CN202907683U - Efficient weeding robot based on multi-spectral vision - Google Patents
Efficient weeding robot based on multi-spectral vision Download PDFInfo
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- CN202907683U CN202907683U CN 201220285655 CN201220285655U CN202907683U CN 202907683 U CN202907683 U CN 202907683U CN 201220285655 CN201220285655 CN 201220285655 CN 201220285655 U CN201220285655 U CN 201220285655U CN 202907683 U CN202907683 U CN 202907683U
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- weeding
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- traversing motor
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Abstract
An efficient weeding robot based on multi-spectral vision comprises a movable cart, a horizontal moving device, a weeding cutting device and a main control system, wherein the horizontal moving device, the weeding cutting device and the main control system are connected with each other and arranged on the movable cart. The efficient weeding robot can effectively identify weeds in fields and is high in real-time performance and suitable for filed actual operation. Weed clearing work inside and outside rows can be finished simultaneously in a simple cutting structure combined with a pesticide painting mode, not only is load of the movable cart reduced, but also the weeds can be cleared thoroughly, weeding efficiency is high, and clearing of the weeds in the rows is effectively achieved. A derusting device can effectively improve working efficiency of a cutter, prolongs service life, and improves comprehensive performances of the weeding robot.
Description
Technical field
The utility model relates to a kind of high-efficiency weeding robot based on multispectral vision, and especially a kind of robot that can utilize multispectral image to identify weeds in field and carry out quick weeding belongs to the agricultural machinery application.
Background technology
Farmland weed is the formidable enemy of agricultural production, and it can affect growing of crops, reduces crop yield and quality, and the harm of crops be can not be ignored.China whenever will spend every year a large amount of human and material resources and financial resources and carry out the weeds prune job.Therefore, studying a kind of efficient weed-eradicating robot all has important practical significance to improving the crop yields such as agricultural production efficiency and grain.
Main herbicidal methods has at present: artificial weeding, weeding by machine and chemical weed control.Wherein the artificial weeding inefficiency is eliminated gradually; Weeding by machine utilizes machine tool cutting or uproot weeds; Chemical weed control is to utilize weed killer herbicide to kill weeds, and is many owing to the sprinkling of employing large tracts of land although efficient is high, both caused the severe contamination of soil, air and agricultural product self, and the agricultural chemicals waste is serious.
Along with the needs of the continuous enhancing of Public environmental attitude and precision agriculture development, the method for the accurate weeding that begun one's study both at home and abroad, according to weeds and crop distribution situation, only to the weeds variable spray agricultural chemicals of fixing a point, other is not then sprayed insecticide without careless zone.This method has been saved weed killer herbicide to a certain extent, has reduced environmental pollution, but still can produce " float of mist droplet " inevitably, and inevitably chemical agent can be sprayed onto and cause pollution on the soil.How to weed a garden efficiently and alleviate as far as possible environmental pollution, still need research and develop and innovate.
In addition, accurately the prerequisite of weeding is the identification of weeds, namely weeds is identified from background (crop and soil).At present domestic research is adopted mostly based on seeing that machine vision in the optical range and the method for Digital Image Processing carry out the identification of weeds, has the problems such as algorithm is complicated, real-time is not strong.And mainly be to utilize the features such as color, texture, spatial distribution and shape to identify.Yet in the environment of the field of reality, because green leaves is subjected to the impact of factors to reflection of light, the leaf characteristic that causes extracting at visible light can not fine performance crops and weeds difference.
In addition, in the device of numerous employings cutting weedings, cutter very easily is infected with the compound such as the tissue juice of plant or water and corrosion when the cutting weeds, thereby causes cutter life too short, increases use cost, is unfavorable for promoting the use of.
Summary of the invention
The purpose of this utility model is to provide a kind of high-efficiency weeding robot based on multispectral vision, it is for deficiency and the shortcoming of above existing herbicidal methods and technology existence, the digital picture that takes full advantage of plant visible-range and near infrared band accurately, automatically identifies weeds in field, and according to recognition result, the mode that adopts cutting and medicine to smear combination is come weeding, utilizes simultaneously derusting device to prolong the cutterhead life cycle.
The technical solution of the utility model is:
A kind of highly machine people based on multispectral vision comprises travelling car, is arranged on horizontal mobile device connected to one another on the travelling car, weeding cutter sweep and master control system, and its special character is:
Described travelling car comprises vision navigation system, car body, vehicle frame, wheel, power supply, wheel electrical machine, wheel electrical machine driver, wheel electrical machine encoder; Described vision navigation system is arranged at the headstock position of car body, and the car body below is provided with power supply, and wheel is supported by vehicle frame, and is driven by a wheel electrical machine;
Described horizontal mobile device comprises traversing motor, rail plate, slide block, upper brace, lower brace, travel switch, traversing motor driver, traversing motor encoder; Described traversing motor is arranged on the car body, and traversing motor links to each other with slide block; Upper brace and lower brace are bolted, and by the relative position of adjusting bolt and upper brace and lower brace, can adjust cutterhead apart from the height on ground; On the described car body travel switch is set, the extreme position of upper brace transverse shifting is carried out safe spacing; Described traversing motor encoder is arranged on the axle of traversing motor, detects the rotation position information of traversing motor and inputs master control system, realizes the servo control of traversing motor;
Described weeding cutter sweep comprises multispectral sensory perceptual system, fixed bin, electric rotating machine, cutterhead; Described multispectral sensory perceptual system is arranged on the headstock below of car body, utilizes multispectral image information to carry out identification and the location of weeds; Described electric rotating machine arranges fixed bin outward; Fixed bin plays the fixedly effect of electric rotating machine, the shaft end socket cutterhead of described electric rotating machine.
Above-mentioned weeding cutter sweep also comprises sponge, and described sponge sticks on the bottom of cutterhead.
Above-mentioned highly machine people based on multispectral vision, its special character is: also comprise derusting device, described derusting device comprises fluid storage tank, control valve, flexible pipe, retainer ring and choke block; Described fluid storage tank is connected with cutterhead by flexible pipe; Described control valve is arranged on the flexible pipe, and retainer ring is fixedly arranged on hose end, and described choke block is arranged at the sponge outside, is provided with rust remover in the described fluid storage tank.
Above-mentioned master control system comprises industrial computer, multi-axis motion control card and input/output interface plate.
Above-mentioned cutterhead becomes 45～60 ° of inclination angles with ground be good.
Above-mentioned wheel is 3, four or a plurality of.
Above-mentioned flexible pipe is generally plastic flexible pipe.
Vision navigation system of the present utility model is surveyed the place ahead information and is come pilot trolley to advance along the crop row direction, multispectral sensory perceptual system is identified weeds and is located simultaneously, control travelling car by control system when advancing along crop row according to the positional information of weeds, by horizontal mobile device control weeding cutter sweep; Described weeding cutter sweep comprises cutterhead, stick on the sponge of cutterhead bottom, places according to certain angle of inclination, can smear medicine and realize that high-efficient cleaning cuts weeds when removing the inside and outside weeds of row, utilizes simultaneously derusting device to finish the maintenance of cutterhead; Described derusting device can flow to by adjusting the flow of the rust remover of cutterhead, thereby realizes that maintenance to cutterhead is to improve service life.
The beneficial effects of the utility model are, can identify fast and effectively weeds in field, and are real-time, are fit to the field actual job.Finish simultaneously the inside and outside weeds cleaning work of row in the mode that simple cutting structure bound drug is smeared, the load that has not only alleviated travelling car can also thoroughly weed a garden, and weeding ratio is high, efficiently solves the cleaning difficult problem of weeds in the row; Derusting device improves the operating efficiency of cutting tool effectively, has prolonged service life, has promoted the combination property of weed-eradicating robot.
Description of drawings
Fig. 1 looks schematic diagram for the high-efficiency weeding robot master based on multispectral vision;
Fig. 2 is based on looking schematic diagram in the high-efficiency weeding robot left side of multispectral vision;
Fig. 3 is the high-efficiency weeding robot control program schematic diagram based on multispectral vision;
Fig. 4 a is the front view of cutter sweep schematic diagram;
Fig. 4 b is the bottom schematic view of cutter sweep schematic diagram;
Fig. 5 is the high-efficiency weeding robot farm work schematic diagram based on multispectral vision.
The drawing reference numeral explanation:
1. master control system, 2. vision navigation system, 3. car body, 4. vehicle frame, 5. wheel, 6. travel switch, 7. multispectral sensory perceptual system, 8. slide block is 9. gone up brace, 10. fixed bin, 11. electric rotating machines, 12. choke blocks, 13. cutterheads, 14. sponge, 15. retainer rings, 16. times braces, 17. rail plate, 18. flexible pipes, 19. control valves, 20. fluid storage tank, 21. power supply, 22. wheel electrical machines, 23. wheel electrical machine drivers, 24. wheel electrical machine encoder, 25. traversing motor, 26. traversing motor drivers, 27. traversing motor encoders.
Embodiment
Referring to Fig. 1～Fig. 3, the utility model comprises that travelling car, horizontal mobile device, weeding cutter sweep, derusting device and master control system 1 form.
Wherein master control system 1 is comprised of industrial computer, multi-axis motion control card and input/output interface plate.
Wherein travelling car comprises vision navigation system 2, car body 3, vehicle frame 4, wheel 5, power supply 21, wheel electrical machine 22, wheel electrical machine driver 23, wheel electrical machine encoder 24.Vision navigation system 2 is arranged at the headstock position of car body 3, surveys the place ahead information and advances with the line direction of guiding travelling car along crop; Power supply 21 is equipped with in car body 3 belows, for weed-eradicating robot provides power; Four wheels 5 have vehicle frame 4 supportings, and are driven by a wheel electrical machine 22 respectively; Wheel electrical machine encoder 24 is arranged on the axle of wheel electrical machine 22, and the rotation position information of monitoring wheel motor 22 is also inputted master control system 1, realizes the servo drive control of wheel electrical machine.
Horizontal mobile device comprises brace 9, lower brace 16, travel switch 6, traversing motor driver 26, traversing motor encoder 27 on traversing motor 25, rail plate 17, the slide block 8.Traversing motor 25 is arranged on the car body 3, and traversing motor 25 links to each other with slide block 8; Upper brace 9 is bolted with lower brace 16, by the relative position of adjusting bolt and upper brace 9 and lower brace 16, can adjust cutterhead 13 apart from the height on ground; Travel switch 6 is set on the car body, the extreme position of upper brace 9 transverse shiftings is carried out safe spacing; Traversing motor encoder 27 is arranged on the axle of traversing motor 25, detects the rotation position information of traversing motor 25 and inputs master control system 1, realizes the servo control of traversing motor 25.
Referring to Fig. 4 a, the weeding cutter sweep comprises multispectral sensory perceptual system 7, fixed bin 10, electric rotating machine 11, cutterhead 13 and sponge 14.Multispectral sensory perceptual system 7 is arranged on the headstock below of car body 3, utilizes multispectral image information to carry out identification and the location of weeds; Fixed bin 10 plays the fixedly effect of electric rotating machine 11, at the shaft end socket cutterhead 13 of electric rotating machine 11; Referring to Fig. 4 b, sponge 14 sticks on the bottom of cutterhead 13, when the weeding operation, to 14 li injections of sponge weeding medicine, smears in order to after the cutting weeds are carried out medicine in advance.
Derusting device comprises fluid storage tank 20, control valve 19, flexible pipe 18, retainer ring 15 and choke block 12.Rust remover in the fluid storage tank 20 flows to cutterhead 13 by flexible pipe 18, and choke block 12 guarantees that cutterhead 13 rust remover when the cutting weeds flows to sponge 14 and do not occur excessive simultaneously; Can control the flow of rust remover by control valve 19; Retainer ring 15 is used for fixing that flexible pipe 18 ends make it when the weeding cutter sweep moves and the relative position of cutterhead 13 is constant, thereby realizes the maintenance to cutterhead 13, improves its working life and efficient.
Referring to Fig. 1～Fig. 5, in the utility model course of work, vision navigation system 2 is surveyed dolly the place ahead information, and the line direction along crop advances from main carriage with guiding, 7 pairs of weeds of multispectral sensory perceptual system identify and locate simultaneously, master control system 1 is advanced along the direction of crop row according to the positional information control travelling car of weeds, simultaneously by the transverse shifting of transverse shifting control device control weeding cutter sweep in vertical crop row direction, electric rotating machine 11 drives cutterhead 13 weeds is cut off subsequently, and the weeding medicine is applied to the weeds surface that was cut by sponge 14.Because cutterhead 13 becomes 45～60 ° of inclination angles with ground, cut to other crops in the time of can effectively avoiding the interior weeding of row; The medicine of sponge 14 is smeared and has not only effectively been suppressed weed growth but also greatly reduced environmental pollution simultaneously; Derusting device has been removed cutterhead 13 rust deposites effectively in addition, has improved the service behaviour of weed-eradicating robot.For difference plantation pattern and Different Crop vegetative period, can regulate by bolt the relative position of upper brace 9 and lower brace 16, finish the weeding cutter sweep apart from the adjustment of ground level, thereby adapt to the weeding requirement under the different plantation patterns.
Claims (7)
1. the high-efficiency weeding robot based on multispectral vision comprises travelling car, is arranged on horizontal mobile device connected to one another on the travelling car, weeding cutter sweep and master control system (1), it is characterized in that:
Described travelling car comprises vision navigation system (2), car body (3), vehicle frame (4), wheel (5), power supply (21), wheel electrical machine (22), wheel electrical machine driver (23), wheel electrical machine encoder (24); Described vision navigation system (2) is arranged at the headstock position of car body (3), and car body (3) below is provided with power supply (21), and wheel (5) is supported by vehicle frame (4), and is driven by a wheel electrical machine (22);
Described horizontal mobile device comprises traversing motor (25), rail plate (17), slide block (8), upper brace (9), lower brace (16), travel switch (6), traversing motor driver (26), traversing motor encoder (27); Described traversing motor (25) is arranged on the car body (3), and traversing motor (25) links to each other with slide block (8); Upper brace (9) is bolted with lower brace (16); Travel switch (6) is set on the described car body (3), the extreme position of upper brace (9) transverse shifting is carried out safe spacing; Described traversing motor encoder (27) is arranged on the axle of traversing motor (25);
Described weeding cutter sweep comprises multispectral sensory perceptual system (7), fixed bin (10), electric rotating machine (11), cutterhead (13); Described multispectral sensory perceptual system (7) is arranged on the headstock below of car body (3); The outer fixed bin (10) that arranges of described electric rotating machine (11); The shaft end socket cutterhead (13) of described electric rotating machine (11).
2. described high-efficiency weeding robot based on multispectral vision according to claim 1, it is characterized in that: described weeding cutter sweep also comprises sponge (14), described sponge (14) sticks on the bottom of cutterhead (13).
3. described high-efficiency weeding robot based on multispectral vision according to claim 1 and 2, it is characterized in that: also comprise derusting device, described derusting device comprises fluid storage tank (20), control valve (19), flexible pipe (18), retainer ring (15) and choke block (12); Described fluid storage tank (20) is connected with cutterhead (13) by flexible pipe (18); Described control valve (19) is arranged on the flexible pipe (18), and retainer ring (15) is fixedly arranged on flexible pipe (18) end, and described choke block (12) is arranged at sponge (14) outside, and described fluid storage tank is provided with rust remover in (20).
4. described high-efficiency weeding robot based on multispectral vision according to claim 3, it is characterized in that: described master control system (1) comprises industrial computer, multi-axis motion control card and input/output interface plate.
5. described high-efficiency weeding robot based on multispectral vision according to claim 4, it is characterized in that: described cutterhead (13) becomes 45～60 ° of inclination angles with ground.
6. described high-efficiency weeding robot based on multispectral vision according to claim 5, it is characterized in that: described wheel (5) is 3, four or a plurality of.
7. described high-efficiency weeding robot based on multispectral vision according to claim 6, it is characterized in that: described flexible pipe (18) is plastic flexible pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220285655 CN202907683U (en) | 2012-06-18 | 2012-06-18 | Efficient weeding robot based on multi-spectral vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220285655 CN202907683U (en) | 2012-06-18 | 2012-06-18 | Efficient weeding robot based on multi-spectral vision |
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| CN202907683U true CN202907683U (en) | 2013-05-01 |
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| CN 201220285655 Expired - Fee Related CN202907683U (en) | 2012-06-18 | 2012-06-18 | Efficient weeding robot based on multi-spectral vision |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103348964A (en) * | 2013-07-15 | 2013-10-16 | 山东奥泰机械有限公司 | Intelligent weeding device and use method thereof |
| CN105052887A (en) * | 2015-08-03 | 2015-11-18 | 熊生银 | Weed-cutting root-removing machine |
| CN106912208A (en) * | 2015-12-24 | 2017-07-04 | 哈尔滨华日义天节能环保设备有限公司 | A kind of weed-eradicating robot based on image recognition technology |
| CN107509399A (en) * | 2017-10-17 | 2017-12-26 | 中国科学院合肥物质科学研究院 | A kind of green intelligent weed-eradicating robot |
| CN109392882A (en) * | 2018-11-20 | 2019-03-01 | 东北农业大学 | A kind of cutting type weeds in field inhibition device |
| CN109392881A (en) * | 2018-10-26 | 2019-03-01 | 鲍永锋 | A kind of Intelligent bamboo container made of bamboo, wicker, ratten, etc. removing machine and its control method |
| CN112293049A (en) * | 2020-11-13 | 2021-02-02 | 白城师范学院 | Cutting robot based on weed recognition and operating system thereof |
| WO2022086322A1 (en) * | 2020-10-19 | 2022-04-28 | Odd.Bot B.V. | Weeding robot mechanism |
-
2012
- 2012-06-18 CN CN 201220285655 patent/CN202907683U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103348964A (en) * | 2013-07-15 | 2013-10-16 | 山东奥泰机械有限公司 | Intelligent weeding device and use method thereof |
| CN105052887A (en) * | 2015-08-03 | 2015-11-18 | 熊生银 | Weed-cutting root-removing machine |
| CN106912208A (en) * | 2015-12-24 | 2017-07-04 | 哈尔滨华日义天节能环保设备有限公司 | A kind of weed-eradicating robot based on image recognition technology |
| CN107509399A (en) * | 2017-10-17 | 2017-12-26 | 中国科学院合肥物质科学研究院 | A kind of green intelligent weed-eradicating robot |
| CN109392881A (en) * | 2018-10-26 | 2019-03-01 | 鲍永锋 | A kind of Intelligent bamboo container made of bamboo, wicker, ratten, etc. removing machine and its control method |
| CN109392882A (en) * | 2018-11-20 | 2019-03-01 | 东北农业大学 | A kind of cutting type weeds in field inhibition device |
| WO2022086322A1 (en) * | 2020-10-19 | 2022-04-28 | Odd.Bot B.V. | Weeding robot mechanism |
| NL2026700B1 (en) * | 2020-10-19 | 2022-06-14 | Odd Bot B V | Weeding robot mechanism |
| CN112293049A (en) * | 2020-11-13 | 2021-02-02 | 白城师范学院 | Cutting robot based on weed recognition and operating system thereof |
| CN112293049B (en) * | 2020-11-13 | 2021-10-29 | 白城师范学院 | Cutting robot based on weed recognition and operating system thereof |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130501 Termination date: 20140618 |
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| EXPY | Termination of patent right or utility model |