CN117016066A - Reciprocating type soybean inter-plant seedling-avoiding weeding device and control method - Google Patents
Reciprocating type soybean inter-plant seedling-avoiding weeding device and control method Download PDFInfo
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- CN117016066A CN117016066A CN202311079035.4A CN202311079035A CN117016066A CN 117016066 A CN117016066 A CN 117016066A CN 202311079035 A CN202311079035 A CN 202311079035A CN 117016066 A CN117016066 A CN 117016066A
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- 244000068988 Glycine max Species 0.000 title claims abstract description 141
- 238000009333 weeding Methods 0.000 title claims abstract description 96
- 235000010469 Glycine max Nutrition 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 241000196324 Embryophyta Species 0.000 claims description 30
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 5
- 244000126211 Hericium coralloides Species 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 abstract description 2
- 230000006378 damage Effects 0.000 description 7
- 208000027418 Wounds and injury Diseases 0.000 description 6
- 208000014674 injury Diseases 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 235000004035 Cryptotaenia japonica Nutrition 0.000 description 1
- 206010059866 Drug resistance Diseases 0.000 description 1
- 102000007641 Trefoil Factors Human genes 0.000 description 1
- 235000015724 Trifolium pratense Nutrition 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/10—Other machines specially adapted for working soil on which crops are growing with oscillating tools driven or not
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
- A01B39/26—Arrangements for protecting plants, e.g. fenders
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
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Abstract
The invention discloses a reciprocating type soybean inter-plant seedling avoidance weeding device and a control method, wherein the reciprocating type soybean inter-plant seedling avoidance weeding device comprises a detection system, a control system and a weeding mechanism, the detection system comprises a laser ranging sensor, the laser ranging sensor is arranged on the weeding mechanism and used for measuring distance data between the laser ranging sensor and a measured object, and the control system reads the distance data detected by the laser ranging sensor in real time; the weeding mechanism comprises a frame, and a servo driving assembly and a weeding assembly which are arranged on the frame; according to the reciprocating type soybean inter-plant seedling avoidance and weeding device and the control method, the distance data of a measured object is obtained through the laser ranging sensor, whether the soybean plants are soybean plants is judged through the soybean identification model programmed in the PLC, comb teeth below the weeding mechanism are arranged side by side, and the comb teeth are made into profiling comb teeth, so that the reduction of identification rate caused by environmental factors such as light rays and shadows can be effectively avoided, and real-time weeding can be detected in real time.
Description
Technical Field
The invention belongs to the technical field of agricultural weeding, and particularly relates to a reciprocating soybean inter-plant seedling-avoiding weeding device and a control method.
Background
In recent years, with the development of agricultural technology, the improvement of soybean yield has become one of the key points of agricultural development. However, the growth environment of soybeans is complex, weeds can affect the soybeans, and the soybeans can compete with soybean plants in early growth stages for light, moisture and nutrients, and if left free, the quality and yield of the soybeans can be seriously compromised. Physical and mechanical weeding in the early growth stage of soybeans is an effective way for ensuring the yield and quality of soybeans, and is also an important measure for reducing environmental pollution and ensuring the safety of personnel. With the development of new agricultural technologies, weeding technologies are also continuously innovated, and methods such as biological weeding, chemical weeding, thermal weeding and physical and mechanical weeding are presented in addition to original manual weeding. Among them, biological weeding has the problems of incapacity of eradicating weeds and great influence by climatic conditions; chemical weeding has the advantages of trouble saving and labor saving, but can have influence on the environment, and can accelerate weeds to generate drug resistance; the thermal weeding technology is only applicable to large plains and is greatly limited by conditions; the physical and mechanical weeding has the advantages of no pollution, environmental protection, low labor intensity and the like, but has the problems of low weeding rate and high seedling injury rate for weeding among soybean plants in weeding operation.
In order to realize the field weeding operation with simple operation, high net removing rate and low seedling damaging rate, the weeding device between soybean plants is explored and researched. In the aspect of identifying soybean plants and weeds, the laser ranging sensor has wide application. Plant information is acquired through a laser ranging sensor, a soybean identification model programmed by a PLC is used for distinguishing soybean plants and weeds, a PLC is used for sending a command to a servo driver, a motor is indirectly controlled to drive a soybean inter-plant weeding mechanism to conduct seedling avoidance and weeding operation, real-time seedling avoidance and weeding can be achieved, the efficiency is high, no pollution is caused, the operation is simple, and the method is an environment-friendly physical and mechanical weeding method. At present, the weeding execution part is one of main factors limiting the weeding rate and the seedling injury rate, and the weeding execution part is made of materials and shapes, so that weeding is incomplete, and even when soybean plants are mistakenly touched, the roots and stems of the soybean plants are cut off.
Disclosure of Invention
The invention aims to: the utility model provides a reciprocating type soybean inter-plant seedling-avoiding weeding device and a control method, which are used for solving the problems that weeding execution parts are one of main factors restricting weeding rate and seedling injury rate in the prior art, the weeding execution parts are made of materials and shapes, so that weeding is not thorough, and even when soybean plants are touched by mistake, the roots and the stems of the soybean plants are cut off.
The technical scheme is as follows:
the reciprocating type soybean inter-plant seedling avoidance and weeding device comprises a detection system, a control system and a weeding mechanism, wherein the detection system comprises a laser ranging sensor, the laser ranging sensor is arranged on the weeding mechanism and used for measuring distance data between the laser ranging sensor and a measured object, and the measured object comprises soybean plants and weeds;
the control system reads distance data detected by the laser ranging sensor in real time, the control system comprises a PLC controller, an analog quantity input module, a connecting module and a servo power module, the PLC controller compiles a program of a soybean identification model according to the diameter and the height of soybean plants and the planting distance between the soybean plants, the laser ranging sensor transmits generated analog quantity signals to the PLC controller through the analog quantity input module, and the PLC controller is connected with the servo power module through the connecting module;
the weeding mechanism comprises a rack, a servo driving assembly and a weeding assembly, wherein the servo driving assembly and the weeding assembly are arranged on the rack, the weeding assembly comprises two comb plates and profiling elastic comb teeth, a plurality of profiling elastic comb teeth which are arranged side by side at equal intervals are welded below the comb plates, the servo driving assembly drives two comb plates to move in opposite directions, when the detection system detects that a detected object is a soybean plant, the control system sends a signal to the servo driving module, and the servo driving module controls the servo driving assembly to operate, so that the two comb plates are synchronously unfolded when passing through the soybean plant, and seedling avoidance operation is performed.
In a further embodiment, the material of the profiling elastic comb teeth comprises soft stainless steel, twelve profiling elastic comb teeth are arranged in total, and six profiling elastic comb teeth are arranged below each comb tooth plate;
the shape of the profiling elastic comb teeth imitates the shape of a soybean plant, and profiling is carried out according to the height positions of the stem part, cotyledon and crown part of the soybean plant.
In a further embodiment, the servo drive assembly comprises a servo driver and a servo motor which are arranged on the frame, wherein a driving shaft of the servo motor is connected with one end of a main shaft, and the other end of the main shaft is connected with a disc;
the two comb plates are symmetrically arranged below the disc, a connecting rod is connected between each comb plate and the disc, two ends of the connecting rod are provided with rotating shafts, and two ends of the connecting rod are respectively connected with the comb plates and the disc in a rotating way through the two rotating shafts;
the rack is towards the one side of fishback is provided with a guide rail, the guide rail is connected with a sliding block in a sliding way, and the sliding block is connected with the fishback through a fixing rod.
In a further embodiment, two laser ranging sensors are arranged on the frame, and the two laser ranging sensors are arranged on the upper end and the lower end of the same vertical position on the frame.
In a further embodiment, the connection module is used for controlling the operation of a connection assembly, the connection assembly comprises a hardware device for transmitting signals, a motor power line and a motor coding line, the PLC is connected with the servo driver through the hardware device, and the servo driver is connected with the servo motor through the motor power line and the motor coding line.
In a further embodiment, the PLC converts distance data of the data acquired by the laser ranging sensor into a diameter condition, and the measuring range of the laser ranging sensor is 120mm-280mm;
the PLC reads current distance data of the laser ranging sensor once every 10ms, and then observes the point number of the front-back distance data which is not more than 10mm and continuously meets the condition that the measuring range is within 120-280 mm from the current distance data, namely the minimum measuring range and the maximum measuring range of the laser ranging sensor, and judges the diameter of the measured object;
when the distance data between the laser ranging sensor and the measured object is within the range of one of the laser ranging sensors, and the difference value between the distance data between the other laser ranging sensor and the measured object and the current distance data is within 10mm, namely the current data distance is 1, otherwise, the distance is 0, the calculation formula is as follows:
wherein d represents the distance between the laser ranging sensor and the measured object; d, d 0 Representing the distance between the next laser ranging sensor and the measured object; d, d min Representing the minimum range of the laser ranging sensor; d, d max Representing the maximum range of the laser ranging sensor.
In a further embodiment, the diameter condition is recorded as 1 when distance data read by the PLC controller from the laser ranging sensor is within the range of the laser ranging sensor;
when the distance data acquired in the next 10ms is within the range of the laser ranging sensor, adding 1 to the recorded value, namely, adding 2;
if the recorded value is not within the range of the laser ranging sensor, resetting the recorded value to 1 when the condition is met next time, wherein the calculation formula of the diameter condition is as follows:
D c ＝vt
wherein D is c Represents the theoretical diameter of the measured object; v represents the running speed; t represents the time from the beginning of detecting the detected object to the end; x is x 1 Distance data representing the current 10ms recording; x is x 2 Distance data representing the next 10ms record; d, d min Representing the minimum range of the laser ranging sensor; d, d max Representing the maximum range of the laser ranging sensor; c represents the time recorded value of the measured object.
In a further embodiment, the PLC controller converts the distance data of the data collected by the laser ranging sensor into a height condition, and when the recorded value of the laser ranging sensor at the lower end is greater than or equal to 2, observes whether the laser ranging sensor at the upper end has the distance data within the range, and sets the threshold to 9mm because the soybean plant stalk is straight;
when the laser ranging sensor at the upper end detects the distance data within the range, the recording value of the laser ranging sensor at the lower end is more than or equal to 2 within 9mm of running; or when the recorded value of the laser ranging sensor positioned at the lower end is more than or equal to 2, the laser ranging sensor positioned at the upper end detects the distance data in the measuring range within 9mm of operation, and the two conditions can meet the height condition, and the diameter condition has the following calculation formula:
wherein d h is up to Representing distance data between the upper laser ranging sensor and the measured object; x is x h is up to Representing the position of the upper laser ranging sensor; d, d Under h Representing distance data between the lower laser ranging sensor and the measured object; x is x Under h Representing the position of an underlying laser ranging sensor。
In a further embodiment, the PLC controller converts distance data of the data collected by the laser ranging sensor into a spacing condition, wherein the spacing condition is that after a current measured object is determined to be a soybean plant, a spacing condition of 10cm is opened, the threshold value is 3cm, that is, a plant which satisfies a diameter condition and a height condition within 7-13cm after the current soybean plant, and the spacing condition has the following calculation formula:
f(x l )＝|x front I -x Post l |，7≤x l ≤13
Wherein x is Front I Representing the position of the previous soybean plant; x is x Post l Representing the position of the latter soybean plant.
A control method for controlling the reciprocating type inter-soybean plant seedling-avoiding and weeding device, the method comprising the following steps:
step 1: when the weeding mechanism moves, the laser ranging sensor detects a front detected object and transmits a signal to the control system;
step 2: the PLC controller identifies the object to be tested according to the program of the soybean identification model;
step 3: if the detected object is a soybean plant, the servo power module controls the servo driving assembly to operate, and the two comb plates are unfolded synchronously to perform seedling avoidance action;
step 4: if the detected object is not a soybean plant which can be identified by the soybean identification model program, the servo power module controls the servo driving assembly to operate, and the two comb plates are synchronously closed to perform weeding operation.
The invention has the beneficial effects that: distance data of the measured object are acquired through the laser ranging sensor, the PLC judges whether the soybean plants are soybean plants according to the program of the soybean recognition model, and comb teeth below the weeding mechanism are arranged side by side and made into profiling comb teeth. In the aspect of identification, the method can effectively avoid the reduction of the identification rate caused by light, shadow and other environmental factors, can detect real-time weeding in real time, and has lower cost. The contact area between the elastic profiling comb teeth and soil can be effectively increased through the elastic profiling comb teeth arranged side by side, so that the weed removal rate is improved; the elastic profiling comb teeth are made of the material and the shape of the elastic profiling comb teeth, so that the elastic profiling comb teeth can only warp and not be damaged under the condition of mistouching soybean stems and leaves, the possibility of touching soybean plants can be greatly reduced, the problem of too high weeding and seedling injury rate among soybean plants is solved, and the elastic profiling comb teeth have good economic value and social value and good application prospect.
Drawings
Fig. 1 is a schematic elevational view of the present invention.
Fig. 2 is a schematic side view of the weeding mechanism of the present invention.
FIG. 3 is a schematic top view of the profile modeling elastic comb of the present invention.
Fig. 4 is a schematic top view of the disk, connecting rod and comb plate of the present invention in an expanded and closed state.
Fig. 5 is a flowchart of the seedling avoidance control of the present invention.
Fig. 6 is a raw image of distance data collected by a laser ranging sensor.
Fig. 7 is a graph of distance data collected by a non-filtered read sensor of the PLC controller.
Fig. 8 is a graph of the algorithmically processed PLC controller acquisition distance data.
FIG. 9 is a graph of distance data from a laser ranging sensor at an upper position tested at a 0.3m/s operating speed.
FIG. 10 is a graph of distance data from a laser ranging sensor at a lower end position tested at a 0.3m/s operating speed.
The reference numerals are: 1. a servo motor; 2. a laser ranging sensor; 3. a fixing frame; 4. a motor power line; 5. a motor encoding line; 6. a PLC electric control box; 7. a frame; 8. a main shaft; 9. a disc; 10. a connecting rod; 11. a guide rail; 12. a fixed rod; 13. a comb plate; 14. profiling elastic comb teeth.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1-10, the invention discloses a reciprocating soybean inter-plant seedling avoidance weeding device and a control method, wherein the reciprocating soybean inter-plant seedling avoidance weeding device comprises a detection system, a control system and a weeding mechanism, the detection system comprises a laser ranging sensor 2, the laser ranging sensor 2 is arranged on the weeding mechanism and used for measuring distance data between the laser ranging sensor 2 and a measured object, and the measured object comprises soybean plants and weeds; the control system reads the distance data acquired by the laser ranging sensor 2 in real time and identifies the object to be measured, the control system comprises a PLC controller, an analog input module, a connecting module and a servo power module, the control system comprises a CPU, a circuit, a touch screen and control software, the hardware of the control system is arranged in a PLC control box, the PLC control box is arranged on a frame 7, the PLC controller writes a program of a soybean identification model according to the diameter and the height of soybean plants and the planting distance between soybean plants, the program of the soybean identification model is established according to three conditions of the diameter and the height of the soybean plants and the planting distance between the soybean plants, the diameter is calculated through the acquisition frequency and the distance data, the distance between plants is already specified when the plants are planted, the height is the height of soybean plants in the mechanical weeding period, the soybean plants are basically 25cm, the diameter of the soybean plants is different from the diameter of weeds in a soybean field, the soybean plants can be used for distinguishing the soybean plants, when the diameter of the soybean plants is similar to the diameter of the weeds, the weeds are generally short and small, the height can be distinguished by the difference in height, the heights of individual weeds can be distinguished according to the planting interval among the soybean plants, the identification rate of a soybean identification model can reach more than 95% under the three conditions, and the laser ranging sensor 2 transmits generated analog signals to the PLC through the analog input module, and the PLC is connected with the servo power module through the connecting module; the weeding mechanism comprises a frame 7 and a servo driving assembly and a weeding assembly which are arranged on the frame 7, the weeding assembly comprises two comb plates 13 and profiling elastic comb teeth 14, a plurality of profiling elastic comb teeth 14 which are arranged side by side at equal intervals are welded below each comb plate 13, the servo driving assembly drives two comb plates 13 to move in opposite directions, when the detection system detects that an object to be detected is a soybean plant, the control system sends a signal to the servo power module, and the servo power module controls the servo driving assembly to operate, so that the two comb plates 13 are synchronously unfolded when passing through the soybean plant, and seedling avoidance operation is carried out.
The profiling elastic comb teeth 14 are made of soft stainless steel and have certain elasticity, twelve profiling elastic comb teeth 14 are arranged in total, and six profiling elastic comb teeth 14 are arranged below each comb tooth plate 13; the shape of the profiling elastic comb teeth 14 imitates the shape of a soybean plant, and profiling is carried out according to the height positions of the stem part of the soybean plant and the cotyledon and the crown part above, so that the stem and leaf of the soybean plant are protected as far as possible under the condition that the soybean plant is not recognized by a soybean seedling recognition model, and according to investigation, the height of the cotyledon from the soil surface of the soybean plant in the mechanical weeding period is about 8cm, therefore, the bottom of the profiling elastic comb teeth 14 only needs to be profiled at the position close to the height position of the cotyledon, and the cotyledon is separated immediately, so that the damage of the cotyledon is not contained in the seedling injury rate, and the cotyledon is the two bottommost leaves of the soybean plant.
The servo driving assembly comprises a servo driver and a servo motor 1 which are arranged on the frame 7, a driving shaft of the servo motor 1 is connected with one end of a main shaft 8, and the other end of the main shaft 8 is connected with a disc 9; the two comb plates 13 are symmetrically arranged below the disc 9, a connecting rod 10 is connected between each comb plate 13 and the disc 9, two ends of the connecting rod 10 are respectively provided with rotating shafts, and two ends of the connecting rod 10 are respectively connected with the comb plates 13 and the disc 9 in a rotating way through the two rotating shafts; the frame 7 is towards install guide rail 11 on the one side of broach 13, sliding connection has the slider on the guide rail 11, the slider with be connected through dead lever 12 between the broach 13, when main shaft 8 is driven by servo motor 1 and is rotated, main shaft 8 drives disc 9 rotatory, disc 9 drives connecting rod 10 swing, because connecting rod 10 takes place normal running fit with disc 9 and broach 13 respectively through the axis of rotation, and guide rail 11 is fixed in frame 7 below, dead lever 12 and slider and broach 13 welding, broach 13 is restricted the removal direction under the combined action of connecting rod 10 and dead lever 12, can only carry out reciprocating motion of horizontal direction, when disc 9 clockwise rotation, then two broach 13 keep away from each other and expand and keep away the seedling operation, when disc 9 anticlockwise rotates, then two broach 13 are close to each other and close and carry out weeding operation.
The laser ranging sensors 2 are arranged on the machine frame 7, the two laser ranging sensors 2 are arranged on the machine frame 7 at the upper end and the lower end of the same vertical position, and the acquisition frequency of the laser ranging sensors is adjustable.
The connecting module is used for controlling the operation of a connecting assembly, the connecting assembly comprises hardware equipment, a motor power line 4 and a motor coding line 5, the hardware equipment is used for transmitting signals, the PLC is connected with the servo driver through the PLC, the servo driver is connected with the servo motor 1 through the motor power line 4 and the motor coding line 5, the hardware equipment comprises an RS485 conversion line, one end of the PLC is connected with an RS485 communication interface through the RS485 conversion line, and the other end of the PLC is connected with an RS485 network port of the servo driver.
The PLC converts the distance data of the data acquired by the laser ranging sensor 2 into diameter conditions, and the measuring range of the laser ranging sensor 2 is 120mm-280mm; the PLC reads the current distance data of the laser ranging sensor 2 once every 10ms, and then observes the point number of the front-back distance data which is not more than 10mm and continuously meets the condition that the measuring range is within 120-280 mm from the current distance data, namely the minimum measuring range and the maximum measuring range of the laser ranging sensor 2, and judges the diameter of the measured object; when the distance data between the laser ranging sensor 2 and the measured object is within the range of one of the laser ranging sensors 2, and the difference value between the distance data between the other laser ranging sensor 2 and the measured object and the current distance data is within 10mm, namely the current data distance is 1, otherwise, the distance is 0, after algorithm processing, the derived data are shown in fig. 8, objects with different diameters can be distinguished according to the data continuously recorded as 1, then programming of the diameter condition in the PLC is carried out according to the data, and 2 continuous points with the distance data of 120-280 mm are generated by reading the objects with the diameter of 5mm once every 10ms at the speed of 0.3m/s for example; while reading an object with a diameter of 3mm every 10ms will only produce 1 point with distance data between 120mm and 280mm, while the other points are out of range. Therefore, according to the current running speed, the measured objects with different diameters can be distinguished from the continuous points with the distance data within 120mm-280 mm. During the trefoil stage of the soybean plants, the diameter of the soybean plants is generally between 4 and 5mm, while the diameter of weeds is about 3mm, generally less than 3mm. Therefore, taking the speed of 0.3m/s as an example, when the laser ranging sensor 2 identifies soybean plants, the soybean plants can be positioned in the measuring range of the sensor, at the moment, when the soybean plants are detected by the laser ranging sensor 2, 2 continuous points exist in the PLC controller, when weeds are detected, only 1 point exists, the laser ranging sensor 2 reads distance data in real time, the measuring range is 120mm-280mm, and when the distance between a measured object and the laser ranging sensor 2 is smaller than 120mm or larger than 280mm, the measuring range is exceeded. The laser ranging sensor 2 outputs the analog current to the PLC controller, the calibration is carried out according to the input analog value and the actual distance, after the calibration is finished, the function relation between the fitting analog value and the actual distance is programmed in the PLC controller program, the distance data detected by the laser ranging sensor 2 are derived from the PLC controller as shown in fig. 6, and only the number of objects can be judged from the graph, but the diameter of the measured object cannot be reflected. The PLC controller is set to be in a non-filtering mode, the derived distance data are shown in fig. 7, the diameters of different objects can be seen from the graph, the number of the mixed points is obviously reduced, and the diameter of the measured object can be reflected in the point number. And then carrying out algorithm processing, wherein fig. 8 is obtained after the algorithm processing according to fig. 7, and the algorithm processing formula is as follows:
wherein d represents the distance between the laser ranging sensor 2 and the measured object; d, d 0 Representing the distance between the next laser ranging sensor 2 and the measured object; d, d min Representing the minimum range of the laser ranging sensor 2; d, d max Representing the maximum range of the laser ranging sensor 2.
The diameter condition is that when the distance data read by the PLC controller from the laser ranging sensor 2 is within the range 2 of the laser ranging sensor, the distance data is recorded as 1; when the distance data acquired in the next 10ms is within the range of 2 of the laser ranging sensor, adding 1 to the recorded value, namely, adding 2 to the recorded value; if the measured value is not within the range of the laser ranging sensor 2, resetting the recorded value, waiting for the next time of meeting the condition, re-recording the recorded value to be 1, taking the speed of 0.3m/s as an example, calculating according to the acquisition time and the speed, and recording the recorded value to be 1 when the diameter is below 3 mm; the recorded value is 2 when the diameter is 3-6 mm. Thus, soybean plants with a diameter of 4-5mm will record a value of 2 or more, while weeds with a diameter of less than 3mm will record a value of 1. I.e. when the recorded value is 0 or 1, it indicates that no object or possibly weeds are detected; when the recorded value is 2 or more, the stalk of soybean plant may be detected. The calculation formula of the diameter condition is as follows:
D c ＝vt
wherein D is c Represents the theoretical diameter of the measured object; v represents the running speed; t represents the time from the beginning of detecting the detected object to the end; x is x 1 Distance data representing the current 10ms recording; x is x 2 Distance data representing the next 10ms record; d, d min Representing the minimum range of the laser ranging sensor; d, d max Representing the maximum range of the laser ranging sensor; c represents the time recorded value of the measured object.
The PLC converts the distance data of the data collected by the laser ranging sensor 2 into a height condition, and when the recorded value of the laser ranging sensor 2 at the lower end is more than or equal to 2, the PLC observes whether the laser ranging sensor 2 at the upper end has the distance data within a measuring range, and the threshold value is set to be 9mm because the soybean plant stems are straight; when the laser ranging sensor 2 at the upper end detects the distance data within the range, the laser ranging sensor 2 at the lower end records a value greater than or equal to 2 within 9mm of running; or when the recorded value of the laser ranging sensor 2 at the lower end is more than or equal to 2, the laser ranging sensor 2 at the upper end detects the distance data in the measuring range within 9mm of operation, and the two conditions can meet the height condition, and the diameter condition has the following calculation formula:
wherein d h is up to Distance data representing the distance between the upper laser ranging sensor 2 and the measured object; x is x h is up to Representing the position of the upper laser ranging sensor 2; d, d Under h Distance data representing the distance between the lower laser ranging sensor 2 and the measured object; x is x Under h Representing the position of the lower laser ranging sensor 2.
The PLC converts distance data of data acquired by the laser ranging sensor 2 into interval conditions, wherein the interval conditions are that after the current measured object is judged to be a soybean plant, the interval conditions are opened by 10cm, the threshold value is 3cm, namely, the distance conditions are calculated as follows for plants meeting diameter conditions and height conditions within 7-13cm after the current soybean plant:
f(x l )＝|x front I -x Post l |，7≤x l ≤13
Wherein x is Front I Representing the position of the previous soybean plant; x is x Post l Representing the position of the latter soybean plant.
A control method for controlling the reciprocating soybean inter-plant seedling-avoiding weeding device, which comprises the following steps:
step 1: the frame 7 is fixedly connected with the fixed frame 3, the fixed frame 3 is suspended on a moving platform, an upper laser ranging sensor 2 and a lower laser ranging sensor 2 are arranged, the laser ranging sensors 2 are placed on one side of a measured object, the distance between the laser ranging sensors 2 and the measured object is about 20cm, the lines between the laser ranging sensors 2 and a PLC controller and the lines between the PLC controller and a servo driver are connected, the PLC electric cabinet 6 is closed, and when a weeding mechanism moves, the laser ranging sensors 2 detect the measured object in front and transmit signals to a control system;
step 2: the PLC controller identifies the detected object according to the program of the soybean identification model, the system is electrified, software and hardware are initialized, the control system reads the distance data acquired by the laser ranging sensor 2 in real time, and the PLC controller can judge that the detected object is a soybean plant through the soybean identification model by writing the soybean identification model.
In the first aspect, firstly, whether a record value of a measured object on a PLC controller is more than or equal to 2 is observed; after the diameter condition is met, observing whether the difference threshold value of the positions of the upper laser ranging sensor and the lower laser ranging sensor 2 is within 9mm or not when the measured object is at the same height; after the height adjustment is satisfied, observing whether the plant spacing difference between the measured object and the last soybean plant is about 10cm, and the threshold value is 3cm. When the conditions are met, judging that the soybean plants are soybean plants;
in the second aspect, since the diameter of the soybean plant may be about 3mm, when the measured object recorded value is 1 or more, the soybean plant is regarded as soybean plant if the height condition and the spacing condition are continuously satisfied because weeds are generally short. The soybean plant identification rate can reach more than 95% through the soybean identification model;
step 3: if the detected object is a soybean plant, the PLC calculates time according to the running speed of the current mobile platform and the horizontal distance between the sensor and the weeding mechanism, and then sends a command to the servo driver, and the servo driver enables the servo motor 1 to synchronously rotate, so that two comb plates 13 in the weeding mechanism are simultaneously unfolded, the seedling avoiding action is synchronously completed, and the seedling avoiding action is carried out;
step 4: when the soybean plants are under the weeding mechanism, the servo motor 1 keeps a rotating angle, so that the comb plate 13 keeps an unfolding state; if the detected object is not a soybean plant which can be identified by the soybean identification model program, after the soybean plant passes through the weeding mechanism, the servo motor 1 rotates again to enable the comb plate 13 to be closed, and weeding operation is continued; the profiling elastic comb teeth 14 in the weeding mechanism are opened and closed in a reciprocating mode, so that seedling avoidance and weeding operation are completed until the weeding operation is finished.
The method is used for testing 4 soybean plants at the speed of 0.3m/s, the identification effect of the soybean identification model on the soybean plants is observed, meanwhile, the seedling injury condition of a weeding mechanism is observed, and recorded distance data at the speed of 0.3m/s are shown in fig. 9 and 10. Because the upper laser ranging sensor 2 only needs to judge whether an object is detected or not, the derived distance data does not need to be subjected to algorithm processing, the distance data acquired by the lower laser ranging sensor 2 is subjected to algorithm processing, the number of points of the distance data within a measuring range is counted, the difference value of two adjacent points is less than or equal to 10, and the number of points is recorded as 1; points that are not within the span are recorded as 0. The upper graph is the distance data collected by the upper laser ranging sensor 2, the lower graph is the distance data collected by the lower laser ranging sensor 2, and as can be seen from the lower graph, each identified plant has the number of points of 2, namely the diameter of the measured object is more than 3mm, and the diameter condition is met; then, the position of the plant on the same height can be seen from the upper graph and the lower graph, when the upper laser ranging sensor 2 and the lower laser ranging sensor 2 detect data, the position is within a threshold value, and the distance data of the upper laser ranging sensor 2 is within a range, so that the height condition is met; finally, as can be seen from the following graph, the plant spacing differences between plants are substantially consistent and within a threshold, and meet spacing conditions. In conclusion, the soybean identification model can basically identify soybean planting, and the identification method is feasible.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solutions of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all fall within the scope of the present invention.
Claims (10)
1. Reciprocating type soybean inter-plant keeps away seedling weeding device, its characterized in that: the weeding system comprises a detection system, a control system and a weeding mechanism, wherein the detection system comprises a laser ranging sensor, the laser ranging sensor is arranged on the weeding mechanism and used for measuring distance data between the laser ranging sensor and a measured object, and the measured object comprises soybean plants and weeds;
the control system reads distance data detected by the laser ranging sensor in real time, the control system comprises a PLC controller, an analog quantity input module, a connecting module and a servo power module, the PLC controller compiles a program of a soybean identification model according to the diameter and the height of soybean plants and the planting distance between the soybean plants, the laser ranging sensor transmits generated analog quantity signals to the PLC controller through the analog quantity input module, and the PLC controller is connected with the servo power module through the connecting module;
the weeding mechanism comprises a rack, a servo driving assembly and a weeding assembly, wherein the servo driving assembly and the weeding assembly are arranged on the rack, the weeding assembly comprises two comb plates and profiling elastic comb teeth, a plurality of profiling elastic comb teeth which are arranged side by side at equal intervals are welded below the comb plates, the servo driving assembly drives two comb plates to move in opposite directions, when the detection system detects that a detected object is a soybean plant, the control system sends a signal to the servo driving module, and the servo driving module controls the servo driving assembly to operate, so that the two comb plates are synchronously unfolded when passing through the soybean plant, and seedling avoidance operation is performed.
2. The reciprocating type inter-plant soybean seedling-avoiding and weeding device according to claim 1, wherein: the profiling elastic comb teeth are made of soft stainless steel, twelve profiling elastic comb teeth are arranged in total, and six profiling elastic comb teeth are arranged below each comb tooth plate;
the shape of the profiling elastic comb teeth imitates the shape of a soybean plant, and profiling is carried out according to the height positions of the stem part, cotyledon and crown part of the soybean plant.
3. The reciprocating type inter-plant soybean seedling-avoiding and weeding device according to claim 1, wherein: the servo driving assembly comprises a servo driver and a servo motor which are arranged on the frame, a driving shaft of the servo motor is connected with one end of a main shaft, and the other end of the main shaft is connected with a disc;
the two comb plates are symmetrically arranged below the disc, a connecting rod is connected between each comb plate and the disc, two ends of the connecting rod are provided with rotating shafts, and two ends of the connecting rod are respectively connected with the comb plates and the disc in a rotating way through the two rotating shafts;
the rack is towards the one side of fishback is provided with a guide rail, the guide rail is connected with a sliding block in a sliding way, and the sliding block is connected with the fishback through a fixing rod.
4. The reciprocating type inter-plant soybean seedling-avoiding and weeding device according to claim 1, wherein: the laser ranging sensors are arranged on the machine frame, and the two laser ranging sensors are arranged on the machine frame at the upper end and the lower end of the same vertical position.
5. The reciprocating soybean inter-plant seedling-avoiding and weeding device according to claim 3, wherein: the connecting module is used for controlling the operation of a connecting assembly, the connecting assembly comprises hardware equipment, a motor power line and a motor coding line, the hardware equipment is used for transmitting signals, the PLC is connected with the servo driver, and the servo driver is connected with the servo motor through the motor power line and the motor coding line.
6. The reciprocating type inter-plant soybean seedling-avoiding and weeding device according to claim 1, wherein: the PLC converts the distance data of the data acquired by the laser ranging sensor into diameter conditions, and the measuring range of the laser ranging sensor is 120-280 mm;
the PLC reads current distance data of the laser ranging sensor once every 10ms, and then observes the point number of the front-back distance data which is not more than 10mm and continuously meets the condition that the measuring range is within 120-280 mm from the current distance data, namely the minimum measuring range and the maximum measuring range of the laser ranging sensor, and judges the diameter of the measured object;
when the distance data between the laser ranging sensor and the measured object is within the range of one of the laser ranging sensors, and the difference value between the distance data between the other laser ranging sensor and the measured object and the current distance data is within 10mm, namely the current data distance is 1, otherwise, the distance is 0, the calculation formula is as follows:
wherein d represents the distance between the laser ranging sensor and the measured object; d, d 0 Representing the distance between the next laser ranging sensor and the measured object; d, d min Representing the minimum range of the laser ranging sensor; d, d max Representing the laser lightThe range sensor is the largest range.
7. The reciprocating soybean inter-plant seedling-avoiding and weeding device according to claim 6, wherein: the diameter condition is that when the distance data read by the PLC controller from the laser ranging sensor is within the range of the laser ranging sensor, the distance data is recorded as 1;
when the distance data acquired in the next 10ms is within the range of the laser ranging sensor, adding 1 to the recorded value, namely, adding 2;
if the recorded value is not within the range of the laser ranging sensor, resetting the recorded value to 1 when the condition is met next time, wherein the calculation formula of the diameter condition is as follows:
D c ＝vt
wherein D is c Represents the theoretical diameter of the measured object; d represents the running speed; t represents the time from the beginning of detecting the detected object to the end; x is x 1 Distance data representing the current 10ms recording; x is x 2 Distance data representing the next 10ms record; d, d min Representing the minimum range of the laser ranging sensor; d, d max Representing the maximum range of the laser ranging sensor; c represents the time recorded value of the measured object.
8. The reciprocating soybean inter-plant seedling-avoiding and weeding device according to claim 7, wherein: the PLC converts the distance data of the data collected by the laser ranging sensor into a height condition, and when the recorded value of the laser ranging sensor at the lower end is more than or equal to 2, the PLC observes whether the laser ranging sensor at the upper end has the distance data within the range or not, and the threshold value is set to be 9mm because the soybean plant stalks are straight;
when the laser ranging sensor at the upper end detects the distance data within the range, the recording value of the laser ranging sensor at the lower end is more than or equal to 2 within 9mm of running; or when the recorded value of the laser ranging sensor positioned at the lower end is more than or equal to 2, the laser ranging sensor positioned at the upper end detects the distance data in the measuring range within 9mm of operation, and the two conditions can meet the height condition, and the diameter condition has the following calculation formula:
wherein d h is up to Representing distance data between the upper laser ranging sensor and the measured object; x is x h is up to Representing the position of the upper laser ranging sensor; d, d Under h Representing distance data between the lower laser ranging sensor and the measured object; x is x Under h Representing the position of the lower laser ranging sensor.
9. The reciprocating soybean inter-plant seedling-avoiding and weeding device according to claim 8, wherein: the PLC converts distance data of data acquired by the laser ranging sensor into interval conditions, wherein the interval conditions are that after a current measured object is judged to be a soybean plant, the interval conditions are opened by 10cm, the threshold value is 3cm, namely, the distance conditions are calculated as follows for plants meeting diameter conditions and height conditions within 7-13cm after the current soybean plant:
f(x l )＝|x front I -x Post l |，7≤x l ≤13
Wherein x is Front I Representing the position of the previous soybean plant; x is x Post l Representing the position of the latter soybean plant.
10. A control method for controlling the reciprocating type inter-plant soybean seedling-avoiding and weeding device according to claim 1, characterized by: the method comprises the following steps:
step 1: when the weeding mechanism moves, the laser ranging sensor detects a front detected object and transmits a signal to the control system;
step 2: the PLC controller identifies the object to be tested according to the program of the soybean identification model;
step 3: if the detected object is a soybean plant, the servo power module controls the servo driving assembly to operate, and the two comb plates are unfolded synchronously to perform seedling avoidance action;
step 4: if the detected object is not a soybean plant which can be identified by the soybean identification model program, the servo power module controls the servo driving assembly to operate, and the two comb plates are synchronously closed to perform weeding operation.
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