CN204722111U - The comprehensive weeder of a kind of intelligent crops - Google Patents
The comprehensive weeder of a kind of intelligent crops Download PDFInfo
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- CN204722111U CN204722111U CN201520354442.6U CN201520354442U CN204722111U CN 204722111 U CN204722111 U CN 204722111U CN 201520354442 U CN201520354442 U CN 201520354442U CN 204722111 U CN204722111 U CN 204722111U
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Abstract
The utility model discloses the comprehensive weeder of a kind of intelligent crops, comprises weeder, intelligent chemical spraying device between frame, vision and Intelligent electronic control system, the degree of depth and arrangement for adjusting height, in the ranks weeder, strain.The three-point hitch be positioned in frame is connected with walking machine; Vision and Intelligent electronic control system, for gathering the relative position information of weed shovel and shower nozzle between plant and strain, control the duty of weeder and intelligent chemical spraying device between strain; The degree of depth and arrangement for adjusting height are for regulating embedded depth and the rack chassis height of weed shovel between weed shovel and strain in the ranks; In the ranks between weeder and strain, weeder is used for the removing of plant weeds in the ranks and between strain; Intelligence chemical spraying device is used for removing the weeds of the plant root that weed shovel between strain can not be removed.The utility model protects plant by the damage of weed shovel between strain, and solves the problem that plant root weeds hinder crop growth, to achieve between crop row and the comprehensive removing of weeds between strain.
Description
Technical field
The utility model relates to crop management machinery, and particularly the comprehensive weeder of the intelligent crops of one, belongs to agricultural mechanical field.
Background technology
The existence of weeds is the most general problem run in plant growing process, the especially weeds of plant root, and direct and crops competition moisture, nutrient and sunlight, have a strong impact on the growth of crops.Current field weeding is mainly by chemical agent weeding, cause widely using weed killer herbicide, although achieve remarkable effect, also bring a lot of problem, the spray pattern of rough formula causes the waste of the energy, causes the safety problem etc. that resistance weed and residue of pesticide cause.This just needs a kind of mode that large area dispenser can be replaced to carry out weeding.
Abuse this problem for weeding pesticide, have the research of corresponding weed-eradicating robot both at home and abroad.Nanjing Forestry University proposes a kind of weed-eradicating robot of direct application method, primary structure comprises main body, mechanical arm, wheel and camera, when spraying machine device people carries out work, first carry out technology according to camera collection field image and determine weeds position, then spray cultivation is carried out by control system adjusting mechanical arm relevant parameter, result shows, uses this kind of robot reasonably can carry out weeding, reduces the abuse of chemical agent.Australia also proposes a kind of intelligent farmland dispenser machine, and just can carry out decision-making determination weed killer herbicide consumption according to identification once discovery weeds, only to weeds spraying herbicide, cost only has 10% of conventional medicament weeding.Although significantly reduce the usage amount of weed killer herbicide, relative to weeding by machine, the use of weed killer herbicide or a lot, in the ranks and between the strain had with a certain distance from plant root, can replace chemical weed control by the mode of weeding by machine for plant.
Weeding by machine is a key technology in Agricultural Sustainable Development, start to be subject to increasing attention, on the current technology, in the ranks weeding technique is comparatively ripe, weeding ratio can reach more than 90%, and the domestic research being directed to the weeding machine of weeding between strain is in the starting stage.Osnabrueck, Germany university and Amazon have been developed jointly a kind of cycloid and have been uprooted (Dedousis, 2007), for in corn field in the ranks and weeding between strain, rounded being arranged on a rotary body of eight pawl weeding blade tooths forms weeding mechanism, rotary body is rotated by hydraulic pump drive, weeding blade tooth is moved in a circle, when machine advances, weeding blade tooth does remaining pendular motion, each weeding blade tooth all can independently launch and draw in, avoid contacting crops, but it cannot be removed the weeds in the wide region of 18mm around crop, improperly damage will be caused to crop if slightly adjusted, and it is larger by Influence To Soil, comparatively large clod damage crops can not be avoided.Agricultural University Of South China is as reference, propose a kind of intelligent strain inter-row weeder (Luo Xiwen etc. based on pendular motion more than blade tooth, 2012), the movement locus of weeding blade tooth is trochoidal curve, trochoidal latch closure part between strain in region time utilize weeding blade tooth to remove region weeds between strain, the radius of turn reducing one or a few weeding blade tooth can realize weeding blade tooth and dodge crop.Along with the increase seedling-damaging ratio of pace also increases, seedling-damaging ratio is within 8%, the weeding blade tooth quantity entering region between strain is relevant with the spacing in the rows that crop is planted, the crop planted within spacing in the rows 20cm can not to ensure between each strain that region all has weeding blade tooth to enter between strain and carry out weeding, therefore weeding cannot be carried out, the especially weeds of plant root between some strain.In order to solve the problem, the utility model is intended to provide a kind of device carrying out weeding in all directions, between strain, weeder adopts L-type shovel, reduce the requirement to spacing in the rows, the protection domain of suitable increase plant root area, adopts weed shovel work between servo-hydraulic control strain, responds fast, accurate location, reduces seedling-damaging ratio; Increase intelligence spray medicine system, the weeds of the plant root that weed shovel between strain can not be removed are removed, adopt intelligence control system accurately to control chemical spraying device and aim at the dispenser of plant root position, weeding by machine combines with chemical weed control, the use of effective reduction weed killer herbicide, reaches the requirement of comprehensive weeding between plant.
Summary of the invention
The purpose of this utility model is to provide a kind of intelligent crops comprehensive weeder; to realize between the crop row being in different growing stages and carry out intelligence physical weed control and chemical weed control accurately between strain and combine; the comprehensive weeding of mechanical-electrical-hydraulic integration; both plant had been protected not by the damage of weeding cutter between strain; remove again the weeds of plant root, reach quick response, accurately locate; increase work efficiency, to realize between crop row and the comprehensive removing of weeds between strain.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
The comprehensive weeder of a kind of intelligent crops, is characterized in that: comprise weeder, intelligent chemical spraying device between frame 2, vision and Intelligent electronic control system, the degree of depth and arrangement for adjusting height, in the ranks weeder, strain; The three-point hitch 1 be positioned in frame 2 is connected with walking machine, is drawn move ahead by walking machine; Vision and Intelligent electronic control system, for gathering the relative position information of weed shovel 11 and shower nozzle 25 between plant and strain, control the duty of weeder and intelligent chemical spraying device between strain; The degree of depth and arrangement for adjusting height are for regulating embedded depth and frame 2 chassis height of weed shovel 11 between weed shovel 15 and strain in the ranks; In the ranks between weeder and strain, weeder is used for the removing of weeds in the ranks and between strain of plant; Intelligence chemical spraying device is used for removing the weeds of the plant root that weed shovel between strain 11 can not be removed.
Described vision and Intelligent electronic control system comprise camera 13, image processor 14, intelligent controller 4, storage battery 3; Camera 13 be vertically mounted on shower nozzle 25 and in the ranks between weed shovel 15, the back lower place of frame 2, the relative position picture of weed shovel 11 and shower nozzle 25 for taking record plant center, between plant and strain; Image processor 14 to be gone forward side by side row relax for receiving the image information collected with identification camera 13, determines plant center, the relative position of weed shovel 11 and shower nozzle 25 between plant and strain, generates the movement locus of weed shovel 11 between strain; Intelligent controller 4, according to the movement locus generated, accurately controls weed shovel 11 between strain and open and to enter between strain weeding region or closedly dodge crop plant, and the magnetic valve 9 in intelligent chemical spraying device opens or closes; Storage battery 3 is for power supply.
In the ranks weeder is arranged on the lateral mid-point of frame 2, the dead astern of running wheel 18, in the ranks weed shovel 15 adopts triangular spade, detachably, the triangular spade of suitable width can be changed according to different line-spacings, fixed by adjustable positioner 16, the relative altitude of in the ranks weed shovel 15 and frame 2 is regulated, the embedded depth of weed shovel 11 between weed shovel 15 and strain between control lines by adjustable positioner 16; The center of running wheel 18 is provided with velocity sensor 19, the main speed of travel detecting weeder; Running wheel 18 is fixed by adjustable positioner 20, is regulated the height of frame chassis by adjustable positioner 20, meets the weeding requirement of the plant of different growing stage; When multiple comprehensive weeder unit uses side by side and carries out multirow weeding operation simultaneously, each unit works alone; Between described strain, weeder is made up of weed shovel 11, a pair hydraulic jack 22, one group of magnetic valve 24, displacement transducer 23 and intelligent controller 4 between a pair strain;
Intelligent controller 4 controls multiple described comprehensive weeder unit simultaneously; Between strain, weeder to be arranged between strain in weeder outer container 10, is positioned at frame 2 rear end; Weed shovel 11 between a pair strain of a unit, a pair hydraulic jack 22 and magnetic valve 24 are symmetrically arranged along the center line of frame 2; One end of hydraulic jack 22 is connected with hydraulic power unit output point, hydraulic power unit output point controls the transverse movement state of a pair hydraulic jack 22 by one group of magnetic valve 24, and the other end of hydraulic jack 22 is connected to form joint by the elongated slot nibs on weed shovel between pin and strain 11 top.
Between described strain in weeder, one end of the transverse motion mechanism connection bit displacement sensor 23 of hydraulic jack 22, Displacement Feedback element is used as in servo-drive system, the other end of displacement transducer 23 is connected with intelligent controller 4, intelligent controller 4 crossing out and retraction amount by hydraulic control oil cylinder 22, between accurate control strain, weed shovel 11 opens and to enter between strain weeding region or closedly dodge crop plant, and crossing out of hydraulic jack 22 is detected by displacement transducer 23 with retraction amount.
Described intelligent chemical spraying device comprises medicine storing pot 6, high-pressure pump 8, magnetic valve 9, grug transportation tube 7, spray medicine bar 12 and shower nozzle 25; Medicine storing pot 6 is arranged on above vehicle frame 2 on medicine storing pot mount pad 5, connects high-pressure pump 8 by grug transportation tube 7, and spray medicine bar 12 is fixed on vehicle frame 2; Shower nozzle 25 is outward-dipping, facing to plant root direction.
Weeding process of the present utility model is as follows:
Step one, the border, front and back that the front and back position that to utilize intelligent controller 4 to preset with plant centre distance be S is plant protected field, removes for the weeds in the region of S do not carry out weed shovel 11 between strain wide around crop, prevents from hindering seedling; Vision and Intelligent electronic control system are according to plant center location information, speed information that between plant and strain, the relative position information of weed shovel 11 and shower nozzle 25, velocity sensor 19 record, calculate delay time T1 and T2 that weed shovel 11 between strain arrives border before and after plant protected field, and shower nozzle 25 arrives the delay time T3 of plant center, and generate the movement locus of weed shovel 11 between strain;
Step 2, when when between strain, weed shovel 11 arrives the front border of plant protected field, between strain, weed shovel 11 closes, protection plant preserves from, when when between strain, weed shovel 11 leaves plant center along with weeder moves ahead and arrives the rear border of plant protected field, between strain, weed shovel 11 opens and enters region between strain and carry out weeding operation;
Step 3, when shower nozzle 25 arrives plant center, magnetic valve 9 is opened, and shower nozzle 25 aims at plant center spray medicine, and when shower nozzle 25 leaves plant center, magnetic valve 9 cuts out, and prepares the spray medicine operation of next plant.
the utility model has beneficial effect
(1) the utility model adopts L-type shovel to stretch into region between plant strain and carry out weeding, because the weeding position of L-type shovel is slender type, reduce between strain that weeder is to the requirement of plant spacing in the rows, when spacing in the rows is less, also replaceable small-sized weed shovel enters weeding between strain smoothly.
(2) owing to coordinating intelligent chemical spraying device to carry out weeding between strain together; weed shovel weeding is not carried out in the protection zone that can suitably expand around plant root; and adopt the mode of spray medicine; Hydrauservo System is utilized to respond fast; accurate control; both reduced seedling-damaging ratio and the speed of travel area requirement to walking machine, can remove the weeds of plant root again, weeding is more thorough.
(3) in the ranks between weeding with strain, weeding separates and works simultaneously, also by multiple weeding unit also together, can carry out multirow weeding simultaneously, improve operating efficiency.
(4) utilize the operation of servo-hydraulic control weeder, broken away from mechanically operated labyrinth, make the structure of weeder simpler.
Accompanying drawing explanation
Fig. 1 is the front view of the comprehensive weeder of the intelligent crops of the utility model
Fig. 2 is the control schematic diagram of weeder between the utility model strain
Fig. 3 is the schematic diagram of the utility model shower nozzle shape
Fig. 4 is the movement locus figure of weed shovel between the utility model strain
In figure: 1 three-point hitch; 2 frames; 3 storage batterys; 4 intelligent controllers; 5 medicine storing pot mount pads; 6 medicine storing pots; 7 grug transportation tubes; 8 high-pressure pumps; 9 magnetic valves; Weeder outer container between 10 strains; Weed shovel between 11 strains; 12 spray medicine bars; 13 cameras; 14 image processors; 15 in the ranks weed shovels; 16 adjustable positioners; 17 inter-row weeder framves; 18 running wheels; 19 velocity sensors; 20 adjustable positioners; 21 pins; 22 hydraulic jacks; 23 displacement transducers; 24 magnetic valves; 25 shower nozzles; 26 plant; Weed shovel movement locus between 27 strains.
Embodiment
Below in conjunction with drawings and Examples, the technical solution of the utility model is described in further details.
The utility model is based on following a kind of design: (1) weeder adopts trifilar suspension mode to be connected to after walking machine, utilizes running gear outputting power to be supplied to high-pressure pump 8 and hydraulic jack 22 carries out weeding operation; (2) in the ranks weeder adopts triangular spade to carry out weeding in the ranks, and between the strain that between strain, weeder adopts the center line along frame 2 to be symmetrically arranged, weed shovel 11 carries out weeding between strain, is responded fast and accurately control by Hydrauservo System; Between strain, weed shovel 11 carries out weeding between strain and carries out spray medicine with intelligent chemical spraying device to plant root position and match, and reaches the object of comprehensive weeding between plant; (3) adopt height adjustable, weeding cutter is adjustable, and the weeding mechanism that weeder unit can use side by side, to be suitable for more how different manipulating objects, increases work efficiency.
As shown in Figure 1, the comprehensive weeder of a kind of intelligent crops, comprises weeder, intelligent chemical spraying device between frame 2, vision and Intelligent electronic control system, the degree of depth and arrangement for adjusting height, in the ranks weeder, strain.The three-point hitch 1 be positioned in frame 2 is connected with walking machine, is drawn move ahead by walking machine; Vision and Intelligent electronic control system, for gathering the relative position information of weed shovel 11 and shower nozzle 25 between plant and strain, control the duty of weeder and intelligent chemical spraying device between strain; The degree of depth and arrangement for adjusting height are for regulating embedded depth and frame 2 chassis height of weed shovel 11 between weed shovel 15 and strain in the ranks; In the ranks between weeder and strain, weeder is used for the removing of plant weeds in the ranks and between strain; Intelligence chemical spraying device is used for removing the weeds of the plant root that weed shovel between strain 11 can not be removed.
As shown in Figure 2, between described strain, weeder is made up of weed shovel 11, a pair hydraulic jack 22, one group of magnetic valve 24, displacement transducer 23 and intelligent controller 4 between a pair strain, intelligent controller 4 can control multiple described comprehensive weeder unit simultaneously, between strain, weeder is arranged between strain in weeder outer container 10, in body frame rear end, weed shovel 11 between a pair strain of a unit, a pair hydraulic jack 22 and magnetic valve 24 are symmetrically arranged along the center line of frame 2, hydraulic jack 22 one end is connected with hydraulic power unit output point, hydraulic power unit output point controls the transverse movement state of a pair hydraulic jack 22 by one group of magnetic valve 24, and hydraulic jack 22 other end is connected to form joint by the elongated slot nibs on weed shovel 11 top between pin 21 and strain, one end connection bit displacement sensor 23 of the transverse motion mechanism of hydraulic jack 22, is used as Displacement Feedback element in servo-drive system, and the other end of displacement transducer 23 is connected with intelligent controller 4, between strain, weed shovel 11 selects L-type to shovel, there is cutting edge on the base of shovel, when weed shovel enters weeding region between strain, shovel into earth, the root of weeds between strain is cut off while loosening the soil, between strain, weed shovel 11 to carry out between strain in weeding operation process, do not carry out weed shovel 11 between strain to the weeds in the region of S wide around crop to remove, prevent from hindering seedling, when between strain, weed shovel 11 arrives the front border of plant protected field, between strain, weed shovel 11 closes, protection plant preserves from, when when between strain, weed shovel 11 leaves plant center along with weeder moves ahead and arrives the rear border of plant protected field, between strain, weed shovel 11 opens and enters region between strain and carry out weeding operation, intelligent controller 4 crossing out and retraction amount by hydraulic control oil cylinder 22, accurately control weed shovel 11 between strain and open and to enter between strain weeding region or closedly dodge crop plant, crossing out of hydraulic jack 22 is detected by displacement transducer 23 with retraction amount.As shown in Figure 3, the shower nozzle 25 of intelligence chemical spraying device makes outward-dipping shape, shower nozzle 25 is facing to plant root direction, when shower nozzle 25 arrives plant center, magnetic valve 9 is opened, and shower nozzle 25 aims at plant center spray medicine, when shower nozzle 25 leaves plant center, magnetic valve 9 cuts out, and prepares the spray medicine operation of next plant; Magnetic valve 9 is manipulated by intelligent controller 4.
As shown in Figure 4, the movement locus of weed shovel 11 between the comprehensive weeder strain of a kind of intelligent crops.Between strain, weed shovel 11 carries out between strain in weeding operation process, does not carry out weed shovel 11 between strain and removes, prevent from hindering seedling to the weeds in the region of S wide around crop; When between strain, weed shovel 11 arrives the front border of plant protected field, between strain, weed shovel 11 closes, protection plant preserves from, when when between strain, weed shovel 11 leaves plant center along with weeder moves ahead and arrives the rear border of plant protected field, between strain, weed shovel 11 opens and enters region between strain and carry out weeding operation; Vision and Intelligent electronic control system, according to plant center location information, speed information that between plant and strain, the relative position information of weed shovel 11 and shower nozzle 25, velocity sensor 19 record, generate the movement locus of weed shovel 11 between strain.
The utility model for capsicum field, its
the course of workas follows:
Before the weeding work of capsicum field, the parallel connection of multiple weeder unit can be realized multirow weeding simultaneously according to actual conditions, the triangular spade of suitable width is changed according to the actual line-spacing in capsicum field, according to the height of pepper plant, positioner 20 is regulated to fix frame 2 chassis height, positioner 16 is regulated to determine the rational embedded depth of weed shovel 11 between weed shovel 15 and strain in the ranks according to soil hardness and weeds in field situation, the three-point hitch 1 be positioned in frame 2 connects walking machine, open intelligent controller 4 power supply, start walking machine, walking machine outputting power is supplied to high-pressure pump 8 and hydraulic jack 22 carries out weeding operation, weeder is moved ahead by its traction, during weeder work, velocity sensor 19 detect lines vehicle speed on running wheel 18 is also transferred to intelligent controller 4, in the ranks weed shovel 15 carries out continual weeding in the ranks, camera 13 takes pepper plant position picture, the relative position picture of weed shovel 11 and shower nozzle 25 between pepper plant and strain, be transferred to image processor 14 to process, intelligent controller 4 is according to the boundary information of the plant protected field preset, the relative position information of weed shovel 11 and shower nozzle 25 between pepper plant and strain, speed information, generate the movement locus of weed shovel 11 between strain, when between strain, weed shovel 11 arrives the front border of plant protected field, between strain, weed shovel 11 closes, protection pepper plant preserves from, when when between strain, weed shovel 11 leaves plant center along with weeder moves ahead and arrives the rear border of plant protected field, between strain, weed shovel 11 opens and enters region between capsicum strain and carry out weeding operation, simultaneously, the work of intelligence chemical spraying device, when vision and control system detect that shower nozzle 25 arrives pepper plant center, magnetic valve 9 is opened, shower nozzle 25 aims at pepper plant root position spray medicine, when shower nozzle 25 leaves pepper plant center, magnetic valve 9 cuts out, prepare the spray medicine operation of next pepper plant, weeder non-stop run in the ranks, between strain, weeder and the circulation of the intelligent chemical spraying device course of work are carried out until complete all weeding operations, after capsicum field weeding end-of-job, between strain, weed shovel 11 is closed draws in below frame 2 chassis, weeder is promoted, powered-down by three-point hitch 1.
Finally should be noted that, above embodiment is only unrestricted for illustration of the technical solution of the utility model, although be described in detail the utility model with reference to most preferred embodiment, those skilled in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from the spirit and scope of technical solutions of the utility model, it all should be encompassed within right of the present utility model.
Claims (5)
1. the comprehensive weeder of intelligent crops, is characterized in that: comprise weeder, intelligent chemical spraying device between frame (2), vision and Intelligent electronic control system, the degree of depth and arrangement for adjusting height, in the ranks weeder, strain; The three-point hitch (1) be positioned in frame (2) is connected with walking machine, is drawn move ahead by walking machine; Vision and Intelligent electronic control system, for gathering the relative position information of weed shovel between plant and strain (11) and shower nozzle (25), control the duty of weeder and intelligent chemical spraying device between strain; The degree of depth and arrangement for adjusting height are for regulating embedded depth and frame (2) chassis height of weed shovel (11) between weed shovel (15) and strain in the ranks; In the ranks between weeder and strain, weeder is used for the removing of weeds in the ranks and between strain of plant; Intelligence chemical spraying device is used for removing the weeds of the plant root that weed shovel between strain (11) can not be removed.
2. the comprehensive weeder of the intelligent crops of one according to claim 1, is characterized in that: described vision and Intelligent electronic control system comprise camera (13), image processor (14), intelligent controller (4), storage battery (3); Camera (13) be vertically mounted on shower nozzle (25) and in the ranks between weed shovel (15), the back lower place of frame (2).
3. the comprehensive weeder of the intelligent crops of one according to claim 1, it is characterized in that: in the ranks weeder is arranged on the lateral mid-point of frame (2), the dead astern of running wheel (18), in the ranks weed shovel (15) adopts triangular spade, detachably, the triangular spade of suitable width can be changed according to different line-spacings, fixed by adjustable positioner (16); The center of running wheel (18) is provided with velocity sensor (19), and running wheel (18) is fixed by adjustable positioner (20); When multiple comprehensive weeder unit uses side by side and carries out multirow weeding operation simultaneously, each unit works alone; Between described strain, weeder is made up of weed shovel (11), a pair hydraulic jack (22), one group of magnetic valve (24), displacement transducer (23) and intelligent controller (4) between a pair strain;
Intelligent controller (4) controls multiple described comprehensive weeder unit simultaneously; Between strain, weeder to be arranged between strain in weeder outer container (10), is positioned at frame (2) rear end; Weed shovel (11) between a pair strain of a unit, a pair hydraulic jack (22) and magnetic valve (24) are symmetrically arranged along the center line of frame (2); One end of hydraulic jack (22) is connected with hydraulic power unit output point, hydraulic power unit output point controls the transverse movement state of a pair hydraulic jack (22) by one group of magnetic valve (24), and the other end of hydraulic jack (22) is connected to form joint by the elongated slot nibs on weed shovel between pin and strain (11) top.
4. the comprehensive weeder of the intelligent crops of one according to claim 1, it is characterized in that: between described strain in weeder, one end of the transverse motion mechanism connection bit displacement sensor (23) of hydraulic jack (22), in servo-drive system, be used as Displacement Feedback element, the other end of displacement transducer (23) is connected with intelligent controller (4).
5. the comprehensive weeder of the intelligent crops of one according to claim 1, is characterized in that: described intelligent chemical spraying device comprises medicine storing pot (6), high-pressure pump (8), magnetic valve (9), grug transportation tube (7), spray medicine bar (12) and shower nozzle (25); Medicine storing pot (6) is arranged on vehicle frame (2) top medicine storing pot mount pad (5), connect high-pressure pump (8) by grug transportation tube (7), spray medicine bar (12) is fixed on vehicle frame (2); Shower nozzle (25) is outward-dipping, facing to plant root direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520354442.6U CN204722111U (en) | 2015-05-28 | 2015-05-28 | The comprehensive weeder of a kind of intelligent crops |
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| CN201520354442.6U CN204722111U (en) | 2015-05-28 | 2015-05-28 | The comprehensive weeder of a kind of intelligent crops |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104904700A (en) * | 2015-05-28 | 2015-09-16 | 江苏大学 | Intelligent comprehensive crop weeding device and method |
| CN105766097A (en) * | 2016-04-21 | 2016-07-20 | 东北农业大学 | Inter-seedling weeding operation device with vertically and horizontally combined movement of weeding roll |
| CN106856681A (en) * | 2017-02-20 | 2017-06-20 | 吉林大学 | Weeder between a kind of electromagnetic type seedling band or seedling |
| CN107624745A (en) * | 2017-11-12 | 2018-01-26 | 牡丹江师范学院 | A kind of self-propelled chemical herbicide sprayer apparatus in nursery |
| CN109601517A (en) * | 2018-12-17 | 2019-04-12 | 江苏大学 | A kind of device and method of the pesticide spraying for multiclass weeds |
| CN112868285A (en) * | 2021-02-08 | 2021-06-01 | 农业农村部南京农业机械化研究所 | Swinging avoiding type unmanned intelligent recognition intertillage weeding machine |
| CN113287595A (en) * | 2021-06-25 | 2021-08-24 | 江苏华源节水股份有限公司 | Intelligent clearing method for weeds in field ridges |
| CN115251024A (en) * | 2022-08-29 | 2022-11-01 | 北京大学现代农业研究院 | Weeding mode determining method and device, electronic equipment and weeding system |
-
2015
- 2015-05-28 CN CN201520354442.6U patent/CN204722111U/en not_active Withdrawn - After Issue
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104904700A (en) * | 2015-05-28 | 2015-09-16 | 江苏大学 | Intelligent comprehensive crop weeding device and method |
| CN105766097A (en) * | 2016-04-21 | 2016-07-20 | 东北农业大学 | Inter-seedling weeding operation device with vertically and horizontally combined movement of weeding roll |
| CN105766097B (en) * | 2016-04-21 | 2017-08-25 | 东北农业大学 | Weeding roller weeding apparatus for work between composite mobile seedling in length and breadth |
| CN106856681A (en) * | 2017-02-20 | 2017-06-20 | 吉林大学 | Weeder between a kind of electromagnetic type seedling band or seedling |
| CN107624745A (en) * | 2017-11-12 | 2018-01-26 | 牡丹江师范学院 | A kind of self-propelled chemical herbicide sprayer apparatus in nursery |
| CN109601517A (en) * | 2018-12-17 | 2019-04-12 | 江苏大学 | A kind of device and method of the pesticide spraying for multiclass weeds |
| CN109601517B (en) * | 2018-12-17 | 2021-08-03 | 江苏大学 | Device and method for spraying pesticide to various weeds |
| CN112868285A (en) * | 2021-02-08 | 2021-06-01 | 农业农村部南京农业机械化研究所 | Swinging avoiding type unmanned intelligent recognition intertillage weeding machine |
| CN113287595A (en) * | 2021-06-25 | 2021-08-24 | 江苏华源节水股份有限公司 | Intelligent clearing method for weeds in field ridges |
| CN115251024A (en) * | 2022-08-29 | 2022-11-01 | 北京大学现代农业研究院 | Weeding mode determining method and device, electronic equipment and weeding system |
| CN115251024B (en) * | 2022-08-29 | 2023-11-21 | 北京大学现代农业研究院 | Determination method and device of weeding mode, electronic equipment and weeding system |
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