CN113721452A - 一种机械除草部件地面倾斜立体仿形装置及方法 - Google Patents
一种机械除草部件地面倾斜立体仿形装置及方法 Download PDFInfo
- Publication number
- CN113721452A CN113721452A CN202111012442.4A CN202111012442A CN113721452A CN 113721452 A CN113721452 A CN 113721452A CN 202111012442 A CN202111012442 A CN 202111012442A CN 113721452 A CN113721452 A CN 113721452A
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- depth
- inclination
- weeding
- connecting rod
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- 238000009333 weeding Methods 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000001360 synchronised effect Effects 0.000 claims abstract description 28
- 230000008859 change Effects 0.000 claims abstract description 15
- 230000008447 perception Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 39
- 239000000725 suspension Substances 0.000 claims description 27
- 238000004458 analytical method Methods 0.000 claims description 17
- 230000004044 response Effects 0.000 claims description 13
- 238000011217 control strategy Methods 0.000 claims description 7
- 230000005284 excitation Effects 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 241000196324 Embryophyta Species 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000002363 herbicidal effect Effects 0.000 description 3
- 239000004009 herbicide Substances 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 239000013043 chemical agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000447 pesticide residue Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
- 230000001988 toxicity Effects 0.000 description 1
- 231100000419 toxicity Toxicity 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/28—Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull
- A01D75/287—Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull acting on the mowing table
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
-
- 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
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
-
- 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
- A01M21/02—Apparatus for mechanical destruction
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Insects & Arthropods (AREA)
- Zoology (AREA)
- Wood Science & Technology (AREA)
- Pest Control & Pesticides (AREA)
- Soil Sciences (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Soil Working Implements (AREA)
Abstract
Description
Claims (9)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111012442.4A CN113721452B (zh) | 2021-08-31 | 2021-08-31 | 一种机械除草部件地面倾斜立体仿形装置及方法 |
PCT/CN2021/119133 WO2023029110A1 (zh) | 2021-08-31 | 2021-09-17 | 一种机械除草部件地面倾斜立体仿形装置及方法 |
US18/460,375 US11980133B2 (en) | 2021-08-31 | 2023-09-01 | Ground inclination stereo profiling apparatus and method for mechanical weeding component |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111012442.4A CN113721452B (zh) | 2021-08-31 | 2021-08-31 | 一种机械除草部件地面倾斜立体仿形装置及方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113721452A true CN113721452A (zh) | 2021-11-30 |
CN113721452B CN113721452B (zh) | 2023-03-14 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN202111012442.4A Active CN113721452B (zh) | 2021-08-31 | 2021-08-31 | 一种机械除草部件地面倾斜立体仿形装置及方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11980133B2 (zh) |
CN (1) | CN113721452B (zh) |
WO (1) | WO2023029110A1 (zh) |
Citations (13)
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JP2012005416A (ja) * | 2010-06-24 | 2012-01-12 | Iseki & Co Ltd | 作業車両の除草作業機 |
CN102550153A (zh) * | 2012-02-17 | 2012-07-11 | 农业部南京农业机械化研究所 | 设施栽培机械化耕作深度智能调节装置 |
CN108551775A (zh) * | 2018-01-24 | 2018-09-21 | 中国农业大学 | 一种双边立式自动避障株间除草机 |
CN109005692A (zh) * | 2018-04-23 | 2018-12-18 | 宁波协亚农业装备制造有限公司 | 一种侧向移位株间除草机 |
CN109601030A (zh) * | 2019-02-25 | 2019-04-12 | 东北农业大学 | 一种智能自适应圆盘刀式株间除草装置 |
CN110249733A (zh) * | 2019-06-13 | 2019-09-20 | 农业农村部南京农业机械化研究所 | 全自动移栽联合作业机栽植单元升降控制设备 |
CN209489139U (zh) * | 2019-02-01 | 2019-10-15 | 山东农业大学 | 一种果园双行开沟施肥机 |
CN110637801A (zh) * | 2019-10-24 | 2020-01-03 | 农业农村部南京农业机械化研究所 | 大型喷杆滚转运动控制用的电液主动悬架系统与控制方法 |
JP2020080729A (ja) * | 2018-11-26 | 2020-06-04 | 株式会社クボタ | 除草作業機 |
CN210986945U (zh) * | 2019-09-26 | 2020-07-14 | 华中农业大学 | 基于角度调节的拖拉机耕深电液控制装置 |
CN111645478A (zh) * | 2020-05-27 | 2020-09-11 | 农业农村部南京农业机械化研究所 | 具有柔性仿形底盘的轮式农田管理机器人及仿形控制方法 |
CN112772622A (zh) * | 2021-01-27 | 2021-05-11 | 埃森农机常州有限公司 | 一种可根据水稻田起伏而调整的株行距除草装置 |
CN213880814U (zh) * | 2020-10-29 | 2021-08-06 | 中国农业大学 | 一种林果株间与垄上双作业仿形避障除草装置 |
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US4641490A (en) * | 1985-04-12 | 1987-02-10 | New Holland Inc. | Header height/lateral float control for combine header |
JP3916555B2 (ja) * | 2002-12-13 | 2007-05-16 | 株式会社クボタ | 農作業機のローリング制御装置 |
CN102308692B (zh) * | 2010-07-06 | 2014-01-29 | 中国农业机械化科学研究院 | 一种插深自适应调节方法与装置及具有该装置的插秧机 |
DE102015105217A1 (de) * | 2015-04-07 | 2016-10-13 | Claas Saulgau Gmbh | Verfahren zum Betreiben eines landwirtschaftlichen Erntefahrzeugs und Steuerungseinrichtung |
US10091953B1 (en) * | 2016-12-13 | 2018-10-09 | Brian Stagner | Gardening kit |
CN209994821U (zh) * | 2019-05-24 | 2020-01-31 | 山东交通学院 | 一种大型水稻直播作业机组自动控制装置 |
CN111955068B (zh) * | 2020-07-30 | 2022-02-18 | 浙江大学 | 一种田间除草机及除草方法 |
CN111903317A (zh) * | 2020-08-20 | 2020-11-10 | 山东理工大学 | 一种联合收获机割台高度自动控制系统 |
EP3967118A1 (en) * | 2020-09-15 | 2022-03-16 | Kubota Corporation | A method for operating an agricultural machine having working tools configured for mechanical weeding and agricultural machine |
CN112293392B (zh) * | 2020-10-30 | 2022-03-25 | 华南农业大学 | 一种自动仿形的水稻行间推压式除草装置、除草装置组和除草方法 |
CN112189443B (zh) * | 2020-12-07 | 2021-02-23 | 农业农村部南京农业机械化研究所 | 一种大豆收获机割台高度电液调控方法及系统 |
-
2021
- 2021-08-31 CN CN202111012442.4A patent/CN113721452B/zh active Active
- 2021-09-17 WO PCT/CN2021/119133 patent/WO2023029110A1/zh active Application Filing
-
2023
- 2023-09-01 US US18/460,375 patent/US11980133B2/en active Active
Patent Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012005416A (ja) * | 2010-06-24 | 2012-01-12 | Iseki & Co Ltd | 作業車両の除草作業機 |
CN102550153A (zh) * | 2012-02-17 | 2012-07-11 | 农业部南京农业机械化研究所 | 设施栽培机械化耕作深度智能调节装置 |
CN108551775A (zh) * | 2018-01-24 | 2018-09-21 | 中国农业大学 | 一种双边立式自动避障株间除草机 |
CN109005692A (zh) * | 2018-04-23 | 2018-12-18 | 宁波协亚农业装备制造有限公司 | 一种侧向移位株间除草机 |
JP2020080729A (ja) * | 2018-11-26 | 2020-06-04 | 株式会社クボタ | 除草作業機 |
CN209489139U (zh) * | 2019-02-01 | 2019-10-15 | 山东农业大学 | 一种果园双行开沟施肥机 |
CN109601030A (zh) * | 2019-02-25 | 2019-04-12 | 东北农业大学 | 一种智能自适应圆盘刀式株间除草装置 |
CN110249733A (zh) * | 2019-06-13 | 2019-09-20 | 农业农村部南京农业机械化研究所 | 全自动移栽联合作业机栽植单元升降控制设备 |
CN210986945U (zh) * | 2019-09-26 | 2020-07-14 | 华中农业大学 | 基于角度调节的拖拉机耕深电液控制装置 |
CN110637801A (zh) * | 2019-10-24 | 2020-01-03 | 农业农村部南京农业机械化研究所 | 大型喷杆滚转运动控制用的电液主动悬架系统与控制方法 |
CN111645478A (zh) * | 2020-05-27 | 2020-09-11 | 农业农村部南京农业机械化研究所 | 具有柔性仿形底盘的轮式农田管理机器人及仿形控制方法 |
CN213880814U (zh) * | 2020-10-29 | 2021-08-06 | 中国农业大学 | 一种林果株间与垄上双作业仿形避障除草装置 |
CN112772622A (zh) * | 2021-01-27 | 2021-05-11 | 埃森农机常州有限公司 | 一种可根据水稻田起伏而调整的株行距除草装置 |
Also Published As
Publication number | Publication date |
---|---|
WO2023029110A1 (zh) | 2023-03-09 |
CN113721452B (zh) | 2023-03-14 |
US20230403979A1 (en) | 2023-12-21 |
US11980133B2 (en) | 2024-05-14 |
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Application publication date: 20211130 Assignee: Suzhou Tongzhijie Electromechanical Technology Service Co.,Ltd. Assignor: NANJING Research Institute FOR AGRICULTURAL MECHANIZATION MINISTRY OF AGRICULTURE Contract record no.: X2023980045021 Denomination of invention: A mechanical weeding component ground tilt three-dimensional copying device and method Granted publication date: 20230314 License type: Exclusive License Record date: 20231031 |