CN106258028A - The intelligent thinning of a kind of machine vision servo is hoed up weeds facility - Google Patents
The intelligent thinning of a kind of machine vision servo is hoed up weeds facility Download PDFInfo
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- CN106258028A CN106258028A CN201610630220.1A CN201610630220A CN106258028A CN 106258028 A CN106258028 A CN 106258028A CN 201610630220 A CN201610630220 A CN 201610630220A CN 106258028 A CN106258028 A CN 106258028A
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- thinning
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- seedling
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B41/00—Thinning machines
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Abstract
The present invention relates to the intelligent thinning of a kind of machine vision servo hoe up weeds facility, mainly include machine vision servo control system, transverse-moving mechanism, ground feeler mechanism, seedling thinning unit and final singling unit.During work, machine vision servo control system collection also processes crop image information, the rate signal sent in conjunction with fifth wheel, completes crop row identification and positions with target crop, and the data obtained provides foundation for controlling seedling thinning with final singling.Machine vision servo control system sends control instruction to each control unit, by controlling transverse-moving mechanism in real time, make seedling thinning unit and final singling unit alignment crop row, and by seedling thinning unit, drilling crop is divided into equidistant crop bunch according to plant growth interval, crop listless for small and weak disease is removed by final singling unit again, leave strong sprout, finally realize the mechanical thinning of drilling crop.One-stop operation of the present invention completes seedling thinning, final singling and three agronomy of hoeing up weeds, and can arrange seedling thinning distance and final singling precision flexibly according to different demands, meets variation thinning demand.
Description
Technical field
The invention belongs to agriculture equipment technical field, the intelligent thinning particularly to a kind of machine vision servo is hoed up weeds
Facility.
Background technology
For most drilling crops, application rate is super stays Seedling amount, causes seedling crowded, for ensureing that seedling has enough skies
Between growth and nutrition draw, should thinning in time.Thinning is generally divided into seedling thinning and two stages of final singling, and seedling thinning is i.e. by after germination
Continuous print crop Seedling row is divided into some bunches according to plant growth spacing in the rows by drilling crop, and every bunch is stayed some crops, then leads to
Cross final singling to be removed with sick Seedling by Seedling weak in every bunch, the strong sprout in retaining every bunch, thus improve the ventilation and penetrating light condition of seedling, promote
Root growth and development.The application and thinning-out method that China commonly uses at present has artificial thinning and chemistry thinning.Operation labor due to artificial thinning
Dynamic efficiency is low, intensity is high, with high costs, and chemistry thinning can bring the drawback such as chemical injury of crops and environmental pollution, therefore to efficiently
The thinning machine demand of environmental protection grows to even greater heights.
In machinery thinning, crop is its emphasis and difficult point to row and final singling link.Drilling crop is uneven and raw by planting
The impact of the most first-class situation of long situation, crop germinate after Seedling row irregular, row is forbidden to cause spacing uneven by thinning machine
Too much with staying Seedling, affect crop growth.Final singling link affects crop yield equally, stays Seedling too much in final singling, and seedling is mutual
Strive fertilizer, strive water and win honour for, cause Crop development bad；Staying Seedling very few, field light leak is serious, it is impossible to make full use of soil fertility resource.
Summary of the invention
Not enough for prior art, the invention provides the intelligent thinning of a kind of machine vision servo and hoe up weeds facility.
The intelligent thinning of a kind of machine vision servo is hoed up weeds facility, including car body, walking mechanism and hitch, also includes
Ground feeler mechanism, transverse-moving mechanism, seedling thinning unit, final singling unit and machine vision servo control system；Wherein, ground profiling machine
Structure is arranged on car body；
Described transverse-moving mechanism, is perpendicular to facility direction of advance on the feeler mechanism of ground and is provided with line slideway 11, thinning cutter
Tool contiguous block 9 is slidably disposed on line slideway 11；Electricity push rod 10 is arranged on line slideway 11, and with thinning cutter even
Connect block 9 to connect, control the rectilinear movement of thinning cutter contiguous block 9；
Described seedling thinning unit, dual Piston pair goes out driving cylinder 5 and is connected to the front end of thinning cutter contiguous block 9, dual Piston
Double go out driving cylinder 5 the outer end of two piston rods in left and right be separately installed with seedling thinning cutter 4, and left and right seedling thinning cutter 4 is oppositely arranged；
When left and right piston rod is regained, the blade Guan Bi of left and right seedling thinning cutter 4 goes crop with hoe；When left and right piston rod stretches out, left and right
The blade of seedling thinning cutter 4 is opened and is dodged crop, and hoe goes the weeds of crop both sides simultaneously；
Described final singling unit, rotation motor 8 is connected to the rear end of thinning cutter contiguous block 9, is provided with on rotation motor 8
Final singling cutter 7；The two ends of described final singling cutter 7 are respectively arranged with a blade, and two blade parallel are in facility direction of advance；Rotation motor 8 carries
Dynamic final singling cutter 7 rotates, and blade rotates and goes crop to hoe during bottom, and two blades sequentially pass through the spacer of bottom and dodge crop,
Seedling is preferentially stayed on the basis of seedling thinning；
Described machine vision servo control system, is provided with color camera 3 on thinning cutter contiguous block 9；Described walking
Mechanism includes fifth wheel 13；Color camera 3 and fifth wheel 13 are connected to controller integral box 6 by data wire respectively；Dual-active
Plug pair goes out driving cylinder 5, rotation motor 8 and electricity push rod 10 and is connected to controller by respective drive system and data wire respectively
Integral box 6；Described controller integral box 6 is loaded on car body, is provided with the core processor equipped with pre installation software package, dual-active in it
Plug pair goes out driving cylinder control unit, rotation motor control unit and electricity push rod control unit；
Wherein, fifth wheel 13 is used for testing and sending rate signal；Color camera 3 is used for gathering and send crop map picture letter
Breath；Crop image information analysis is processed by described core processor by pre installation software package, and combines the speed that fifth wheel 13 sends
Degree signal, goes out driving cylinder control unit, rotation motor control unit and electricity push rod control unit to dual Piston pair and sends and control
Instruction, thus drive dual Piston pair to go out driving cylinder 5, rotation motor 8 and electricity push rod 10 by controlling corresponding drive system
Motion.
Described dual Piston double go out driving cylinder 5 is pneumatic with moving through of rotation motor 8, surge or electronic mode is real
Existing.
Described ground feeler mechanism uses parallel link mechanism.
It is integrated in same by organizing seedling thinning unit, final singling unit, thinning cutter contiguous block 9, electricity push rod 10 and color camera 3 more
On line slideway 11, carry out multirow synchronization job.
The invention have the benefit that
(1) present invention controls thinning cell operation by machine vision servo control system, and one-stop operation completes seedling thinning, determines
Seedling and three agronomy of hoeing up weeds；And corresponding seedling thinning distance and final singling precision can be set flexibly according to the different demands of crop thinning,
Effectively prevent the use limitation brought owing to thinning spacing is non-adjustable, it is ensured that dissimilar, different growing stage, the most of the same race
Plant the diversified thinning demand of the crop of situation.For increasing peasant's harvest, reducing agricultural pollution, raising production efficiency, promotion agriculture
Industry rapid economic development provides strong technical support and equipment Safeguard.
(2) use machine vision to detect crop row position in real time, and control transverse-moving mechanism and make seedling thinning cutter and final singling
Crop row followed the trail of by cutter, is directed at crop row in real time, improves thinning accuracy rate, reduces and hinders Seedling, reduces loss；Use machine vision intelligence
Can identify seedling thinning ensuing crop bunch, position in strong sprout in the crop bunch of location, weak stay strong principle according to going, remove weak Seedling and sick Seedling, stay
In strong sprout, improve thinning precision, and then improve seedling percent, increase yield.
Accompanying drawing explanation
Fig. 1 is that the intelligent thinning of the present invention a kind of machine vision servo is hoed up weeds the structural representation of facility.
Fig. 2 is seedling thinning operation schematic diagram of the present invention.
Fig. 3 is final singling operation schematic diagram of the present invention.
Fig. 4 is the present invention traversing operation schematic diagram.
Label declaration: 1-trifilar suspension frame；2-car body；3-color camera；4-seedling thinning cutter；5-dual Piston is double to be gone out to drive
Cylinder；6-controller integral box；7-final singling cutter；8-rotation motor；9-thinning cutter contiguous block；10-electricity push rod；11-straight line is led
Rail；12-ground feeler mechanism；13-fifth wheel.
Detailed description of the invention
The present invention will be further described with detailed description of the invention below in conjunction with the accompanying drawings.It is emphasized that the description below
That be merely exemplary rather than in order to limit the scope of the present invention and application thereof.
The intelligent thinning of a kind of machine vision servo is hoed up weeds facility, and the front of car body 2 is provided with trifilar suspension frame
1, facility are connected with dynamic traction device by trifilar suspension frame 1.
Being provided with four-wheel walking mechanism below car body 2, one of them road wheel uses fifth wheel 13, is used for testing and sending speed
Degree signal.
The ground feeler mechanism being located at car body 2 side uses widely used parallel four-bar profiling machine in existing agricultural machinery and implement
Structure, parallel link mechanism is made up of one group of parallelogram lindage and copy land wheel.
Transverse-moving mechanism is, is perpendicular to facility direction of advance and is provided with line slideway 11, thinning cutter on the feeler mechanism of ground
Contiguous block 9 is slidably disposed on line slideway 11；Electricity push rod 10 is arranged on line slideway 11, is positioned at thinning cutter and connects
The relative position of block 9, and be connected with thinning cutter contiguous block 9.
Seedling thinning unit is, dual Piston pair goes out driving cylinder 5 and is connected to the front end of thinning cutter contiguous block 9, and dual Piston is double
The outer end of two piston rods in left and right going out driving cylinder 5 is separately installed with seedling thinning cutter 4, and left and right seedling thinning cutter 4 is oppositely arranged；When
When left and right piston rod is regained, the blade Guan Bi of left and right seedling thinning cutter 4；When left and right piston rod stretches out, the cutter of left and right seedling thinning cutter 4
Sheet is opened.
Final singling unit is, rotation motor 8 is connected to the rear end of thinning cutter contiguous block 9, and it is fixed to be provided with on rotation motor 8
Seedling cutter 7；The two ends of described final singling cutter 7 are respectively arranged with a blade, and two blade parallel are in facility direction of advance.
Machine vision servo control system, is arranged on thinning cutter contiguous block 9 front end including color camera 3, is used for gathering
And send crop map as information；Controller integral box 6 is arranged on car body 2, is provided with at equipped with the core of pre installation software package in it
Reason device, dual Piston pair go out driving cylinder control unit, rotation motor control unit and electricity push rod control unit.Fifth wheel 13, coloured silk
Form and aspect machine 3 is connected to controller integral box 6 by data wire respectively；Dual Piston pair goes out driving cylinder 5, rotation motor 8 and electricity to be pushed away
Bar 10 is connected to controller integral box 6 by respective drive system and data wire respectively.Described core processor is by pre-peace
Crop image information analysis is processed by dress software, and combines the rate signal that fifth wheel 13 sends, and goes out to drive to dual Piston pair
Cylinder control unit, rotation motor control unit and electricity push rod control unit send control instruction, thus are driven accordingly by control
Dynamic system drive dual Piston pair goes out driving cylinder 5, rotation motor 8 and the motion of electricity push rod 10.
Described dual Piston double go out driving cylinder 5 is pneumatic with being driven through of rotation motor 8, surge or the mode such as electronic is real
Existing.
The present invention can be according to field planting situation and user's request, by the seedling thinning unit of difference group number, final singling unit, thinning
Cutter contiguous block 9, electricity push rod 10 and color camera 3 are integrated on same line slideway 11, are combined into the thinner of different model.
The intelligent thinning of following description a kind of machine vision servo is hoed up weeds the operation principle of facility:
First, according to crop thinning demand, the pre installation software package of core processor is arranged corresponding mode of operation, regulation
Seedling thinning distance and final singling precision, meet diversified thinning demand.
Facility are connected with dynamic traction device by trifilar suspension frame 1, dynamic traction device can be farm tractor or its
Its farm power pulling equipment.It is preposition that facility can be installed on the front portion of dynamic traction device, i.e. facility；Also can be by power traction
The rearmounted three-link hitch of device carries, i.e. facility are rearmounted, and occupation mode is flexible.
Color camera 3 gathers crop map image signal, and sends to core processor, and core processor passes through pre installation software package
Crop map image signal is analyzed and processed, the rate signal sent in conjunction with fifth wheel 13, obtain crop row physical location information, concurrently
Send control instruction to dual Piston double go out driving cylinder control unit and rotation motor control unit, control seedling thinning cutter 4 folding with
Final singling cutter 7 rotates, it is achieved intelligence thinning work.
Equidistant seedling thinning operation is as in figure 2 it is shown, seedling thinning cutter 4 is positioned at below soil face, and dual Piston pair goes out driving cylinder control
Unit receives the control instruction of core processor, controls dual Piston pair and goes out the drive system driving dual Piston pair of driving cylinder 5
Going out driving cylinder 5 to move, double piston-rod stretches out and drives opening and closing of seedling thinning cutter 4 with retracting, when seedling thinning cutter 4 closes,
Crop is uprooted by it, dodges crop when seedling thinning cutter 4 is opened, and the weeds of crop both sides are uprooted while leaving crop by centre
Go.
Final singling operation is as it is shown on figure 3, final singling is preferentially to stay Seedling on the basis of seedling thinning.At seedling thinning Hou Liumiao district, machine
Visual servoing control system gathers crop image information by color camera 3, and transmission to core processor is analyzed process figure
Picture, determines dominant crop position in Liu Miao district, and by the drive system of rotation motor control unit control rotation motor 8, drives
Rotation motor 8 rotates, thus drives final singling cutter 7 to rotate.In same seedling thinning Hou Liumiao district, final singling cutter 7 rotates a circle, final singling
When two blades of cutter 7 sequentially pass through bottom, weak Seedling, sick Seedling hoe being gone, two blades sequentially pass through the spacer of bottom and dodge strong
Seedling, leaves position in strong sprout.So far, thinner one-stop operation completes seedling thinning, hoes up weeds and three agronomy of final singling, it is achieved that efficient machine
Tool thinning works.
As shown in Figure 4, machine vision servo control system gathers crop image information by color camera 3 in traversing operation,
Send and be analyzed processing image to core processor, when crop row deviation seedling thinning cutter 4 and final singling cutter 7 center, at core
Reason device obtains both offset distances according to crop image information, the rate signal sent in conjunction with fifth wheel 13, sends control instruction to electricity
Push rod control unit, drives electricity push rod 10 to elongate or shorten certain distance by the drive system controlling electricity push rod 10, it is achieved cutter
Tool, to row, is decreased or even eliminated offset distance.
In operation process, parallel link mechanism carrying transverse-moving mechanism, seedling thinning unit, final singling unit and color camera 3,
Under the effect of copy land wheel and parallelogram lindage, according to actual landform dipping and heaving, it is ensured that stable cutter embedded depth
And color camera 3 is away from ground level.
Claims (4)
1. the intelligent thinning of machine vision servo is hoed up weeds facility, and including car body, walking mechanism and hitch, its feature exists
In, also include ground feeler mechanism, transverse-moving mechanism, seedling thinning unit, final singling unit and machine vision servo control system；Wherein,
Ground feeler mechanism is arranged on car body；
Described transverse-moving mechanism, is perpendicular to facility direction of advance on the feeler mechanism of ground and is provided with line slideway (11), thinning cutter
Contiguous block (9) is slidably disposed on line slideway (11)；Electricity push rod (10) is arranged on line slideway (11), and and thinning
Cutter contiguous block (9) connects, and controls the rectilinear movement of thinning cutter contiguous block (9)；
Described seedling thinning unit, dual Piston pair goes out driving cylinder (5) and is connected to the front end of thinning cutter contiguous block (9), dual Piston
Double go out driving cylinder (5) the outer end of two piston rods in left and right be separately installed with seedling thinning cutter (4), and left and right seedling thinning cutter (4) phase
To setting；When left and right piston rod is regained, the blade Guan Bi of left and right seedling thinning cutter (4) goes crop with hoe；When left and right, piston rod is stretched
When going out, the blade of left and right seedling thinning cutter (4) is opened and is dodged crop, and hoe goes the weeds of crop both sides simultaneously；
Described final singling unit, rotation motor (8) is connected to the rear end of thinning cutter contiguous block (9), in the upper installation of rotation motor (8)
There is final singling cutter (7)；The two ends of described final singling cutter (7) are respectively arranged with a blade, and two blade parallel are in facility direction of advance；Rotate horse
Reaching (8) drives final singling cutter (7) to rotate, and blade rotates and goes crop to hoe during bottom, and two blades sequentially pass through the spacer of bottom
Dodge crop, on the basis of seedling thinning, preferentially stay Seedling；
Described machine vision servo control system, is provided with color camera (3) in thinning cutter contiguous block (9)；Described walking
Mechanism includes fifth wheel (13)；Color camera (3) and fifth wheel (13) are connected to controller integral box by data wire respectively
(6)；Dual Piston pair goes out driving cylinder (5), rotation motor (8) and electricity push rod (10) respectively by respective drive system and data
Line is connected to controller integral box (6)；Described controller integral box (6) is loaded on car body, is provided with equipped with pre-installation soft in it
The core processor of part, dual Piston pair go out driving cylinder control unit, rotation motor control unit and electricity push rod control unit；
Wherein, fifth wheel (13) is used for testing and sending rate signal；Color camera (3) is used for gathering and send crop map picture letter
Breath；Crop image information analysis is processed by described core processor by pre installation software package, and combines what fifth wheel (13) sent
Rate signal, goes out driving cylinder control unit, rotation motor control unit and electricity push rod control unit to dual Piston pair and sends control
System instruction, thus drive dual Piston pair to go out driving cylinder (5), rotation motor (8) and electricity by the corresponding drive system of control and push away
The motion of bar (10).
The intelligent thinning of a kind of machine vision servo is hoed up weeds facility, it is characterised in that described dual-active
Plug double go out driving cylinder (5) is pneumatic with moving through of rotation motor (8), surge or electronic mode realizes.
The intelligent thinning of a kind of machine vision servo is hoed up weeds facility, it is characterised in that described ground
Feeler mechanism uses parallel link mechanism.
The intelligent thinning of a kind of machine vision servo is hoed up weeds facility, it is characterised in that will organize thin more
Seedling unit, final singling unit, thinning cutter contiguous block (9), electricity push rod (10) and color camera (3) are integrated in same line slideway
(11), on, multirow synchronization job is carried out.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610630220.1A CN106258028B (en) | 2016-08-03 | 2016-08-03 | A kind of intelligent thinning of machine vision servo is hoed up weeds equipment |
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|---|---|---|---|
| CN201610630220.1A CN106258028B (en) | 2016-08-03 | 2016-08-03 | A kind of intelligent thinning of machine vision servo is hoed up weeds equipment |
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| CN106258028A true CN106258028A (en) | 2017-01-04 |
| CN106258028B CN106258028B (en) | 2018-04-13 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106922238A (en) * | 2017-04-28 | 2017-07-07 | 中国农业大学 | A kind of intelligent agricultural machinery automatic aligning device |
| CN106973265A (en) * | 2017-03-29 | 2017-07-21 | 青岛理工大学 | A kind of wheat based on image recognition cuts root fertilizer automatic aligning device |
| CN108174636A (en) * | 2018-03-22 | 2018-06-19 | 山西省农业科学院作物科学研究所 | Dicotyledonous crops experimental field thinner |
| CN108848713A (en) * | 2018-06-19 | 2018-11-23 | 安阳师范学院 | A kind of automatic thinning for milpa is filled the gaps with seedlings machine |
| CN112005638A (en) * | 2020-09-18 | 2020-12-01 | 河南农业大学 | Carrot weeding and thinning machine |
| CN112715077A (en) * | 2020-12-31 | 2021-04-30 | 广西壮族自治区农业科学院 | Sugarcane tillering and thinning and planting management machine |
| CN112740855A (en) * | 2021-01-20 | 2021-05-04 | 中国农业科学院兰州畜牧与兽药研究所 | Seedling thinning device for alfalfa seed field |
| CN113016549A (en) * | 2021-01-27 | 2021-06-25 | 广西壮族自治区农业科学院 | Cultivation method for promoting tillering and stem forming of sugarcane and internode sugar accumulation under continuous cropping obstacle |
| CN115380650A (en) * | 2022-01-11 | 2022-11-25 | 浙江理工大学 | Electric-drive multi-drive agricultural machinery opposite-row transverse-moving deflection device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106973265A (en) * | 2017-03-29 | 2017-07-21 | 青岛理工大学 | A kind of wheat based on image recognition cuts root fertilizer automatic aligning device |
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| CN108174636A (en) * | 2018-03-22 | 2018-06-19 | 山西省农业科学院作物科学研究所 | Dicotyledonous crops experimental field thinner |
| CN108848713A (en) * | 2018-06-19 | 2018-11-23 | 安阳师范学院 | A kind of automatic thinning for milpa is filled the gaps with seedlings machine |
| CN112005638A (en) * | 2020-09-18 | 2020-12-01 | 河南农业大学 | Carrot weeding and thinning machine |
| CN112715077A (en) * | 2020-12-31 | 2021-04-30 | 广西壮族自治区农业科学院 | Sugarcane tillering and thinning and planting management machine |
| CN112715077B (en) * | 2020-12-31 | 2022-03-25 | 广西壮族自治区农业科学院 | Sugarcane tillering and thinning and planting management machine |
| CN112740855A (en) * | 2021-01-20 | 2021-05-04 | 中国农业科学院兰州畜牧与兽药研究所 | Seedling thinning device for alfalfa seed field |
| CN113016549A (en) * | 2021-01-27 | 2021-06-25 | 广西壮族自治区农业科学院 | Cultivation method for promoting tillering and stem forming of sugarcane and internode sugar accumulation under continuous cropping obstacle |
| CN115380650A (en) * | 2022-01-11 | 2022-11-25 | 浙江理工大学 | Electric-drive multi-drive agricultural machinery opposite-row transverse-moving deflection device |
| CN115380650B (en) * | 2022-01-11 | 2023-08-15 | 浙江理工大学 | Electric drive multi-drive agricultural machinery opposite-row transverse movement deflection device |
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| CN106258028B (en) | 2018-04-13 |
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