CN114568048A - High-clearance field weeding robot system and working method thereof - Google Patents
High-clearance field weeding robot system and working method thereof Download PDFInfo
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- CN114568048A CN114568048A CN202210208062.6A CN202210208062A CN114568048A CN 114568048 A CN114568048 A CN 114568048A CN 202210208062 A CN202210208062 A CN 202210208062A CN 114568048 A CN114568048 A CN 114568048A
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- 238000009333 weeding Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 7
- 230000008093 supporting effect Effects 0.000 claims abstract description 32
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 29
- 230000000149 penetrating effect Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 claims 2
- 238000013016 damping Methods 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 abstract description 3
- 239000010959 steel Substances 0.000 abstract description 3
- 230000035939 shock Effects 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 3
- 244000309464 bull Species 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002363 herbicidal effect Effects 0.000 description 1
- 239000004009 herbicide Substances 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
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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
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
-
- 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
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Working Implements (AREA)
Abstract
The invention relates to a high-clearance field weeding robot system and a working method thereof, wherein the system comprises a left frame, a right frame and a supporting beam for connecting the left frame and the right frame, a first transverse adjusting block and a second transverse adjusting block are respectively arranged on the left frame and the right frame at positions close to the supporting beam, a first lead screw is arranged between the first transverse adjusting block and the second transverse adjusting block in a penetrating way, the first lead screw is in threaded connection with a threaded hole of the first transverse adjusting block, the first lead screw is in sleeved connection with a through hole of the second transverse adjusting block, the end part of the first lead screw passes through the through hole and is fixedly connected with an output shaft of a first speed reducer fixed on the second transverse adjusting block, the invention adopts a support formed by hollow steel frames, the weight is light, and the high-clearance field weeding robot system is provided with a transverse adjusting device comprising a first motor, the first lead screw, the first transverse adjusting block and the second transverse adjusting block, so that the weeding robot has good field ridge adaptability, and the height can be adjusted by the lifting shaft to adapt to the height of the plant.
Description
The technical field is as follows:
the invention belongs to the technical field of weeding robots, and mainly relates to a high-clearance field weeding robot system.
Background art:
mechanical weeding is a weeding method widely accepted by people after chemical weeding, the research of the weeding robot for realizing automatic mechanical weeding can solve the problems of manpower and environmental protection in the field weeding aspect, the machine vision is adopted for identifying crops and weeds, the chemical herbicide is sprayed in a targeted manner, the dosage can be reduced, the mechanical weeding tail end is used, even no pesticide is used, and the research significance and the wide application prospect are achieved; however, the existing weeding machine is dragged by a tractor or has large mass, and can compact soil, so that the soil is degraded; in addition, the precise weeding in the field is difficult at present, and the existing weeding machine is difficult to realize the precise weeding with high efficiency; and the mobile platform of the existing field weeding machine has stronger pertinence and can not be used for multiple purposes.
The invention content is as follows:
in view of the above, the present invention provides a weeding robot system with compact structure and adaptable to ridge spacing.
The invention discloses a high-clearance field weeding robot system, which is characterized in that: the left frame and the right frame are respectively provided with a first transverse adjusting block and a second transverse adjusting block at positions close to the supporting beam, a first lead screw penetrates between the first transverse adjusting block and the second transverse adjusting block and is in threaded connection with a threaded hole of the first transverse adjusting block, the first lead screw is in sleeve connection with a through hole of the second transverse adjusting block, the end part of the first lead screw penetrates through the through hole and is fixedly connected with an output shaft of a first speed reducer fixed on the second transverse adjusting block, and an input shaft of the first speed reducer is fixedly connected with an output shaft of a first motor; the two ends of the supporting beam penetrate through the channels of the profiles of the left frame and the right frame, wheels are arranged on the lower portions of the left frame and the right frame, and weeding devices are arranged on the lower surfaces of the left frame and the right frame.
Further, above-mentioned left frame, right frame all include two vertical supporting legs and the horizontal frame that parallel interval set up, the upper end of two vertical supporting legs is the both ends of vertical fixation at horizontal frame side respectively, horizontal frame includes two parallel arrangement's horizontal section bar and the vertical welding of three vertical section bars between two horizontal section bars, and these three vertical section bars are first vertical section bar, the vertical section bar of second and the vertical section bar of third of mutual interval respectively, and the upper end of two vertical supporting legs is the both ends of vertical section bar respectively, and a plurality of perforation have all been arranged on the vertical section bar of second and the vertical section bar of third on left frame, the right frame, wear to have connect in the perforation has the bearing axle, the end fixing that the bearing axle is close to first vertical section bar is equipped with the bearing axle sleeve.
Furthermore, two ends of the supporting beam are arranged in a channel of the transverse section bar in a penetrating mode, and the first transverse adjusting block and the second transverse adjusting block are respectively and vertically fixed on the end portion of the transverse section bar in an opposite mode.
Furthermore, the lower end part of one vertical supporting leg of the left frame and the right frame is provided with a shock absorption steering device and a front wheel frame, the front wheel frame is hinged with a front wheel, the shock absorption steering device comprises a base and an upper cover which are sleeved up and down, the centers of the base and the upper cover are connected with a screw rod in a penetrating manner, the screw rod is sleeved with a compression spring positioned in the inner cavity of the base and the inner cavity of the upper cover, the upper cover is fixedly connected with the lower part of the supporting leg through a bolt, and the front wheel is fixedly connected with the base through a bolt.
Furthermore, the lower part of the other vertical supporting leg of the left frame and the right frame is provided with a rear wheel, a second motor and a second speed reducer, the second motor and the second speed reducer are fixed on the vertical supporting leg, an output shaft of the second motor is fixedly connected with an input shaft of the second speed reducer, and an output shaft of the second speed reducer drives the rear wheel to rotate through a transmission device.
Furthermore, the transmission device comprises a cover shell and a transmission shaft which is rotatably hinged in the cover shell, bevel gears are arranged at two end parts of the transmission shaft, shaft gears which are meshed with the bevel gears are arranged in the two end bodies of the cover shell, one of the shaft gears is fixedly connected with a rotating shaft of the rear wheel, and the other shaft gear is fixedly connected with an output shaft of the second speed reducer.
Furthermore, a plurality of lifting shafts vertically penetrate through the transverse frame, the lower portions of every two lifting shafts are fixedly connected with a lead screw mounting platform, a plurality of pin holes are distributed in the lifting shafts, pins which are abutted against the upper surface of the transverse frame are inserted in the pin holes, a third lead screw driven by a third motor to rotate is arranged on the lead screw mounting platform, a sliding block is connected to the third lead screw in a threaded mode, and the sliding block is detachably connected with the upper portion of the weeding device.
The invention relates to a working method of a high-clearance field weeding robot system, which is characterized in that: the system drives a first screw rod to rotate through a first motor so as to drive a first transverse adjusting block to approach or separate from a second transverse adjusting block, so that the left frame and the right frame approach or separate from each other, and different ridge spans are met; the second speed reducer and the transmission device are driven to act through the second motor so as to drive the rear wheels to rotate, so that the system moves forwards in the field; the system drives the third screw rod to act through the third motor so as to realize the relative position of the weeding device.
Compared with the prior art, the invention has the following beneficial effects: adopt the support that the fretwork steelframe made up, the quality is lighter, is provided with the horizontal adjusting device including first motor, first lead screw and first, second horizontal regulating block, makes weeding robot possess better ridge adaptability to can be through the height-adjusting of lift axle in order to adapt to the plant height.
Description of the drawings:
FIG. 1 is a perspective view of the overall construction of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a top view of the present invention;
FIG. 5 is a front and rear view of the lead screw mounting platform;
FIG. 6 is a cross-sectional view of the shock absorbing steering apparatus;
FIG. 7 is an internal block diagram of the transmission system;
FIG. 8 is a schematic view of the construction of the weeding apparatus;
the numbering in the figures illustrates: 1-a left frame; 2-a lifting shaft; 3-a lead screw mounting platform; 4-a shock absorbing steering device; 5-front wheel frame; 6-front wheel; 7-rear wheel; 8-a right frame; 9-a transmission device; 10-a second motor; 11-a second reducer; 12-a drive mounting platform; 13-a load bearing shaft; 14-bearing shaft sleeve; 15-a first electric machine; 16-a first reducer; 17-second lateral adjustment block (without thread); 18-first lateral adjustment block (threaded); 19-a first screw rod; 20-supporting beam.
The specific implementation mode is as follows:
the invention relates to a high-ground-clearance field weeding robot system, which comprises a left frame 1, a right frame 8 and a supporting beam 20 for connecting the left frame and the right frame, wherein a first transverse adjusting block 18 and a second transverse adjusting block 17 are respectively fixedly arranged on the left frame 1 and the right frame 8 close to the supporting beam, the first transverse adjusting block 18 and the second transverse adjusting block 17 can be solid blocks, a first screw rod 19 is arranged between the first transverse adjusting block and the second transverse adjusting block in a penetrating way, the first screw rod 19 is in threaded connection with a threaded hole of the first transverse adjusting block 18, the first screw rod is in sleeved connection with a through hole of the second transverse adjusting block (but the first screw rod can not move relative to the second transverse adjusting block, namely, the axial direction is limited), the end part of the first screw rod penetrates through the through hole to be fixedly connected with an output shaft of a first speed reducer 16 fixed on the second transverse adjusting block, an input shaft of the first speed reducer is fixedly connected with an output shaft of a first motor 15, the first motor and the first speed reducer can be fixed on the second transverse adjusting block; under the drive of the first motor and the first speed reducer, the first screw rod drives the first transverse adjusting block 18 to be close to or far away from the second transverse adjusting block 17, and the system is provided with two groups of the first motor 15, the first speed reducer 16, the first screw rod 19, the first transverse adjusting block 18 and the second transverse adjusting block 17, so that the two sides of the left frame 1 and the right frame 8 can be synchronously close to or far away from each other, and the system can adapt to ridges with different widths.
The two ends of the supporting beam 20 are arranged in the channels of the section bars (which can be square steel) of the left frame and the right frame in a penetrating way, the supporting beam 20 and the channels can be in clearance fit and have sliding friction with each other, the lower parts of the left frame and the right frame are provided with wheels, the lower surfaces of the left frame and the right frame are provided with the weeding device 21, and the weeding device 21 can be the existing weeding device 21 with any structure.
Further, for stable and reliable structure, the left frame 1 and the right frame 8 each include two vertical support legs a1 and a transverse frame a2 arranged in parallel and at intervals, upper ends of the two vertical support legs are respectively and vertically fixed at two ends of a side edge of the transverse frame, the transverse frame a2 includes two transverse profiles A3 arranged in parallel and three longitudinal profiles A4 vertically welded between the two transverse profiles, the three longitudinal profiles are respectively a first longitudinal profile a401, a second longitudinal profile a402 and a third longitudinal profile a403 which are arranged in an interval, upper ends of the two vertical support legs are respectively and vertically fixed at two ends of the first longitudinal profile a401, and the vertical support leg a1, the first longitudinal profile a401, the second longitudinal profile a402 and the third longitudinal profile a403 can be made of square steel.
A plurality of through holes are distributed in the second longitudinal section and the third longitudinal section on the left frame and the right frame, a bearing shaft 13 penetrates through the through holes, the bearing shaft 13 can be a solid shaft or a hollow pipe, a bearing shaft sleeve 14 is fixedly arranged at the end part of the bearing shaft close to the first longitudinal section, the bearing shaft 13 penetrates through the through holes in the second longitudinal section and the third longitudinal section of the left frame and the right frame, the supporting effect and the stability between the left frame and the right frame are better, the bearing shaft sleeve 14 is fixed at the end part of the bearing shaft, the shaft diameter of the bearing shaft sleeve 14 is larger than the diameter of the through holes, and therefore the maximum distance between the left frame and the right frame is limited.
For reasonable design, the two ends of the support beam 20 are specifically arranged in the channels of the transverse profile a3, and the first transverse adjusting block 18 and the second transverse adjusting block 17 are respectively and vertically fixed on the ends of the transverse profile in an opposite way.
Further, the lower end of a vertical supporting leg of the left frame 1 and the right frame 8 is provided with a shock-absorbing steering device 4 and a front wheel frame 5, the front wheel frame is hinged with a front wheel 6, the shock-absorbing steering device 4 comprises a base 401 and an upper cover 402 which are sleeved up and down, the base 401 and the upper cover 402 are both barrel-shaped and can be sleeved oppositely, a screw 403 penetrates through the centers of the base and the upper cover, a compression spring 404 positioned in the inner cavity of the base and the upper cover is sleeved on the screw, the screw 403 penetrates out of the base and the upper cover and is locked and fixed by a nut 405, the upper cover is fixedly connected with the lower part of the supporting leg through a bolt, the front wheel is fixedly connected with the base through a bolt, and the shock-absorbing steering device has partial axial sliding freedom and complete rotating freedom.
Furthermore, for reasonable design, the lower part of the other vertical supporting leg of the left frame 1 and the right frame 8 is provided with a rear wheel 7, a second motor 10 and a second speed reducer 11 which are fixed on the vertical supporting leg, the output shaft of the second motor is fixedly connected with the input shaft of the second speed reducer, and the output shaft of the second speed reducer drives the rear wheel to rotate through a transmission device 9.
Further, the transmission device 9 includes a cover casing 901 and a transmission shaft 902 rotatably hinged in the cover casing, the transmission shaft 902 is rotatably hinged with the cover casing 901 through a bearing located in the middle of the transmission shaft, bevel gears 903 are disposed at two ends of the transmission shaft, shaft gears 904 engaged with the bevel gears are disposed in two end bodies of the cover casing, one of the shaft gears is fixedly connected with a rotating shaft of the rear wheel, and the other shaft gear is fixedly connected with an output shaft of the second speed reducer.
Furthermore, a plurality of lifting shafts 2 vertically penetrate through the transverse frame, the lower parts of every two lifting shafts are fixedly connected with a screw rod mounting platform 3, a plurality of bolt holes are distributed on the lifting shafts, bolts which are abutted against the upper surface of the transverse frame are inserted in the bolt holes, of course, the lifting shafts 2 can also be driven to lift through an additional screw rod nut mechanism so as to realize real-time height control, a third screw rod 302 driven by a third motor 301 to rotate is arranged on the screw rod mounting platform, a slide block 303 is screwed on the third screw rod and detachably connected with the upper part of the weeding device 21, a bracket with a hollow middle part is also arranged on the screw rod mounting platform, end covers are arranged at two ends of the bracket, the third screw rod penetrates through the bracket and is connected with the slide block in a sliding way along the length direction of the bracket, the third motor is fixed on the end cover at one side and drives the third screw rod to rotate through the third motor, the slide is moved in the length direction of the bracket to adjust the position of the weeding device 21.
The invention relates to a working method of a high-clearance field weeding robot system, which drives a first screw rod to rotate through a first motor so as to drive a first transverse adjusting block to approach or separate from a second transverse adjusting block, so that the left frame and the right frame approach or separate from each other, and different ridge spans are met; the second speed reducer and the transmission device are driven to act through the second motor so as to drive the rear wheels to rotate, so that the system moves forwards in the field; the system drives the third screw rod to act through the third motor so as to realize the relative position of the weeding device.
The operation of each motor is controlled by a control system, the control system is arranged on the transverse frame of the vehicle frame, the power of each motor, the control system and the weeding device is supplied by a storage battery, and the storage battery is also arranged on the transverse frame.
The weeding device can be a field single-ridge double-row weeding device and is arranged on the screw rod mounting platform 3, the weeding device can realize inter-row weeding and inter-plant seedling avoidance weeding, this field single-ridge double-row weeding device B includes frame B1 and vertically establishes four stands in the frame lower part, be first stand B2 respectively, second stand B3, third stand B4 and fourth stand B5, between first stand B2 and the second stand B3, be equipped with horizontal pole B6 respectively between third stand B4 and the fourth stand B5 and fix weeding motor B7 on the horizontal pole, the output shaft of weeding motor drives horizontal rotating vane B8 work, lower part rotation between second stand B3 and the third stand B4 is connected with bull stick B9 and establishes a plurality of grass removing pole B10 on the bull stick, upper portion between second stand B3 and the third stand B4 is equipped with supporting seat B11 and establishes motor B12 on the supporting seat, the motor drives the bull stick through belt pulley mechanism B13 and rotates.
Compared with the prior art, the invention has the following beneficial effects: adopt the support that the fretwork steelframe made up, the quality is lighter, is provided with the horizontal adjusting device including first motor, first lead screw and first, the horizontal regulating block of second, makes weeding robot possess better ridge adaptability to can be through the high in order to adapt to the plant height of lift axle adjustment.
Claims (8)
1. The utility model provides a high ground clearance field weeding robot system which characterized in that: the left frame and the right frame are respectively provided with a first transverse adjusting block and a second transverse adjusting block at positions close to the supporting beam, a first lead screw penetrates between the first transverse adjusting block and the second transverse adjusting block and is in threaded connection with a threaded hole of the first transverse adjusting block, the first lead screw is in sleeve connection with a through hole of the second transverse adjusting block, the end part of the first lead screw penetrates through the through hole and is fixedly connected with an output shaft of a first speed reducer fixed on the second transverse adjusting block, and an input shaft of the first speed reducer is fixedly connected with an output shaft of a first motor; the two ends of the supporting beam penetrate through the channels of the profiles of the left frame and the right frame, wheels are arranged on the lower portions of the left frame and the right frame, and weeding devices are arranged on the lower surfaces of the left frame and the right frame.
2. The high clearance field weeding robot system according to claim 1, wherein: left side frame, right frame all include vertical supporting leg and the horizontal frame that two parallel intervals set up, the upper end of two vertical supporting legs does not fix perpendicularly at the both ends of horizontal frame side, horizontal frame includes two parallel arrangement's horizontal section bar and three vertical section bars of vertical welding between two horizontal section bars, and these three vertical section bars are first vertical section bar, the vertical section bar of second and the vertical section bar of third of mutual interval respectively, and the upper end of two vertical supporting legs does not fix perpendicularly at the both ends of first vertical section bar, and a plurality of perforation have all been arranged on the vertical section bar of second and the vertical section bar of third on left side frame, the right frame, it has the bearing axle to wear to have connect in the perforation, the end fixing that the bearing axle is close to first vertical section bar is equipped with the bearing axle sleeve.
3. The high clearance field weeding robot system according to claim 2, wherein: the two ends of the supporting beam penetrate through the channel of the transverse sectional material, and the first transverse adjusting block and the second transverse adjusting block are respectively and vertically fixed on the end part of the transverse sectional material in an opposite mode.
4. The high clearance field weeding robot system according to claim 2 or 3, wherein: the damping steering device comprises a base and an upper cover which are sleeved up and down, a screw rod is connected in the center of the base and the upper cover in a penetrating mode, a compression spring located in the inner cavity of the base and the inner cavity of the upper cover is sleeved on the screw rod, the upper cover is fixedly connected with the lower portion of the supporting leg through a bolt, and the front wheel is fixedly connected with the base through a bolt.
5. The high clearance field weeding robot system according to claim 4, wherein: the lower part of the other vertical supporting leg of the left frame and the right frame is provided with a rear wheel, a second motor and a second speed reducer, the second motor and the second speed reducer are fixed on the vertical supporting leg, an output shaft of the second motor is fixedly connected with an input shaft of the second speed reducer, and an output shaft of the second speed reducer drives the rear wheel to rotate through a transmission device.
6. The high clearance field weeding robot system according to claim 5, wherein: the transmission device comprises a cover shell and a transmission shaft which is rotatably hinged in the cover shell, bevel gears are arranged at two end parts of the transmission shaft, shaft gears meshed with the bevel gears are arranged in the two end bodies of the cover shell, one of the shaft gears is fixedly connected with a rotating shaft of the rear wheel, and the other shaft gear is fixedly connected with an output shaft of the second speed reducer.
7. The high clearance field weeding robot system according to claim 6, wherein: the weeding device is characterized in that a plurality of lifting shafts vertically penetrate through the transverse frame, the lower parts of every two lifting shafts are fixedly connected with a lead screw mounting platform, a plurality of bolt holes are distributed in the lifting shafts, bolts which are pressed on the upper surface of the transverse frame are inserted in the bolt holes, a third lead screw driven by a third motor to rotate is arranged on the lead screw mounting platform, a sliding block is connected to the third lead screw in a threaded mode, and the sliding block is detachably connected with the upper part of the weeding device.
8. A method of operating a high clearance field weeding robot system according to claim 7, wherein: the system drives a first screw rod to rotate through a first motor so as to drive a first transverse adjusting block to approach or separate from a second transverse adjusting block, so that the left frame and the right frame approach or separate from each other, and different ridge spans are met; the second speed reducer and the transmission device are driven to act through the second motor so as to drive the rear wheels to rotate, so that the system moves forwards in the field; the system drives the third screw rod to act through the third motor so as to realize the relative position of the weeding device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210208062.6A CN114568048A (en) | 2022-03-04 | 2022-03-04 | High-clearance field weeding robot system and working method thereof |
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| CN202210208062.6A CN114568048A (en) | 2022-03-04 | 2022-03-04 | High-clearance field weeding robot system and working method thereof |
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| CN112586120A (en) * | 2020-12-16 | 2021-04-02 | 广西壮族自治区农业科学院 | Sugarcane field weeding seeder |
| CN112806115A (en) * | 2021-03-02 | 2021-05-18 | 安徽农业大学 | Self-adaptive multifunctional intelligent corn weeding machine |
| CN214901989U (en) * | 2021-04-14 | 2021-11-30 | 福州大学 | Weeding cutter position appearance guiding mechanism |
| CN113287378A (en) * | 2021-06-29 | 2021-08-24 | 扬州大学 | Weeding device and weeding method |
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