CN104904700B - A kind of comprehensive weeder of intelligent crops and method - Google Patents
A kind of comprehensive weeder of intelligent crops and method Download PDFInfo
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Abstract
The present invention disclose a kind of comprehensive weeder of intelligent crops and method, including frame, vision and Intelligent electronic control system, depth and arrangement for adjusting height, in the ranks weeder, intelligence chemical spraying device between weeder, strain.Three-point hitch in frame is connected with walking machine；Vision and Intelligent electronic control system are used for the relative position information for gathering weed shovel and shower nozzle between plant and strain, the working condition of weeder and intelligent chemical spraying device between control strain；Depth and arrangement for adjusting height are used to adjust the in the ranks embedded depth of weed shovel and rack chassis height between weed shovel and strain；In the ranks weeder is used for the removing of plant weeds in the ranks and between strain between weeder and strain；The weeds that intelligent chemical spraying device is used for the plant root that can not be removed weed shovel strain are purged.The present invention protects plant not damaged by weed shovel between strain, and solves the problem of plant root weeds hinder crop growth, realizes the comprehensive removing of crops weeds in the ranks and between strain.
Description
Technical field
The present invention relates to crop management machinery, more particularly to a kind of comprehensive weeder of intelligent crops belongs to
Agricultural mechanical field.
Background technology
The presence of weeds is the weeds of the most common problem, especially plant root that run into plant growing process,
Direct and crops competition moisture, nutrient and sunlight, have a strong impact on the growth of crops.Current field weeding is mainly by chemical drugs
Agent weeding, causes to widely use herbicide, although achieve remarkable effect, but also brings many problems, rough sprinkling
Mode causes the waste of the energy, causes safety problem etc. caused by resistance weed and residues of pesticides.This is accomplished by one kind
Large area dispenser can be replaced to carry out the mode of weeding.
This problem is abused for weeding pesticide, there is the research of corresponding weed-eradicating robot both at home and abroad.Nanjing forestry is big
Propose a kind of weed-eradicating robot of direct application method, and primary structure includes main body, mechanical arm, wheel and camera,
When spray robot is operated, field image progress technology is gathered according to camera first and determines weeds position, is then passed through
Control system adjusting mechanical arm relevant parameter carries out spray cultivation, as a result shows, can reasonably be carried out with such a robot
Weeding, reduces the abuse of chemical agent.Australia also proposes a kind of intelligent farmland dispenser machine, once discovery weeds with regard to energy
Decision-making is carried out according to identification and determines herbicide consumption, only herbicide is sprayed to weeds, cost only has the 10% of conventional medicament weeding.
Although significantly reducing the usage amount of herbicide, for weeding by machine, the use of herbicide or a lot, for
Plant in the ranks and from plant root have with a certain distance from strain between for, chemical weed control can be replaced with the mode of weeding by machine.
Weeding by machine is a key technology in Agricultural Sustainable Development, starts more and more to be paid attention to, with regard to mesh
For preceding technology, in the ranks weeding technique is more ripe, and weeding ratio can reach more than 90%, and the country is directed to weeding between strain
The research of weeding machine is in the starting stage.Osnabrueck, Germany university has developed jointly a kind of cycloid with Amazon and uprooted
(Dedousis, 2007), for the weeding between strain in the ranks in milpa, eight pawl weeding blade tooths are rounded to be arranged on a rotation
Weeding mechanism is constituted on body, rotary body is rotated by hydraulic pump drive, weeding blade tooth is moved in a circle, weeding pawl when machine advances
Tooth does remaining pendular motion, and each weeding blade tooth independently can deploy and draw in, it is to avoid contact crops, but it is to around crop
Weeds in region wide 18mm can not remove, if slightly adjust it is improper damage will be caused to crop, and by soil shadow
Sound is larger, it is impossible to avoid compared with large clod damage crops.Agricultural University Of South China is as reference, it is proposed that one kind is based on the remaining pendulum of blade tooth
The intelligent strain inter-row weeder of motion（Luo Xiwen etc., 2012）, the movement locus of weeding blade tooth is trochoidal curve, trochoidal ring
Latch portion between strain in region when using weeding blade tooth remove strain between region weeds, reduce the rotation of one or a few weeding blade tooth
Radius can realize that weeding blade tooth avoids crop.Also increase with the increase seedling-damaging ratio of pace, seedling-damaging ratio enters within 8%
The weeding blade tooth quantity for entering region between strain is relevant with the spacing in the rows that crop is planted, and the crop planted within spacing in the rows 20cm is it cannot be guaranteed that every
Region has weeding blade tooth between entering strain to carry out that weeding can not be carried out between weeding, therefore the strain of some between individual strain, especially
The weeds of plant root.In order to solve the above problems, the invention is intended to provide a kind of device for carrying out weeding in all directions, between strain
Weeder is shoveled using L-type, reduces the requirement to spacing in the rows, and the protection domain of appropriate increase plant root area is watched using hydraulic pressure
Weed shovel is worked between dress system control strain, and quick response is accurately positioned, and reduces seedling-damaging ratio；The intelligent pesticide spraying system of increase, strain
The weeds for the plant root that weed shovel can not be removed are purged, and chemical spraying device alignment plant is accurately controlled using intelligence control system
Strain root position dispenser, weeding by machine is combined with chemical weed control, effectively reduces the use of herbicide, reaches comprehensive between plant
The requirement of weeding.
The content of the invention
It is an object of the invention to provide a kind of intelligent comprehensive weeder of crops and method, with realize in
The accurate physical weed control of intelligence is in the ranks carried out between strain for the crops of different growing stages and chemical weed control is combined, mechanical electronic hydraulic integrated
The comprehensive weeding changed, had both protected plant not damaged by weeding cutter between strain, and the weeds of plant root are removed again, reached quick
Response, is accurately positioned, and improves operating efficiency, realizes the comprehensive removing of crops weeds in the ranks and between strain.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：
A kind of comprehensive weeder of intelligent crops, it is characterised in that：Including frame（2）, vision with it is intelligent electric-controlled
System, depth and arrangement for adjusting height, in the ranks weeder, intelligent chemical spraying device between weeder, strain；Positioned at frame（2）On
Three-point hitch（1）It is connected with walking machine, is drawn and moved ahead by walking machine；Vision is used to gather with Intelligent electronic control system
The relative position information of weed shovel (11) and shower nozzle (25) between plant and strain, weeder and intelligent chemical spraying device between control strain
Working condition；Depth is used to adjust weed shovel in the ranks with arrangement for adjusting height（15）Between strain the embedded depth of weed shovel (11) and
Frame（2）Chassis height；In the ranks weeder is used for the removing of weeds in the ranks and between strain of plant between weeder and strain；Intelligence
Chemical spraying device is used for weed shovel strain（11）The weeds for the plant root that can not be removed are purged.
The vision includes camera with Intelligent electronic control system（13）, image processor（14）, intelligent controller（4）, electricity
Bottle（3）；Camera（13）It is vertically mounted on shower nozzle（25）With weed shovel in the ranks（15）Between, frame（2）The back lower place, for clapping
Take the photograph weed shovel between record plant center, plant and strain（11）And shower nozzle（25）Relative position picture；Image processor
（14）For receiving and recognizing camera（13）The image information that collects simultaneously is handled, and determines plant center, plant
Weed shovel between strain and strain（11）And shower nozzle（25）Relative position, generation strain between weed shovel（11）Movement locus；Intelligent control
Device（4）According to the movement locus of generation, weed shovel between accurate control strain（11）Open and avoided into weeding region between strain or closure
Magnetic valve in crop plant, and intelligent chemical spraying device（9）Open or close；Storage battery（3）For powering.
In the ranks weeder is arranged on frame（2）Lateral mid-point, the dead astern of running wheel (18), in the ranks weeding
Shovel（15）Using triangular spade, detachably, the triangular spade of suitable width can be changed according to different line-spacings, by adjustable positioner
（16）It is fixed, pass through adjustable positioner（16）Adjust weed shovel in the ranks（15）With frame（2）Relative altitude, control in the ranks remove
Sod lifter（15）The weed shovel between strain（11）Embedded depth；Running wheel（18）Center velocity sensor is installed（19）, it is main
Detect the speed of travel of weeder；Running wheel（18）By adjustable positioner（20）It is fixed, pass through adjustable positioner
（20）The height of frame chassis is adjusted, the weeding requirement of the plant of different growing stage is met；Multiple comprehensive weeder lists
Member is side by side using while when carrying out multirow weeding operation, each unit works independently；Weeder is between a pair plants between the strain
Weed shovel（11）, a pair of hydraulic jacks（22）, one group of magnetic valve（24）, displacement transducer（23）With intelligent controller (4) composition；
Intelligent controller (4) is while the multiple described comprehensive weeder units of control；Weeder is arranged between strain
Weeder outer container between strain（10）It is interior, positioned at frame (2) rear end；Weed shovel (11), a pair of hydraulic pressure between a pair plants of one unit
Oil cylinder（22）With magnetic valve (24) along frame（2）Center line be symmetrically arranged；One end of hydraulic jack (22) and hydraulic pump
Output point of standing is connected, and hydraulic power unit output point passes through one group of magnetic valve（24）Control a pair of hydraulic jacks（22）Transverse movement shape
State, hydraulic jack（22）The other end pass through weed shovel between pin and strain（11）The elongated slot type hole on top connects to form joint.
Between the strain in weeder, hydraulic jack（22）Transverse motion mechanism connection displacement transducer（23）One
End, is used as Displacement Feedback element, displacement transducer in servo-drive system（23）The other end and intelligent controller（4）It is connected, intelligence
Can controller（4）By controlling hydraulic jack（22）Cross out and retraction amount, weed shovel between accurate control strain（11）Open
Crop plant, hydraulic jack are avoided into weeding region between strain or closure（22）Cross out with retraction amount by displacement sensing
Device（23）Detection.
The intelligent chemical spraying device includes medicine storing pot (6), high-pressure pump (8), magnetic valve (9), grug transportation tube (7), spray bar
And shower nozzle (25) (12)；Medicine storing pot (6) is arranged on above frame (2) in medicine storing pot mounting seat (5), is connected by grug transportation tube (7)
High-pressure pump (8), spray bar (12) is fixed in frame (2)；Shower nozzle (25) is outward-dipping, against plant root direction.
A kind of comprehensive herbicidal methods of intelligent crops, it is characterised in that comprise the following steps：
Step one, intelligent controller is utilized（4）It is that plant is protected to preset the front and back position for being S with plant centre distance
The front and rear border in region is protected, the weeds around crop in a width of S region without weed shovel strain（11）Remove, prevent
Only hinder seedling；Vision and Intelligent electronic control system are according to weed shovel between plant center location information, plant and strain（11）And shower nozzle（25）
Relative position information, velocity sensor（19）The speed information measured, calculates weed shovel between strain（11）Plant is reached to be protected
The delay time T1 and T2 on border before and after shield region, and shower nozzle（25）The delay time T3 of plant center is reached, and it is raw
Weed shovel between strain（11）Movement locus；
Step 2, when weed shovel (11) reaches the front border of plant protected field between strain, weed shovel (11) is closed between strain
Close, protection plant preserves from, when weed shovel (11) leaves plant center as weeder moves ahead and reaches plant between strain
Weed shovel (11), which is opened into region between strain, during the back boundary of strain protected field, between strain carries out weeding operation；
Step 3, when shower nozzle (25) reaches plant center, magnetic valve (9) is opened, in shower nozzle (25) alignment plant
Heart position is sprayed, when shower nozzle (25) leaves plant center, and magnetic valve (9) is closed, and the spray for preparing next plant is made
Industry.
The present invention has beneficial effect：
（1）The present invention is shoveled using L-type stretches into region progress weeding between plant strain, because the weeding position that L-type is shoveled is elongated
Type, reduces requirement of the weeder to plant spacing in the rows between strain, and when spacing in the rows is smaller, also replaceable small-sized weed shovel smoothly enters
Enter weeding between strain.
（2）Due to coordinating intelligent chemical spraying device to carry out weeding between strain together, it can suitably expand the protection around plant root
Region is without weed shovel weeding, and by the way of spray, using Hydrauservo System can quick response, accurate control, both
Seedling-damaging ratio and the speed of travel area requirement to walking machine are reduced, the weeds of plant root can be purged again, weeding
It is more thorough.
（3）Weeding separately and simultaneously work between weeding and strain in the ranks, can also enter simultaneously by multiple weeding units and together
Row multirow weeding, improves operating efficiency.
（4）Using the operation of servo-hydraulic control weeder, mechanically operated labyrinth is broken away from, has made weeding
The structure of device is simpler.
Brief description of the drawings
Fig. 1 is the front view of the comprehensive weeder of the intelligent crops of the present invention
Fig. 2 is the control schematic diagram of weeder between strain of the present invention
Fig. 3 is the schematic diagram of shower nozzle shape of the present invention
Fig. 4 is the movement locus figure of weed shovel between strain of the present invention
In figure：1 three-point hitch；2 frames；3 storage batterys；4 intelligent controllers；5 medicine storing pot mounting seats；6 medicine storing pots；7 is defeated
Pencil；8 high-pressure pumps；9 magnetic valves；Weeder outer container between 10 plants；Weed shovel between 11 plants；12 spray bars；13 cameras；14 figures
As processor；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；Weeding between 27 plants
Shovel movement locus.
Embodiment
Technical scheme is described in further details with reference to the accompanying drawings and examples.
The present invention is based on a kind of following design：（1）Weeder is connected to behind walking machine using trifilar suspension mode,
It is supplied to high-pressure pump 8 and hydraulic jack 22 to carry out weeding operation using running gear output power；（2）In the ranks weeder is used
Triangular spade carries out weeding in the ranks, and weeder uses weed shovel 11 between the strain that the center line along frame 2 is symmetrically arranged between strain
Weeding between strain is carried out, by Hydrauservo System quick response and accurate control；Weed shovel 11 carries out weeding and intelligence between strain between strain
Chemical spraying device carries out spray to plant root position and is engaged, and reaches the purpose of comprehensive weeding between plant；（3）Can using height
Adjust, weeding cutter is adjustable, the weeding mechanism that weeder unit can be used side by side, to be applicable more different manipulating objects, carries
High workload efficiency.
As shown in figure 1, a kind of comprehensive weeder of intelligent crops, including frame 2, vision and intelligent electric-controlled system
System, depth and arrangement for adjusting height, in the ranks weeder, intelligent chemical spraying device between weeder, strain.Three in frame 2
Point hitch 1 is connected with walking machine, is drawn and moved ahead by walking machine；Vision and Intelligent electronic control system be used to gathering plant with
The relative position information of weed shovel 11 and shower nozzle 25 between strain, the working condition of weeder and intelligent chemical spraying device between control strain；
Depth and arrangement for adjusting height are used to adjust the in the ranks embedded depth of weed shovel 11 and the chassis of frame 2 height between weed shovel 15 and strain
Degree；In the ranks weeder is used for the removing of plant weeds in the ranks and between strain between weeder and strain；Intelligent chemical spraying device be used for pair
The weeds for the plant root that weed shovel 11 can not be removed are purged between strain.
As shown in Fig. 2 weeder weed shovel 11, a pair of hydraulic jacks 22, one group of electromagnetism between a pair plants between the strain
Valve 24, displacement transducer 23 and intelligent controller 4 are constituted；Intelligent controller 4 can control multiple described comprehensive weedings simultaneously
Device unit；Weeder is arranged between strain in weeder outer container 10, in body frame rear end between strain；Between a pair plants of one unit
Weed shovel 11, the center line of a pair of hydraulic jacks 22 and magnetic valve 24 along frame 2 is symmetrically arranged；The one end of hydraulic jack 22 with
Hydraulic power unit output point is connected, and hydraulic power unit output point controls the transverse movement of a pair of hydraulic jacks 22 by one group of magnetic valve 24
State, the other end of hydraulic jack 22 connects to form joint by the elongated slot type hole on the top of weed shovel 11 between pin 21 and strain；Hydraulic oil
One end connection displacement transducer 23 of the transverse motion mechanism of cylinder 22, is used as Displacement Feedback element, displacement is passed in servo-drive system
The other end of sensor 23 is connected with intelligent controller 4；Weed shovel 11 is shoveled from L-type between strain, and there are cutting edge, weed shovel in the base of shovel
Into during weeding region, being shoveled between strain into soil, the root of weeds between strain is cut off while loosening the soil, weed shovel 11 is carried out between strain
Between strain in weeding operation process, the weeds around crop in wide S region are removed without weed shovel strain 11, prevented
Hinder seedling, when weed shovel 11 reaches the front border of plant protected field between strain, weed shovel 11 is closed between strain, protect plant not by
Injury, when weed shovel 11 leaves plant center as weeder moves ahead and reaches the back of plant protected field between strain
Weed shovel 11, which is opened into region between strain, during boundary, between strain carries out weeding operation；Intelligent controller 4 is by controlling hydraulic jack 22
Cross out and retraction amount, weed shovel 11 opens between accurate control strain plants into weeding region between strain or closure avoidance crops
Strain, crossing out for hydraulic jack 22 is detected with retraction amount by displacement transducer 23.As shown in figure 3, the spray of intelligent chemical spraying device
First 25 make outward-dipping shape, and shower nozzle 25 is against plant root direction, when shower nozzle 25 reaches plant center, electromagnetism
Valve 9 is opened, the alignment plant of shower nozzle 25 center spray, and when shower nozzle 25 leaves plant center, magnetic valve 9 is closed, accurate
The spray drug operation of standby next plant；Magnetic valve 9 is manipulated by intelligent controller 4.
As shown in figure 4, between a kind of comprehensive weeder strain of intelligent crops weed shovel 11 movement locus.Between strain
Between the progress strain of weed shovel 11 in weeding operation process, the weeds around crop in width S region without weeding strain
Shovel 11 is removed, and prevents from hindering seedling；When weed shovel 11 reaches the front border of plant protected field between strain, weed shovel 11 is closed between strain
Close, protection plant preserves from, when weed shovel 11 leaves plant center as weeder moves ahead and reaches plant between strain
Weed shovel 11, which is opened into region between strain, during the back boundary of protected field, between strain carries out weeding operation；Vision with it is intelligent electric-controlled
System is according to the relative position information of weed shovel 11 and shower nozzle 25, velocity sensor between plant center location information, plant and strain
19 speed informations measured, the movement locus of weed shovel 11 between generation strain.
The present invention is by taking capsicum field as an example, and its course of work is as follows：
Before the weeding work of capsicum field, multiple weeder unit parallel connections multirow can be realized while removing according to actual conditions
Grass, the triangular spade of suitable width is changed according to the actual line-spacing in capsicum field, according to the height of pepper plant, adjusts locator 20 to consolidate
Determine the chassis height of frame 2, determined in the ranks between weed shovel 15 and strain according to soil hardness and weeds in field situation regulation locator 16
The rational embedded depth of weed shovel 11, the connection walking machine of three-point hitch 1 in frame 2, opens intelligent control
The power supply of device 4, starts walking machine, and walking machine output power is supplied to high-pressure pump 8 and hydraulic jack 22 to carry out weeding operation,
Weeder is moved ahead by its traction；When weeder works, the detection of velocity sensor 19 road speed on running wheel 18 is simultaneously
Intelligent controller 4 is transferred to, in the ranks weed shovel 15 carries out continual weeding in the ranks, camera 13 shoots the pepper plant location drawing
The relative position picture of weed shovel 11 and shower nozzle 25 between piece, pepper plant and strain, is transferred to image processor 14 and is handled, intelligence
Can controller 4 according to weed shovel 11 and shower nozzle between the boundary information, pepper plant and strain of plant protected field set in advance
25 relative position information, speed information, the movement locus of weed shovel 11 between generation strain, weed shovel 11 reaches plant and protected between strain
Protect region front border when, weed shovel 11 is closed between strain, protection pepper plant preserve from, when between strain weed shovel 11 with weeding
Device is moved ahead when leaving plant center and reaching the back boundary of plant protected field, and weed shovel 11 is opened into peppery between strain
Region carries out weeding operation between green pepper strain, meanwhile, intelligent chemical spraying device work is reached when vision and control system detect shower nozzle 25
During pepper plant center, magnetic valve 9 is opened, the alignment pepper plant root position spray of shower nozzle 25, when shower nozzle 25 leave it is peppery
During pepper plant center, magnetic valve 9 is closed, and prepares the spray drug operation of next pepper plant；In the ranks weeder is uninterrupted
Work, weeder and intelligent chemical spraying device course of work circulation are carried out until completing all weeding operations, capsicum field is removed between strain
After careless end-of-job, the closure of weed shovel 11 is drawn in below the chassis of frame 2 between strain, and weeder is lifted by three-point hitch 1,
Close power supply.
Finally it should be noted that above example is merely to illustrate technical scheme and it is unrestricted, although ginseng
The present invention is described in detail according to most preferred embodiment, it will be understood by those of skill in the art that can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the spirit and scope of technical solution of the present invention, it all should cover in this hair
Within bright right.
Claims (5)
1. a kind of comprehensive weeder of intelligent crops, it is characterised in that：Including frame（2）, vision and intelligent electric-controlled system
System, depth and arrangement for adjusting height, in the ranks weeder, intelligent chemical spraying device between weeder, strain；Positioned at frame（2）On
Three-point hitch（1）It is connected with walking machine, is drawn and moved ahead by walking machine；Vision is used to gather with Intelligent electronic control system plants
The relative position information of weed shovel (11) and shower nozzle (25) between strain and strain, the work of weeder and intelligent chemical spraying device between control strain
Make state；Depth is used to adjust weed shovel in the ranks with arrangement for adjusting height（15）The embedded depth and machine of weed shovel (11) between strain
Frame（2）Chassis height；In the ranks weeder is used for the removing of weeds in the ranks and between strain of plant between weeder and strain；Intelligence spray
Medicine device is used for weed shovel strain（11）The weeds for the plant root that can not be removed are purged；
Described weeder in the ranks is arranged on frame（2）Lateral mid-point, the dead astern of running wheel (18), in the ranks remove
Sod lifter（15）Using triangular spade, detachably, the triangular spade of suitable width can be changed according to different line-spacings, by adjustable positioner
（16）It is fixed；Running wheel（18）Center velocity sensor is installed（19）, running wheel（18）By adjustable positioner
（20）It is fixed；When multiple comprehensive weeder units use progress multirow weeding operation simultaneously side by side, each unit independence work
Make；Weeder weed shovel between a pair plants between the strain（11）, a pair of hydraulic jacks（22）, one group of magnetic valve（24）, displacement
Sensor（23）With intelligent controller (4) composition；
Described intelligent controller (4) is while the multiple described comprehensive weeder units of control；Weeder is installed between strain
The weeder outer container between strain（10）It is interior, positioned at frame (2) rear end；Weed shovel (11), a pair of liquid between a pair plants of one unit
Compressing cylinder（22）With magnetic valve (24) along frame（2）Center line be symmetrically arranged；One end of hydraulic jack (22) and hydraulic pressure
Pumping plant output point is connected, and hydraulic power unit output point passes through one group of magnetic valve（24）Control a pair of hydraulic jacks（22）Transverse movement
State, hydraulic jack（22）The other end pass through weed shovel between pin and strain（11）The elongated slot type hole on top connects to form joint.
2. a kind of intelligent comprehensive weeder of crops according to claim 1, it is characterised in that：The vision with
Intelligent electronic control system includes camera（13）, image processor（14）, intelligent controller（4）, storage battery（3）；Camera（13）Hang down
Directly it is arranged on shower nozzle（25）With weed shovel in the ranks（15）Between, frame（2）The back lower place.
3. a kind of intelligent comprehensive weeder of crops according to claim 1, it is characterised in that：Removed between the strain
In careless device, hydraulic jack（22）Transverse motion mechanism connection displacement transducer（23）One end, be used as in servo-drive system
Displacement Feedback element, displacement transducer（23）The other end and intelligent controller（4）It is connected.
4. a kind of intelligent comprehensive weeder of crops according to claim 1, it is characterised in that：The intelligence spray
Medicine device includes medicine storing pot (6), high-pressure pump (8), magnetic valve (9), grug transportation tube (7), spray bar (12) and shower nozzle (25)；Medicine storing pot
(6) it is arranged on above frame (2) in medicine storing pot mounting seat (5), high-pressure pump (8) is connected by grug transportation tube (7), spray bar (12) is solid
It is scheduled in frame (2)；Shower nozzle (25) is outward-dipping, against plant root direction.
5. utilize a kind of herbicidal methods of intelligent comprehensive weeder of crops described in claim 1, it is characterised in that
Comprise the following steps：
Step one, intelligent controller is utilized（4）It is plant protected district to preset the front and back position for being S with plant centre distance
The front and rear border in domain, the weeds around crop in a width of S region without weed shovel strain（11）Remove, prevent wound
Seedling；Vision and Intelligent electronic control system are according to weed shovel between plant center location information, plant and strain（11）And shower nozzle（25）Phase
To positional information, velocity sensor（19）The speed information measured, calculates weed shovel between strain（11）Reach plant protected district
The delay time T1 and T2 on border before and after domain, and shower nozzle（25）The delay time T3 of plant center is reached, and generates strain
Between weed shovel（11）Movement locus；
Step 2, when weed shovel (11) reaches the front border of plant protected field between strain, weed shovel (11) is closed between strain, is protected
Shield plant preserves from, when weed shovel (11) is protected as weeder moves ahead to leave plant center and reach plant between strain
Weed shovel (11), which is opened into region between strain, when protecting the back boundary in region, between strain carries out weeding operation；
Step 3, when shower nozzle (25) reaches plant center, magnetic valve (9) is opened, shower nozzle (25) alignment plant centre bit
Spray is put, when shower nozzle (25) leaves plant center, magnetic valve (9) is closed, and prepares the spray drug operation of next plant.
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| CN106304861B (en) * | 2016-10-19 | 2019-02-19 | 宁夏智源农业装备有限公司 | Grape intelligence weeder |
| CN106376251B (en) * | 2016-11-08 | 2019-01-04 | 宁夏智源农业装备有限公司 | Fructus lycii intelligence weeder |
| CN107912089A (en) * | 2017-11-06 | 2018-04-17 | 吉林大学 | In the ranks mechanical weeding device between strain |
| CN109463108B (en) * | 2018-11-20 | 2023-08-29 | 青岛农业大学 | Leaf vegetable harvester and control method thereof |
| CN109699287B (en) * | 2019-03-06 | 2023-10-17 | 青岛农业大学 | Leaf vegetable harvester with harvesting height adjusting function and control method thereof |
| CN109937689B (en) * | 2019-04-15 | 2024-04-30 | 北京市农林科学院 | Suspension type double-arm mower for orchard |
| CN113748834B (en) * | 2021-09-10 | 2022-07-01 | 西安工业大学 | Orchard weeding prevention and control method and weeding prevention and control robot thereof |
| CN115088472B (en) * | 2022-06-21 | 2024-02-02 | 河南农业大学 | Wound weeding robot based on machine vision |
| CN116616033B (en) * | 2023-05-16 | 2024-04-23 | 李萍萍 | Crop row and plant space adjustable automatic intertillage weeding system and control method |
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| JP5803145B2 (en) * | 2011-02-25 | 2015-11-04 | 井関農機株式会社 | Chemical spraying work vehicle |
| CN202524721U (en) * | 2012-03-08 | 2012-11-14 | 华南农业大学 | Intelligent inter-plant row mechanical weeding machine |
| RO129618A2 (en) * | 2012-12-18 | 2014-07-30 | Institutul Naţional De Cercetare-Dezvoltare Pentru Maşini Şi Instalaţii Destinate Agriculturii Şi Industriei Alimentare | Unit for the ecological control of colorado beetle and fertilization of potato crops |
| CN103314663B (en) * | 2013-05-28 | 2015-06-24 | 河南理工大学 | Intelligentized intra-row and intra-plant weeding device for crops in seedling stage |
| CN103329653B (en) * | 2013-07-06 | 2016-01-20 | 西北农林科技大学 | A kind of intelligent comprehensive weeding by machine in orchard machine |
| CN203425955U (en) * | 2013-08-14 | 2014-02-12 | 张玉聚 | Multifunctional walking engine-driven self-propelled pesticide sprayer |
| CN204722111U (en) * | 2015-05-28 | 2015-10-28 | 江苏大学 | The comprehensive weeder of a kind of intelligent crops |
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