CN214852858U - Weeding equipment suitable for nursery stock experimental field - Google Patents
Weeding equipment suitable for nursery stock experimental field Download PDFInfo
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- CN214852858U CN214852858U CN202121182144.5U CN202121182144U CN214852858U CN 214852858 U CN214852858 U CN 214852858U CN 202121182144 U CN202121182144 U CN 202121182144U CN 214852858 U CN214852858 U CN 214852858U
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Abstract
The invention relates to the field of agricultural intelligent devices, in particular to weeding equipment suitable for a seedling test field, which comprises a moving device, a weeding and smashing device, a master control system, an identification device and a positioning system, wherein the weeding smashing device comprises a movable device, a positioning system and a control device; the main control system can plan a weeding area, control the moving path of the moving device and control and adjust the actions of the weeding and smashing device according to the identification and positioning results of the identification device and the positioning system. The invention can plan the weeding area, control the moving path of the moving device and control and adjust the actions of the weeding and smashing device through the identification and positioning cooperation of the identification device and the positioning system, improves the weeding adaptability to different types of weeds and adapts to the weeding operation of the seedling test field.
Description
Technical Field
The utility model relates to an agricultural intelligence technical field, concretely relates to weeding equipment that experimental field of nursery stock was used.
Background
Weeding in seedling test fields of scientific research institutes and colleges is always a difficult problem. In the case of a seedling test field, the growth of weeds not only compete for water, nutrients and light, but also hinder the ventilation effect among seedlings, affect the growth, and affect the yield and quality of crops.
Traditional artifical weeding is very wasted time and energy, and in order to improve weeding efficiency, current weeding equipment mainly divide into handheld type and machine carries two kinds. The weeding path of the handheld weeding equipment is completed by walking, so that the handheld weeding equipment is flexible, but the efficiency is still low. Although the airborne weeding equipment is suitable for large-scale operation and high in efficiency, the equipment is suitable for trimming operation such as lawn and cannot be suitable for weeding operation of a seedling test field.
In addition, the common field weeds are annual grassy weeds which are crisp in texture and straight in stalk, and common weeding equipment can complete weeding tasks. In addition to annual weeds, perennial vine weeds and shrub seedlings also form part of seedling land weeds in seedling test fields. The weeds not only have certain toughness, but also have irregular plant shapes, and the common weeding device is difficult to effectively eliminate the weeds and has poor adaptability to seedling test fields.
Disclosure of Invention
Based on the problems, the invention provides weeding equipment suitable for a seedling test field, which is suitable for regional weeding operation of the seedling test field, can adjust weeding actions and plan paths according to identified weed species, improves weeding capability for different weed species, and is more suitable for weeding in the seedling test field.
The technical scheme adopted by the invention is as follows:
the weeding equipment suitable for the seedling test field is suitable for weeding operation in an area with irregular weed distribution among seedlings in a test plant.
A weeding device suitable for a seedling test field comprises a mobile device, a weeding and smashing device and a control system, wherein the weeding and smashing device and the control system are arranged on the mobile device,
the weeding and smashing device comprises a multi-joint mechanical arm and a smashing rotating wheel below the multi-joint mechanical arm;
the multi-joint mechanical arm bag is respectively connected with a first operating arm and a second operating arm at one end of the main shaft arm, the front end of the first operating arm is provided with a rotary blade, and the front end of the second operating arm is provided with a clamping arm;
the weeding and smashing device, the recognition device and the moving device are respectively connected with the control system. The control system is capable of identifying the weed species and adjusting the grass chopper according to the identified weed species.
In a further improvement, the mobile device is designed in a tricycle frame type, and comprises:
the three-wheel electric vehicle comprises a vehicle frame, a motor, a transfer case, a driving device, a transmission device and a power transmission device, wherein three wheels are installed on the vehicle frame, baffle plates are additionally arranged on two sides of a hub of each wheel, and the motor and the transfer case are installed in the middle of the vehicle frame;
a differential mechanism is arranged between the front two wheels and is controlled by a positioning system, and the rear wheels can rotate 180 degrees.
In a further improvement, the weeding and smashing device comprises a multi-joint mechanical arm and a smashing rotating wheel below the multi-joint mechanical arm;
the multi-joint mechanical arm comprises a main shaft arm, the tail end of the main shaft arm is connected with a motor, a rotating pivot at the front end of the main shaft arm is connected with an operating arm, a rotating pivot at the front end of a left operating arm is connected with a rotating blade, the front end of a right operating arm is connected with a clamping arm, and an elastic clamping piece is attached to the inner side of the clamping arm;
the action of adjusting the weeding and smashing device comprises the steps of adjusting the swinging and rotating speed of the rotary blade, the clamping action of the clamping arm and the position of the clamping arm relative to the rotary blade.
In a further improvement, the crushing rotating wheel is arranged at the middle lower part of the frame, and two sides of the crushing rotating wheel are connected with a motor at the tail end by a connecting belt;
the crushing rotating wheel roll shaft, the blades, the connecting sleeves and the connecting belts, wherein the protecting plates are arranged between the connecting belts and the blades, the blades are arranged on the connecting sleeves, the connecting sleeves are fixed on the roll shaft, and the motor at the tail end is in wired connection with the main control system.
The crushing runner is characterized in that a collecting device is further mounted below the crushing runner and connected with a main control system, the collecting device comprises a collecting box, an automatic opening is formed in the tail of the collecting box and connected with a gear, the tail end of a contraction rod is connected with the gear, the front end of the contraction rod is connected with a spring sleeve, and two ends of the spring sleeve are connected with scraping plates.
In a further improvement, the control system comprises a main control system, a plant identification system and a positioning system, wherein the positioning system and the plant identification system are both arranged on the mobile device and are respectively connected with the main control system.
The plant identification system carries out plant identification, identification information is transmitted to the main control system, the main control system transmits the information to the positioning system after the plant identification system passes through the main control system, the positioning system sends an operation instruction to the mobile device according to corresponding information, and after the plant identification system moves to a specified position, the main control system sends an instruction to the weeding and smashing device and the collecting device.
In a further improvement, the plant identification system comprises a camera sensing device which is arranged on the upper part of the mobile device.
The camera sensing device collects information, transmits the information to the plant identification system for plant identification, locks an operation target, transmits the information to the main control system, the main control system sends an operation instruction to the mobile obstacle avoidance system, and the mobile obstacle avoidance system controls the mobile device to accurately move to the operation target.
The improved weeding crusher is further improved by arranging a detection alarm system, wherein the detection alarm system is connected with the camera shooting sensing device, the moving device, the weeding crushing device and the collecting device.
The invention has the following beneficial effects:
(1) the two operation arms are respectively provided with the rotary blades and the clamping arms, so that the action of the weeding and smashing device can be adjusted according to different identified types of weeds, and the weeding adaptability to different types of weeds is improved. Through the identification and positioning cooperation of the identification device and the positioning system, the weeding area can be planned, the movement path of the mobile device can be controlled, and the actions of the weeding and smashing device can be controlled and adjusted, so that the weeding operation of the seedling test field can be adapted.
(2) The mobile device adopts the three-wheel design, the rear wheel can rotate 180 degrees, the mobile device is convenient to move in a narrow range, the side of the hub is provided with the baffle and the protective sleeve, the invasion of sundries is effectively prevented, the action is influenced, and the elastic device designed on the hub can effectively improve the rollover prevention capability.
(3) Through set up collection device in weeding reducing mechanism below, directly fall into collection device after smashing, saved artifical collection work to weeds, fall to ground the weeds piece by collection device's scraper blade, effectively improve soil fertility.
(4) The detection alarm system can timely inform people of the occurrence of faults, avoid unnecessary loss caused by work stagnation and improve the operation capacity of agricultural production.
(5) The invention makes up the defects of the prior weeding technology in agricultural areas, solves the subsequent weeding work after large-scale weeding, saves the consumption of manpower and capital, and reduces the harm of chemical herbicides to the nature.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic structural diagram of a main control system and a detection alarm system according to the present invention;
FIG. 2 is a schematic diagram of the detection alarm system of the present invention;
FIG. 3 is a schematic view of the external structure of the present invention;
FIG. 4 is a side view of the image sensor device and upper baffle block of the present invention;
FIGS. 5-1, 5-2 are front and top views, respectively, of a herbicidal comminution apparatus in accordance with the invention;
6-1, 6-2 are top and side views, respectively, of a mobile device of the present invention;
FIG. 7 is a top view of the collection device of the present invention;
in the figure: the device comprises a camera shooting sensing device 1, a weeding smashing device 2, a collecting device 3, a moving device 4, a protection plate 5, an upper baffle 6, a lens carrier 1-1, a lens 1-2, a roller shaft 2-1, a connecting sleeve 2-2, a rotating pivot 2-3, an operation arm 2-4, a main shaft arm 2-5, a rotating blade 2-6, a clamping arm 2-7, a scraping plate 3-1, a spring sleeve 3-2, a contraction rod 3-3, a tire 4-1, a motor 4-2, a chain 4-3, a rotating shaft 4-4, a framework 4-5, an elastic device 4-6, a baffle 4-7, an upper baffle 6-1, a connecting strip 6-2 and a waterproof plate 6-3.
Detailed Description
In order to make the design of the present invention better known to those skilled in the art, the present invention will be described in detail and fully with reference to the accompanying drawings.
Example 1
The first embodiment of the invention provides weeding equipment suitable for a seedling test field, as shown in figure 1, which shows the control relationship before the device of the application, and comprises a mobile device, a weeding and smashing device arranged on the mobile device, a main control system, an identification device and a positioning system which are also arranged on the mobile device,
the identification device comprises a camera sensing device and a plant identification system which are connected, and the plant identification system is connected with the master control system; the positioning system is connected with the mobile device and the master control system; the main control can plan a weeding area, control the moving path of the moving device and adjust the action posture of the weeding and smashing device according to the identification and positioning results of the identification device and the positioning system.
Meanwhile, a detection and forecast system is further arranged, and the detection and alarm system is connected with the camera shooting sensing device, the moving device, the weeding and smashing device, the collecting device and the basic circuit device.
The basic circuit device is provided with a rechargeable battery, electric energy is divided into two paths along an electric wire, the electric energy is connected with the camera shooting sensing device, the mobile device, the weeding and smashing device, the collecting device, the main control system, the plant identification system, the positioning system and the detection alarm system all the way, the storage battery is connected all the way, and the storage battery is in wired connection with the camera shooting sensing device, the mobile device, the weeding and smashing device, the collecting device, the main control system, the plant identification system, the positioning system and the detection alarm system. Fig. 2 shows the basic circuit parts thereof, and the transmission of an alarm signal.
The detection alarm system can timely inform people of the occurrence of faults, avoid unnecessary loss caused by work stagnation and improve the operation capacity of agricultural production.
As shown in fig. 3, the overall schematic diagram of the structural parts of the present embodiment includes an image pickup sensing device 1, a weeding and pulverizing device 2, a collecting device 3, a moving device 4, a protection plate 5, and an upper baffle plate 6.
As shown in FIG. 4, a lens 1-2 is attached to a lens carrier 1-1 which is mounted on a post, a start button is connected to a base circuit device, which is mounted on the rear of a housing, an upper baffle 6-1 is mounted on the top of the post, and a waterproof plate 6-3 is connected by a connecting strip 6-2.
As shown in figures 5-1 and 5-2, for the top view and the front view of the weeding and smashing device, a roll shaft 2-1 is arranged on two side protection plates, a connecting sleeve 2-2 is sleeved on the roll shaft 2-1, smashing blades are fixed on the connecting sleeve one by one, the tail end of a main shaft arm 2-5 is connected with a support column, the front end of the main shaft arm is connected with a rotating pivot 2-3, the rotating pivot 2-3 is connected with a working arm 2-4, the front end of a left working arm 2-4 is connected with a rotating blade 2-6 through the rotating pivot 2-3, and the front end of a right working arm 2-4 is connected with a clamping arm 2-7 through the rotating pivot 2-3. Through weeding reducing mechanism setting, cooperation recognition device, the weeding device that this embodiment provided can accurate discernment weeds to adjust the weeding action according to different weeds kind, adapt to the weeding operation in seedling test field more.
The hardware part of the identification device adopts the camera sensing device 1, the identification system of the software part adopts the prior art, such as the functions of identifying the plant species by taking pictures in the prior quark browser and hundred-degree application, the form and color app and the like, and the identification system can be applied to the device to realize the functions of identifying the nursery stocks and the weeds. The positioning system comprises a GPS positioning device and a relative positioning device for the nursery stock, wherein the relative positioning device is obtained by collecting the information of the camera sensing device, and the positioning system adopts the existing means.
And the main control system controls and adjusts the action of the weeding and smashing device according to the weed species identified by the plant identification system. The actions of adjusting the weeding and smashing device comprise the adjustment of the swinging and rotating speed of the rotary blade, the clamping action of the clamping arm and the position of the clamping arm relative to the rotary blade.
For example, for long-stalk weeds, only the grinding rotating wheel can be operated, and the left working arm can also be swung to drive the rotating blade to directly cut grass by adopting high rotating speed. The clamping arms are required to assist vine weeds, and the clamping arms move opposite to the left operation arm where the rotary blade is located after clamping the weeds, so that cutting is achieved. Thus, different actions of the weeding and smashing device can be applied according to different types of weeds, and the regional weeding capacity is improved.
As shown in figures 6-1 and 6-2, the top view and the side view of the moving device of the invention are that a framework 4-5 is connected with a tire 4-1, a motor 4-2, a rotating shaft 4-4, an elastic device 4-6 and a baffle plate 4-7, the baffle plate 4-7 is arranged on the side of a hub, the elastic device 4-6 is connected between the hub and the framework 4-5, the motor 4-2 is arranged in the middle of the framework 4-5, and the motor 4-2 is connected with the rotating shaft 4-4 through a chain 4-3, so that the rear tire can rotate 180 degrees.
The mobile device adopts the three-wheel design, the rear wheel can rotate 180 degrees, the mobile device is convenient to move in a narrow and small range, the side of the hub is provided with the baffle and the protective sleeve to effectively prevent sundries from invading and affecting actions, and the elastic device designed on the hub can effectively improve the rollover prevention capability of the weeding device.
As shown in figure 7, for the construction of the collecting device, a telescopic rod 3-3 is connected with a spring sleeve 3-2, a scraper 3-1 is arranged at two sides of the spring sleeve 3-2, and the top end of the scraper 3-1 is connected with an anti-abrasion device, so that the scraper can conveniently contract along the wall of the collecting box to drop the weed fragments onto the ground.
Through set up collection device in weeding reducing mechanism below, directly fall into collection device after smashing, saved artifical collection work to weeds, fall to ground the weeds piece by collection device's scraper blade, effectively improve soil fertility.
The working process of the weeding device is as follows:
And 2, before the operation, detecting the detection object by using a detection alarm system, and entering formal operation after no error is detected.
And 3, performing weeding operation after entering the operation area.
The step 3 comprises the following steps:
and 3.1, collecting all plant information in a small area by the camera sensing device, transmitting the collected information to a plant identification system for plant identification, transmitting the information for identifying the needed plants and the non-needed plants to a main control system, setting the positions of the needed plants as the forbidden movement positions by the main control system, and calculating a proper operation route by the central positions of the non-needed plants.
And 3.2, transmitting the operation route information to a mobile obstacle avoidance system for accurate positioning movement, sending an operation instruction to an execution unit by a main control system after the operation route information moves to a specified plant central site, and accurately identifying and weeding weeds by combining a camera sensing device.
3.3, only driving a crushing rotating wheel to weed the identified common long-stalk weeds;
or, for other recognized weeds with irregular shapes, under the control of the main control system, the main shaft arm is extended out according to the distance of the central point, the clamping arm on the right operation arm fixes the plant firstly after the specified length is reached, the rotary blade on the left operation arm cuts the root of the plant, after the cutting is completed, the main shaft arm is retracted, the crushing rotating wheel crushes the plant, and the crushed plant falls to the collecting device.
And 3.5, after the plant crushing work is finished, moving to the position of the next plant area along the design route for repeated operation, and after all the unnecessary plants in the small area are finished, moving to the next small area for repeated operation.
The embodiment makes up the defects of the existing agricultural regional weeding technology, solves the subsequent weeding work after large-scale weeding, saves the consumption of manpower and capital, and reduces the harm of chemical herbicides to the nature.
The plant identification system and the positioning system are combined, so that the identification and positioning capabilities are effectively improved, and the seedlings can be avoided according to the path planning.
It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
While there have been shown and described what are considered to be part of the present invention, it is to be understood that the invention is not limited to the details of the foregoing embodiments, which are to be considered as illustrative and not restrictive, and that all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. A weeding device suitable for a seedling test field comprises a mobile device, a weeding and smashing device, a control system and an identification device which are arranged on the mobile device, and is characterized in that,
the weeding and smashing device comprises a multi-joint mechanical arm and a smashing rotating wheel below the multi-joint mechanical arm;
the multi-joint mechanical arm bag is respectively connected with a first operating arm and a second operating arm at one end of the main shaft arm, the front end of the first operating arm is provided with a rotary blade, and the front end of the second operating arm is provided with a clamping arm;
the weeding and smashing device, the recognition device and the moving device are respectively connected with the control system.
2. A weeding apparatus as claimed in claim 1, wherein said moving means is of a three-wheeler frame design, comprising:
the three-wheel electric vehicle comprises a vehicle frame, a motor, a transfer case, a driving device, a transmission device and a power transmission device, wherein three wheels are installed on the vehicle frame, baffle plates are additionally arranged on two sides of a hub of each wheel, and the motor and the transfer case are installed in the middle of the vehicle frame;
a differential mechanism is arranged between the front two wheels and is controlled by a positioning system, and the rear wheels can rotate 180 degrees.
3. A weeding apparatus as claimed in claim 2, wherein said crushing wheel is disposed at the lower middle portion of the frame, and the two sides are connected to the motor at the end by a connecting belt.
4. A weeding apparatus suitable for nursery stock test fields as claimed in claim 3, wherein the crushing runner roller shaft, the blades, the connecting sleeve and the connecting belt, a protection plate is installed between the connecting belt and the blades, the blades are arranged on the connecting sleeve, the connecting sleeve is fixed on the roller shaft, and the motor at the tail end is in wired connection with the main control system.
5. A weeding apparatus suitable for nursery stock test fields as claimed in claim 4, wherein a collection device is further installed below the smashing rotating wheel and connected with the main control system, the collection device comprises a collection box, an automatic opening is formed in the tail of the collection box, the automatic opening is connected with a gear, the tail end of the contraction rod is connected with the gear, the front end of the contraction rod is connected with a spring sleeve, and two ends of the spring sleeve are connected with the scraping plate.
6. A weeding apparatus suitable for nursery stock test fields as claimed in claim 5, wherein the control system comprises a main control system, a plant identification system and a positioning system, and the positioning system and the plant identification system are mounted on the mobile device and are respectively connected with the main control system.
7. A weeding apparatus suitable for nursery stock test fields as claimed in claim 6, wherein the plant recognition system comprises a camera sensor device mounted on the upper portion of the mobile device.
8. The weeding apparatus for nursery stock test fields as claimed in claim 7, further comprising a detection alarm system, wherein said detection alarm system is connected to said camera sensing device, moving device, weeding and smashing device, and collecting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121182144.5U CN214852858U (en) | 2021-05-28 | 2021-05-28 | Weeding equipment suitable for nursery stock experimental field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121182144.5U CN214852858U (en) | 2021-05-28 | 2021-05-28 | Weeding equipment suitable for nursery stock experimental field |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214852858U true CN214852858U (en) | 2021-11-26 |
Family
ID=78935532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121182144.5U Expired - Fee Related CN214852858U (en) | 2021-05-28 | 2021-05-28 | Weeding equipment suitable for nursery stock experimental field |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214852858U (en) |
-
2021
- 2021-05-28 CN CN202121182144.5U patent/CN214852858U/en not_active Expired - Fee Related
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Granted publication date: 20211126 |