CN112674068A - Vibration machinery weeding device based on machine vision - Google Patents

Abstract

The invention discloses a vibrating mechanical weeding device based on machine vision, relates to the field of agricultural machinery, and is particularly applied to field intelligent weeding of various crops in the field of agriculture. The device consists of a three-point suspension, a machine body, a vision part and an actuating mechanism. The device is applicable to weeding operation of different growth cycles of multiple crops. Meanwhile, the three-point suspension and hanging mode of the traditional agricultural machine is adopted, the agricultural machine can be carried on various field walking platforms, and the agricultural machine can be suitable for various complex field environments. The device applies machine vision technology, a vision identification system is arranged on the device, and after the seedling grass is identified and positioned by a camera, the tail end execution device is controlled to avoid seedlings and weed. Simultaneously this device innovation adopts the mode that the garrulous soil of vibration tooth comb shake is hugged careless to the soil surface, falls to the minimum to the destruction of ridge platform, has played the effect of loosening soil simultaneously, has reduced the chemical herbicide quantity, protects ecological environment, improves weeding efficiency, has reduced the weeding and has hindered the seedling rate.

Description

Vibration machinery weeding device based on machine vision

Technical Field

The invention discloses a vibrating mechanical weeding device based on machine vision, relates to the field of agricultural machinery, and is particularly applied to field intelligent weeding of various crops in the field of agriculture.

Background

The farmland weed is a plant with wide distribution area and strong vitality, always exists at the beginning and the end of the farming process of human beings, and is one of the plants with the strongest adaptability and the most luxuriant in nature. Weeds compete for moisture, nutrients, illumination and space with crops, and diseases and pests are transmitted indirectly or indirectly, so that the growth and development of the crops are seriously influenced, the quality of agricultural products is reduced, the yield of the crops is reduced, great loss is brought to agricultural production, and meanwhile, the management labor and the production cost are increased. According to statistics, the harm area of weeds in China is huge, and the yield of single crop can be reduced by hundreds of millions of kilograms. Therefore, the growth of weeds seriously harms the development of agriculture in China and the quality of agricultural products, so that the weeds in farmlands must be prevented and killed in an effective mode to ensure the yield and the quality of the agricultural products in China. Therefore, in order to overcome the harm of weeds to agricultural production, the existing weeding modes at home and abroad are mainly manual weeding, mechanical weeding, chemical weeding and biological weeding, and research institutions at home and abroad also research laser weeding and current weeding, but the current technology is still not mature. Because of low efficiency and time and labor consumption of manpower weeding, the method is not suitable for the development of modern agriculture. The chemical weeding method is time-saving and labor-saving, and has high weeding efficiency, so the chemical weeding method is popular with farmers and becomes the main weeding mode at present. However, the existing chemical weeding adopts extensive 'carpet' and 'broad' herbicide throwing modes, which causes serious herbicide resource waste and ecological environment pollution. Excessive pesticide input causes non-point source pollution and continuous environmental deterioration, which not only directly increases the agricultural production cost, but also indirectly increases the environmental management cost. The mechanical weeding operation is a key production technology for the sustainable development of the dry farming agriculture, and is to weed before seeding, before emergence of seedlings, in different growth periods and the like by using various measures such as ploughing, turning, raking, intertillage loosening and the like, so that the unearthed weeds can be killed, or the grass seeds can be buried deeply, or the underground stems can be turned out of the ground to be dried or frozen. The method is the most common measure currently used in northern arid areas in China. In recent years, with the improvement of environmental protection consciousness of people, people urgently want to solve the problems of environmental pollution caused by chemical weeding, pesticide residue of crops and the like, so that mechanical weeding is urgently needed as an operation method for really realizing pollution-free weeding, and the requirement on mechanical weeding is continuously improved along with the high-speed development of the science and technology level of China. The traditional mechanical weeding has many limitations, the inter-plant weed eradicating technology is not perfect enough and has high seedling injury rate, the weeding effect is not ideal enough, many kinds of weeds have tenacious vitality, and the mechanized operation with insufficient strength can not meet the required requirements far away. The intelligent weeding equipment combined with machine vision can be transported as soon as possible, meets the agricultural mechanization requirement, is consistent with the accurate agricultural technology, realizes the mechanization, automation and intellectualization of farmland weeding, greatly reduces the labor intensity of farmers, reduces the dosage of chemical herbicides, protects the ecological environment, improves the weeding efficiency and reduces the seedling injury rate.

The invention provides a vibrating mechanical weeding device based on machine vision, which is innovatively designed against the background that the existing mechanical weeding has poor weeding effect and high seedling injury rate, and can be suitable for weeding operation of various crops in different growth cycles. Meanwhile, the three-point suspension and hanging mode of the traditional agricultural machine is adopted, the agricultural machine can be carried on various field walking platforms, and the agricultural machine can be suitable for various complex field environments. The device applies machine vision technology, a vision identification system is arranged on the device, and after the seedling grass is identified and positioned by a camera, the tail end execution device is controlled to avoid seedlings and weed. Meanwhile, the device creatively adopts a mode of combing the shattered soil by the vibrating teeth to rake the grass to the soil surface, so that the damage to the ridge is reduced to the minimum, and the effect of loosening the soil is achieved.

Disclosure of Invention

The traditional weeding machine has the advantages of poor weeding effect, high seedling injury rate and poor operation effect, and in order to overcome various problems of the traditional weeding machine, the invention innovatively designs the vibrating mechanical weeding device based on machine vision, and the vibrating mechanical weeding device can be suitable for weeding operation of various crops in different growth cycles. Meanwhile, the three-point suspension and hanging mode of the traditional agricultural machine is adopted, the agricultural machine can be carried on various field walking platforms, and the agricultural machine can be suitable for various complex field environments. With the arrival of the intelligent agriculture era, agriculture and intellectualization are combined to form a power source for promoting the agricultural progress, and the combination of intellectualization enables agricultural operation to be more efficient, high in quality and high in accuracy.

In order to achieve the purpose, the technical scheme provided by the invention is a vibrating mechanical weeding device based on machine vision, and the device is characterized by comprising a three-point suspension, a machine body, a vision part and an actuating mechanism, wherein the three-point suspension comprises a hanging fixing plate 1, a hanging arm 2, a hanging arm fixing end 3 and a hanging lower end 4, the machine body comprises a square steel framework 5, a box body back plate 6, a central control box 7, a hinge 8, a box body top plate 9, a box body side plate 10, a box body dismounting panel 11 and a swinging motor fixing seat 12, the vision part comprises a fixed bending plate 13, a rotating frame 14, a camera mounting seat 15 and a camera 16, and the actuating mechanism comprises a swinging motor seat 17, a vertical bearing 18, an optical axis 19, a motor 20, a speed reducer 21, a short rod 22, a long rod 23, a swinging rod 24, a tail end actuator rod 25, a tooth comb fixing seat 26, a tooth comb 27, The slotting cutter 29, the vibration motor fixing seat 30, the vibration motor 31 and the vibration motor dustproof shell 32, wherein the hanging fixing plate 1 is welded on a square steel framework 5, the hanging arm fixing end 3 and the hanging lower end 4 are welded on the hanging fixing plate 1, the hanging arm 2 is connected with the hanging arm fixing end 3 through a bolt, the box body back plate 6 and the box body side plate 10 are connected with the square steel framework 5 through welding, the box body top plate 9 is connected with the square steel framework 5 through a hinge 8, the two parts are fixed through bolts, the swinging motor fixing seat 12 and the central control box 7 are fixed on the box body back plate 6 through bolts, the box body disassembling panel 11 is fixed on the square steel framework 5 through bolts, the pair of fixed bending plates 13 are welded on the box body back plate 6 according to a certain distance, the rotating frame 14 is hinged with the fixed bending plates 13 through bolts, the camera 16 is fixed on the camera, the camera mounting seat 15 is fixed on the rotating frame 14 through bolts, the swing motor seat 17 is fixed on the swing motor fixing seat 12 through bolts, the motor 20 is connected with the reducer 21 through bolts, the reducer 21 is fixed on the swing motor seat 17 through bolts, a pair of vertical bearings 18 are fixed with the swing motor seat 17 through bolts, the optical axis 19 passes through the tail ends of the two vertical bearings 18 and is fixed with the swing rod 24, one end of the short rod 22 is fixed on the reducer shaft, the other end is hinged with the long rod 23 through bolts, the other end of the long rod 23 is hinged with the swing rod 24 through bolts, the tail end actuator rod 25 is fixed on the swing rod 24 through bolts, the tooth comb fixing seat 26 is fixed with the tail end actuator rod 25 through bolts, the vibration motor 31 is mounted on the vibration motor fixing seat 30, the vibration motor dust-proof shell 32 is assembled with the vibration motor fixing seat 30 and then the vibration motor is, the tooth comb 27 forms interference fit with the tooth comb fixing seat 26 through bolts, the spring 28 penetrates through the bolt for fixing the tooth comb and is installed between the tooth comb 27 and the gap of the tooth comb fixing seat 26 to improve the vibration effect of the tooth comb 27, and the slotting tool 29 is fixed on the tooth comb fixing seat 26 through the bolts.

The whole machine is hung and connected with the vehicle-mounted platform through a three-point suspension formed by the suspension arm 2, the suspension arm fixing end 3 and the suspension lower end 4, the camera 16 is positioned above the seedling zone to identify and position the seedling grass, when weeds are detected among plants, under the drive of a control system, a motor 20 drives a speed reducer 21 to rotate, and further drives a reciprocating link mechanism consisting of a short rod 22, a long rod 23 and a swinging rod 24, two end effectors are swung downwards from a high seedling avoiding state to enter a soil-entering working state, after the two staggered end effectors enter the soil, weeds are not attached after the soil at the root of the weeds is shattered through a vibrating comb 27, and then the weeds are raked out of the soil by the vibrating comb 27 which advances forwards, when the end effectors approach the root system of the seedlings, under the drive of the swing motor and the reciprocating link mechanism, the end effector is swung to a high place to be separated from the soil, so that the weeding and the avoidance of crops are completed.

Compared with the prior art, the invention has the following advantages and beneficial effects: the invention is developed aiming at the problem that the prior agricultural machinery weeding technology is not mature enough, has wide application range, is suitable for weeding operation of various crops in different growth cycles, the combination with the machine vision technology can accurately realize the avoidance of the root system of the crop, greatly reduce the seedling damage rate in the weeding process, creatively adopt the mode of vibrating tooth combs to rake the grass, simultaneously loosen the soil quality and improve the growth environment of the crop, adopt the swing type avoidance mode to greatly save the space and improve the seedling avoidance rate, shake the tooth combs to rake the weeds to the soil surface in the process of advancing after the soil attached to the roots of the weeds is shaken loose, the mode can be suitable for eradicating various types of weeds, the weeding composition has a more complete effect on killing weeds, adopts a pure mechanical weeding mode without using a herbicide, and reduces the pollution of the weeding process to the environment to the greatest extent, thereby meeting the requirement of reducing the pollution to the environment in the weeding process of people.

Drawings

FIG. 1 is a schematic representation of the present invention

FIG. 2 is a side view of the present invention

FIG. 3 is a front view of the present invention

FIG. 4 is a schematic diagram of the major functional components of the present invention

Detailed Description

In order to achieve the purpose, the technical scheme provided by the invention is a vibrating mechanical weeding device based on machine vision, and the device is characterized by comprising a three-point suspension, a machine body, a vision part and an actuating mechanism, wherein the three-point suspension comprises a hanging fixing plate 1, a hanging arm 2, a hanging arm fixing end 3 and a hanging lower end 4, the machine body comprises a square steel framework 5, a box body back plate 6, a central control box 7, a hinge 8, a box body top plate 9, a box body side plate 10, a box body dismounting panel 11 and a swinging motor fixing seat 12, the vision part comprises a fixed bending plate 13, a rotating frame 14, a camera mounting seat 15 and a camera 16, and the actuating mechanism comprises a swinging motor seat 17, a vertical bearing 18, an optical axis 19, a motor 20, a speed reducer 21, a short rod 22, a long rod 23, a swinging rod 24, a tail end actuator rod 25, a tooth comb fixing seat 26, a tooth comb 27, The slotting cutter 29, the vibration motor fixing seat 30, the vibration motor 31 and the vibration motor dustproof shell 32, wherein the hanging fixing plate 1 is welded on a square steel framework 5, the hanging arm fixing end 3 and the hanging lower end 4 are welded on the hanging fixing plate 1, the hanging arm 2 is connected with the hanging arm fixing end 3 through a bolt, the box body back plate 6 and the box body side plate 10 are connected with the square steel framework 5 through welding, the box body top plate 9 is connected with the square steel framework 5 through a hinge 8, the two parts are fixed through bolts, the swinging motor fixing seat 12 and the central control box 7 are fixed on the box body back plate 6 through bolts, the box body disassembling panel 11 is fixed on the square steel framework 5 through bolts, the pair of fixed bending plates 13 are welded on the box body back plate 6 according to a certain distance, the rotating frame 14 is hinged with the fixed bending plates 13 through bolts, the camera 16 is fixed on the camera, the camera mounting seat 15 is fixed on the rotating frame 14 through bolts, the swing motor seat 17 is fixed on the swing motor fixing seat 12 through bolts, the motor 20 is connected with the reducer 21 through bolts, the reducer 21 is fixed on the swing motor seat 17 through bolts, a pair of vertical bearings 18 are fixed with the swing motor seat 17 through bolts, the optical axis 19 passes through the tail ends of the two vertical bearings 18 and is fixed with the swing rod 24, one end of the short rod 22 is fixed on the reducer shaft, the other end is hinged with the long rod 23 through bolts, the other end of the long rod 23 is hinged with the swing rod 24 through bolts, the tail end actuator rod 25 is fixed on the swing rod 24 through bolts, the tooth comb fixing seat 26 is fixed with the tail end actuator rod 25 through bolts, the vibration motor 31 is mounted on the vibration motor fixing seat 30, the vibration motor dust-proof shell 32 is assembled with the vibration motor fixing seat 30 and then the vibration motor is, the tooth comb 27 forms interference fit with the tooth comb fixing seat 26 through bolts, the spring 28 penetrates through the bolt for fixing the tooth comb and is installed between the tooth comb 27 and the gap of the tooth comb fixing seat 26 to improve the vibration effect of the tooth comb 27, and the slotting tool 29 is fixed on the tooth comb fixing seat 26 through the bolts.

The whole machine is hung and connected with the vehicle-mounted platform through a three-point suspension formed by the suspension arm 2, the suspension arm fixing end 3 and the suspension lower end 4, the camera 16 is positioned above the seedling zone to identify and position the seedling grass, when weeds are detected among plants, under the drive of a control system, a motor 20 drives a speed reducer 21 to rotate, and further drives a reciprocating link mechanism consisting of a short rod 22, a long rod 23 and a swinging rod 24, two end effectors are swung downwards from a high seedling avoiding state to enter a soil-entering working state, after the two staggered end effectors enter the soil, weeds are not attached after the soil at the root of the weeds is shattered through a vibrating comb 27, and then the weeds are raked out of the soil by the vibrating comb 27 which advances forwards, when the end effectors approach the root system of the seedlings, under the drive of the swing motor and the reciprocating link mechanism, the end effector is swung to a high place to be separated from the soil, so that the weeding and the avoidance of crops are completed.

Claims (3)

1. The utility model provides a vibrating machinery weeding device based on machine vision, a serial communication port, the device is by three point suspension, the organism, the vision part, actuating mechanism constitutes, three point suspension is by articulating fixed plate (1), hang arm (2), hang arm stiff end (3), it constitutes to hang lower extreme (4), the organism is by square steel skeleton (5), box backplate (6), central control box (7), hinge (8), box roof (9), box side board (10), box dismantlement panel (11), sway motor fixing base (12) and constitute, the vision part is by fixed crooked board (13), swivel mount (14), camera mount pad (15), camera (16) are constituteed, actuating mechanism is by swaying motor cabinet (17), vertical bearing (18), optical axis (19), motor (20), reduction gear (21), quarter butt (22), stock (23), The vibration box comprises a swinging rod (24), an end effector rod (25), a tooth comb fixing seat (26), a tooth comb (27), a spring (28), a slotting cutter (29), a vibration motor fixing seat (30), a vibration motor (31) and a vibration motor dustproof shell (32), wherein a hanging fixing plate (1) is welded on a square steel framework (5), a hanging arm fixing end (3) and a hanging lower end (4) are welded on the hanging fixing plate (1), a hanging arm (2) is connected with the hanging arm fixing end (3) through a bolt, a box body back plate (6) and a box body side plate (10) are connected with the square steel framework (5) through welding, a box body top plate (9) is connected with the square steel framework (5) through a hinge (8), the swinging motor fixing seat (12) and a center control box (7) are fixed on the box body back plate (6) through bolts, a box body dismounting panel (11) is fixed on the square steel framework (5) through bolts, a pair of fixed bent plates (13) are welded on a box body back plate (6) according to a certain distance, a rotating frame (14) is hinged with the fixed bent plates (13) through bolts, a camera (16) is fixed on a camera mounting seat (15) through bolts, the camera mounting seat (15) is fixed on the rotating frame (14) through bolts, a swinging motor seat (17) is fixed on a swinging motor fixing seat (12) through bolts, a motor (20) is connected with a speed reducer (21) through bolts, the speed reducer (21) is fixed on the swinging motor seat (17) through bolts, a pair of vertical bearings (18) are fixed with the swinging motor seat (17) through bolts, an optical axis (19) passes through the tail ends of the two vertical bearings (18) to be fixed with a swinging rod (24), one end of a short rod (22) is fixed on the speed reducer axis, the other end of the short rod (22) is hinged with a long rod (23), the other end of the long rod (23) is hinged to the swing rod (24) through a bolt, the end effector rod (25) is fixed to the swing rod (24) through a bolt, the tooth comb fixing seat (26) is fixed to the end effector rod (25) through a bolt, the vibration motor (31) is installed on the vibration motor fixing seat (30), the vibration motor is partially fixed to the tooth comb (27) through a bolt after the vibration motor dustproof shell (32) and the vibration motor fixing seat (30) are assembled, the tooth comb (27) is in interference fit with the tooth comb fixing seat (26) through a bolt, a spring (28) penetrates through the bolt for fixing the tooth comb and is installed between gaps of the tooth comb (27) and the tooth comb fixing seat (26) to improve the vibration effect of the tooth comb (27), and the slotting cutter (29) is fixed to the tooth comb fixing seat (26) through a bolt.

2. A vibrating mechanical weeding apparatus based on machine vision according to claim 1, further comprising: the whole machine is hung with a vehicle-mounted platform through a three-point suspension formed by a suspension arm (2), a suspension arm fixed end (3) and a suspension lower end (4), a camera (16) is positioned above a seedling belt to identify and position seedlings, when weeds are detected among plants, a motor (20) drives a speed reducer (21) to rotate under the drive of a control system, and then drives a reciprocating connecting rod mechanism formed by a short rod (22), a long rod (23) and a swinging rod (24), two end effectors are swung downwards from a high seedling avoiding state to an earth-entering working state, the two staggered end effectors do not adhere to the weeds after shattering the soil at the root parts of the weeds through a vibrating tooth comb (27) after entering the earth, and then are raked out from the soil by the vibrating tooth comb (27) which advances forwards, when the end effectors approach to the root systems of the seedlings, the end effectors are swung to the high positions to separate from the soil under the drive of the swinging motor and the reciprocating connecting rod mechanism, the weeding and the crop avoidance are completed.

3. A vibrating mechanical weeding apparatus based on machine vision according to claim 1, further comprising: the covering width of two crisscross executive component is a ridge width, can realize the weeds complete coverage between the row between the trunk, when the executive component swings from the eminence the slotting tool (29) open the soil table with touching the earth earlier, for tooth comb (27) go into ground fluting, prevent that tooth comb (27) from directly touching the end and causing deformation influence the effect of loosening the earth and raking the grass, interference fit between tooth comb (27) and tooth comb fixing base (26) and the fixing bolt to use spring (28) to alternate and create good mechanical vibration surplus for tooth comb (27) in the space of tooth comb (27) and tooth comb fixing base (26).

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