CN114451082B - In-line real-time mechanical weeding equipment and weeding method - Google Patents
In-line real-time mechanical weeding equipment and weeding method Download PDFInfo
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- CN114451082B CN114451082B CN202111534202.0A CN202111534202A CN114451082B CN 114451082 B CN114451082 B CN 114451082B CN 202111534202 A CN202111534202 A CN 202111534202A CN 114451082 B CN114451082 B CN 114451082B
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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
- A01B39/08—Other machines specially adapted for working soil on which crops are growing with rotating tools such as weeding machines
- A01B39/085—Other machines specially adapted for working soil on which crops are growing with rotating tools such as weeding machines the rotating tools being actively driven
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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
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
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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
- A01B39/20—Tools; Details
- A01B39/22—Tools; Mounting tools
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention belongs to the technical field of agricultural mechanical equipment, and relates to an in-line real-time mechanical weeding device and a weeding method, wherein the in-line real-time mechanical weeding device comprises: the weeding vehicle comprises a weeding vehicle body, wherein four electric driving wheels are arranged on the lower side of the weeding vehicle body, a crop identification system is arranged at the bottom of the weeding vehicle body and comprises RGB cameras, darkrooms and halogen lamps, the halogen lamps are arranged at four corners of the darkrooms, a weeding cutter system is arranged behind the crop identification system, a control box is arranged above the weeding vehicle body, and a real-time positioning module, a weeding cutter driving module and a power supply are arranged in the control box. The invention mainly aims at the short and small economic crops such as beet and lettuce, can realize automatic control in the weeding process of four to six leaf stages of crops, can advance along the crop row, and can clearly weed to realize accurate weeding, thereby improving the weeding efficiency, reducing the labor intensity of staff, saving the labor cost and improving the working efficiency.
Description
Technical Field
The invention belongs to the technical field of agricultural mechanical equipment, relates to farmland weeding equipment and a working method thereof, and particularly relates to in-row real-time mechanical weeding equipment and a weeding method.
Background
During the growth process of crops, the crops can compete for nutrients, moisture and space with the crops by the strong-vitality weeds in the farmland; especially, in the period of four to six leaves, the vitality of crops is weaker than that of weeds, and the crops are easy to eliminate, so that weeding is an essential procedure. Traditional weeding is completed by adopting a hoe: the head of the hoe goes deep into the soil, the handle of the hoe is pulled manually, the hoe moves in the soil, grass roots are shoveled off below the ground surface, soil is loosened in the farmland, the soil which is in blocks is broken by the hoe, and finally the effects of weeding, loosening the soil, retaining water and preventing soil crusting are achieved. The manual weeding mode has low requirements, but has the advantages of high labor consumption, low work efficiency and incapability of timely preventing and killing in a large area. Thus, mechanical weeding is currently the dominant physical weeding method specifically designed to control weeds in crop rows, i.e., those in the center of the row but outside the safe area, without damaging the row crop being planted precisely.
Disclosure of Invention
At present, no more weeding equipment for low-plant commercial crops can be selected in the market, and in the weeding link of the low-plant commercial crops, early weeding (especially 4-6 is a leaf period), the application provides equipment and a weeding method for early weeding of the low-plant commercial crops, and the aim of the invention is to provide a weeding vehicle and a weeding method thereof, which can solve the problem of low operation efficiency caused by complex operation conditions, omission of operation and the like in the rows of crops and the periphery of the crops.
In order to achieve the above purpose, the present invention is realized by the following technical scheme:
an in-line real-time mechanical weeding apparatus comprising: the weeding vehicle comprises a weeding vehicle body 1, two side wings 6, a weeding cutter system, a crop identification system and a control system;
the herbicidal knife system comprises: the weeding device comprises a pneumatic cylinder I7, two connecting rods 8, two small motors 9, two weeding knives 10, a pneumatic cylinder II 16, two connecting blocks 17 and a transmission mechanism;
the transmission mechanism comprises: two sliders 18 and two slide rails 19;
the crop identification system includes: an RGB camera 11, a darkroom 12, and four halogen lamps 13;
the control system includes: a processor 5 and a weeding cutter driving module;
an L-shaped side wing 6 is symmetrically arranged on the left side and the right side of one third of the rear end of the weeding vehicle body 1 below the top of the weeding vehicle body 1;
the side wing 6 positioned at the left side is connected with the fixed end of the first pneumatic cylinder 7, and the movable end of the first pneumatic cylinder 7 is connected with one end of the connecting block 17;
the connecting rod 8 is vertically arranged, and the other end of the connecting block 17 is connected with the connecting rod 18 near the upper end; the small motor 9 is fixed at the lower end of the connecting rod 18; the output shaft of the small motor 9 is vertically downward, and the output shaft of the small motor 9 is fixedly connected with the center of the weeding cutter 10;
the stroke direction of the first pneumatic cylinder 7 is mutually perpendicular to the connecting rod 8, so that the stress increase of the connecting part caused by the inclination angle in the movement process is avoided;
the side wing 6 positioned on the right side is connected with the fixed end of the pneumatic cylinder II 16, and the movable end of the pneumatic cylinder II 16 is connected with one end of the other connecting block 17;
the other connecting rod 8 is vertically arranged, and the other end of the other connecting block 17 is connected with the other connecting rod 18 near the upper end; the other small motor 9 is fixed at the lower end of the other connecting rod 18; the output shaft of the other small motor 9 is vertically downward, and the output shaft of the other small motor 9 is fixedly connected with the center of the other weeding cutter 10;
the stroke direction of the second pneumatic cylinder 16 is mutually perpendicular to the other connecting rod 8, so that the stress increase of the connecting part caused by the inclination angle in the movement process is avoided;
the processor 5 is connected with a weeding cutter driving module, and the weeding cutter driving module is connected with two small motors 9;
the weeding cutter driving module drives two small motors 9 to rotate under the control of the processor 5, so that two weeding cutters 10 are driven to rotate, the weeding cutters 10 cut into soil and push forwards, weeds outside the safety area between rows and in the rows are shoveled out, and the weeding process is completed;
the upper ends of the two connecting rods 8 are fixedly connected with a sliding block 18 respectively;
two slide rails 9 which are transversely arranged and positioned on the same straight line are arranged at one third of the bottom of the weeding vehicle body 1 from the rear end of the weeding vehicle body 1;
the two sliding blocks 18 are respectively positioned in the two sliding rails 9 and can respectively slide left and right freely in the two sliding rails 9;
the darkroom 12 is arranged in front of the bottom of the weeding vehicle body 1;
the RGB camera 11 is connected with the processor 5, and the RGB camera 11 is arranged in the darkroom 12;
the four halogen lamps 13 are respectively arranged at four corners of the inner top of the darkroom 12;
the four halogen lamps 13 illuminate the whole darkroom 12 by adjusting the angles thereof to provide a light source for the RGB camera 11 and simultaneously eliminate the shadows of plants entering the darkroom 12;
the RGB camera 11 shoots, after time delay, the image information is transmitted to the processor 5 for processing, the processor 5 identifies the safety area range between lines and in lines, and the first pneumatic cylinder 7 and the second pneumatic cylinder 16 are controlled to drive the weeding cutter 10 to move left and right so as to eradicate weeds outside the safety area range between lines and in lines;
the safety zone range is as follows: a circular area with a radius of about 6cm centered on the crop.
On the basis of the technical scheme, a control box 2 is arranged on the weeding vehicle body 1;
the processor 5 and the weeding cutter driving module are both arranged in the control box 2.
On the basis of the technical scheme, the in-line real-time mechanical weeding device further comprises: four electric drive wheels 14;
the control system further includes: the weeding vehicle driving module and the real-time positioning module; the weeding vehicle driving module and the real-time positioning module are both arranged in the control box 2;
the processor 5 is connected with a weeding vehicle driving module and a real-time positioning module, and the weeding vehicle driving module is connected with four electric driving wheels 14;
two electric driving wheels 14 are symmetrically arranged on the left and right sides of the front end of the bottom of the weeding vehicle body 1, and two electric driving wheels 14 are symmetrically arranged on the left and right sides of the rear end of the bottom of the weeding vehicle body 1;
the real-time positioning module is used for positioning the field position and sending the field position information to the processor 5; the processor 5 controls the weeding vehicle driving module to drive the four electric driving wheels 14 to rotate according to the field position information, so that the weeding vehicle body 1 moves along the crop row in the field.
On the basis of the above technical solution, the diameters of the four electric driving wheels 14 are: 50cm, width: 20cm, can pass through the row space better, and simultaneously avoid the conditions of soil compaction and the like. The larger electric drive wheels 14 allow the herbicidal vehicle body 1 to easily ride over short commercial crops such as sugar beets and lettuce.
On the basis of the technical scheme, the strokes of the first pneumatic cylinder 7 and the second pneumatic cylinder 16 are as follows: 15cm.
On the basis of the technical scheme, the weeding vehicle body 1 and the two side wings 6 are integrally manufactured.
On the basis of the technical scheme, the left side wing 6 is connected with the fixed end of the first pneumatic cylinder 7 through welding, and the right side wing 6 is connected with the fixed end of the second pneumatic cylinder 16 through welding.
On the basis of the technical scheme, the movable end of the first pneumatic cylinder 7 is connected with one end of the connecting block 17 through rivet riveting; the other end of the connecting block 17 is also connected with the connecting rod 18 near the upper end through rivet riveting;
the movable end of the second pneumatic cylinder 16 is riveted with one end of the other connecting block 17 by a rivet, and the other end of the other connecting block 17 is also riveted with the upper end of the other connecting rod 18.
On the basis of the technical scheme, the in-line real-time mechanical weeding device further comprises: a power supply 3;
the power supply 3 is arranged in the control box 2;
the power supply 3 is connected with the processor 5;
the power supply 3 supplies power to the processor 5.
On the basis of the technical scheme, the in-line real-time mechanical weeding device further comprises: a receiving antenna 15 and a remote controller;
the receiving antenna is arranged at the rear end of the top of the weeding vehicle body 1, the receiving antenna 15 is in wireless connection with the remote controller, and the receiving antenna 15 is connected with the processor 5;
the remote control sends a control signal to the processor 5 through the receiving antenna 15, so as to control the operation of the in-line real-time mechanical weeding device.
On the basis of the above technical solution, the weeding cutter 10 includes: a weeding cutter body 20 and a plurality of weeding cutter blades 21;
the weeding cutter body 20 is: disc type;
the plurality of weeding cutter blades 21 are uniformly distributed and fixed on the edge of the weeding cutter body 20.
On the basis of the technical proposal, the weeding cutter body 20 is manufactured by using tool steel subjected to pre-hardening treatment.
On the basis of the technical scheme, the thickness of the weeding cutter body 20 is 6.4mm.
On the basis of the technical proposal, the shape of the plurality of weeding cutter blades 21 is approximately a curved trapezoid; the bevel edge of the plurality of weeding cutter blades 21 at the soil entering end forms an angle of 30 degrees with the plane of the weeding cutter body 20.
On the basis of the technical scheme, the thickness of the plurality of weeding cutter blades 21 is as follows: 5mm; the height of the plurality of weeding cutter blades 21 is: 2cm; the width of the projection of the plurality of weeding cutter blades 21 on the horizontal plane is as follows: 3cm.
On the basis of the above technical solution, the number of the weeding cutter blades 21 is four.
On the basis of the technical scheme, the darkroom 12 is surrounded by shading cloth;
the shade cloths on the front and rear sides of the darkroom 12 are cut into strips to facilitate the passage of plants through the darkroom 12.
On the basis of the technical scheme, the real-time positioning module comprises: the Beidou real-time positioning module 4 and the GPS real-time positioning module.
On the basis of the technical scheme, the Beidou real-time positioning module 4 is: big dipper RTK high accuracy positioning module.
Based on the above technical solution, the processor 5 is: raspberry Pi.
On the basis of the technical scheme, the output shaft of the small motor 9 is fixedly connected with the center of the weeding cutter 10 through a coupler.
On the basis of the above technical solution, when the herbicide 10 is weeding, the left herbicide 10 rotates clockwise, and the right herbicide 10 rotates counterclockwise.
A weeding method using the in-line real-time mechanical weeding equipment comprises the following steps:
s1, photographing by an RGB camera 11, and transmitting image information to a processor 5 after time delay (because a weeding cutter 10 is arranged behind the RGB camera 11);
s2, the processor 5 performs characteristic extraction on crop identification, and classifies the safe area range and the unsafe area range;
the safety zone range is as follows: a circular area with a radius of about 6cm centered on the crop;
the range of the unsafe zone is as follows: outside the safe area within the crop row;
s3, a control algorithm is adopted by the processor 5, and the left and right lateral movement positions of the two weeding knives 10 are controlled by combining with real-time positioning;
the processor 5 is combined with real-time positioning and controls the forward movement of the weeding vehicle body 1 and the rotation of the two weeding knives 10 to perform weeding operation;
the control algorithm is: and (3) carrying out frame selection on the classified areas by using rectangular frames, cutting and extracting target crops after covering by using a mask, taking the center of the rectangular frames as the coordinates of main stems, and further controlling the opening and closing of the two weeding cutters 10 so as to avoid the crops and finish weeding process.
The beneficial technical effects of the invention are as follows:
the invention mainly aims at the short and small economic crops such as beet and lettuce, can realize automatic control in the weeding process of four to six leaf stages of crops, can advance along the crop row, and can clearly weed to realize accurate weeding. The in-line real-time mechanical weeding device truly realizes in-line weeding in the field through the crop identification system, provides an effective in-line weeding means for field cash crops, greatly improves in-line weeding efficiency, does not need personnel to perform high-strength operation, greatly reduces labor intensity of operators while improving weeding efficiency, saves labor cost and improves working efficiency. The working mode of bypassing crops in the technical scheme is as follows: the weeding cutter 10 is pulled to two sides of crops, the weeding cutter 10 is not lifted, the weeding cutter 10 can be changed into a lifting structure, and weeds at two sides of the crops cannot be removed.
Drawings
The invention has the following drawings:
FIG. 1 is a schematic structural diagram of an in-line real-time mechanical weeding apparatus according to the present invention;
FIG. 2 is a schematic structural view of the herbicide knife system of the present invention;
FIG. 3 is a schematic diagram of a crop identification system according to the present invention;
FIG. 4 is a schematic diagram of a transmission mechanism according to the present invention;
fig. 5 is a schematic perspective view of the weeding cutter 10 according to the present invention;
fig. 6 is a schematic bottom view of the weeding cutter 10 according to the present invention;
FIG. 7 is a schematic block diagram of the connection of the control system of the present invention;
FIG. 8 is a schematic flow chart of the method for real-time mechanical weeding in a row according to the invention.
Reference numerals:
1. weeding vehicle body; 2. a control box; 3. a power supply; 4. the Beidou real-time positioning module; 5. a processor; 6. a side wing; 7. a first pneumatic cylinder; 8. a connecting rod; 9. a small motor; 10. weeding knives; 11. an RGB video camera; 12. a darkroom; 13. a halogen lamp; 14. an electric drive wheel; 15. a receiving antenna; 16. a pneumatic cylinder II; 17. a connecting block; 18. a slide block; 19. a slide rail; 20. weeding cutter body; 21. weeding knife blade.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms also are intended to include the plural forms unless the present invention clearly dictates otherwise, and furthermore, it should be understood that when the terms "comprise" and/or "include" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof; for convenience of description, the words "upper", "lower", "left" and "right" in the present invention, if they mean only the directions of upper, lower, left and right in correspondence with the drawings themselves, do not limit the structure, and merely facilitate description of the invention and simplify description, without indicating or implying that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Term interpretation section: the terms "mounted," "connected," and "fixed" as used herein are to be construed broadly and include, for example, either permanently connected or removably connected, or as a unit; the terms are used herein as specific meanings as understood by those of ordinary skill in the art, and are not limited to the following terms.
As described in the background, the following serious problems exist in the prior art: the invention provides an intra-line weeding device and a weeding method (namely, an intra-line real-time mechanical weeding device and a weeding method) based on dynamic identification, which can solve the technical problems that weeding is not fine, weeding efficiency is low, weeding knife soil is serious and the like in the weeding process.
In an exemplary embodiment of the present invention, as shown in fig. 1-7, an cash crop in-line weeding apparatus (i.e., an in-line real-time mechanical weeding device) comprising: the weeding vehicle comprises a weeding vehicle body 1, four electric driving wheels 14 which are uniformly distributed in front and back are symmetrically arranged on the lower side wall of the weeding vehicle body 1, weeding vehicle driving modules matched with the electric driving wheels 14 are arranged in the weeding vehicle body 1, a control box 2 is arranged above the weeding vehicle body 1, and a power supply 3, a Beidou real-time positioning module 4 and a processor 5 are arranged in the control box 2. The weeding cutter system is arranged at one third of the rear end of the weeding vehicle body 1 and consists of a first pneumatic cylinder 7, a connecting rod 8, a small motor 9, a weeding cutter 10, a second pneumatic cylinder 16 and a connecting block 17, one end of the weeding cutter 10 is connected with the small motor 9 through a coupler, the weeding cutter blade 21 extending out of the other end penetrates into soil, when the weeding cutter 10 starts to work, the small motor 9 drives the weeding cutter 10 to rotate, the weeding cutter 10 cuts into the soil and advances forward, weeds outside the safety area range between rows and in the rows are shoveled out, and the weeding process is completed. In-field weeding equipment (namely in-line real-time mechanical weeding equipment) is used in a weeding process, and the weeding cutter system is matched with the crop identification system, so that field crops can be effectively avoided, weeding is performed on the way outside the safety area between lines and in lines, damage to the crops in the weeding process is prevented, the weeding efficiency is improved, the labor intensity of workers is reduced, and automatic weeding outside the safety area between lines and in lines is realized. The safety zone refers to the fact that when a worker encounters weeds which are close to plants in a weeding process by using the hoe, the worker cannot continue to clean the weeds normally by using tools, the worker is required to bend down to manually pull out the weeds, and the weeds are called weeds in the safety zone, otherwise, the weeds are called weeds outside the safety zone. The safety zone can be assumed to be a circular area of about 6cm in diameter.
The side wing 6 of the weeding equipment (i.e. the in-row real-time mechanical weeding equipment) is connected to the weeding vehicle body 1 and used for fixing the first pneumatic cylinder 7, the first pneumatic cylinder 7 pushes the connecting rod 8 above the weeding cutter 10, the connecting rod 8 moves along the sliding rail 17, meanwhile, the left side small motor 9 drives the left side weeding cutter 10 to rotate clockwise, the right side weeding cutter 9 drives the right side small motor 10 to rotate anticlockwise, and the moving weeding cutter 10 applies pressure to soil and cuts into the soil. The Beidou real-time positioning module 4 is: the big dipper RTK high accuracy positioning module, processor 5 is: the herbicide Pi is provided with a receiving antenna 15 on one side of the herbicide body 1 near the rear end of the vehicle body, and the receiving antenna 15 is used for receiving a control signal of a remote controller, transmitting the control signal to the processor 5, and sending the control signal through the processor 5, so that the herbicide Pi belongs to the very mature prior art, and the specific working principle of the herbicide is not described in detail in the invention. The weeding cutter system is used for removing the inter-row weed of the cash crops in the mode, so that the weeding efficiency in the rows is improved, the labor intensity of workers is reduced, the labor cost is saved, the pollution of chemical reagents to the environment is greatly reduced, and the change of the physical properties of soil is avoided.
In the invention, when weeding, a crop identification system positioned at the rear in the weeding vehicle body 1 is used for distinguishing weeds so as to identify single plants, the crop identification system consists of an RGB (red, green and blue) camera 11, a darkroom 12 and a halogen lamp 13, the halogen lamp 13 is used for preventing negative influence of direct sunlight, four halogen lamps 13 are used for illumination on site, four corners are arranged at the top of the darkroom 12, one corner is arranged, the darkroom 12 consists of shading cloth, and the RGB camera 11 is prevented from being influenced by natural light in the identification process.
In the invention, when the in-row real-time mechanical weeding equipment walks along the row of crops, the RGB camera 11 shoots, and sends the shot to the processor 5 for processing, so that the plants and weeds are distinguished, the positioning of the plants is finished, and after the positioning is finished, the weeding cutter 10 finishes the actions of opening and closing the cutter, so that the crops are avoided, and the in-row weeding without damaging the crops is realized.
As shown in fig. 8, a weeding method using the in-line real-time mechanical weeding device comprises the following steps:
s1, photographing by an RGB camera 11, and transmitting image information to a processor 5;
s2, the processor 5 performs characteristic extraction on crop identification, and classifies the safe area range and the unsafe area range;
s3, a control algorithm is adopted by the processor 5, and the left and right lateral movement positions of the two weeding knives 10 are controlled by combining with real-time positioning;
the processor 5 is combined with real-time positioning and controls the forward movement of the weeding vehicle body 1 and the rotation of the two weeding knives 10 to perform weeding operation;
the control algorithm is: and (3) carrying out frame selection on the classified areas by using rectangular frames, cutting and extracting target crops after covering by using a mask, taking the center of the rectangular frames as the coordinates of main stems, and further controlling the opening and closing of the two weeding cutters 10 so as to avoid the crops and finish weeding process.
While the foregoing description of the embodiments of the present invention has been presented with reference to the drawings, it should be understood by those skilled in the art that various changes and modifications can be made without inventive effort within the scope of the invention.
What is not described in detail in this specification is prior art known to those skilled in the art.
Claims (7)
1. An in-line real-time mechanical weeding apparatus, comprising: the weeding vehicle comprises a weeding vehicle body (1), two side wings (6), a weeding cutter system, a crop identification system and a control system;
the herbicidal knife system comprises: the weeding device comprises a first pneumatic cylinder (7), two connecting rods (8), two small motors (9), two weeding knives (10), a second pneumatic cylinder (16), two connecting blocks (17) and a transmission mechanism;
the transmission mechanism comprises: two sliding blocks (18) and two sliding rails (19);
the crop identification system includes: an RGB video camera (11), a darkroom (12) and four halogen lamps (13);
the control system includes: a processor (5) and a weeding cutter driving module;
an L-shaped side wing (6) is symmetrically arranged on the left side and the right side of one third of the rear end of the weeding vehicle body (1) below the top of the weeding vehicle body (1);
the side wing (6) positioned at the left side is connected with the fixed end of the first pneumatic cylinder (7), and the movable end of the first pneumatic cylinder (7) is connected with one end of the connecting block (17);
the connecting rod (8) is vertically arranged, and the other end of the connecting block (17) is connected with the connecting rod (8) close to the upper end; the small motor (9) is fixed at the lower end of the connecting rod (8); the output shaft of the small motor (9) is vertically downward, and the output shaft of the small motor (9) is fixedly connected with the center of the weeding cutter (10);
the stroke direction of the first pneumatic cylinder (7) is perpendicular to the connecting rod (8);
the side wing (6) positioned on the right side is connected with the fixed end of the pneumatic cylinder II (16), and the movable end of the pneumatic cylinder II (16) is connected with one end of the other connecting block (17);
the other connecting rod (8) is vertically arranged, and the other end of the other connecting block (17) is connected with the other connecting rod (8) close to the upper end; the other small motor (9) is fixed at the lower end of the other connecting rod (8); the output shaft of the other small motor (9) is vertically downward, and the output shaft of the other small motor (9) is fixedly connected with the center of the other weeding cutter (10);
the stroke direction of the second pneumatic cylinder (16) is perpendicular to the other connecting rod (8);
the processor (5) is connected with a weeding cutter driving module, and the weeding cutter driving module is connected with two small motors (9);
the weeding cutter driving module drives the two small motors (9) to rotate under the control of the processor (5), so that the two weeding cutters (10) are driven to rotate, the weeding cutters (10) cut into soil and push forwards, weeds between rows and outside the safety area in the rows are removed, and the weeding process is completed;
the upper ends of the two connecting rods (8) are fixedly connected with a sliding block (18) respectively;
two slide rails (19) which are transversely arranged and positioned on the same straight line are arranged at one third of the bottom of the weeding vehicle body (1) from the rear end of the weeding vehicle body (1);
the two sliding blocks (18) are respectively positioned in the two sliding rails (19) and can respectively slide left and right freely in the two sliding rails (19);
the darkroom (12) is arranged in front of the bottom of the weeding vehicle body (1);
the RGB camera (11) is connected with the processor (5), and the RGB camera (11) is arranged in the darkroom (12);
the four halogen lamps (13) are respectively arranged at four corners of the inner top of the darkroom (12);
the four halogen lamps (13) lighten the whole darkroom (12) by adjusting the angles thereof, provide light sources for the RGB camera (11) and simultaneously eliminate the shadows of plants entering the darkroom (12);
the RGB camera (11) shoots, after time delay, the image information is transmitted to the processor (5) for processing, the processor (5) identifies the inter-row and intra-row safety area range, and the first pneumatic cylinder (7) and the second pneumatic cylinder (16) are controlled to drive the weeding cutter (10) to move left and right so as to eradicate weeds outside the inter-row and intra-row safety area range;
the safety zone range is as follows: a circular area with a radius of 6cm centered on the crop;
the weeding cutter (10) comprises: a weeding cutter body (20) and a plurality of weeding cutter blades (21);
the weeding cutter body (20) is as follows: disc type;
the edges of the weeding cutter bodies (20) are uniformly distributed and fixed with the weeding cutter blades (21);
the weeding cutter body (20) is manufactured by using tool steel subjected to pre-hardening treatment;
the shape of the plurality of weeding cutter blades (21) is approximately a curved trapezoid; the bevel edge of the soil-entering end of the plurality of weeding cutter blades (21) forms an angle of 30 degrees with the plane of the weeding cutter body (20).
2. An in-line real-time mechanical weeding apparatus according to claim 1, wherein: a control box (2) is arranged on the weeding vehicle body (1);
the processor (5) and the weeding cutter driving module are both arranged in the control box (2).
3. An in-line real-time mechanical weeding apparatus according to claim 2, wherein: the in-line real-time mechanical weeding device further comprises: four electric drive wheels (14);
the control system further includes: the weeding vehicle driving module and the real-time positioning module; the weeding vehicle driving module and the real-time positioning module are both arranged in the control box (2);
the processor (5) is connected with the weeding vehicle driving module and the real-time positioning module, and the weeding vehicle driving module is connected with the four electric driving wheels (14);
two electric driving wheels (14) are symmetrically arranged on the left side and the right side of the front end of the bottom of the weeding vehicle body (1), and two electric driving wheels (14) are symmetrically arranged on the left side and the right side of the rear end of the bottom of the weeding vehicle body (1);
the real-time positioning module is used for positioning the field position and sending the field position information to the processor (5); the processor (5) controls the weeding vehicle driving module to drive the four electric driving wheels (14) to rotate according to the field position information, so that the weeding vehicle body (1) moves along the crop row in the field.
4. An in-line real-time mechanical weeding apparatus according to claim 2, wherein: the in-line real-time mechanical weeding device further comprises: a power supply (3);
the power supply (3) is arranged in the control box (2);
the power supply (3) is connected with the processor (5);
the power supply (3) supplies power to the processor (5).
5. An in-line real-time mechanical weeding apparatus according to claim 1, wherein: the in-line real-time mechanical weeding device further comprises: a receiving antenna (15) and a remote control;
the receiving antenna is arranged at the rear end of the top of the weeding vehicle body (1), the receiving antenna (15) is in wireless connection with the remote controller, and the receiving antenna (15) is connected with the processor (5);
the remote controller sends a control signal to the processor (5) through the receiving antenna (15), so as to control the operation of the in-line real-time mechanical weeding equipment.
6. An in-line real-time mechanical weeding apparatus according to claim 1, wherein: the darkroom (12) is surrounded by shading cloth;
the shading cloth on the front and back sides of the darkroom (12) is cut into cloth strips so as to facilitate the plants to pass through the darkroom (12).
7. A weeding method using the in-line real-time mechanical weeding apparatus in accordance with any one of claims 1-6, comprising the steps of:
s1, photographing by an RGB camera (11), and transmitting image information to a processor (5) after time delay;
s2, a processor (5) identifies crops, performs feature extraction, and classifies the safe area range and the unsafe area range;
the safety zone range is as follows: a circular area with a radius of 6cm centered on the crop;
the range of the unsafe zone is as follows: outside the safe area within the crop row;
s3, a processor (5) adopts a control algorithm and combines real-time positioning to control the left and right lateral movement positions of the two weeding knives (10);
the processor (5) is combined with real-time positioning and controls the weeding vehicle body (1) to move forwards and the two weeding knives (10) to rotate so as to perform weeding operation;
the control algorithm is: and (3) carrying out frame selection on the classified areas by using rectangular frames, cutting and extracting target crops after covering by using a mask, taking the center of the rectangular frames as the coordinates of main stems, and further controlling the opening and closing of two weeding cutters (10) to avoid the crops to finish the weeding process.
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| US9119388B2 (en) * | 2013-03-15 | 2015-09-01 | Harvest Moon Automation Inc. | Selectively eradicating plants |
| CN107333513B (en) * | 2017-08-14 | 2019-11-01 | 安徽舒州农业科技有限责任公司 | A kind of automatic weeder based on unmanned plane integration of operation |
| CN107509399A (en) * | 2017-10-17 | 2017-12-26 | 中国科学院合肥物质科学研究院 | A kind of green intelligent weed-eradicating robot |
| CN109511356B (en) * | 2019-01-08 | 2023-10-24 | 安徽农业大学 | Intelligent weeding robot system based on depth vision and control method |
| CN213842060U (en) * | 2020-12-14 | 2021-07-30 | 武汉谷丰光电科技有限公司 | Gantry type full-automatic rice plant phenotype detection device |
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