CN115024031A - Laser radar scanning intelligent inter-row weeding machine and automatic weeding method - Google Patents

Laser radar scanning intelligent inter-row weeding machine and automatic weeding method Download PDF

Info

Publication number
CN115024031A
CN115024031A CN202210746719.4A CN202210746719A CN115024031A CN 115024031 A CN115024031 A CN 115024031A CN 202210746719 A CN202210746719 A CN 202210746719A CN 115024031 A CN115024031 A CN 115024031A
Authority
CN
China
Prior art keywords
weeding
servo motor
controller
seedling
screw
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210746719.4A
Other languages
Chinese (zh)
Inventor
王超
杜长征
曾伟
侯学伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Heilongjiang Beike Ruisi Modern Agricultural Technology Co ltd
Original Assignee
Heilongjiang Beike Ruisi Modern Agricultural Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Heilongjiang Beike Ruisi Modern Agricultural Technology Co ltd filed Critical Heilongjiang Beike Ruisi Modern Agricultural Technology Co ltd
Priority to CN202210746719.4A priority Critical patent/CN115024031A/en
Publication of CN115024031A publication Critical patent/CN115024031A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • A01B39/02—Other machines specially adapted for working soil on which crops are growing with non-rotating tools
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B39/00—Other machines specially adapted for working soil on which crops are growing
    • A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
    • A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B39/00—Other machines specially adapted for working soil on which crops are growing
    • A01B39/20—Tools; Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Soil Working Implements (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

A laser radar scanning intelligent interline weeder and an automatic weeding method belong to the technical field of agricultural machinery; the device comprises a rectangular frame type rack, a support plate rack, a lead screw, a screw nut, a driven gear, a calculation automatic controller, a servo motor A, a driving gear, a sliding plate, a weeding monomer beam frame with N row weeding monomers, a driving beam, a screw nut, a weeding monomer beam frame, a laser scanning radar, a servo motor B, a pin shaft, a seat plate and a laser scanning radar, wherein the support plate rack is fixedly arranged on the rectangular frame type rack; the invention also provides an automatic weeding method; the machine and the method of the invention have the advantages of scientific, reasonable, novel and unique structure, reliable use, high automation degree and good operation quality, are not influenced by the appearance of crops and the operation environment, and can be used in all weather.

Description

Laser radar scanning intelligent inter-row weeding machine and automatic weeding method
Technical Field
The invention belongs to the technical field of agricultural machinery, and mainly relates to an intelligent weeding machine based on laser radar scanning and an automatic weeding method.
Background
During the period from the growth of crops to the harvest of the crops, the weeds can rob the nutrients and water of the crops, the growth of the crops is not facilitated, and weeding operation is needed. The weeding shovel of the weeding machine can realize mechanical clearing of farmland weeds by means of shallow ploughing, loosening soil and the like, and has the effects of loosening soil in seedling zones and reducing water evaporation. However, the whole deviation of the seedling belt exists during the seeding operation and the tractor deviates during the weeding operation, so that the weeding shovel is continuously close to the crop seedling belt during the operation to cause the phenomena of seedling injury and seedling shoveling. At present, an existing intelligent weeding machine shoots crop seedling belts through a camera and extracts seedling belt guide lines, the actual weeding machine can automatically weed on the row under the condition of good sight, however, the intelligent weeding machine based on image vision cannot normally work due to large field dust and insufficient light supplement at night, farming time is delayed, and seedling damage rate is increased.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an intelligent laser radar scanning inter-row weeding machine and an automatic weeding method.
The purpose of the invention is realized as follows: a laser radar scanning intelligent interline weeder comprises a rectangular frame type rack and interline weeder monomers, wherein a three-point suspension bracket is fixedly arranged at the middle part of the rectangular frame type rack, supporting land wheel assemblies with speed sensors are symmetrically arranged at the left side part and the right side part of a front cross beam of the rectangular frame type rack, a supporting plate bracket is fixedly arranged at the inner side part of the rectangular frame type rack positioned on the three-point suspension bracket, a lead screw is axially and radially positioned and circumferentially and rotatably supported on the side part of the supporting plate bracket, a nut is axially movably sleeved on the lead screw, a driven gear is fixedly arranged at the end part of one side of the lead screw, a calculation automatic controller and a servo motor A are sequentially and fixedly arranged at the upper part of the lead screw of the supporting plate bracket, the driving gear is fixedly arranged on a motor shaft of the servo motor A, and the driving gear is meshed with the driven gear; the left side part and the right side part of a rear cross beam of the rectangular frame type frame are circumferentially and radially positioned and axially movably sleeved with sliding plates respectively, a weeding monomer beam frame is fixedly arranged on each sliding plate, N inter-row weeding monomers are assembled on the rear side part of the weeding monomer beam frame at equal intervals, the front end and the rear end of each driving beam are fixedly arranged with a screw nut and the weeding monomer beam frame respectively, and the screw nuts and the weeding monomer beam frame are connected into a whole through the driving beams; a bracket is arranged on the upper part of one side of the weeding monomer beam frame, a servo motor B is fixedly arranged on the bracket, a pin shaft is rotatably inserted on the bracket, a motor shaft of the servo motor B is connected with the pin shaft, a seat plate is fixedly arranged on the pin shaft, and a laser scanning radar is fixedly arranged on the seat plate; the calculation self-controller is respectively communicated with the laser scanning radar, the servo motor A, the servo motor B and the speed sensor through the conducting wires.
An automatic weeding method of an intelligent interline laser radar scanning weeding machine comprises the following steps:
firstly, integrally suspending and connecting the laser radar scanning intelligent interline weeding machine on the rear part of a traction power machine by using a three-point suspension bracket;
secondly, starting a servo motor A by using a calculation automatic controller, driving a screw rod to rotate on a support plate frame sequentially through a driving gear and a driven gear, adjusting and moving a screw nut to the middle position of the screw rod, then respectively arranging N uniformly distributed inter-row weeding monomers at the middle positions between adjacent rows of seedling belts and fixing, and calculating the rotation angle of the automatic controller for automatically regulating and controlling the laser scanning radar to align the seedling belts;
the method for adjusting the nut to the middle position of the lead screw comprises the following steps: the calculation self-controller firstly controls the screw rod to rotate through the servo motor A, so that the nut is translated on the screw rod, when the calculation self-controller detects the current overload of the servo motor A, the fact that the nut is located at the end portion of one side of the screw rod is judged, then the calculation self-controller controls the screw rod to rotate reversely, so that the nut is translated reversely, when the reverse translation distance is 1/2 of the thread length of the screw rod, the calculation self-controller controls the servo motor A to be powered off, and then the nut stays at the middle position of the screw rod;
in the second step, the plant spacing L, the row spacing W and the seedling emergence height H of the crops are input through the automatic controller, a standard three-dimensional electronic data graph of the height distribution of the crops in the seedling zone of the N rows of the crops in the field is generated, meanwhile, the automatic controller is calculated to drive the laser scanning radar to rotate through the servo motor B, the pin shaft and the seat plate, and the rotation angle of the laser scanning radar is determined according to a formula 1:
Figure BSA0000276707780000031
in the formula, alpha is the rotation angle of the laser scanning radar, and the unit is DEG; k is a correction coefficient; l is the plant spacing of the crops, and the unit is mm; h is the seedling emergence height of the crop during weeding operation, and the unit is mm;
fourthly, when the speed sensor rotates, the automatic controller is calculated to start a scanning function of the laser scanning radar, the automatic controller obtains the operation speed V of the intelligent weeding machine in real time through the speed sensor, the laser scanning radar simultaneously scans N rows of crop seedling belts in the advancing direction of the intelligent weeding machine, the automatic controller is calculated to analyze the crop height distribution data of the scanned crop seedling belts, and an actual three-dimensional electronic data graph of the crop height distribution in the actual N rows of crop seedling belts in the operation is generated in real time;
in the fourth step, scanning crop seedling zone data information by a laser scanning radar, firstly drawing a two-dimensional distance flashing curve in real time in a calculation self-controller, judging that a horizontal line area in the two-dimensional distance flashing curve is a farmland horizontal plane, judging that a regular flashing area which flashes at equal time intervals and takes the seedling emergence height H as a peak value in the two-dimensional distance flashing curve is a crop seedling zone area, and judging that the area is a non-crop seedling zone area if the area is not the crop seedling zone area; judging the center of the regular flashing area as the center of the seedling zone, and generating an actual three-dimensional electronic data map of the height distribution of the crops according to the two-dimensional coordinates of the center of the regular flashing area and the height H of the seedlings of the crops;
sixthly, comparing the standard electronic data diagram and the actual electronic data diagram of the crop height distribution in real time by the calculation automatic controller, and judging whether the crop seedling belts generate transverse deviation in actual operation;
when the transverse offset distance delta W of the crop seedling belt is larger than or equal to 10mm, the automatic controller controls the servo motor A to drive the screw rod to rotate, so that the screw nut translates along the screw rod, and when the error between the position information of the crop seedling belt in the standard electronic data diagram and the position information of the crop seedling belt in the actual electronic data diagram is smaller than or equal to 10mm, the servo motor A stops rotating;
eighthly, in the step seventhly, the rotating speed n of the servo motor A 1 Determined by the formula:
Figure BSA0000276707780000041
in the formula, n 1 The unit is the rotating speed of the servo motor A and is r/s; v is the operating speed of the intelligent weeding machine, and the unit is m/s; delta W is the transverse offset distance of the crop seedling belt, and the unit is mm; n is 2 The number of the screw threads of the screw rod; p is the screw pitch of the lead screw, and the unit is mm; 1 is the longitudinal distance between the laser scanning radar and the weeding monomer between the rows, and the unit is mm;
and when weeding in the field, if the speed sensor continuously rotates, repeating the steps, and if not, stopping.
The invention adopts the laser scanning radar to scan the crop seedling belt in real time, automatically controls the row-to-row weeding of the weeding monomers among rows according to the deviation condition of the seedling belt by comparing the regular height distribution characteristics of the crop seedlings in the field with the preset crop distribution information, realizes the all-weather crop seedling belt detection and identification which are not influenced by the crop appearance, the light and shade of the operating environment, the raised dust of the farmland and the like, effectively improves the weeding operation efficiency and the operation precision among rows of machinery, and has the characteristics of scientific, reasonable, novel and unique structure and use method, reliable use, high automation degree and good operation quality.
Drawings
FIG. 1 is a three-dimensional schematic diagram of the overall structure of a laser radar scanning intelligent interline weeding machine;
FIG. 2 is a two-dimensional schematic diagram of the overall structure of a laser radar scanning intelligent interline weeding machine;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a right side view of FIG. 2'
FIG. 5 is an enlarged view of a portion A of FIG. 1;
fig. 6 is an exploded view of a laser scanning radar mounting structure.
Description of part numbers in the figures:
1. the device comprises a rectangular frame type frame, 1-1, a front beam, 1-2, a rear beam, 2, a supporting land wheel assembly, 2-1, a speed sensor, 3, a three-point suspension frame, 4, a weeding monomer beam frame, 5, a sliding plate, 6, a calculation automatic controller, 7, a driving beam, 8, servo motors A, 9, a support, 10, an inter-row weeding monomer, 11, a supporting plate frame, 12, a screw nut, 13, a lead screw, 14, a driving gear, 15, a driven gear, 16, a laser scanning radar, 17, servo motors B, 18, a pin shaft, 19 and a seat plate.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
A laser radar scanning intelligent interline weeder comprises a rectangular frame type frame 1 and interline weeder monomers 10, wherein a three-point suspension bracket 3 is fixedly arranged at the middle part of the rectangular frame type frame 1, a supporting land wheel assembly 2 with a speed sensor 2-1 is symmetrically arranged at the left and right parts of a front beam 1-1 of the rectangular frame type frame 1, a supporting plate frame 11 is fixedly arranged at the inner side part of the three-point suspension bracket 3 of the rectangular frame type frame 1, a screw 13 is axially and radially positioned and circumferentially and rotatably supported and arranged at the upper side part of the supporting plate frame 11, a screw nut 12 is axially movably sleeved on the screw 13, a driven gear 15 is fixedly arranged at the end part of one side of the screw 13, a self-control calculator 6 and a servo motor A8 are fixedly arranged at the upper part of the screw 13 of the supporting plate frame 11 in sequence, a self-control computer 14 is fixedly arranged on a motor shaft of a servo motor A8, the driving gear 14 is meshed with the driven gear 15; the left side part and the right side part of a rear cross beam 1-2 of a rectangular frame type frame 1 are circumferentially and radially positioned and axially movably sleeved with a sliding plate 5 respectively, a weeding monomer beam frame 4 is fixedly installed on the sliding plate 5, N inter-row weeding monomers 10 are assembled on the rear side part of the weeding monomer beam frame 4 at equal intervals, the front end and the rear end of a driving beam 7 are fixedly installed with a screw 12 and the weeding monomer beam frame 4 respectively, and the screw 12 and the weeding monomer beam frame 4 are connected into a whole through the driving beam 7; a bracket 9 is arranged on the upper part of one side of the weeding monomer beam frame 4, a servo motor B17 is fixedly arranged on the bracket 9, a pin shaft 18 is rotatably inserted on the bracket 9, a motor shaft of the servo motor B17 is connected with the pin shaft 18, a seat plate 19 is fixedly arranged on the pin shaft 18, and a laser scanning radar 16 is fixedly arranged on the seat plate 19; the wire connects the computer controller 6 with the laser scanning radar 16, the servo motor A8, the servo motor B17 and the speed sensor 2-1. .
An automatic weeding method of an intelligent interline laser radar scanning weeding machine comprises the following steps:
firstly, the laser radar scanning intelligent interline weeding machine is integrally connected to the rear part of a traction power machine in a hanging manner by using a three-point suspension bracket 3;
secondly, starting a servo motor A8 by using the automatic calculation controller 6, driving a screw rod 13 to rotate on a supporting plate frame 11 sequentially through a driving gear 14 and a driven gear 15, adjusting and moving a screw nut 12 to the middle position of the screw rod 13, then respectively arranging N uniformly distributed inter-row weeding monomers 10 at the middle position between adjacent seedling belts and fixing the inter-row weeding monomers, and calculating the rotation angle of the automatic calculation controller 6 for automatically regulating and controlling the laser scanning radar 16 to align the seedling belts;
the method for adjusting the nut 12 to the middle position of the screw 13 comprises the following steps: the calculation self-controller 6 firstly controls the screw 13 to rotate through the servo motor A8 to enable the screw 12 to translate on the screw 13, when the calculation self-controller 6 detects the current overload of the servo motor A8, the screw 12 is judged to be positioned at the end part of one side of the screw 13, then the calculation self-controller 6 controls the screw 13 to rotate reversely to enable the screw 12 to translate reversely, when the reverse translation distance is 1/2 of the thread length of the screw 13, the calculation self-controller 6 controls the servo motor A8 to be powered off, and the screw 12 stays at the middle position of the screw 13;
thirdly, in the second step, a standard three-dimensional electronic data graph of the height distribution of the crops in the seedling zones of the N rows of crops in the field is generated by calculating the plant spacing L, the row spacing W and the seedling emergence height H of the crops input into the self-controller 6, meanwhile, the self-controller 6 is calculated to drive the laser scanning radar 16 to rotate through the servo motor B17, the pin shaft 18 and the seat plate 19, and the rotation angle of the laser scanning radar 16 is determined according to the formula 1:
Figure BSA0000276707780000071
in the formula, α is the rotation angle of the laser scanning radar 16, and the unit is °; k is a correction coefficient; l is the plant spacing of the crops, and the unit is mm; h is the height of emergence of the crops in the weeding operation, and the unit is mm;
fourthly, when the speed sensor 2-1 rotates, the automatic controller 6 is calculated to start the scanning function of the laser scanning radar 16, the automatic controller 6 is calculated to acquire the operation speed V of the intelligent weeding machine in real time through the speed sensor 2-1, the laser scanning radar 16 simultaneously scans N rows of crop seedling belts in the advancing direction of the intelligent weeding machine, the automatic controller 6 is calculated to analyze the crop height distribution data of the scanned crop seedling belts, and an actual three-dimensional electronic data graph of the crop height distribution in the actual N rows of crop seedling belts in the operation is generated in real time;
fifthly, in the step IV, scanning crop seedling zone data information by the laser scanning radar 16, firstly drawing a two-dimensional distance flashing curve in real time in the calculation self-controller 6, judging that a horizontal line area in the two-dimensional distance flashing curve is a farmland horizontal plane, judging that a regular flashing area which flashes at equal time intervals and takes the seedling emergence height H as a peak value in the two-dimensional distance flashing curve is a crop seedling zone area, and judging that the area is a non-crop seedling zone area if the area is not the crop seedling zone area; judging the center of the regular flashing area as the center of the seedling zone, and generating an actual three-dimensional electronic data map of the height distribution of the crops according to the two-dimensional coordinates of the center of the regular flashing area and the height H of the seedlings of the crops;
sixthly, calculating a standard electronic data graph and an actual electronic data graph of the height distribution of the crops in real time by the automatic controller 6, and judging whether the seedling zones of the crops generate transverse deviation in actual operation;
when the transverse offset distance delta W of the crop seedling belt is larger than or equal to 10mm, the automatic controller 6 is calculated to control the servo motor A8 to drive the screw rod 13 to rotate, so that the screw nut 12 is translated along the screw rod 13, and when the error of the position information of the crop seedling belt in the standard electronic data diagram and the actual electronic data diagram is smaller than or equal to 10mm, the servo motor A8 stops rotating;
eighthly, in the step (seventhly), the rotating speed n1 of the servo motor A8 is determined through a formula:
Figure BSA0000276707780000081
in the formula, n 1 The unit is r/s, which is the rotating speed of the servo motor A8; v is the operating speed of the intelligent weeding machine, and the unit is m/s; delta W is the transverse offset distance of the crop seedling belt, and the unit is mm; n is 2 The number of the screw threads of the lead screw 13; p is the screw pitch of the lead screw 13, and the unit is mm; 1 is the longitudinal distance between the laser scanning radar 16 and the weeding units 10 between the rows, and the unit is mm;
when the field is used for weeding, if the speed sensor 2-1 continuously rotates, the steps are repeated, and if not, the operation is stopped.

Claims (2)

1. The utility model provides a laser radar scans intelligent interline weeder, includes rectangle frame (1) and interline weeding monomer (10) three-point mounted frame (3) are adorned admittedly on rectangle frame (1) middle part, install support land wheel assembly (2) that have velocity sensor (2-1) on the front beam (1-1) left and right side position of rectangle frame (1) mutually symmetrically, its characterized in that: a support plate frame (11) is fixedly arranged on the inner side position of the rectangular frame type rack (1) which is positioned on the three-point suspension frame (3), a lead screw (13) is axially and radially positioned and circumferentially and rotatably supported and arranged on the upper side part of the support plate frame (11), a screw nut (12) is axially movably sleeved on the lead screw (13), a driven gear (15) is fixedly arranged on the end part of one side of the lead screw (13), a calculation automatic controller (6) and a servo motor A (8) are fixedly arranged on the position, above the lead screw (13), of the support plate frame (11) in sequence, a driving gear (14) is fixedly arranged on a motor shaft of the servo motor A (8), and the driving gear (14) is meshed with the driven gear (15); the left side part and the right side part of a rear cross beam (1-2) of a rectangular frame type frame (1) are circumferentially and radially positioned and axially movably sleeved with a sliding plate (5) respectively, a weeding monomer beam frame (4) is fixedly arranged on the sliding plate (5), N row weeding monomers (10) are assembled on the rear side part of the weeding monomer beam frame (4) at equal intervals, the front end and the rear end of a driving beam (7) are fixedly arranged with a screw nut (12) and the weeding monomer beam frame (4) respectively, and the screw nut (12) and the weeding monomer beam frame (4) are connected into a whole through the driving beam (7); a support (9) is installed on the upper portion of one side of the weeding monomer beam frame (4), a servo motor B (17) is fixedly installed on the support (9), a pin shaft (18) is rotatably inserted into the support (9), a motor shaft of the servo motor B (17) is connected with the pin shaft (18), a seat plate (19) is fixedly installed on the pin shaft (18), and a laser scanning radar (16) is fixedly installed on the seat plate (19); the calculation self-controller (6) is respectively communicated with the laser scanning radar (16), the servo motor A (8), the servo motor B (17) and the speed sensor (2-1) through leads.
2. An automatic weeding method of a laser radar scanning intelligent interline weeding machine is characterized by comprising the following steps: the method comprises the following steps:
firstly, integrally suspending and connecting the laser radar scanning intelligent interline weeding machine on the rear part of a traction power machine by using a three-point suspension bracket (3);
secondly, starting a servo motor A (8) by using a calculation self-controller (6), driving a screw rod (13) to rotate on a supporting plate frame (11) sequentially through a driving gear (14) and a driven gear (15), adjusting and moving a screw nut (12) to the middle position of the screw rod (13), then respectively arranging N uniformly distributed inter-row weeding monomers (10) at the middle positions between adjacent seedling belts and fixing the inter-row weeding monomers, and calculating the rotation angle of an automatic regulation and control laser scanning radar (16) of the self-controller (6) to align the seedling belts;
the method for adjusting the nut (12) to the middle position of the lead screw (13) comprises the following steps: the calculation self-controller (6) firstly controls the lead screw (13) to rotate through the servo motor A (8) to enable the screw nut (12) to translate on the lead screw (13), when the calculation self-controller (6) detects the current overload of the servo motor A (8), the fact that the screw nut (12) is located at the end portion of one side of the lead screw (13) is judged, then the calculation self-controller (6) controls the lead screw (13) to rotate reversely to enable the screw nut (12) to translate reversely, when the reverse translation distance is 1/2 of the thread length of the lead screw (13), the calculation self-controller (6) controls the servo motor A (8) to be powered off, and the screw nut (12) stays at the middle position of the lead screw (13);
in the second step, the standard three-dimensional electronic data diagram of the height distribution of crops in the seedling zone of N rows of crops in the field is generated by calculating the plant spacing L, the row spacing W and the seedling emergence height H of the crops input by the automatic controller (6), meanwhile, the automatic controller (6) drives the laser scanning radar (16) to rotate through the servo motor B (17), the pin shaft (18) and the seat plate (19), and the rotation angle of the laser scanning radar (16) is determined according to the formula 1:
Figure FSA0000276707770000021
wherein alpha is the rotation angle of the laser scanning radar (16) and the unit is DEG; k is a correction coefficient; l is the plant spacing of the crops, and the unit is mm; h is the seedling emergence height of the crop during weeding operation, and the unit is mm;
fourthly, when the speed sensor (2-1) rotates, the automatic controller (6) is calculated to start the scanning function of the laser scanning radar (16), the automatic controller (6) obtains the operation speed V of the intelligent weeding machine in real time through the speed sensor (2-1), the laser scanning radar (16) simultaneously scans N rows of crop seedling belts in the advancing direction of the intelligent weeding machine, the automatic controller (6) is calculated to analyze crop height distribution data of the scanned crop seedling belts, and an actual three-dimensional electronic data graph of crop height distribution in the actual N rows of crop seedling belts in operation is generated in real time;
in the fourth step, scanning crop seedling zone data information by a laser scanning radar (16), firstly drawing a two-dimensional distance flashing curve in real time in a calculation self-controller (6), judging a horizontal line area in the two-dimensional distance flashing curve as a farmland horizontal plane, judging a regular flashing area in the two-dimensional distance flashing curve which flashes at equal time intervals and takes the seedling emergence height H as a peak value as a crop seedling zone area, and judging the area as a non-crop seedling zone area if the area is not; judging the center of the regular flashing area as the center of the seedling zone, and generating an actual three-dimensional electronic data map of the height distribution of the crops according to the two-dimensional coordinates of the center of the regular flashing area and the height H of the seedlings of the crops;
sixthly, the calculation automatic controller (6) compares the standard electronic data diagram and the actual electronic data diagram of the crop height distribution in real time, and judges whether the crop seedling belts generate transverse deviation in actual operation;
when the transverse offset distance delta W of the crop seedling belt is larger than or equal to 10mm, the calculation automatic controller (6) controls the servo motor A (8) to drive the screw rod (13) to rotate, so that the screw nut (12) translates along the screw rod (13), and when the error of the position information of the crop seedling belt in the standard electronic data diagram and the actual electronic data diagram is smaller than or equal to 10mm, the servo motor A (8) stops rotating;
eighthly, in the step seventhly, the rotating speed n of the servo motor A (8) 1 Determined by the formula:
Figure FSA0000276707770000031
in the formula, n 1 The unit is the rotating speed of a servo motor A (8) and is r/s; v is the operating speed of the intelligent weeding machine, and the unit is m/s; delta W is the transverse offset distance of the crop seedling belt, and the unit is mm; n is 2 The number of the threads of the lead screw (13); p is the screw pitch of the lead screw (13) and the unit is mm; l is the longitudinal distance between the laser scanning radar (16) and the weeding monomer (10) between the rows, and the unit is mm;
when weeding is carried out in the field, if the speed sensor (2-1) continuously rotates, the steps are repeated, and if not, the operation is stopped.
CN202210746719.4A 2022-06-16 2022-06-16 Laser radar scanning intelligent inter-row weeding machine and automatic weeding method Pending CN115024031A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210746719.4A CN115024031A (en) 2022-06-16 2022-06-16 Laser radar scanning intelligent inter-row weeding machine and automatic weeding method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210746719.4A CN115024031A (en) 2022-06-16 2022-06-16 Laser radar scanning intelligent inter-row weeding machine and automatic weeding method

Publications (1)

Publication Number Publication Date
CN115024031A true CN115024031A (en) 2022-09-09

Family

ID=83126736

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210746719.4A Pending CN115024031A (en) 2022-06-16 2022-06-16 Laser radar scanning intelligent inter-row weeding machine and automatic weeding method

Country Status (1)

Country Link
CN (1) CN115024031A (en)

Similar Documents

Publication Publication Date Title
CN213880814U (en) Double-operation profiling obstacle-avoiding weeding device between forest fruit plants and on ridges
CN109006783A (en) A kind of WEEDING DEVICE, farmland intelligence uprooting weed robot
CN113396650B (en) Intelligent vegetable inter-plant weeding device and control method
CN109005693B (en) Open-close type intelligent weeding device based on binocular vision for obtaining seedling and grass information
CN115024031A (en) Laser radar scanning intelligent inter-row weeding machine and automatic weeding method
CN218302108U (en) Agricultural intertillage robot
CN114158543B (en) Hybrid weeding robot between trunk is gone in crawler-type hillside orchard
CN114097320B (en) Terminal actuating mechanism of bionic intelligent inter-plant weeding robot
CN110012701A (en) Intelligent row aligning device of wheat row aligning no-tillage planter
CN112042377B (en) Weeding machine for returning to field
CN115299195B (en) Conical nail brush type omnibearing intelligent weeding machine
CN105815021B (en) A kind of automatic point of corn particle pesticide targeting applies device
CN211745174U (en) Furrow plough
CN114616936A (en) Mechanical inter-plant and inter-row intelligent weeding machine
CA3136012A1 (en) Method for weeding and a weeding rod
CN216627077U (en) Wild boar driving device for agricultural planting protection
US5632344A (en) Cultivator
CN214800553U (en) Automatic cultivator for melon vegetable planting
CN115589796A (en) Unmanned intelligent intertillage weeding robot
CN115943763A (en) Agricultural mechanical weeding device
CN218897449U (en) Planting loosener
CN216673744U (en) Ecological organic food that can flattening soil is planted and is used device of digging
CN218588066U (en) Agricultural robot
CN220606537U (en) Zero-speed seed feeding system of potato planter
CN114531972B (en) Orchard is rotary cultivator for soil with automatic regulating mechanism

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination