CN115191162A - Cross-row self-propelled weeding device and using method - Google Patents
Cross-row self-propelled weeding device and using method Download PDFInfo
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- CN115191162A CN115191162A CN202210797950.6A CN202210797950A CN115191162A CN 115191162 A CN115191162 A CN 115191162A CN 202210797950 A CN202210797950 A CN 202210797950A CN 115191162 A CN115191162 A CN 115191162A
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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
- A01B39/02—Other machines specially adapted for working soil on which crops are growing with non-rotating tools
- A01B39/06—Self-propelled machines
-
- 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
- A01B39/10—Other machines specially adapted for working soil on which crops are growing with oscillating tools driven or not
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
- A01B39/22—Tools; Mounting tools
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Working Implements (AREA)
Abstract
A cross-row self-propelled weeding device and a using method belong to the technical field of agricultural mechanical equipment. The four-wheel self-propelled mechanism can realize the self-propelled driving of field row-crossing and the driving among crop rows, thereby being convenient for weeding work; the crop identification system is used for distinguishing weeds from crops to obtain crop position information and the like; the adjustment of different crop heights and rows is realized through the control of a motor, and meanwhile, the soil penetration depth of the weeding device is realized; the inter-row weeding device and the inter-plant weeding device can remove weeds between rows and plants of crops simultaneously when the weeding robot walks. The invention reduces the labor intensity of workers, improves the weeding efficiency, has strong adaptability of working occasions and has important significance for promoting the development of the farming industry.
Description
Technical Field
The invention belongs to the technical field of agricultural mechanical equipment, relates to a weeding robot, and particularly relates to a row-crossing self-propelled weeding robot capable of adjusting the distance between cutters according to the distance between crops and controlling weeding depth.
Background
Farmland weeds are an integral part of an agricultural ecological system, and compete with crops for nutrients, moisture, growth space and the like, so that the yield of the crops is reduced in a large area; meanwhile, the weeds can cause the growth of diseases and pests, thereby affecting the product quality of crops. Compared with other weeding modes, such as artificial weeding, chemical weeding, biological weeding and the like, mechanical weeding has the advantages of high weeding efficiency, low labor intensity, environmental friendliness and the like. At present, the field weeding device is difficult to adjust the position of a cutter according to the height of crops and the row spacing of the crops, the high-clearance walking cannot be met, the soil penetration depth of the weeding cutter is difficult to adjust, and the problems of low weeding precision and weeding efficiency, easy seedling injury, poor adaptability, low intelligent degree and the like exist. With the informatization and intelligent development of agricultural equipment, the field weeding operation is intelligentized to become a development direction at home and abroad, the refinement level of the field weeding operation is improved, the application reduction and efficiency improvement of chemical fertilizers and pesticides are realized, and the method is an important content for developing green, efficient, ecological and safe modern agriculture. Therefore, it is important to design a cross-row self-propelled weeding robot to solve the above problems.
Disclosure of Invention
The invention aims to provide a row-crossing self-propelled weeding robot aiming at the defects of the existing field weeding device in the using process.
The technical scheme of the invention is as follows: a row-spanning self-propelled weeding device is characterized in that: the device comprises a four-wheel self-propelled mechanism, a line spacing adjusting mechanism, a height adjusting mechanism, an interline weeding mechanism, an inter-plant weeding mechanism, a crop identification system and a power supply;
the four-wheel self-walking mechanism consists of walking wheels, a bracket, a steering shaft and a driving device; the travelling wheels are connected with a driving device; the bracket is rotationally connected with the steering shaft; the driving device is fixedly arranged on the steering shaft;
the line spacing adjusting mechanism consists of a base, a sliding rail, a sliding table, a first motor, a gear, a rack, a sliding block and a moving platform; the base is fixedly arranged below the bracket; one sliding rail is fixedly arranged on the base, and the other sliding rail is fixedly arranged on the rack; the sliding table is fixedly connected with the sliding block; the first motor is in transmission connection with the rack and is fixedly arranged on the sliding table; the gear is meshed with the rack; the sliding block is matched and connected with the sliding rail; the moving platform is fixedly arranged on the sliding table;
the height adjusting mechanism consists of an installation base, a slide rail, a bearing seat, a motor frame, a screw rod, a slide block, a frame, a motor and a coupling; the mounting base is fixedly arranged in the rack; the slide rail is arranged on the mounting base; the bearing seat and the motor frame are fixedly arranged on the mounting base; the screw rod is connected with the second motor through a coupler and is connected with the bearing seat through a bearing; the second motor is fixedly arranged on the motor frame; the sliding block is connected with the screw rod and fixedly arranged on the sliding rail; the rack is arranged below the mobile platform;
the inter-row weeding mechanism consists of a connecting interface, a support frame and an inter-row weeding shovel; the connecting interface is fixedly arranged on the sliding block; the support frame is fixedly connected with the connecting interface; the inter-row weeding shovel is fixedly connected with the supporting frame;
the inter-plant weeding mechanism consists of a third motor, a base, a motor frame, a crank, a connecting rod, a rocker, an inter-plant weeding shovel and a bearing seat; the third motor is connected with the motor frame and fixedly arranged on the base; the base is fixedly arranged on the sliding block; the crank is connected with a third motor; the connecting rod is rotationally connected with the crank; the rocker is rotationally connected with the connecting rod; the inter-plant weeding shovel is fixedly connected with the rocker;
the crop identification system is fixedly arranged below the four-wheel self-propelled mechanism; the power supply is fixedly arranged on two sides of the four-wheel self-propelled mechanism.
Furthermore, the four wheels are driven by four independent driving motors respectively by the driving device so as to realize high-clearance walking and realize multi-row weed removal among crops.
Furthermore, the row spacing adjusting mechanism drives the gear to rotate through the driving of the first motor and is meshed with the rack, so that the moving platform moves left and right on the sliding rail, and the adjustment of the position of the cutter can be realized according to different crop spacing.
Further, height adjusting mechanism passes through the shaft coupling and is connected with the second motor, rotates the lead screw and drives the slider and remove along the slide rail, drives and installs weeding mechanism between the line on the slider and weeding mechanism between trunk, whether the realization weeding degree of depth and weeding cutter work, can adjust the degree of depth of burying of weeding cutter simultaneously.
Furthermore, the inter-plant weeding mechanism obtains crop information according to the crop identification system, when the weeding tool reaches the position of the crop, the third motor drives the crank to rotate, and the swing rod is driven to swing left and right through transmission of the connecting rod, so that swing of the inter-plant weeding shovel is driven, and seedling avoiding action of the inter-plant weeding cutter is realized along with the advancing direction.
Furthermore, the inter-row weeding mechanism and the inter-plant weeding mechanism accurately control the third motor by means of a crop recognition system, so that the four-wheel self-propelled device is controlled to accurately avoid inter-plant crops.
The invention has the beneficial effects that: the device is integrally composed of a four-wheel self-propelled mechanism, a row spacing adjusting mechanism, a height adjusting mechanism, an inter-row weeding mechanism, an inter-plant weeding mechanism, a crop identification system and a power supply. The four-wheel self-propelled mechanism can realize the self-propelled driving of field row-crossing and the driving among crop rows, thereby being convenient for weeding work; the crop identification system is used for distinguishing weeds from crops to obtain crop position information and the like; the adjustment of different crop heights and rows is realized through the control of a motor, and meanwhile, the soil penetration depth of the weeding device is realized; the inter-row weeding device and the inter-plant weeding device can remove weeds between rows and plants of crops simultaneously when the weeding robot walks. The invention reduces the labor intensity of workers, improves the weeding efficiency, has strong adaptability of working occasions and has important significance for promoting the development of the farming industry.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic side view of the present invention.
Fig. 3 is a schematic structural view of the line spacing adjustment mechanism of the present invention.
FIG. 4 is a schematic side view of the line spacing adjustment mechanism of the present invention.
FIG. 5 is a schematic view of the height adjustment mechanism and the inter-plant weeding mechanism according to the present invention.
In the figure: the four-wheel self-propelled mechanism 1, the row spacing adjusting mechanism 2, the height adjusting mechanism 3, the inter-row weeding mechanism 4, the inter-plant weeding mechanism 5, the crop identification system 6, the power supply 7, the travelling wheels 101, the support 102, the steering shaft 103, the driving device 104, the base 201, the sliding rails 202, the sliding table 203, the first motor 204, the gears 205, the racks 206, the sliders 207, the moving platform 208, the mounting base 301, the sliding rails 302, the bearing blocks 303, the motor frame 304, the screw rods 305, the sliders 306, the frame 307, the second motor 308, the coupling 309, the connecting interface 401, the support frame 402, the inter-row weeding shovel 403, the third motor 501, the base 502, the motor frame 503, the crank 504, the connecting rod 505, the rocker 507, the inter-plant weeding shovel and the bearing blocks 508.
Detailed Description
The present invention is further illustrated by the following detailed description in conjunction with the accompanying drawings, it being understood that these embodiments are merely illustrative of the present patent and are not intended to limit the scope of the present patent, and that various equivalent modifications of the present patent by those skilled in the art after reading the present patent fall within the scope of the appended claims.
Example 1
As shown in fig. 1, the cross-row self-propelled weeding device is composed of a four-wheel self-propelled mechanism 1, a row spacing adjusting mechanism 2, a height adjusting mechanism 3, an inter-row weeding mechanism 4, an inter-plant weeding mechanism 5, a crop identification system 6 and a power supply 7. The row spacing adjusting mechanism 2 is fixedly arranged below the four-wheel self-propelled mechanism 1, the height adjusting mechanism 3 is fixedly arranged below the row spacing adjusting mechanism 2, the inter-row weeding mechanism 4 and the inter-plant weeding mechanism 5 are fixedly arranged on the height adjusting mechanism 2, the crop recognition system 6 is fixedly arranged below the four-wheel self-propelled mechanism, and the power supply 7 is fixedly arranged on two sides of the four-wheel self-propelled mechanism 1.
Example 2
Unlike the above embodiment 1, as shown in fig. 2, the inter-row distance adjustment mechanism 2 is composed of a base 201, a slide rail 202, a slide table 203, a first motor 204, a gear 205, a rack 206, a slider 207, and a moving platform 208. The base 201 is fixedly arranged below the bracket 102; one sliding rail 202 is fixedly arranged on the base 201, and the other sliding rail 202 is fixedly arranged on the rack 206; the sliding table 203 is fixedly connected with the sliding block 207; the first motor 204 is in transmission connection with the rack 206 and is fixedly arranged on the sliding table 203; the gear 205 is meshed with the rack 206; the sliding block 207 is matched and connected with the sliding rail 202; the moving platform 208 is fixedly arranged on the sliding table 203. The row spacing adjusting device 2 drives the gear 205 to rotate by the first motor 204, and is meshed with the gear rack 206, so that the moving platform 208 moves on the sliding rail 202, and the position of the cutter can be adjusted according to different crop spacing. The inter-row weeding mechanism 4 is composed of a connecting interface 401, a support frame 402 and an inter-row weeding shovel 403. The connecting port 401 is fixedly arranged on the sliding block 306; the support frame 402 is fixedly connected with the connecting interface 401; the inter-row weeding shovel 403 is fixedly connected with the support frame 402. The inter-row weeding device 4 can remove weeds among crops, can play a role of deeply loosening soil, can effectively improve the structure of the soil, can improve the absorption rate of nutrient components in the soil, and can promote the growth of the crops so as to improve the yield.
Example 3
Unlike embodiment 1, as shown in fig. 3, the height adjusting mechanism 3 is composed of a mounting base 301, a slide rail 302, a bearing block 303, a motor frame 304, a screw 305, a slider 306, a frame 307, a second motor 308, and a coupling 309. The mounting base 301 is fixedly arranged in the frame 307; the slide rail 302 is mounted on the mounting base 301; the bearing seat 303 and the motor frame 304 are fixedly arranged on the mounting base 301; the screw 305 is connected with a second motor 308 through a coupler 309 and is connected with a bearing seat 303 through a bearing; the second motor 308 is fixedly arranged on the motor frame 304; the sliding block 306 is connected with the screw 305 and is fixedly arranged on the sliding rail 302; the frame 307 is installed and disposed under the moving platform 208. Height adjusting mechanism 3 passes through shaft coupling 309 and is connected with second motor 308, rotates lead screw 305 and drives slider 306 and remove along slide rail 302, drives and installs weeding mechanism 4 between the row on slider 306 and weeding mechanism 5 between the trunk, realizes weeding degree of depth and weeding cutter whether the control of work, can adjust weeding cutter's the degree of depth of penetrating into the earth simultaneously. The inter-plant weeding device 5 is composed of a third motor 501, a base 502, a motor frame 503, a crank 504, a connecting rod 505, a rocker 506, an inter-plant weeding shovel 507 and a bearing seat 508. The third motor 501 is connected with the motor frame 503 and is fixedly arranged on the base 502; the base 502 is fixedly arranged on the sliding block 306; the crank 504 is connected with a third motor 501; the connecting rod 505 is connected with the crank 504 through a rotating shaft; the rocker 506 is connected with the connecting rod 505 in a rotating way; the inter-plant weed removing shovel 507 is fixedly connected with the rocker 506. The inter-plant weeding device 5 obtains crop information according to the crop recognition system 6, when the weeding tool reaches the position of the crop, the third motor 503 drives the crank 504 to rotate, and the swing rod 506 is driven to swing left and right through the transmission of the connecting rod 505, so that the inter-plant weeding shovel is driven to swing, and the inter-plant weeding cutter 507 avoids the seedling along with the advancing direction.
As shown in fig. 1 to 5, a cross-row self-propelled weeding device works as follows: the four-wheel self-propelled device realizes four-wheel drive walking through four independent driving devices, can realize high-clearance walking simultaneously, and realizes weed removal among multiple rows of crops. The row spacing adjusting mechanism drives the gear to rotate through the driving of the first motor and is meshed with the rack, so that the moving platform moves left and right on the sliding rail, and the position of the cutter can be adjusted according to different crop spacing. After through high adjusting device, pass through the connection of shaft coupling through the motor, rotate the lead screw and drive the slider and remove along the slide rail, drive and install weeding mechanism between the line on the slider and weeding mechanism between the trunk, realize weeding degree of depth and weeding cutter the control whether work, can adjust weeding cutter's the degree of depth of burying simultaneously. The inter-row weeding mechanism is used for removing weeds among crops, and can play a role of deeply loosening soil, effectively improve the structure of the soil, improve the absorption rate of nutrient components in the soil, promote the growth of the crops and further improve the yield. Meanwhile, the inter-plant weeding mechanism is used, crop information is obtained according to the crop recognition system, when the weeding tool reaches the position of a crop, the crank is driven to rotate through the third motor, and the swing rod is driven to swing left and right through transmission of the connecting rod, so that swing of the inter-plant weeding shovel is driven, and seedling avoiding action of the inter-plant weeding cutter is achieved along with the advancing direction. Weeding mechanism and interplant weeding mechanism between the row, along with four-wheel from walking the device, rely on crop identification system, accurate control third motor can realize dodging the accuracy of interplant crop, realizes weeding between the row and the interplant accurate going on when weeding. The four-wheel self-propelled mechanism can realize the self-propelled driving of field row-crossing and the driving among crop rows, thereby being convenient for weeding work; the crop identification technology is used for distinguishing weeds from crops to obtain crop position information and the like; the adjustment of different crop heights and rows is realized through the control of a motor, and meanwhile, the soil penetration depth of the weeding device is realized; the inter-row weeding device and the inter-plant weeding device can remove weeds between rows and plants of crops simultaneously when the weeding robot walks. The labor intensity of workers is reduced, the weeding efficiency is improved, the adaptability of the use occasion is strong, and the method has important significance for promoting the development of the farming industry.
Claims (7)
1. A row-spanning self-propelled weeding device is characterized in that: the device comprises a four-wheel self-propelled mechanism (1), a line spacing adjusting mechanism (2), a height adjusting mechanism (3), an inter-line weeding mechanism (4), an inter-plant weeding mechanism (5), a crop identification system (6) and a power supply (7);
the four-wheel self-propelled mechanism (1) consists of a travelling wheel (101), a bracket (102), a steering shaft (103) and a driving device (104); the travelling wheel (101) is connected with a driving device (104); the bracket (102) is rotationally connected with a steering shaft (103); the driving device (104) is fixedly arranged on the steering shaft (103);
the line spacing adjusting mechanism (2) consists of a base (201), a sliding rail (202), a sliding table (203), a first motor (204), a gear (205), a rack (206), a sliding block (207) and a moving platform (208); the base (201) is fixedly arranged below the bracket (102); one sliding rail (202) is fixedly arranged on the base (201), and the other sliding rail is fixedly arranged on the rack (206); the sliding table (203) is fixedly connected with the sliding block (207); the first motor (204) is in transmission connection with the rack (206) and is fixedly arranged on the sliding table (203); the gear (205) is meshed with the rack (206); the sliding block (207) is matched and connected with the sliding rail (202); the moving platform (208) is fixedly arranged on the sliding table (203);
the height adjusting mechanism (3) is composed of a mounting base (301), a sliding rail (302), a bearing seat (303), a motor frame (304), a screw rod (305), a sliding block (306), a frame (307), a motor (308) and a coupler (309); the mounting base (301) is fixedly arranged in the rack (307); the sliding rail (302) is arranged on the mounting base (301); the bearing seat (303) and the motor frame (304) are fixedly arranged on the mounting base (301); the screw rod (305) is connected with a second motor (308) through a coupler (309) and is connected with the bearing seat (303) through a bearing; the second motor (308) is fixedly arranged on the motor frame (304); the sliding block (306) is connected with the screw rod (305) and fixedly arranged on the sliding rail (302); the frame (307) is arranged below the moving platform (208);
the inter-row weeding mechanism (4) consists of a connecting interface (401), a support frame (402) and an inter-row weeding shovel (403); the connecting interface (401) is fixedly arranged on the sliding block (306); the support frame (402) is fixedly connected with the connecting interface (401); the inter-row weeding shovel (403) is fixedly connected with the support frame (402);
the inter-plant weeding mechanism (5) consists of a third motor (501), a base (502), a motor frame (503), a crank (504), a connecting rod (505), a rocker (506), an inter-plant weeding shovel (507) and a bearing seat (508); the third motor (501) is connected with the motor frame (503) and is fixedly arranged on the base (502); the base (502) is fixedly arranged on the sliding block (306); the crank (504) is connected with a third motor (501); the connecting rod (505) is rotationally connected with the crank (504); the rocker (506) is rotationally connected with the connecting rod (505); the inter-plant weeding shovel (507) is fixedly connected with the rocker (506);
the crop identification system (6) is fixedly arranged below the four-wheel self-propelled mechanism (1); the power supply (7) is fixedly arranged on two sides of the four-wheel self-propelled mechanism (1).
2. A row-spanning self-propelled weeding apparatus according to claim 1, wherein: the driving device (104) drives four wheels by four independent driving motors respectively to realize high-clearance walking and multi-row weed removal among crops.
3. A row-spanning self-propelled weeding apparatus according to claim 1, wherein: the row spacing adjusting mechanism (2) drives the gear (205) to rotate through the first motor (204) and is meshed with the rack (206), so that the moving platform (208) moves left and right on the sliding rail (202), and the adjustment of the position of the cutter can be realized according to different crop spacing.
4. A row-spanning self-propelled weeding apparatus according to claim 1, wherein: height adjusting mechanism (3) are connected with second motor (308) through shaft coupling (309), rotate lead screw (305) and drive slider (306) and remove along slide rail (302), drive and install weeding mechanism (5) between line (4) and the trunk on slider (306), realize weeding degree of depth and weeding cutter whether work, can adjust weeding cutter's the degree of depth of burying simultaneously.
5. A row-spanning self-propelled weeding apparatus according to claim 1, wherein: the inter-plant weeding mechanism (5) obtains crop information according to the crop identification system (6), when the weeding tool reaches the position of a crop, the third motor (503) drives the crank (504) to rotate, and the swing rod (506) is driven to swing left and right through the transmission of the connecting rod (505), so that the inter-plant weeding shovel is driven to swing, and the inter-plant weeding tool (507) avoids seedlings along with the advancing direction.
6. A row-spanning self-propelled weeding apparatus according to claim 1, wherein: the inter-row weeding mechanism (4) and the inter-plant weeding mechanism (5) accurately control the third motor (503) by means of the crop recognition system (6), so that the four-wheel self-propelled device (1) is controlled to accurately avoid inter-plant crops.
7. A method for using a row-crossing self-propelled weeding apparatus according to any one of claims 1 to 6, comprising:
the four-wheel self-walking mechanism realizes four-wheel drive walking through four independent drive motors and realizes high ground clearance walking, and the row spacing adjusting mechanism drives the gears to rotate and is meshed with the racks through the drive of the first motor, so that the moving platform moves on the slide rail, the adjustment of the positions of the cutters at different crop spacings is realized, and the four-wheel self-walking mechanism has higher precision and efficiency; the height adjusting mechanism is connected with the motor through a coupler, a screw rod is rotated to drive a sliding block to move along a sliding rail, an inter-row weeding mechanism and an inter-plant weeding mechanism which are installed on the sliding block are driven, the weeding depth and the weeding cutter whether to work are controlled, the soil penetration depth of the weeding cutter can be adjusted at the same time, the inter-row weeding mechanism can remove weeds among crops, and meanwhile, the inter-plant weeding mechanism can play a role of deeply loosening soil; the inter-row weeding mechanism and the inter-plant weeding mechanism are accompanied by four-wheel self-walking devices, depend on a crop recognition system, and accurately control the third motor, so that the inter-plant crops are accurately avoided, and the inter-row weeding and the inter-plant weeding are accurately carried out simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210797950.6A CN115191162A (en) | 2022-07-08 | 2022-07-08 | Cross-row self-propelled weeding device and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210797950.6A CN115191162A (en) | 2022-07-08 | 2022-07-08 | Cross-row self-propelled weeding device and using method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115191162A true CN115191162A (en) | 2022-10-18 |
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ID=83579814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210797950.6A Withdrawn CN115191162A (en) | 2022-07-08 | 2022-07-08 | Cross-row self-propelled weeding device and using method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115191162A (en) |
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2022
- 2022-07-08 CN CN202210797950.6A patent/CN115191162A/en not_active Withdrawn
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Application publication date: 20221018 |
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