CN110447627A - A kind of crushing flaming weeder based on machine vision - Google Patents
A kind of crushing flaming weeder based on machine vision Download PDFInfo
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- CN110447627A CN110447627A CN201910841512.3A CN201910841512A CN110447627A CN 110447627 A CN110447627 A CN 110447627A CN 201910841512 A CN201910841512 A CN 201910841512A CN 110447627 A CN110447627 A CN 110447627A
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- weeding
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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
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
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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 reside in provide a kind of crushing flaming weeder based on machine vision, the weeder is assembled by multiple detachable components of fission design, including traveling wheel, triaxial connecting system, weeding by machine's actuator, extraordinary weeding actuator and gas tank case.Machine is mounted on driving platform when in use, go out weeds and crop by Machine Vision Recognition, and data are transmitted to control system, end effector passes through the more flexible quick arrival weeds top position of motor pattern of three-shaft linkage, bury will be after weeds powerful smashing for weeding by machine's actuator first, weeds remains are inactivated by flame injection, thoroughly break off weeds and weeds grass-seed vitality, germ can be killed simultaneously, pest ovum etc., and the weeds remains after fire is burnt are easier to become organic matter by crop double absorption, the precision and weeding ratio for making weeding greatly improve.
Description
Technical field:
The invention discloses a kind of crushing flaming weeder based on machine vision, belongs to agricultural engineering field, the machine
It is particularly suitable for the field weeding work of multiple kinds of crops.
Background technique:
Weeds and crop fight for nutriment, moisture, sunlight, occupy farmland space, interfere field ventilation and penetrating light, increase local gas
Wait temperature, some weeds be then disease pest autoeciously, indirectly improve the disease pest and weed of crop, the growth of weeds affects crop
Nutrient absorption and photosynthetic progress, to reduce the yield and quality of crop.Weeding is as Agriculture Field pipe
In reason and its important one, the very big specific gravity of field management is occupied.With the high speed development of China's scientific and technological level, for agriculture
The requirement of industry is also being continuously improved, and the level of mechanization of agriculture also has higher requirement.An important ring, tradition are used as in weeding
Mechanization weeding limitation it is larger also less perfect for weeding in row, and the effect is unsatisfactory for weeding, the life of weeds
Power is indomitable, and the inadequate do mechanization operation of intensity cannot reach necessary requirement.Mechanization weeding can only for the weeds that have developed into
Row dispel, insect killing effect cannot be reached for the seed of weeds, can only be it is palliative, weeds breeding quickly and in severe ring
Border can also germinate.Field conditions are complicated, it is ensured that are utmostly reducing seedling-damaging ratio, and also to remove extra weeds.
The present invention devises a crushing flame weeding based on machine vision where aiming at the problem that traditional weeding machine
Machine, it is suitable for the work of the field weeding of various crop.Weeding machine of the invention dual to weeds progress can be killed, from hair
Body of raising an infant can be covered to weed seed.Weeds in ground can be identified by machine vision, then pass through three
Weeding by machine's actuator and flame weeding actuator are precisely quickly moved to above weeds position by the motion mode of axis linkage,
Weeding by machine is first passed through to crush weeds, broken weeds and grass-seed after being sprayed by flame the expansion of its internal liquid,
Cell wall rupture and withered death, have not only killed weeds and have also eliminated pest and disease damage with high temperature, can greatly reinforce weeding
Effect, and also have great inhibiting effect for the sprouting of subsequent grass-seed, greatly improve working efficiency.
Summary of the invention:
Various existing for traditional field weeding machinery in order to overcome the problems, such as, the present invention provides a kind of powder based on machine vision
Broken flaming weeder, the disadvantage for greatly overcoming traditional field weeding machinery is insufficient, and be suitable for corn and soybean, wheat etc.
The field weeding of multiple kinds of crops works.
In order to achieve the above purpose, a kind of technical solution provided by the present invention are as follows: crushing fire based on machine vision
Flame weeder, it is characterised in that；Device is made of vehicle frame, sighting device and executing agency, and vehicle frame is walked by gas tank case (1), transmission
Into motor (4), the direction x translation shaft (5), the direction z translation shaft (6), vehicle frame upper end (7), the direction y translation shaft (8), sliding block (9), pass
Dynamic component (10), fixing bolt (11), vehicle frame lower end (26), wheel (27), wheel carrier (28), universal connection (29), wheel are solid
Determine frame (30), transmission shaft (31), shaft coupling (32) composition, sighting device is made of lens supporting structure (2), camera (3), holds
Row mechanism removes knife motor (15), cutterhead by motor fixing plate (12), motor for double-ended drive (13), stepper motor clamp (14), rotation
(16), tine (17), flame spray head (18), spray head fixation clamp (19), reciprocal optical axis (20), optical axis guide rail (21), flake connect
Head (22), lead screw (23), spill spin block (24), combustible gas hose (25) composition, wherein wheel (27) is connect with wheel carrier (28), vehicle
Wheel carrier (28) and universal connection (29) are fixed, and universal connection (29) passes through under bolt and vehicle frame after connecting with Wheel mounting bracket (30)
For the fixed universal wheel that can be turned to that constitutes in end (26) convenient for field traveling, 4 direction z translation shafts (6) and vehicle frame lower end (26) are fixed,
The direction z translation shaft (6) and vehicle frame upper end (7) are fixed, and vehicle frame upper end (7) and gas tank case (1) are fixed, transmission parts (10) with every
Translation shaft both ends connect and compose running part, the direction z translation shaft (6) and sliding block 1 (9) connection, sliding block 1 (9) and the direction x translation shaft
(5) it connects, the direction x translation shaft (5) and sliding block 2 (9) connection, sliding block 2 (9) are connect with the direction y translation shaft (8), the direction y translation shaft
(8) and sliding block 3 (9) connection, geared stepper motor 1 (4) connect input power, transmission parts (10) and z with transmission parts (10)
Direction translation shaft (6) constitutes transmission, and the two ipsilateral direction z translation shafts (6) are cooperated by transmission shaft (31) and shaft coupling (32)
The synchronous transmitting of power is realized in installation, and geared stepper motor 2 (4) and transmission parts (10) power input, transmission parts (10) and x
Direction translation shaft (5) constitutes transmission, and geared stepper motor 3 (4) and transmission parts (10) power input, transmission parts (10) with
The direction x translation shaft (5) constitutes transmission, realizes the flexible movement of three-shaft linkage, lens supporting structure (2) is fixed on vehicle frame upper end
(7), it can freely be adjusted the angle after camera (3) is connected and fixed with lens supporting structure (2), sliding block 3 (9) and motor fixing plate
(12) it connects, motor fixing plate (12) and motor for double-ended drive (13) are affixed, (13) one side axle of motor for double-ended drive and spill spin block 1 (24)
Connection, spill spin block 1 (24) and flake connector 1 (22) are fixed, and flake connector 1 (22) is fixed with lead screw (23) one end, lead screw (23)
The other end and flake connector 2 (22) are fixed, and flake connector 2 (22) is bolted with flake connector 3 (22), flake connector 3
(22) fixed with reciprocal optical axis (20), reciprocal optical axis (20), which is protruded into, realizes reciprocating motion in two optical axis guide rails (21), toward compound light
Axis (20) and stepper motor clamp (14) are affixed, and for stepper motor clamp (14) with rotation except knife motor (15) are affixed, rotation removes knife
Motor (15) and cutterhead (16) are cooperatively connected, cutterhead (16) and tine (17) are coupled and complete weeds crushing execution unit, double
Axis is stretched motor (13) another side axle and is connect with spill spin block 2 (24), and spill spin block 2 (24) and flake connector 4 (22) are fixed, flake connector
4 (22) are fixed with lead screw (23) one end, and lead screw (23) other end and flake connector 5 (22) are fixed, flake connector 5 (22) and flake
Connector 6 (22) is bolted, and flake connector 6 (22) and reciprocal optical axis (20) are fixed, and reciprocal optical axis (20) protrudes into two light
It realizes and moves back and forth in axis rail (21), reciprocal optical axis (20) and flame spray head (18) are connected by spray head fixation clamp (19),
Flame spray head (18) is connect with combustible gas hose (25), and combustible gas hose (25) is closely connected with gas tank case (1).
A kind of crushing flaming weeder based on machine vision, it is characterised in that: the invention can be by weeding by machine and fire
Flame weeding combines together, after weeding by machine's actuator carries out physical crushing by flame weeding actuator to the remains of weeds into
The injection of row flame, and then Double inactivation is carried out to weeds and utterly destroys weeds, body is mounted on power platform, passes through wheel
(27), the universal wheel that wheel carrier (28), universal connection (29), Wheel mounting bracket (30) are constituted may be implemented in field free walker
It walks, the direction x translation shaft (5), the direction z translation shaft (6), the direction y translation shaft (8), sliding block (9) constitute the whole frame of three-shaft linkage
Frame carries out power input to frame by geared stepper motor (4), carries out power biography by transmission shaft (31) and shaft coupling (32)
It passs, is achieved the flexible quick movement of three-shaft linkage, motor for double-ended drive (13) two sides are that weeding by machine's actuator and flame remove
Careless actuator, forms the process of an alternating movement under other component cooperation, and weeding actuator mentions after the completion of working downwards
It rises, flame weeding actuator takes over downward work.
The present invention compared with the prior art, have the following advantages and the utility model has the advantages that
The effective solution of the present invention various deficiencies of traditional field weeding machinery, particularly suitable for corn and soybean, wheat
Etc. multiple kinds of crops field weeding work.Double inactivation can be carried out from machinery to flame, it can be from weeds to grass for range
Seed carries out all standing removal, and seedling-damaging ratio can be greatly reduced by way of machine vision, achievees the purpose that accurate weeding, executes
The motion mode of mechanism three-shaft linkage can the weeds of more flexible removal in the ranks, in strain, weeding ratio is high, cost compared with
It is low, a kind of crushing flaming weeder based on machine vision of various plants can be generally applicable to.
Detailed description of the invention
Fig. 1 is schematic diagram of the invention
Fig. 2 is left view of the invention
Fig. 3 is the Local map of weeding by machine's actuator of the invention
Fig. 4 is the Local map of flame weeding actuator of the invention
Fig. 5 is the Local map of rotation tine of the invention
In Fig. 1,1, gas tank case；2, lens supporting structure；3, camera；4, geared stepper motor；5, the direction x translation shaft；
6, the direction z translation shaft；7, vehicle frame upper end；8, the direction y translation shaft；9, sliding block；10, transmission parts；11, fixing bolt；12, motor
Fixed plate；13, motor for double-ended drive；14, stepper motor clamp；15 rotations remove knife motor；16, cutterhead；17, tine；18, flame sprays
Head；19, spray head fixation clamp；20, reciprocal optical axis；21, optical axis guide rail；22, flake connector；23, lead screw；24, spill spin block；25,
Combustible gas hose；26, vehicle frame lower end；27, wheel；28, wheel carrier；29, universal connection；30, Wheel mounting bracket；31, transmission shaft；
32, shaft coupling.
In Fig. 2,1, gas tank case；2, lens supporting structure；3, camera；4, geared stepper motor；5, the direction x translation shaft；
6, the direction z translation shaft；7, vehicle frame upper end；9, sliding block；11, fixing bolt；25, combustible gas hose；27, wheel；28, wheel carrier；
29, universal connection；30, Wheel mounting bracket；31, transmission shaft；32, shaft coupling.
In Fig. 3,13, motor for double-ended drive；14, stepper motor clamp；15 rotations remove knife motor；16, cutterhead；17, tine；
20, reciprocal optical axis；21, optical axis guide rail；22, flake connector；23, lead screw；24, spill spin block.
In Fig. 4,12, motor fixing plate；13, motor for double-ended drive；18, flame spray head；19, spray head fixation clamp；20, reciprocal
Optical axis；21, optical axis guide rail；22, flake connector；23, lead screw；24, spill spin block.
In Fig. 5,16, cutterhead；17, tine；33, fixing bolt.
Specific embodiment:
The purpose of the present invention is to provide a kind of crushing flaming weeder based on machine vision, it is characterised in that；Device
Be made of vehicle frame, sighting device and executing agency, vehicle frame by gas tank case (1), geared stepper motor (4), the direction x translation shaft (5),
The direction z translation shaft (6), vehicle frame upper end (7), the direction y translation shaft (8), sliding block (9), transmission parts (10), fixing bolt (11),
Vehicle frame lower end (26), wheel (27), wheel carrier (28), universal connection (29), Wheel mounting bracket (30), transmission shaft (31), shaft coupling
Device (32) composition, sighting device is made of lens supporting structure (2), camera (3), executing agency by motor fixing plate (12),
Motor for double-ended drive (13), stepper motor clamp (14), rotation remove knife motor (15), cutterhead (16), tine (17), flame spray head
(18), spray head fixation clamp (19), reciprocal optical axis (20), optical axis guide rail (21), flake connector (22), lead screw (23), spill spin block
(24), combustible gas hose (25) forms, and wherein wheel (27) is connect with wheel carrier (28), wheel carrier (28) and universal connection (29)
It fixes, what universal connection (29) can be turned to after connecting with Wheel mounting bracket (30) by bolt and vehicle frame lower end (26) fixed composition
Universal wheel is convenient for field traveling, and 4 direction z translation shafts (6) and vehicle frame lower end (26) are fixed, on the direction z translation shaft (6) and vehicle frame
Hold (7) fixed, vehicle frame upper end (7) and gas tank case (1) are fixed, and transmission parts (10) and every shafts in translation both ends connect and compose transmission
Part, the direction z translation shaft (6) and sliding block 1 (9) connection, sliding block 1 (9) are connect with the direction x translation shaft (5), the direction x translation shaft (5)
It is connected with sliding block 2 (9), sliding block 2 (9) is connect with the direction y translation shaft (8), the direction y translation shaft (8) and sliding block 3 (9) connection, transmission
Stepper motor 1 (4) connect input power with transmission parts (10), and transmission parts (10) and the direction z translation shaft (6), which are constituted, to be driven,
The two ipsilateral direction z translation shafts (6) are coupled the synchronous transmitting for realizing power by transmission shaft (31) with shaft coupling (32),
Geared stepper motor 2 (4) and transmission parts (10) power input, and transmission parts (10) and the direction x translation shaft (5) are constituted and be driven,
Geared stepper motor 3 (4) and transmission parts (10) power input, and transmission parts (10) constitute biography with the direction x translation shaft (5)
It is dynamic, realize the flexible movement of three-shaft linkage, lens supporting structure (2) is fixed on vehicle frame upper end (7), camera (3) and camera
Fixed frame (2) can be adjusted the angle freely after being connected and fixed, and sliding block 3 (9) is connect with motor fixing plate (12), motor fixing plate (12)
Affixed with motor for double-ended drive (13), (13) one side axle of motor for double-ended drive is connect with spill spin block 1 (24), spill spin block 1 (24) and flake
Connector 1 (22) is fixed, and flake connector 1 (22) is fixed with lead screw (23) one end, and lead screw (23) other end and flake connector 2 (22) are solid
Fixed, flake connector 2 (22) is bolted with flake connector 3 (22), and flake connector 3 (22) and reciprocal optical axis (20) are fixed,
Reciprocal optical axis (20) protrudes into and realizes reciprocating motion in two optical axis guide rails (21), reciprocal optical axis (20) and stepper motor clamp (14)
Affixed, with rotation except knife motor (15) are affixed, rotation connects stepper motor clamp (14) except knife motor (15) and cutterhead (16) cooperation
It connects, cutterhead (16) and tine (17) are coupled and complete weeds crushing execution unit, motor for double-ended drive (13) another side axle and rotation
Switch block 2 (24) connection, spill spin block 2 (24) and flake connector 4 (22) are fixed, and flake connector 4 (22) is fixed with lead screw (23) one end,
Lead screw (23) other end and flake connector 5 (22) are fixed, and flake connector 5 (22) is bolted with flake connector 6 (22), fish
Eye connector 6 (22) and reciprocal optical axis (20) are fixed, and reciprocal optical axis (20), which is protruded into, realizes reciprocating motion in two optical axis guide rails (21),
Reciprocal optical axis (20) and flame spray head (18) are connected by spray head fixation clamp (19), flame spray head (18) and combustible gas hose
(25) it connects, combustible gas hose (25) is closely connected with gas tank case (1).A kind of crushing flame weeding based on machine vision
Machine, it is characterised in that: the invention can combine weeding by machine and flame weeding together, carry out physics in weeding by machine's actuator
Flame injection is carried out by remains of the flame weeding actuator to weeds after crushing, and then Double inactivation is carried out to weeds and is thoroughly disappeared
It goes out weeds, body is mounted on power platform, passes through wheel (27), wheel carrier (28), universal connection (29), Wheel mounting bracket (30)
The universal wheel of composition may be implemented freely to walk in field, the direction x translation shaft (5), the direction z translation shaft (6), the direction y translation shaft
(8), sliding block (9) constitutes the general frame of three-shaft linkage, carries out power input to frame by geared stepper motor (4), by
Transmission shaft (31) and shaft coupling (32) carry out power transmitting, are achieved the flexible quick movement of three-shaft linkage, motor for double-ended drive
(13) two sides are weeding by machine's actuator and flame weeding actuator, form an alternating movement under other component cooperation
Process, weeding actuator are promoted after the completion of working downwards, and flame weeding actuator takes over downward work.
Claims (2)
1. being provided the purpose of the invention is to overcome the shortcomings of that traditional field weeding mechanical efficiency is low and the problem of weeding precision
A kind of crushing flaming weeder based on machine vision, it is characterised in that；Device is by vehicle frame, sighting device and executing agency's group
At, vehicle frame by gas tank case (1), geared stepper motor (4), the direction x translation shaft (5), the direction z translation shaft (6), vehicle frame upper end (7),
The direction y translation shaft (8), sliding block (9), transmission parts (10), fixing bolt (11), vehicle frame lower end (26), wheel (27), wheel carrier
(28), universal connection (29), Wheel mounting bracket (30), transmission shaft (31), shaft coupling (32) composition, sighting device are consolidated by camera
Determine frame (2), camera (3) composition, executing agency is by motor fixing plate (12), motor for double-ended drive (13), stepper motor clamp
(14), rotation is except knife motor (15), cutterhead (16), tine (17), flame spray head (18), spray head fixation clamp (19), past compound light
Axis (20), optical axis guide rail (21), flake connector (22), lead screw (23), spill spin block (24), combustible gas hose (25) composition, wherein
Wheel (27) is connect with wheel carrier (28), and wheel carrier (28) and universal connection (29) are fixed, and universal connection (29) is fixed with wheel
By the fixed universal wheel that can be turned to that constitutes of bolt and vehicle frame lower end (26) convenient for field traveling, 4 directions z after frame (30) connection
Translation shaft (6) and vehicle frame lower end (26) are fixed, and the direction z translation shaft (6) and vehicle frame upper end (7) are fixed, vehicle frame upper end (7) and gas tank
Case (1) is fixed, and transmission parts (10) and every shafts in translation both ends connect and compose running part, the direction z translation shaft (6) and sliding block 1
(9) it connects, sliding block 1 (9) is connect with the direction x translation shaft (5), the direction x translation shaft (5) and sliding block 2 (9) connection, sliding block 2 (9) and y
Direction translation shaft (8) connection, the direction y translation shaft (8) and sliding block 3 (9) connect, geared stepper motor 1 (4) and transmission parts (10)
Input power is connected, transmission parts (10) and the direction z translation shaft (6), which are constituted, to be driven, and the two ipsilateral direction z translation shafts (6) are logical
It crosses transmission shaft (31) and is coupled the synchronous transmitting for realizing power, geared stepper motor 2 (4) and transmission parts with shaft coupling (32)
(10) power inputs, and transmission parts (10) and the direction x translation shaft (5) are constituted and be driven, geared stepper motor 3 (4) and transmission parts
(10) power inputs, and transmission parts (10) constitute transmission with the direction x translation shaft (5), realizes the flexible movement of three-shaft linkage, takes the photograph
Picture head frame (2) is fixed on vehicle frame upper end (7), and camera (3) can be adjusted freely after being connected and fixed with lens supporting structure (2)
Angle, sliding block 3 (9) are connect with motor fixing plate (12), and motor fixing plate (12) and motor for double-ended drive (13) are affixed, Double shaft-extension electricity
(13) one side axle of machine is connect with spill spin block 1 (24), and spill spin block 1 (24) and flake connector 1 (22) are fixed, flake connector 1 (22) with
Lead screw (23) one end is fixed, and lead screw (23) other end and flake connector 2 (22) are fixed, flake connector 2 (22) and flake connector 3
(22) it is bolted, flake connector 3 (22) and reciprocal optical axis (20) are fixed, and reciprocal optical axis (20) protrudes into two optical axis guide rails
(21) it realizes and moves back and forth in, reciprocal optical axis (20) and stepper motor clamp (14) are affixed, stepper motor clamp (14) and rotation
Except knife motor (15) is affixed, rotation is cooperatively connected except knife motor (15) and cutterhead (16), cutterhead (16) and tine (17) cooperation are pacified
Install into weeds and crush execution unit, motor for double-ended drive (13) another side axle connect with spill spin block 2 (24), spill spin block 2 (24) and
Flake connector 4 (22) is fixed, and flake connector 4 (22) is fixed with lead screw (23) one end, lead screw (23) other end and flake connector 5
(22) fixed, flake connector 5 (22) is bolted with flake connector 6 (22), flake connector 6 (22) and reciprocal optical axis (20)
Fixed, reciprocal optical axis (20), which is protruded into, realizes reciprocating motion, reciprocal optical axis (20) and flame spray head in two optical axis guide rails (21)
(18) it is connected by spray head fixation clamp (19), flame spray head (18) is connect with combustible gas hose (25), combustible gas hose (25)
It is closely connected with gas tank case (1).
2. a kind of crushing flaming weeder based on machine vision as described in claim 1, it is characterised in that: the invention can be with
Weeding by machine and flame weeding are combined together, pass through flame weeding actuator after weeding by machine's actuator carries out physical crushing
Flame injection is carried out to the remains of weeds, and then Double inactivation is carried out to weeds and utterly destroys weeds, it is flat that body is mounted on power
Platform may be implemented by the universal wheel that wheel (27), wheel carrier (28), universal connection (29), Wheel mounting bracket (30) are constituted
Field is freely walked, and the direction x translation shaft (5), the direction z translation shaft (6), the direction y translation shaft (8), sliding block (9) constitute three axis connection
Dynamic general frame carries out power input to frame by geared stepper motor (4), by transmission shaft (31) and shaft coupling (32) into
Action edge transmitting, is achieved the flexible quick movement of three-shaft linkage, and motor for double-ended drive (13) two sides are weeding by machine's actuator
With flame weeding actuator, the process of an alternating movement is formd under other component cooperation, weeding actuator works downwards
It is promoted after the completion, flame weeding actuator takes over downward work.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910841512.3A CN110447627A (en) | 2019-09-06 | 2019-09-06 | A kind of crushing flaming weeder based on machine vision |
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| CN201910841512.3A CN110447627A (en) | 2019-09-06 | 2019-09-06 | A kind of crushing flaming weeder based on machine vision |
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| CN113951240A (en) * | 2021-11-29 | 2022-01-21 | 芜湖多加农业科技有限责任公司 | Paddy field weeding device |
| CN114747561A (en) * | 2022-04-27 | 2022-07-15 | 中垦种业股份有限公司 | Efficient weeding method for wheat field |
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| CN113951240A (en) * | 2021-11-29 | 2022-01-21 | 芜湖多加农业科技有限责任公司 | Paddy field weeding device |
| CN114747561A (en) * | 2022-04-27 | 2022-07-15 | 中垦种业股份有限公司 | Efficient weeding method for wheat field |
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Application publication date: 20191115 |