freely, satisfy the size height of different canopy, and be favorable to improving the stability of system.
As optimization, the upper arm and the lower arm and the upper arm and the moving platform are all hinged through hinge shafts, and the hinge shafts are arranged along the moving direction of the moving platform. The setting of this optimization scheme makes mobile platform carry out the altitude mixture control along vertical, avoids taking place the swing, has improved mobile platform altitude mixture control's swiftly and stability.
As optimization, the front ends and the upper ends of four corners of the mobile platform are respectively provided with an infrared obstacle avoidance sensor electrically connected with the master controller. The height of the arch shed is detected through the arranged infrared obstacle avoidance sensor, the height information is transmitted to the master controller, the master controller controls the controller of the hydraulic rod according to the received height information, and the controller of the hydraulic rod controls the hydraulic rod to act, so that the height of the mobile platform can enter the small arch shed.
The application method of the intelligent weeding and seedling-thinning machine in the small arch shed comprises the following steps:
1. the solar panel receives sunlight to provide power for the whole intelligent weeding and seedling-thinning machine, and the rest power is stored in the lithium battery pack to provide power for the intelligent weeding and seedling-thinning machine to work at night;
2. the method comprises the steps that a driving motor drives a mobile platform to reach a working place, infrared obstacle avoidance sensors at the upper ends and the front ends of four corners of the mobile platform detect the height of a small arch shed and transmit information to a master controller, the master controller processes the information and then drives a hydraulic controller to work, and the hydraulic controller drives a hydraulic rod to act, so that the height of the whole mobile platform can enter the interior of the small arch shed;
3. after the mobile platform enters the small arch shed, the distance sensor starts to measure the distance between vegetable seedlings from one side of the vegetable ridges, compares the measured distance between the vegetable seedlings with a set distance, does not take measures if the measured distance is larger than the set distance, drives the screw drill to rotate at a high speed if the measured distance is smaller than the set distance, and drives the screw drill to integrally move by the delta mechanical arm, so that vegetable seedlings which do not meet the set distance are removed, and the purpose of thinning is achieved; in the moving process of the delta mechanical arm, the high-definition camera captures an image and sends the image to the master controller, the master controller determines the position of weeds after identifying the weeds, the master controller controls the delta mechanical arm to move above the weeds, and the thinning motor drives the screw drill to rotate so as to remove the weeds;
4. the mobile platform continues to advance, and the above work is repeated.
The beneficial effects of the invention are as follows: the walking device drives equipment to move in the small arch shed, so that self-propelled operation is realized, the height of the mobile platform can be adjusted through the two-section supporting arm, different small arch sheds are met, accurate positioning of target seedlings and weeds is realized through the cooperation of the distance sensor and the high-definition camera, the thinning motor is utilized to drive the screw drill to rotate at a high speed to remove the multi-target seedlings and the weeds, damage to the seedlings is reduced, labor intensity is reduced, and automation and intelligent level of weeding and thinning are improved.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent weeding and thinning machine;
FIG. 2 is a bottom view of the intelligent weeding and thinning machine of the invention;
FIG. 3 is a side view of the intelligent weeding and thinning machine of the invention;
FIG. 4 is a partial enlarged view of the intelligent weeding and thinning machine;
the figure shows:
1. the device comprises a driving wheel, 2, a hydraulic rod, 3, a supporting arm, 4, an infrared obstacle avoidance sensor, 5, a moving platform, 6, a solar cell panel, 7, a driving motor, 8, a mechanical arm base, 9, a delta mechanical arm, 10, a distance sensor, 11, a high-definition camera, 12, an obstacle avoidance motor, 13, a screw drill, 14, a lithium battery pack, 15, a main switch, 16, a main controller, 17 and a hydraulic control system.
Detailed Description
In order to clearly illustrate the technical characteristics of the scheme, the scheme is explained below through a specific embodiment.
As shown in FIG. 1, the intelligent weeding and thinning machine in the small arch shed comprises a moving platform 5 provided with a running gear, a main switch 15, a main controller 16 and a mechanical arm device which are arranged on the moving platform 5, wherein the main switch 15, the main controller 16 and the mechanical arm device are all positioned below the moving platform, the front ends and the upper ends of four corners of the moving platform 5 are respectively provided with an infrared obstacle avoidance sensor 4 electrically connected with the main controller, the tail end of the moving platform is provided with an auxiliary walking device, and the auxiliary walking device mainly comprises a decoder.
The mechanical arm device comprises a mechanical arm base 8 fixedly connected to the bottom surface of the mobile platform and a delta mechanical arm 9 with three degrees of freedom in parallel arranged on the mechanical arm base 8, wherein a thinning motor 12, a distance sensor 10 and a high-definition camera 11 are arranged at the front end of the delta mechanical arm 9, the distance sensor and the high-definition camera are respectively positioned at two sides of the thinning motor, the thinning motor is a high-torque direct current motor, a threaded drill bit 13 is fixedly connected to an output shaft of the high-torque direct current motor, and the high-torque direct current motor, the distance sensor 10, the high-definition camera 11, the mechanical arm device and a running gear are all electrically connected with a main controller 16.
The walking device comprises four driving motors 7 which are respectively connected with the mobile platform through supporting arms 3, the output shafts of the driving motors 7 are connected with driving wheels 1, the four driving wheels are distributed in a rectangular shape, and the vertical projection of the mobile platform 5 is positioned in the rectangular shape formed by the driving wheels 1. The tail ends of the four supporting arms are provided with driving motors, so that the intelligent weeding and seedling-thinning machine can be supported to realize 360-degree turning in situ, and the mutual conversion of the forward and backward of the intelligent weeding and seedling-thinning machine is also supported.
The support arm 3 comprises an upper arm, a lower arm and a hydraulic rod 2, wherein the upper end of the upper arm is hinged with the mobile platform, the lower arm is hinged with the lower end of the upper arm, the two ends of the hydraulic rod are respectively hinged with the upper arm and the lower arm, the hydraulic rod is connected with a hydraulic control system 17, and the hydraulic control system is electrically connected with a master controller. The hydraulic rod provides supporting force, so that the intelligent weeding and thinning machine can be freely adjusted in height, the size heights of different arch sheds are met, and the stability of the system is improved. As an optimization scheme, the upper arm and the lower arm and the upper arm and the moving platform are hinged through hinge shafts, the hinge shafts are arranged along the moving direction of the moving platform, and when the hydraulic rod stretches out or retracts, the moving platform only vertically displaces, so that swing is avoided, and the stability of a moving product platform is ensured.
The mobile platform is fixedly provided with a solar panel 6 and a lithium battery pack 14 electrically connected with the solar panel 6, the solar panel is fixed on the upper surface of the mobile platform, and the lithium battery pack is fixed on the lower surface of the mobile platform. The solar cell panel receives sunlight irradiation to provide power for the whole intelligent weeding and seedling-thinning machine, and the rest power is stored in the lithium battery pack to provide power for the intelligent weeding and seedling-thinning machine to work at night.
The application method of the intelligent weeding and seedling-thinning machine in the small arch shed comprises the following steps:
1. the solar panel receives sunlight to provide power for the whole intelligent weeding and seedling-thinning machine, and the rest power is stored in the lithium battery pack to provide power for the intelligent weeding and seedling-thinning machine to work at night.
2. The movable platform is driven by the driving motor to reach a working place, the height of the small arch shed is detected by the infrared obstacle avoidance sensors at the upper ends and the front ends of the four corners of the movable platform, information is transmitted to the master controller, the master controller processes the information, then the hydraulic controller is driven to work, the hydraulic controller drives the hydraulic rod to act, the whole movable platform is enabled to ascend or descend to a proper height, and the height of the whole movable platform can enter the small arch shed.
3. After the mobile platform enters the small arch shed, a high-definition camera and a distance sensor at the front end of the delta mechanical arm start to work, the distance sensor starts to measure the distance between vegetable seedlings from one side of a vegetable ridge, the measured distance between the vegetable seedlings is compared with a set distance, if the measured distance is larger than the set distance, no measures are taken, if the measured distance is smaller than the set distance, the high-torque direct current motor drives the screw drill bit to rotate at a high speed, the delta mechanical arm drives the high-torque direct current motor and the screw drill bit to integrally move, and vegetable seedlings which do not meet the set distance are removed, so that the purpose of thinning seedlings is achieved; in the moving process of the delta mechanical arm, the high-definition camera captures an image and sends the image to the master controller, the master controller identifies weeds and determines the positions of the weeds after calculating, the master controller controls the delta mechanical arm to move above the weeds, and the high-torque direct-current motor drives the screw drill bit to rotate so as to remove the weeds;
4. the mobile platform continues to advance, and the above work is repeated.
The invention adopts the delta mechanical arm with higher flexibility, can ensure that the omnibearing traversing scanning is realized, and the weeding and seedling thinning without dead angle is realized; the weeding and seedling-thinning device adopts a point-to-point design, adopts a high-torque direct current motor to provide power, is matched with a screw drill bit, is provided with a high-definition camera and a distance sensor, realizes accurate positioning, and achieves the aim of point-to-point weeding and seedling-thinning; the solar energy is utilized to provide energy, so that the whole intelligent weeding and seedling-thinning machine is environment-friendly, green and pollution-free, and energy is saved.
Of course, the above description is not limited to the above examples, and the technical features of the present invention that are not described may be implemented by or by using the prior art, which is not described herein again; the above examples and drawings are only for illustrating the technical scheme of the present invention and not for limiting the same, and the present invention has been described in detail with reference to the preferred embodiments, and it should be understood by those skilled in the art that changes, modifications, additions or substitutions made by those skilled in the art without departing from the spirit of the present invention and the scope of the appended claims.
Claims (6)
1. An intelligent weeding and seedling-thinning machine in a small arch shed is characterized in that: the intelligent robot comprises a mobile platform (5) provided with a traveling device, and a master controller (16) and a mechanical arm device which are arranged on the mobile platform (5), wherein a dredging motor (12), a distance sensor (10) and a high-definition camera (11) are arranged at the movable end of the mechanical arm device, a threaded drill bit (13) is fixedly connected with an output shaft of the dredging motor, and the distance sensor (10), the high-definition camera (11), the mechanical arm device and the traveling device are electrically connected with the master controller (16);
the walking device comprises at least four driving motors (7) which are respectively connected with the mobile platform through supporting arms (3), and the output shafts of the driving motors (7) are connected with driving wheels (1); the support arm (3) comprises an upper arm hinged with the mobile platform, a lower arm hinged with the upper arm, and a hydraulic rod (2) with two ends respectively hinged with the upper arm and the lower arm;
the application method of the intelligent weeding and seedling-thinning machine in the small arch shed comprises the following steps:
1) The solar panel receives sunlight to provide power for the whole intelligent weeding and seedling-thinning machine, and the rest power is stored in the lithium battery pack to provide power for the intelligent weeding and seedling-thinning machine to work at night;
2) The method comprises the steps that a driving motor drives a mobile platform to reach a working place, infrared obstacle avoidance sensors at the upper ends and the front ends of four corners of the mobile platform detect the height of a small arch shed and transmit information to a master controller, the master controller processes the information and then drives a hydraulic controller to work, and the hydraulic controller drives a hydraulic rod to act, so that the height of the whole mobile platform can enter the interior of the small arch shed;
3) After the mobile platform enters the small arch shed, the distance sensor starts to measure the distance between vegetable seedlings from one side of the vegetable ridges, compares the measured distance between the vegetable seedlings with a set distance, and if the measured distance is smaller than the set distance, the thinning motor drives the threaded drill to rotate, and the delta mechanical arm drives the thinning motor and the threaded drill to integrally move so as to remove vegetable seedlings which do not meet the set distance; in the moving process of the delta mechanical arm, the high-definition camera captures an image and sends the image to the master controller, the master controller determines the position of weeds after identifying the weeds, the master controller controls the delta mechanical arm to move above the weeds, and the thinning motor drives the screw drill to rotate so as to remove the weeds;
4) The mobile platform continues to advance, and the above work is repeated.
2. The intelligent weeding and thinning machine for the interior of a small arch shed according to claim 1, wherein: the mechanical arm device comprises a mechanical arm base (8) fixedly connected to the bottom surface of the mobile platform and a delta mechanical arm (9) arranged on the mechanical arm base (8), wherein the front end of the delta mechanical arm (9) is provided with a dredger, a distance sensor and a high-definition camera, and the distance sensor and the high-definition camera are respectively positioned on two sides of the dredger.
3. The intelligent weeding and thinning machine for the interior of a small arch shed according to claim 1, wherein: the mobile platform is provided with a solar panel (6) and a lithium battery pack (14) electrically connected with the solar panel (6).
4. The intelligent weeding and thinning machine for the interior of a small arch shed according to claim 1, wherein: the vertical projection of the moving platform (5) is positioned inside the rectangle formed by the driving wheels (1).
5. The intelligent weeding and thinning machine for the interior of a small arch shed according to claim 1, wherein: the upper arm and the lower arm and the upper arm and the moving platform are hinged through hinge shafts, and the hinge shafts are arranged along the moving direction of the moving platform.
6. The intelligent weeding and thinning machine for the interior of a small arch shed according to claim 1, wherein: the front ends and the upper ends of four corners of the mobile platform (5) are respectively provided with an infrared obstacle avoidance sensor (4) electrically connected with the master controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910313115.9A 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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| CN201910313115.9A 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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| CN109964558B true CN109964558B (en) | 2023-11-03 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111955069B (en) * | 2020-08-26 | 2022-05-06 | 山东大学 | Profiling inter-plant weeding mechanism, weeding device and method |
| CN112715077B (en) * | 2020-12-31 | 2022-03-25 | 广西壮族自治区农业科学院 | Sugarcane tillering and thinning and planting management machine |
| CN115316372B (en) * | 2022-09-02 | 2023-12-29 | 中国农业大学 | Rice inter-plant mechanical weeding device and weeding method based on high-speed gas jet |
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