CN203457509U - Intelligent all-dimensional mechanical weeding machine of orchards - Google Patents
Intelligent all-dimensional mechanical weeding machine of orchards Download PDFInfo
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- CN203457509U CN203457509U CN201320412761.9U CN201320412761U CN203457509U CN 203457509 U CN203457509 U CN 203457509U CN 201320412761 U CN201320412761 U CN 201320412761U CN 203457509 U CN203457509 U CN 203457509U
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Abstract
The utility model provides an intelligent all-dimensional mechanical weeding machine of orchards. The intelligent all-dimensional mechanical weeding machine mainly comprises a weeding device, a detection control device and a transverse adjusting device. The weeding device comprises an inter-line weeding device and an inter-plant weeding device and is mainly composed of a machine frame, a power transmission part, a speed changer, wheels, and a weeding tool. The weeding device is mainly used for inter-line and inter-plant weed removal for fruit trees. The detection control device comprises a controller, a transverse adjusting and detecting infrared sensor, a speed sensor, and a trunk position detecting infrared sensor and is used for collecting information of the relative position of the inter-plant weeding device and processing the information to generate control instructions to control the movement state of the inter-plant weeding device. The transverse adjusting device comprises a transverse adjusting hydraulic mechanism and a transverse adjusting hydraulic mechanism electromagnetic valve, and is used for controlling the inter-plant weeding device to shift transversely. Through the intelligent detection control device, the automatic inter-line and inter-plant weed removal for the fruit trees is achieved, the labor force is liberated, and the working efficiency is improved.
Description
One, technical field: the utility model relates to orchard management machinery, particularly the intelligent comprehensive weeding by machine in a kind of orchard machine, belongs to agricultural mechanical field.
Two, background technology:
At present, in Agricultural Activities, conventional method of weed control mainly contains artificial weeding, chemical agent weeding, electric power weeding, several forms of weeding by machine.
Artificial weeding operating efficiency is low, and labour intensity is large, and operating cost is high, is extremely not suitable with the timely control of current large area farmland weed.
Chemical agent weeding is simple, operating efficiency is high, and since nearly half a century, rapidly, the kind of weed killer herbicide is also more and more in development, but this kind of weeding system exists the accumulation of residual toxicity, can cause serious environmental pollution, affects the growth of crop.
The basic principle of electric power weeding technology is that electric current is passed through from weeds inside, makes the cellular tissure destruction of weeds cause death, and this kind of weeding system can be eliminated various weeds, but electric power weeding machine voltage is high, and consumed power is large, poor stability.
, owing to adopting mechanical weeding measure, there is good facilitation in weeding by machine to crop growth, is conducive to preserve the ecological environment simultaneously; the residue of pesticide of having avoided chemical agent weeding to cause; therefore, in recent years, this kind of weeding system is subject to increasing attention.
In planting fruit trees process, because orchard environment is weedy, cause the yield and quality of fruit sharply to decline, therefore must carry out weeds control.In the particular surroundings of orchard, the control of weeds be mainly divided into that inter-row weed is controlled and strain between weeds control, due to weeds between strain, control and must avoid fruit tree and carry out, traditional weeding machine is difficult to deal with.Existing orchard weeding machine can only carry out separately between strain or weeding operation in the ranks, and Mechanization Level is low, and the orchard of being drawn by walking machine intelligence weeder research is very few, also in the stage at the early-stage.
Three, summary of the invention:
1, goal of the invention: in order to overcome the deficiency of existing weeding machine, meet the requirement of the efficient standard weeding in orchard technology, the utility model provides the intelligent comprehensive weeding by machine in a kind of orchard machine, its objective is and adopt Intelligentized mechanical weeding equipment, in the time of the weeds of realizing fruit tree in the ranks and between strain, remove, avoid the pollution of chemical agent to environment, improve the operating efficiency of orchard weeding, liberation labour.
2, technical scheme: the utility model is implemented according to following technical scheme: the intelligent comprehensive weeding by machine in a kind of orchard machine, comprises in the ranks weeder, detection control apparatus, lateral adjustment device between weeder, strain, described weeder in the ranks mainly comprises three-point hitch 1, power transmission shaft 2, inter-row weeder structure speed changer 3, in the ranks weeding cutter 19, inter-row weeder structure frame 20, highly regulate left and right wheels 16 and 21, inter-row weeder structure frame 20 front ends are fixed with three-point hitch 1, weeder is connected with walking machine by three-point hitch 1, by walking machine traction weeder, advanced, inter-row weeder structure frame 20 left and right sides, rear end are provided with and highly regulate left and right wheels 16 and 21, for controlling the operation height of inter-row weeder structure, power transmission shaft 2 passes to inter-row weeder structure speed changer 3 by walking machine rear axle outputting power, inter-row weeder structure speed changer 3 is by the power conversion rear drive of input weeding cutter 19 rotations in the ranks, thereby implement weeding operation in the ranks, between described strain, weeder mainly comprises hydraulic motor magnetic valve 7, hydraulic motor 8, Zhu Jian weeding mechanism frame 9, Zhu Jian weeding mechanism speed changer 13, weeding cutter 14 between strain, Zhu Jian weeding mechanism frame 9 is connected with inter-row weeder structure frame 20 by lateral adjustments hydraulic mechanism 10, described hydraulic motor 8 one end are connected with walking machine hydraulic pressure output point, the other end is connected with universal joint 11, hydraulic motor magnetic valve 7 is connected with controller 5, hydraulic motor magnetic valve 7 receives the control instruction of controller 5, control the hydraulic power output state of walking machine hydraulic pressure output point to hydraulic motor, thereby control hydraulic motor 8, hydraulic motor 8 provides power by universal joint 11Gei Zhujian weeding mechanism speed changer 13, Zhu Jian weeding mechanism speed changer 13 is by 14 rotations of weeding cutter between power conversion rear drive strain, thereby weeding operation between enforcement strain, described detection control apparatus mainly comprises storage battery 4, controller 5, lateral adjustments detects infrared sensor 6, velocity sensor 17, trunk position probing infrared sensor 24, controller 5 is arranged on the centre position of inter-row weeder structure frame 20, by storage battery 4, provide electric power, lateral adjustments detects the place ahead that infrared sensor 6 is arranged on Zhu Jian weeding mechanism frame 9, the main distance that detects Zhu Jian weeding mechanism and the place ahead trunk, velocity sensor 17 is arranged on and highly regulates on left wheel 16, the main speed of travel that detects weeder, trunk position probing infrared sensor 24 is arranged on the front side of inter-row weeder structure frame 20, the main distance that detects inter-row weeder frame 20 and side trunk, lateral adjustments detects infrared sensor 6, velocity sensor 17 is connected with controller 5 with trunk position probing infrared sensor 24, controller 5 receives lateral adjustments and detects infrared sensor 6, velocity sensor 17, the detection information of trunk position probing infrared sensor 24, operation control algolithm, generate control instruction, described lateral adjustment device mainly comprises lateral adjustments hydraulic mechanism 10, lateral adjustments hydraulic mechanism magnetic valve 22, lateral adjustments hydraulic mechanism 10 is arranged on lateral adjustments hydraulic mechanism base 23, lateral adjustments hydraulic mechanism 10 one end are connected with walking machine hydraulic pressure output point, the other end is fixed in Zhu Jian weeding mechanism frame 9, lateral adjustments hydraulic mechanism 10 is connected with lateral adjustments hydraulic mechanism magnetic valve 22, lateral adjustments hydraulic mechanism magnetic valve 22 is connected with controller 5, lateral adjustments hydraulic mechanism magnetic valve 22 receives the control instruction that controller 5 generates, control the transverse movement state of lateral adjustments hydraulic mechanism 10, thereby can realize between strain weeder according to fruit tree position and trunk diameter information, generate corresponding motion path.
3, advantage and effect: the utility model detects the relative position information of weeder between strain automatically by Intelligent Measurement control device, generate control instruction, by means of lateral adjustment device, intelligence regulates transversal displacement and the operating path of weeder between strain, can adapt to different orchard environment, realize fruit tree in the ranks and the mechanical removal of weeds between strain, avoid the pollution of chemical agent to environment, improve operating efficiency, liberated labour.
Four, accompanying drawing explanation;
Fig. 1 is the front view of the intelligent comprehensive weeding by machine in the utility model orchard machine.
Fig. 2 is the vertical view of the intelligent comprehensive weeding by machine in the utility model orchard machine.
Fig. 3 is the movement locus figure of the utility model Zhu Jian weeding mechanism.
Mark: 1-three-point hitch; 2-power transmission shaft; 3-inter-row weeder structure speed changer; 4-storage battery; 5-controller; 6-lateral adjustments detects infrared sensor; 7-hydraulic motor magnetic valve; 8-hydraulic motor; 9-Zhu Jian weeding mechanism frame; 10-lateral adjustments hydraulic mechanism; 11-universal joint; 12-bearing; 13-Zhu Jian weeding mechanism speed changer; Weeding cutter between 14-strain; 15-hydraulic motor holder; 16-highly regulates left wheel; 17-velocity sensor; 18-highly regulates wheel alignment hole; 19-is weeding cutter in the ranks; 20-inter-row weeder structure frame; 21-highly regulates right wheel; 22-lateral adjustments hydraulic mechanism magnetic valve; 23-lateral adjustments hydraulic mechanism base; 24-trunk position probing infrared sensor; 25-Zhu Jian weeding mechanism central motion track; 26-fruit tree.
Five, embodiment:
Below in conjunction with accompanying drawing, the utility model is done to further description:
As depicted in figs. 1 and 2, the intelligent comprehensive weeding by machine in a kind of orchard machine structure diagram, comprises in the ranks weeder, detection control apparatus, lateral adjustment device between weeder, strain, described weeder in the ranks comprises three-point hitch 1, power transmission shaft 2, inter-row weeder structure speed changer 3, highly regulate wheel alignment hole 18, in the ranks weeding cutter 19, inter-row weeder structure frame 20, highly regulate left and right wheels 16 and 21, inter-row weeder structure frame 20 front ends are fixed with three-point hitch 1, weeder is connected with walking machine by three-point hitch 1, by walking machine traction weeder, advanced, inter-row weeder structure frame 20 left and right sides, rear end are provided with and highly regulate left and right wheels 16 and 21, by highly regulating wheel alignment hole 18, control the operation height of weeder, power transmission shaft 2 passes to inter-row weeder structure speed changer 3 by walking machine rear axle outputting power, inter-row weeder structure speed changer 3 is by the power conversion rear drive of input weeding cutter 19 rotations in the ranks, thereby implement weeding operation in the ranks, between described strain, weeder comprises hydraulic motor magnetic valve 7, hydraulic motor 8, Zhu Jian weeding mechanism frame 9, universal joint 11, bearing 12, Zhu Jian weeding mechanism speed changer 13, weeding cutter 14 between strain, hydraulic motor holder 15, Zhu Jian weeding mechanism frame 9 is connected with inter-row weeder structure frame 20 by lateral adjustments hydraulic mechanism 10, described hydraulic motor 8 is arranged in hydraulic motor holder 15, hydraulic motor 8 one end are connected with walking machine hydraulic pressure output point, the other end is connected with universal joint 11, hydraulic motor magnetic valve 7 is connected with controller 5, hydraulic motor magnetic valve 7 receives the control instruction of controller 5, control the hydraulic power output state of walking machine hydraulic pressure output point to hydraulic motor, thereby control hydraulic motor 8, hydraulic motor 8 other ends are by universal joint 11, bearing 12Yu Zhujian weeding mechanism speed changer 13 connects, Gei Zhujian weeding mechanism speed changer 13 provides power, Zhu Jian weeding mechanism speed changer 13 is by 14 rotations of weeding cutter between power conversion rear drive strain, thereby weeding operation between enforcement strain.Described detection control apparatus mainly comprises storage battery 4, controller 5, lateral adjustments detects infrared sensor 6, velocity sensor 17, trunk position probing infrared sensor 24, controller 5 is arranged on the centre position of inter-row weeder structure frame 20, by storage battery 4, provide electric power, lateral adjustments detects the place ahead that infrared sensor 6 is arranged on Zhu Jian weeding mechanism frame 9, the main distance that detects Zhu Jian weeding mechanism and the place ahead trunk, velocity sensor 17 is arranged on and highly regulates on left wheel 16, the main speed of travel that detects weeder, trunk position probing infrared sensor 24 is arranged on the front side of inter-row weeder structure frame 20, the main distance that detects inter-row weeder frame 20 and side trunk, lateral adjustments detects infrared sensor 6, velocity sensor 17 is connected with controller 5 with trunk position probing infrared sensor 24, controller 5 receives lateral adjustments and detects infrared sensor 6, velocity sensor 17, the detection information of trunk position probing infrared sensor 24, operation control algolithm, generate control instruction, described lateral adjustment device mainly comprises lateral adjustments hydraulic mechanism 10, lateral adjustments hydraulic mechanism magnetic valve 22, lateral adjustments hydraulic mechanism base 23, lateral adjustments hydraulic mechanism 10 is arranged on lateral adjustments hydraulic mechanism base 23, lateral adjustments hydraulic mechanism 10 one end are connected with walking machine hydraulic pressure output point, the other end is fixed in Zhu Jian weeding mechanism frame 9, lateral adjustments hydraulic mechanism 10 is connected with lateral adjustments hydraulic mechanism magnetic valve 22, lateral adjustments hydraulic mechanism magnetic valve 22 is connected with controller 5, lateral adjustments hydraulic mechanism magnetic valve 22 receives the control instruction that controller 5 generates, control the transverse movement state of lateral adjustments hydraulic mechanism 10, thereby can realize between strain weeder according to fruit tree position and trunk diameter information, generate corresponding motion path.
As shown in Figure 3, the comprehensive Ji Zhujian of the weeding by machine weeding of a kind of orchard intellectuality mechanism movement locus, the range information that controller 5 detects according to trunk position probing infrared sensor 24, generate control instruction, the contractile motion amount of controlling lateral adjustments hydraulic mechanism 10, realizes weeder between strain and, according to position and the trunk diameter of fruit tree 26, generates corresponding movement locus 25, the operating path that has shortened weeder between strain, has improved operating efficiency.
The intelligent comprehensive weeding by machine in a kind of orchard described in the utility model machine, its course of work is as follows:
Before weeder work, the lateral adjustments threshold value of Zhu Jian weeding mechanism is set in controller 5 and apart from trunk position threshold, adjusts the position that weeder height regulates left and right wheels 16 and 21, by three-point hitch 1, put down weeder, open controller power source, start running gear, during weeder work, walking machine traction weeder advances, weeder work in the ranks, implement weeding in the ranks, lateral adjustment device Jiang Zhujian weeding mechanism stretches between fruit tree strain, implement weeding between strain, when between the strain that lateral adjustments detection infrared sensor 6 detects, weeder and trunk distance reach predefined lateral adjustments threshold value, Zhu Jian weeding mechanism is according to the control instruction of controller 5, automatically return to corresponding position, when the distance detecting when trunk position probing infrared sensor 24 is greater than apart from trunk position threshold, between strain, weeder stretches out, enter and between next strain, carry out weeding operation, when this process is carried out, weeder non-stop run in the ranks, loop until complete all weeding operations, after weeder end-of-job, regain Zhu Jian weeding mechanism, by three point linkage 1, promote weeder, powered-down.
Claims (5)
1. the intelligent comprehensive weeding by machine in an orchard machine, is characterized in that: comprise in the ranks weeder, detection control apparatus, lateral adjustment device between weeder, strain, described weeder in the ranks mainly comprises three-point hitch (1), power transmission shaft (2), inter-row weeder structure speed changer (3), weeding cutter (19) in the ranks, inter-row weeder structure frame (20), inter-row weeder structure frame (20) front end is fixed with three-point hitch (1), weeder is connected with walking machine by described three-point hitch (1), by walking machine traction weeder, advanced, power transmission shaft (2) passes to inter-row weeder structure speed changer (3) by walking machine rear axle outputting power, inter-row weeder structure speed changer (3) is by the power conversion rear drive of input weeding cutter (19) rotation in the ranks, between described strain, weeder mainly comprises hydraulic motor magnetic valve (7), hydraulic motor (8), Zhu Jian weeding mechanism frame (9), Zhu Jian weeding mechanism speed changer (13), weeding cutter (14) between strain, Zhu Jian weeding mechanism frame (9) is connected with inter-row weeder structure frame (20) by lateral adjustments hydraulic mechanism (10), described hydraulic motor (8) one end is connected with walking machine hydraulic pressure output point, walking machine hydraulic pressure output point is controlled the input state of hydraulic power by hydraulic motor magnetic valve (7), thereby control hydraulic motor (8), the other one end of hydraulic motor (8) is connected with universal joint (11), hydraulic motor (8) provides power by universal joint (11) Gei Zhujian weeding mechanism's speed changer (13), Zhu Jian weeding mechanism speed changer (13) is by weeding cutter (14) rotation between power conversion rear drive strain.
2. the intelligent comprehensive weeding by machine in orchard according to claim 1 machine, it is characterized in that: described detection control apparatus mainly comprises controller (5), lateral adjustments detects infrared sensor (6), velocity sensor (17), trunk position probing infrared sensor (24), lateral adjustments detects the place ahead that infrared sensor (6) is arranged on Zhu Jian weeding mechanism frame (9), the main distance that detects Zhu Jian weeding mechanism and the place ahead trunk, velocity sensor (17) is arranged on and highly regulates on left wheel (16), the main speed of travel that detects weeder, trunk position probing infrared sensor (24) is arranged on the front side of inter-row weeder structure frame (20), the main distance that detects inter-row weeder frame (20) and side trunk, controller (5) is arranged on the centre position of inter-row weeder structure frame (20), by storage battery (4), provide electric power, controller (5) is mainly used in receiving lateral adjustments and detects infrared sensor (6), velocity sensor (17), the detection information of trunk position probing infrared sensor (24), operation control algolithm, generate control instruction.
3. the intelligent comprehensive weeding by machine in orchard according to claim 2 machine, it is characterized in that: described lateral adjustment device mainly comprises lateral adjustments hydraulic mechanism (10), lateral adjustments hydraulic mechanism magnetic valve (22), lateral adjustments hydraulic mechanism (10) is arranged on lateral adjustments hydraulic mechanism base (23), lateral adjustments hydraulic mechanism (10) one end is connected with walking machine hydraulic pressure output point, walking machine hydraulic pressure output point is controlled the motion state of lateral adjustments hydraulic mechanism (10) by lateral adjustments hydraulic mechanism magnetic valve (22), lateral adjustments hydraulic mechanism (10) other end is fixed in Zhu Jian weeding mechanism frame (9), control the transverse movement of Zhu Jian weeding mechanism's frame (9).
4. the intelligent comprehensive weeding by machine in orchard according to claim 3 machine, it is characterized in that: lateral adjustments hydraulic mechanism magnetic valve (22) is connected with controller (5), the range information that controller (5) detects according to trunk position probing infrared sensor (24), generate control instruction, control the transverse movement state of lateral adjustments hydraulic mechanism (10).
5. the intelligent comprehensive weeding by machine in orchard according to claim 4 machine, it is characterized in that: hydraulic motor magnetic valve (7) is connected with controller (5), between strain in weeder return course, controller (5) detects the on off state of lateral adjustments hydraulic mechanism magnetic valve (22), when lateral adjustments hydraulic mechanism magnetic valve (22) reaches pass, the switch that controller (5) cuts out hydraulic motor magnetic valve (7), hydraulic motor stops operating.
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| CN201320412761.9U CN203457509U (en) | 2013-07-06 | 2013-07-06 | Intelligent all-dimensional mechanical weeding machine of orchards |
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| CN201320412761.9U CN203457509U (en) | 2013-07-06 | 2013-07-06 | Intelligent all-dimensional mechanical weeding machine of orchards |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103329653A (en) * | 2013-07-06 | 2013-10-02 | 西北农林科技大学 | Intelligent all-dimensional mechanical weeding machine of orchards |
| CN105706751A (en) * | 2016-04-11 | 2016-06-29 | 苏州宏奇锐自动化有限公司 | Green belt shearing device |
| CN105746191A (en) * | 2016-03-30 | 2016-07-13 | 苏州亚思科精密数控有限公司 | Green belt trimming device |
| CN105746192A (en) * | 2016-03-30 | 2016-07-13 | 苏州亚思科精密数控有限公司 | Pruning device for green belts with obstacles |
| CN105746195A (en) * | 2016-04-11 | 2016-07-13 | 苏州宏奇锐自动化有限公司 | Barrier green belt trimming device |
| CN105766401A (en) * | 2016-04-11 | 2016-07-20 | 苏州宏奇锐自动化有限公司 | Obstructed highway greenbelt pruning system |
| CN105794501A (en) * | 2016-04-11 | 2016-07-27 | 苏州宏奇锐自动化有限公司 | Highway greenbelt trimming device |
| CN105794500A (en) * | 2016-04-11 | 2016-07-27 | 苏州宏奇锐自动化有限公司 | Intelligent green belt pruning device |
| CN105794499A (en) * | 2016-03-30 | 2016-07-27 | 苏州亚思科精密数控有限公司 | Pruning method of green belt pruning machine |
| CN105830754A (en) * | 2016-03-30 | 2016-08-10 | 苏州亚思科精密数控有限公司 | Obstructed greenbelt trimming method |
| CN105850526A (en) * | 2016-03-30 | 2016-08-17 | 苏州亚思科精密数控有限公司 | Pruning system for green belt |
| CN105850527A (en) * | 2016-03-30 | 2016-08-17 | 苏州亚思科精密数控有限公司 | Pruning system for green belt with obstacles |
| CN106376251A (en) * | 2016-11-08 | 2017-02-08 | 宁夏智源农业装备有限公司 | Intelligent weeding machine for Chinese wolfberry |
| CN106304861B (en) * | 2016-10-19 | 2019-02-19 | 宁夏智源农业装备有限公司 | Grape intelligence weeder |
| AT520294A4 (en) * | 2018-02-01 | 2019-03-15 | Agrom Kg | HACK DEVICE |
| CN113907061A (en) * | 2021-09-10 | 2022-01-11 | 东北农业大学 | Intelligent inter-plant weeding equipment based on injury pesticide application method |
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- 2013-07-06 CN CN201320412761.9U patent/CN203457509U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103329653A (en) * | 2013-07-06 | 2013-10-02 | 西北农林科技大学 | Intelligent all-dimensional mechanical weeding machine of orchards |
| CN105794499A (en) * | 2016-03-30 | 2016-07-27 | 苏州亚思科精密数控有限公司 | Pruning method of green belt pruning machine |
| CN105850527A (en) * | 2016-03-30 | 2016-08-17 | 苏州亚思科精密数控有限公司 | Pruning system for green belt with obstacles |
| CN105746191A (en) * | 2016-03-30 | 2016-07-13 | 苏州亚思科精密数控有限公司 | Green belt trimming device |
| CN105746192A (en) * | 2016-03-30 | 2016-07-13 | 苏州亚思科精密数控有限公司 | Pruning device for green belts with obstacles |
| CN105850526A (en) * | 2016-03-30 | 2016-08-17 | 苏州亚思科精密数控有限公司 | Pruning system for green belt |
| CN105830754A (en) * | 2016-03-30 | 2016-08-10 | 苏州亚思科精密数控有限公司 | Obstructed greenbelt trimming method |
| CN105746195A (en) * | 2016-04-11 | 2016-07-13 | 苏州宏奇锐自动化有限公司 | Barrier green belt trimming device |
| CN105794500A (en) * | 2016-04-11 | 2016-07-27 | 苏州宏奇锐自动化有限公司 | Intelligent green belt pruning device |
| CN105794501A (en) * | 2016-04-11 | 2016-07-27 | 苏州宏奇锐自动化有限公司 | Highway greenbelt trimming device |
| CN105766401A (en) * | 2016-04-11 | 2016-07-20 | 苏州宏奇锐自动化有限公司 | Obstructed highway greenbelt pruning system |
| CN105706751A (en) * | 2016-04-11 | 2016-06-29 | 苏州宏奇锐自动化有限公司 | Green belt shearing device |
| CN106304861B (en) * | 2016-10-19 | 2019-02-19 | 宁夏智源农业装备有限公司 | Grape intelligence weeder |
| CN106376251A (en) * | 2016-11-08 | 2017-02-08 | 宁夏智源农业装备有限公司 | Intelligent weeding machine for Chinese wolfberry |
| AT520294A4 (en) * | 2018-02-01 | 2019-03-15 | Agrom Kg | HACK DEVICE |
| AT520294B1 (en) * | 2018-02-01 | 2019-03-15 | Agrom Kg | HACK DEVICE |
| US11627693B2 (en) | 2018-02-01 | 2023-04-18 | Roman ROMSTORFER | Hoeing device |
| CN113907061A (en) * | 2021-09-10 | 2022-01-11 | 东北农业大学 | Intelligent inter-plant weeding equipment based on injury pesticide application method |
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