CN114747561B - Efficient weeding method for wheat fields - Google Patents
Efficient weeding method for wheat fields Download PDFInfo
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- CN114747561B CN114747561B CN202210456342.9A CN202210456342A CN114747561B CN 114747561 B CN114747561 B CN 114747561B CN 202210456342 A CN202210456342 A CN 202210456342A CN 114747561 B CN114747561 B CN 114747561B
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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
- A01M21/02—Apparatus for mechanical destruction
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
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Abstract
The invention discloses a high-efficiency weeding method for wheat fields, which comprises a weeding vehicle and comprises the following steps: s1, adjusting the posture of a supporting arm by a weeding vehicle; s2, acquiring image information of weeds in the advancing direction through a weed detection device at the front part of the frame, distinguishing the attribute of the weeds, and determining the root position of the weeds; s3, after the weeding vehicle stops moving, a unit weeding range is formed, a mapping relation is formed between the weeding mechanism and the unit weeding range, the closest weeding mechanism is determined to be positioned to the root of the weed, and closed fixed-point high-pressure impact, plucking and root grinding operations are sequentially carried out on the root of the weed. Weeding is carried out on the wheat field by using the weeding vehicle, the gravity center of the weeding vehicle is adjusted by using the supporting arm, so that the posture adjustment of the weeding vehicle is realized, and further, the weeding vehicle moves or turns in the alignment direction; through setting up weed detection device in the place ahead of frame, realize the purpose of detection in advance, reduced image processing's time, realize the purpose of high-efficient weeding.
Description
Technical Field
The invention relates to the technical field of weeding, in particular to a high-efficiency weeding method for wheat fields.
Background
In order to realize the green and pollution-free growth of the whole life cycle of the wheat, weeds in the wheat field need to be removed. The automatic weeding device in the prior art can replace human beings to finish tedious, odorless and repetitive agricultural operation, can efficiently and continuously operate in different outdoor environments, and can also improve the production efficiency and effectively liberate human hands.
However, the existing automatic weeding device has the following problems: 1. the posture of the weeding device is difficult to adjust; 2. the wheat ears of the wheat are easy to shade weeds, the weeds are difficult to position, the operation of weed positioning and weeding cannot be immediately performed in a weeding area of the automatic weeding device, and the two operations have time delay; 3. the weeding of the weeds with deeper root is difficult, the efficiency is low, and the root of the weeds cannot be damaged completely; 4. the existing automatic weeding device is generally in a wheel type, crawler type or ship type, the structures cannot adapt to the wheat planting arrangement in the wheat field, and the automatic weeding device enters the wheat field to easily crush the wheat or damage the wheat field.
Therefore, there is a need for an improvement in the automatic weeding apparatus in the prior art to solve the above-mentioned problems.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a high-efficiency weeding method for wheat fields. According to the invention, the weeding vehicle is used for weeding by walking in the wheat field, and the gravity center of the weeding vehicle is adjusted through the supporting arm, so that the problem that the posture of the weeding vehicle cannot be adjusted in the prior art is solved. According to the invention, the frame is arranged above the wheat at two sides, and the weed detection device is arranged on the front lip of the frame, so that the problem that weeds are difficult to position in the prior art and the time delay of weed positioning and weeding operation are solved. The structure of the mechanical arm web is utilized to be matched with the flexible pipe, so that soil at the root of weeds is loosened, and the problem that the weeds with deep root taking are difficult to pluck is solved. The support arms on two sides of the frame are utilized to span two rows of wheat, so that the close planting arrangement of the wheat Tian Zhongxiao is adapted, and the problem that the wheat is crushed or damaged easily in the prior art is solved.
In order to achieve the above purpose, the invention adopts the following technical scheme: a method of efficiently weeding a wheat field, comprising a weeding vehicle comprising: the weeding device is characterized by comprising the following steps:
s1, enabling the weeding vehicle to move along the row arrangement direction of the wheat by adjusting the posture of a supporting arm, and turning the wheat Tian Zhongdian into two adjacent rows of wheat;
s2, acquiring image information of weeds in the advancing direction through a weed detection device at the front part of the frame, distinguishing the attribute of the weeds, and determining the root position of the weeds;
s3, after the weeding vehicle stops moving, a unit weeding range is formed, a mapping relation is formed between the weeding mechanism and the unit weeding range, the closest weeding mechanism is determined to be positioned to the root of the weed, and closed fixed-point high-pressure impact, plucking and root grinding operations are sequentially carried out on the root of the weed.
In a preferred embodiment of the present invention, in the step S1, the method for adjusting the posture of the support arm is as follows: and the bending degree and the sequence of each supporting arm are adjusted, so that the gravity center is changed, and the weeding vehicle moves or turns in the alignment direction.
In a preferred embodiment of the present invention, the support arm is of a multi-joint structure, and the support arm is curved to different degrees by rotating the joint.
In a preferred embodiment of the present invention, in S3, the unit weeding range is: the unit weeding length L determined by the distance between the front parts of the frames when the previous movement is stopped and when the next movement is stopped is expanded to two sides by 1-2 times of column spacing by the central line of two columns of wheat, the unit weeding width S is determined, and the L multiplied by S is the weeding range, and the column spacing is the distance between adjacent wheat.
In a preferred embodiment of the present invention, the weeding mechanism comprises: the device comprises a plurality of linear guide rails connected with the bottom of the frame, a movable mechanical arm arranged on each linear guide rail and a plurality of fixed mechanical arms fixedly connected with the bottom of the frame; the linear guide rails are connected end to end, the movable mechanical arm moves on the corresponding linear guide rail, and the fixed mechanical arm is located at the center of the bottom of the frame.
In a preferred embodiment of the invention, the mapping relation between the unit weeding range and the positions of different linear guide rails in the weeding mechanism is determined in many-to-one mode; wherein, the many-to-one refers to all weed root positions in the unit weeding range corresponding to each linear guide rail.
In a preferred embodiment of the present invention, the free ends of the support arm, the mobile mechanical arm and the fixed mechanical arm are provided with mechanical arms, the mechanical arms comprise a protective layer and an active layer, and the active layer comprises a finger joint and a mechanical palm and is based on a bionic hand technology; the protective layer is of a web-shaped structure, and friction protrusions are arranged on the surface of the protective layer.
In a preferred embodiment of the invention, the fixed point closing, holding and pulling out of the root parts of weeds are carried out by the mechanical arms of the movable mechanical arm and the fixed mechanical arm; the fixed point sealing means that: the finger joints are bent towards the direction of the mechanical palm, an arch structure is presented, and fixed-point sealing is formed among the finger joints, the mechanical palm and the wheat Tian Debu; the central position of the fixed point closure is consistent with the root position of the weeds.
In a preferred embodiment of the present invention, the centers of the mobile mechanical arm and the mechanical arm of the fixed mechanical arm are provided with impact assemblies, the impact assemblies are a plurality of flexible pipes connected with the protective layer, the flexible pipes are fixedly connected with the mobile mechanical arm or the fixed mechanical arm, one end of each flexible pipe is provided with an air outlet head, the air outlet heads penetrate through the web-shaped structure, and the air outlet heads are used for injecting low-pressure air flow and continuous high-pressure air flow in a fixed point sealing manner.
In a preferred embodiment of the invention, the surface of the frame is provided with a streamlined design.
The invention solves the defects existing in the background technology, and has the following beneficial effects:
(1) The invention provides a high-efficiency weeding method for a wheat field, which utilizes a weeding vehicle to weed the wheat field, adjusts the gravity center of the weeding vehicle through a supporting arm, realizes the posture adjustment of the weeding vehicle, and further realizes the movement or turning of the weeding vehicle in a direction of alignment; through setting up weed detection device in the place ahead of frame, realize the purpose of detection in advance, reduced image processing's time delay, realized the purpose of high-efficient weeding.
(2) The protective layer is in a webbed structure, the webbed structure imitates the design of a duck foot structure, and the webbed is formed between adjacent fingers. The protective layer coats the finger joints and the mechanical palm inside, so that the service life of the movable layer is prolonged. The design of the web increases the grounding action area of the manipulator and the wheat field, and improves the stability of the weeding vehicle; the design of the web can further improve the sealing performance of fixed-point sealing, and fixed-point weeding is realized.
(3) The low-pressure air flow and the continuous high-pressure air flow have different actions, wherein when the low-pressure air flow is formed in a fixed-point closed area, sundries blocked on the surface of an air outlet head are flushed out through the low-pressure air flow; the continuous high pressure air stream is placed after the low pressure air stream for forming a circumferential high pressure impact on the weed roots. For some smaller weed roots, the high pressure gas can directly destroy and kill the weeds.
(4) According to the invention, the weed detection device is arranged on the front lip of the frame by the telescopic section, so that shielding of wheat rice ears is reduced, and compared with unmanned aerial vehicle detection in the prior art, the weed detection device is applicable to wheat with various maturity degrees, has a larger visual field range, and improves weed positioning precision. In addition, the design can be suitable for long-time weed detection delay, when a weeding mechanism is used for weeding in the current weeding range, the weed detection area is used for detecting weeds in the next weeding range, and the weeding positioning efficiency and the weeding efficiency are improved.
(5) According to the invention, the free end of the claw joint of the manipulator points to the row arrangement direction of the wheat, namely the direction of the manipulator for inclining the weeds is consistent with the row arrangement direction of the wheat, so that the contact with the wheat is reduced as much as possible in the process of inclining the weeds.
(6) According to the invention, the free end of the claw joint of the manipulator points to the row arrangement direction of the wheat, namely the direction of the manipulator for inclining the weeds is consistent with the row arrangement direction of the wheat, so that the contact with the wheat is reduced as much as possible in the process of inclining the weeds.
(7) The weed detection device provided by the invention aims to determine the types and maturity of weeds so as to determine the predicted root taking depth, further control the fixed-point closed high-pressure injection time, realize the pine roots with different degrees and enable the soil and roots to be stripped.
(8) The surface of the protective layer in the present invention is provided with friction protrusions that are generated when the mold is formed. The friction bulge on the protective layer can increase the anchoring force and buffer force, and is matched with the action of the finger joint, so that the friction to the root of the weed is improved, and the root grinding effect of the weed is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art;
FIG. 1 is a schematic perspective view of a weeding vehicle in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the operation of the herbicidal vehicle of the preferred embodiment of the present invention;
FIG. 3 is a schematic structural view of a weeding mechanism in accordance with the preferred embodiment of the present invention;
FIG. 4 is a schematic perspective view of a robot arm according to a preferred embodiment of the present invention;
FIG. 5 is a flow chart of a wheat weeding method in accordance with the preferred embodiment of the present invention;
in the figure: 1. weeding vehicle; 11. a frame; 12. a support arm; 2. a wheat field; 21. wheat; 3. a unit weeding range; 4. the next weeding range; 5. a linear guide rail; 6. a mobile mechanical arm; 7. fixing the mechanical arm; 8. a manipulator; 9. a web.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may include one or more of the feature, either explicitly or implicitly. In the description of the invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application can be understood by those of ordinary skill in the art in a specific context.
As shown in fig. 1, a schematic perspective view of a weeding vehicle 1 in the present invention is shown. The weeding vehicle 1 comprises a frame 11 positioned above two rows of wheat, supporting arms 12 arranged on two sides of the frame 11, a weeding mechanism arranged at the bottom of the frame 11, and a weed detection device arranged at the front part of the frame 11.
Because the frame 11 is positioned above two rows of wheat, the height of the frame 11 is higher, and the streamline design is arranged on the surface of the frame 11, the influence of wind power on the weeding vehicle 1 can be reduced, and the stability of the whole weeding vehicle 1 is improved.
The top of the frame 11 of the present invention is provided with a solar panel for converting solar energy into electric energy and storing it in a storage battery or directly driving a load.
According to the invention, the support arm 12 is of a multi-joint structure, joints with smaller axial dimensions are adopted as arms, adjacent joints are connected through spherical joint shafts, the support arm 12 is bent to different degrees through the rotating joints, 360-degree rotation is formed between the adjacent joints, and movement of the mechanical arm in different angles or directions is realized. The control method and system of the multi-joint structure of the support arm 12 in the present invention belong to the prior art, and a person skilled in the art can reasonably set the program in the controller according to the foregoing functions, which will not be described in detail herein. It should be noted that the length of the support arm 12 of the present invention must be greater than the maximum height of wheat.
In the invention, the bending degree and sequence of each supporting arm 12 are adjusted, so that the gravity center is changed, and the weeding vehicle 1 moves or turns in the alignment direction. Specifically, the method for moving the column arrangement direction is as follows: if the support arm 12 at the left front is moved forwards, the frame 11 is tilted leftwards, the support arm 12 at the right front is moved forwards, the frame 11 is tilted forwards, and the bending degree of the support arm 12 is adjusted to balance the frame 11; the remaining support arms 12 on both sides of the frame 11 are repeatedly moved in the column arrangement direction to move the weeding vehicle 1.
Specifically, the turning method comprises the following steps: the bending degree of one forefront supporting arm 12 on one side of the frame 11 is used as a rotating shaft, the frame 11 is inclined to one side of the rotating shaft, the supporting arm 12 on the other side is moved to the turning direction, and the bending degree of the supporting arms 12 on the two sides is adjusted, so that the frame 11 is balanced; the rest support arms 12 on both sides of the frame 11 repeat the above actions to realize the turning of the weeding vehicle 1. In the present invention, the turning of the weeding vehicle 1 is realized by forming an anchor force for the frame 11 by using the one-side support arm 12 as a rotation axis.
As shown in fig. 2, a schematic diagram of the operation of the weeder 1 of the present invention is shown. After the weeding vehicle 1 stops moving, a unit weeding range 3 is formed. The unit weeding range 3 is as follows: the unit weeding length L determined by the distance between the front portions of the frames 11 at the time of stopping the previous movement and the time of stopping the next movement is set to a row spacing of 1 to 2 times extended to both sides by the center line of two rows of wheat 21, and the unit weeding width S is determined as the weeding range, and the row spacing is the distance between adjacent wheat. In the present invention, a column pitch of 1.5 times is preferable. In the wheat field 2, the arrow part of the figure shows the direction of movement of the weeding vehicle 1. The lower dashed box is the current unit weeding range 3, while the upper dashed box is the next unit weeding range 4.
As shown in fig. 3, a schematic structural view of the weeding mechanism in the present invention is shown. The weeding mechanism comprises: the device comprises a plurality of linear guide rails 5 connected with the bottom of a frame 11, a movable mechanical arm 6 arranged on each linear guide rail 5 and a fixed mechanical arm 7 fixedly connected with the bottom of the frame 11. The linear guide rails 5 are connected end to end, the movable mechanical arm 6 moves on the corresponding linear guide rail 5, and the fixed mechanical arm 7 is positioned at the center of the bottom of the frame 11. It should be noted that the linear guide rail 5 connected end to end here forms a loop structure, i.e. is composed of two squares with a large size and a small size. Therefore, in the present invention, l=s is preferable, and then the loop-shaped structure and the unit weeding range 3 herein form a proportional amplification relationship.
Determining a mapping relation of many to one between the unit weeding range 3 and the positions of different linear guide rails 5 in a weeding mechanism; wherein the many-to-one refers to all weed root positions in the unit weeding range 3 corresponding to each linear guide rail 5.
As shown in fig. 4, a schematic perspective view of the manipulator 8 according to the present invention is shown. The free ends of the supporting arm 12, the movable mechanical arm 6 and the fixed mechanical arm 7 are respectively provided with a mechanical arm 8, the mechanical arm 8 comprises a protective layer and a movable layer, and the movable layer comprises a finger joint and a mechanical arm 8 palm.
In order to improve the operability, flexibility and quick response capability of the manipulator 8 in the present invention, the manipulator 8 is based on a bionic hand technique, so that the manipulator 8 can perform complex weeding work like a human hand. The manipulator 8 of the present invention has six active degrees of freedom, the thumb has one extra degree of freedom for realizing the back-grasping action of the manipulator 8, the finger joints in each manipulator 8 are designed as fiber reinforced elastic tubular structures, and a plurality of flexible joints are connected in the middle for simulating the joint structure of a human body. The mechanical palm is internally provided with a driving device and a control board, the driving device is in communication connection with the control board, and the driving device drives the jaw joints and the mechanical palm to act based on driving control instructions of the control board. The driving device may be a motor driving structure, a hydraulic driving structure or an air driving structure, and the present invention is not limited thereto. The control board is understood as the brain of the manipulator 8, and the image driving device sends driving control instructions and receives state information fed back by the driving device, so that closed-loop control of the driving device is realized. In the present invention, the driving method is preferably applied, and the weight of the manipulator 8 is reduced. The elastic tubular structure can be bent into a target angle under the drive of different air pressures, so that various flexible claw holding postures are realized.
The protective layer is in a web 9-shaped structure. The web 9-like structure mimics the duck foot structure design and forms the web 9 between adjacent fingers. The protective layer can be a silica gel material. The protective layer coats the finger joints and the manipulator 8 palm inside, so that the service life of the movable layer is prolonged. The design of the web 9 increases the grounding action area of the manipulator 8 and the wheat field, and improves the stability of the weeding vehicle 1; the design of the web 9 can further improve the sealing performance of fixed-point sealing, and fixed-point weeding is realized.
The surface of the protective layer in the present invention is provided with friction protrusions that are generated when the mold is formed. The friction bulge on the protective layer can increase the anchoring force and buffer force, and is matched with the action of the finger joint, so that the friction to the root of the weed is improved, and the root grinding effect of the weed is realized.
The weed detection device comprises a plurality of cameras and a processor, wherein the cameras are used for taking key frame images of weeds at the bottom of the wheat Tian Zhongxiao, and the processor is used for carrying out graying, threshold segmentation and filtering processing on the obtained weed image information and determining the attribute and the position of the weeds. The target characteristic information is as follows: weed profile, color, size, shape and texture.
The weed detection device provided by the invention has the main purposes of determining the types and maturity of weeds so as to determine the predicted root taking depth, further controlling the fixed-point closed high-pressure injection time, realizing the pine roots with different degrees and stripping soil and roots.
The camera is here connected to the front lip of the carriage 11 by means of an S-shaped bar comprising an S-shaped connecting section and a telescopic section, the length of the S-shaped connecting section being smaller than the length of the telescopic section. When the weeding vehicle 1 weed in a straight line state, the telescopic section is always in an extended state, and a plurality of cameras positioned on the telescopic section shoot weeds at the bottom of the wheat; when the weeding vehicle 1 is in a turning state, the telescopic section is in a contracted state, so that wheat is prevented from being stirred by the telescopic section, and the wheat is prevented from tilting. And the telescopic section in the invention can be provided with a plurality of parallel telescopic sections. The telescopic section belongs to the prior art, and a person skilled in the art can reasonably set a structure or a driving program according to the functions, so that the telescopic section is not described in detail herein.
After the weed detection device is positioned at the weed position, the movable mechanical arm 6 on one linear guide rail 5 is distributed to move along the weed detection device according to the mapping relation, and the manipulator 8 is moved to the root position of the weed in cooperation with the action of the manipulator 8. When a certain linear guide 5 corresponds to a plurality of weeds in the wheat Tian Ou area, weeding is performed sequentially according to the principle of left-right, top-down and top-down.
The weed detection device is arranged on the front lip of the frame 11 by the telescopic section, shielding of wheat rice ears is reduced, and compared with unmanned aerial vehicle detection in the prior art, the weed detection device is applicable to wheat with various maturity degrees, has a larger visual field range, and improves the precision of weed positioning. In addition, the design can be suitable for long-time weed detection delay, when a weeding mechanism is used for weeding in the current weeding range, the weed detection area is used for detecting weeds in the next weeding range, and the weeding positioning efficiency and the weeding efficiency are improved.
According to the weed detection device, the manipulator 8 performs fixed-point sealing, holding and pulling out on the root of the weed by the manipulator 8 of the movable manipulator 6 and the fixed manipulator 7; fixed point closure refers to: the finger joints are bent towards the palm direction of the manipulator 8, an arch structure is formed, and fixed-point sealing is formed among the finger joints, the palm of the manipulator 8 and the wheat Tian Debu; the central position of the fixed point closure is consistent with the root position of the weeds. The formation of fixed-point closure ensures that when the needle rod loosens roots of weeds, the influence of air flow on the growth of surrounding wheat is reduced as much as possible, and the purpose of fixed-point weed removal is realized.
The free ends of the claw joints of the manipulator 8 point to the row arrangement direction of the wheat, namely the direction of the manipulator 8 for inclining the weeds is consistent with the row arrangement direction of the wheat, so that the contact with the wheat is reduced as much as possible in the process of inclining the weeds.
The centers of the movable mechanical arm 6 and the mechanical arm 8 of the fixed mechanical arm 7 are provided with impact components which are a plurality of flexible pipes connected with the protective layers. The root of each movable mechanical arm 6 or each fixed mechanical arm 7 is provided with an air injection device, and the flexible pipe is fixedly connected with the movable mechanical arm 6 or the fixed mechanical arm 7. One end of the flexible pipe is provided with an air outlet head, the air outlet head penetrates through the web 9-shaped structure, and the web 9 between each finger of the manipulator 8 corresponds to the air outlet head of the flexible pipe. The air outlet head sprays low-pressure air flow and continuous high-pressure air flow to the fixed-point closed area by using the air spraying device and the flexible pipe.
The flexible pipe is a pipe fitting which is made of polymer composite material, has certain high strength, high pressure and good flexibility, and is formed by compounding polyethylene resin, reinforced fiber wires and reinforced steel wire ropes.
The plurality of air outlet heads are all directed to the palm of the manipulator 8, so that high-pressure air sprayed by the air outlet heads impacts the circumference of the root of the weed, and the follow-up weeding operation is convenient.
The low-pressure air flow and the continuous high-pressure air flow have different actions, wherein when the low-pressure air flow is formed in a fixed-point closed area, sundries blocked on the surface of an air outlet head are flushed out through the low-pressure air flow; the continuous high pressure air stream is placed after the low pressure air stream for forming a circumferential high pressure impact on the weed roots. For some smaller weed roots, the high pressure can directly destroy and kill the weeds.
In addition, the weeding vehicle 1 in the invention controls the bending degree of the supporting arm 12 when encountering larger wind and rain, so that the frame 11 is arranged at the bottom of the wheat, and the wind and rain resistance of the weeding vehicle 1 is improved by using the wheat.
Based on the structure of the weeding vehicle 1, as shown in fig. 5, the invention provides a wheat weeding method, which comprises the following steps:
s1, the weeding vehicle 1 moves along the arrangement direction of the wheat rows by adjusting the posture of the supporting arm 12, and turns into two adjacent rows of wheat at the position of the wheat Tian Zhongdian;
s2, acquiring image information of weeds in the advancing direction through a weed detection device at the front part of the frame 11, distinguishing the attribute of the weeds, and determining the root position of the weeds;
s3, after the weeding vehicle 1 stops moving, a unit weeding range 3 is formed, a mapping relation is formed between the weeding mechanism and the unit weeding range 3, the closest weeding mechanism is determined to be positioned to the root of the weed, and closed fixed-point high-pressure impact, plucking and root grinding operations are sequentially carried out on the root of the weed.
The fixed-point high-pressure impact operation in the S3 aims at some mature weeds with roots penetrating into the soil deeply, and specifically utilizes the surrounding space of the manipulator 8 and the air flow effect of the flexible pipe to reduce the adhesion between the soil and the roots of the weeds, so that the subsequent pulling operation is convenient.
The pulling operation aims at weeds with shallower soil after high-pressure impact or root penetration, and specifically, the combination of the manipulator 8 and the movable manipulator 6 or the fixed manipulator 7 of a bionic technology is utilized to realize the process of back holding and upward pulling of the manipulator 8.
The root milling operation aims at weeds subjected to high-pressure impact, and the weeds are matched with friction protrusions through rubbing action among fingers of the manipulator 8, so that the root of the removed weeds is further damaged.
According to the invention, the weeding vehicle 1 is used for weeding by walking in the wheat field, and the gravity center of the weeding vehicle 1 is adjusted through the supporting arm 12, so that the problem that the posture of the weeding vehicle 1 cannot be adjusted in the prior art is solved. According to the invention, the frame 11 is arranged above the wheat at two sides, and the weed detection device is arranged on the front lip of the frame 11, so that the problem that weeds are difficult to position in the prior art and the time delay of weed positioning and weeding operation are solved. Utilize the cooperation of manipulator 8 web 9's structure and flexible pipe for loose the soil of weeds root, solved the comparatively difficult problem when plucking to the deep weeds of taking root. The supporting arms 12 on two sides of the frame 11 are utilized to span two rows of wheat, so that the close planting arrangement of the wheat Tian Zhongxiao is adapted, and the problem that the wheat is crushed or damaged easily in the prior art is solved.
The above-described preferred embodiments according to the present invention are intended to suggest that, from the above description, various changes and modifications can be made by the person skilled in the art without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (7)
1. A method of efficiently weeding a wheat field, comprising a weeding vehicle comprising: the weeding device is characterized by comprising the following steps:
s1, enabling the weeding vehicle to move along the row arrangement direction of the wheat by adjusting the posture of a supporting arm, and turning the wheat Tian Zhongdian into two adjacent rows of wheat;
s2, acquiring image information of weeds in the advancing direction through a weed detection device at the front part of the frame, distinguishing the attribute of the weeds, and determining the root position of the weeds;
s3, after the weeding vehicle stops moving, forming a unit weeding range, forming a mapping relation between a weeding mechanism and the unit weeding range, determining that the closest weeding mechanism is positioned to the root of the weed, and sequentially performing closed fixed-point high-pressure impact, plucking and root milling operations on the root of the weed;
wherein, weeding mechanism includes: the device comprises a plurality of linear guide rails connected with the bottom of the frame, a movable mechanical arm arranged on each linear guide rail and a plurality of fixed mechanical arms fixedly connected with the bottom of the frame; the linear guide rails are connected end to end, the movable mechanical arm moves on the corresponding linear guide rail, and the fixed mechanical arm is positioned at the center of the bottom of the frame;
the free ends of the supporting arm, the movable mechanical arm and the fixed mechanical arm are respectively provided with a mechanical arm, the mechanical arm comprises a protective layer and a movable layer, and the movable layer comprises finger joints and a mechanical palm and is based on a bionic hand technology; the protective layer is of a web-shaped structure, and friction protrusions are arranged on the surface of the protective layer;
the movable mechanical arm and the mechanical arm of the fixed mechanical arm perform fixed-point closing, holding and pulling out on the root parts of weeds; the fixed point sealing means that: the finger joints are bent towards the direction of the mechanical palm, an arch structure is presented, and fixed-point sealing is formed among the finger joints, the mechanical palm and the wheat Tian Debu; the central position of the fixed point closure is consistent with the root position of the weeds.
2. The method for efficiently weeding in a wheat field according to claim 1, wherein: in the step S1, the method for adjusting the posture of the support arm includes: and the bending degree and the sequence of each supporting arm are adjusted, so that the gravity center is changed, and the weeding vehicle moves or turns in the alignment direction.
3. The method for efficiently weeding in a wheat field according to claim 2, wherein: the supporting arm is of a multi-joint structure, and the supporting arm is bent to different degrees through the rotation joint.
4. The method for efficiently weeding in a wheat field according to claim 1, wherein: in S3, the unit weeding range is: the unit weeding length L determined by the distance between the front parts of the frames when the previous movement is stopped and when the next movement is stopped is expanded to two sides by 1-2 times of column spacing by the central line of two columns of wheat, the unit weeding width S is determined, and the L multiplied by S is the weeding range, and the column spacing is the distance between adjacent wheat.
5. The method for efficiently weeding in a wheat field according to claim 1, wherein: determining a mapping relation of many to one between a unit weeding range and positions of different linear guide rails in the weeding mechanism; wherein, the many-to-one refers to all weed root positions in the unit weeding range corresponding to each linear guide rail.
6. The method for efficiently weeding in a wheat field according to claim 1, wherein: the mobile mechanical arm and the center of the mechanical arm of the fixed mechanical arm are provided with impact components, the impact components are a plurality of flexible pipes connected with the protective layer, the flexible pipes are fixedly connected with the mobile mechanical arm or the fixed mechanical arm, one end of each flexible pipe is provided with an air outlet head, the air outlet heads penetrate through the web-shaped structure, and the air outlet heads spray low-pressure air flow and continuous high-pressure air flow in a fixed-point sealing mode.
7. The method for efficiently weeding in a wheat field according to claim 1, wherein: the surface of the frame is provided with streamline design.
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| JP3624211B2 (en) * | 2000-08-04 | 2005-03-02 | 独立行政法人農業・生物系特定産業技術研究機構 | Paddy weeder |
| JP4754938B2 (en) * | 2005-10-28 | 2011-08-24 | 三菱農機株式会社 | Paddy field weeding device |
| CN105746481B (en) * | 2016-03-18 | 2019-06-11 | 东北农业大学 | It is a kind of to have both the weed-eradicating robot for targeting and quantitatively spraying with mechanical fixed point shovel digging function |
| CN209643363U (en) * | 2019-01-08 | 2019-11-19 | 安徽农业大学 | A kind of intelligent weed-eradicating robot based on deep vision, system |
| CN110447627A (en) * | 2019-09-06 | 2019-11-15 | 东北农业大学 | A kind of crushing flaming weeder based on machine vision |
| PL3811748T3 (en) * | 2019-10-24 | 2022-08-01 | Ekobot Ab | A weeding machine and a method for carrying out weeding using the weeding machine |
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| CN111165092A (en) * | 2020-02-28 | 2020-05-19 | 山东农业大学 | Parallel arm weeding robot and weed weeding method |
| CN113142170B (en) * | 2021-03-30 | 2022-05-27 | 宁波市农业科学研究院 | Unmanned aerial vehicle intelligent fixed-point weeding technology suitable for rice field |
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