CN114747561A - Efficient weeding method for wheat field - Google Patents
Efficient weeding method for wheat field Download PDFInfo
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- CN114747561A CN114747561A CN202210456342.9A CN202210456342A CN114747561A CN 114747561 A CN114747561 A CN 114747561A CN 202210456342 A CN202210456342 A CN 202210456342A CN 114747561 A CN114747561 A CN 114747561A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/02—Apparatus for mechanical destruction
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
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Abstract
The invention discloses a high-efficiency weeding method for a wheat field, which comprises a weeding vehicle and comprises the following steps: s1, adjusting the posture of the supporting arm by the weeding vehicle; s2, acquiring image information of weeds in the advancing direction through a weed detection device at the front part of the frame, distinguishing the attributes of the weeds, and determining the root positions of the weeds; and S3, after the weeding vehicle stops moving, forming a unit weeding range, forming a mapping relation between the weeding mechanisms and the unit weeding range, determining that the closest weeding mechanism is positioned to the root of the weed, and sequentially carrying out closed fixed-point high-pressure impact, plucking and root grinding operations on the root of the weed. Weeding is carried out on the wheat field by using the weeding vehicles, the gravity center of the weeding vehicles is adjusted through the supporting arms, the posture adjustment of the weeding vehicles is realized, and the weeding vehicles move or turn in the array arrangement direction; through setting up weeds detection device in the place ahead of frame, realize the purpose that detects in advance, reduced image processing's time, realize the purpose of high-efficient weeding.
Description
Technical Field
The invention relates to the technical field of weeding, in particular to a high-efficiency weeding method for a wheat field.
Background
In order to realize green and pollution-free growth of wheat in the whole life cycle, weeds in a wheat field need to be removed. Through the appearance of automatic weeding device among the prior art, not only can replace the mankind to accomplish the agricultural operation of withered and tasteless and repeatability, can high-efficient continuation operation in different outdoor environment moreover, can also improve production efficiency and effectively liberated mankind's both hands.
However, the existing automatic weeding devices have the following problems: 1. difficulty in adjusting the attitude of the weeding device; 2. the wheat ears of wheat are easy to shield weeds, the weeds are difficult to position, and the operations of positioning and weeding the weeds cannot be immediately carried out in a weeding area of an automatic weeding device, so that time delay exists between the positioning and the weeding operations; 3. the weeds with deep roots are difficult to pull out, the efficiency is low, and the roots of the weeds cannot be completely damaged; 4. the existing automatic weeding device is generally in a wheel type, crawler type or boat type, the structures cannot adapt to wheat planting arrangement in a wheat field, and the automatic weeding device entering the wheat field easily causes crushing or damage to the wheat field.
Therefore, there is a need for an improved automatic weeding apparatus in the prior art to solve the above problems.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a high-efficiency weeding method for a wheat field. The weeding vehicle walking in the wheat field is utilized to weed, the center of gravity of the weeding vehicle is adjusted through the supporting arm, and the problem that the posture of the weeding vehicle cannot be adjusted in the prior art is solved. According to the invention, the frame is arranged above the wheat at two sides, and the weed detection device is arranged on the front lip of the frame, so that the problems that the weeds are difficult to position in the prior art and the time delay of the weed positioning and weeding operations are solved. The cooperation of the structure of the mechanical hand web and the flexible pipe is utilized to loosen the soil at the roots of the weeds, thereby solving the problem that the weeds with deeper root are difficult to pull out. Two rows of wheat are spanned by utilizing the supporting arms on two sides of the frame, the wheat close planting arrangement in a wheat field is adapted, and the problem that the wheat is easily crushed or damaged in the wheat field in the prior art is solved.
In order to achieve the purpose, the invention adopts the technical scheme that: a high-efficiency weeding method for a wheat field comprises a weeding vehicle, wherein the weeding vehicle comprises: be located the frame of two wheat tops, set up the support arm of frame both sides sets up the weeding mechanism of frame bottom, and set up the anterior weeds detection device of frame, its characterized in that includes following steps:
S1, the weeding vehicle moves along the row arrangement direction of the wheat by adjusting the posture of the supporting arm and turns to two adjacent rows of wheat at the terminal point of the wheat field;
s2, acquiring image information of weeds in the advancing direction through a weed detection device at the front part of the frame, distinguishing the attributes of the weeds, and determining the root positions of the weeds;
and S3, after the weeding vehicle stops moving, forming a unit weeding range, forming a mapping relation between the weeding mechanisms and the unit weeding range, determining that the closest weeding mechanism is positioned to the root of the weed, and sequentially carrying out closed fixed-point high-pressure impact, pulling out and root grinding operations on the root of the weed.
In a preferred embodiment of the present invention, in the step S1, the method for adjusting the posture of the supporting arm includes: the center of gravity is changed by adjusting the bending degree and the bending sequence of each supporting arm, so that the weeding vehicles move or turn towards the row arrangement direction.
In a preferred embodiment of the present invention, the supporting arm is a multi-joint structure, and the supporting arm is bent to different degrees by rotating the joints.
In a preferred embodiment of the present invention, in S3, in S3, the unit weeding range is: the unit weeding length L determined by the distance between the front parts of the frame when the previous movement stops and the next movement stops is expanded to the row spacing of 1-2 times from the central line of two rows of wheat to the two sides, the unit weeding width S is determined, L multiplied by S is the weeding range, and the row spacing is the distance between adjacent wheat.
In a preferred embodiment of the present invention, the weeding mechanism includes: the linear guide rails are connected with the bottom of the frame, the moving mechanical arms are arranged on each linear guide rail, and the fixed mechanical arms are fixedly connected with the bottom of the frame; the plurality of linear guide rails are connected end to end, the movable mechanical arm moves on the linear guide rails correspondingly, and the fixed mechanical arm is located at the center of the bottom of the frame.
In a preferred embodiment of the invention, a many-to-one mapping relation is determined between the unit weeding range and the positions of different linear guide rails in the weeding mechanism; wherein, many-to-one refers to all the weed root positions in the weeding range of the unit corresponding to each linear guide rail.
In a preferred embodiment of the present invention, the free ends of the supporting arm, the movable mechanical arm and the fixed mechanical arm are all provided with a mechanical arm, the mechanical arm comprises a protective layer and a movable layer, the movable layer comprises a finger joint and a mechanical palm, and the movable layer is based on a bionic hand technology; the protective layer is of a web-shaped structure, and friction bulges are arranged on the surface of the protective layer.
In a preferred embodiment of the invention, the manipulator of the movable mechanical arm and the manipulator of the fixed mechanical arm carry out fixed-point closing, holding and pulling-out on the root of the weed; the fixed point closure means that: the finger joints are bent towards the mechanical palm, an arch structure is formed, and fixed point closure is formed at the finger joints, the mechanical palm and the bottom of the wheat field; the central position of the fixed point seal is consistent with the root position of the weeds.
In a preferred embodiment of the present invention, an impact assembly is disposed at the center of the manipulator of the movable manipulator and the fixed manipulator, the impact assembly is a plurality of flexible tubes connected to a protective layer, the flexible tubes are fixedly connected to the movable manipulator or the fixed manipulator, one end of each flexible tube is provided with an air outlet head, the air outlet head penetrates through the web-shaped structure, and the air outlet head sprays low-pressure air flow and continuous high-pressure air flow to a fixed point in a closed manner.
In a preferred embodiment of the invention, the surface of the frame is provided with a streamlined design.
The invention solves the defects in the background art, and has the following beneficial effects:
(1) the invention provides a high-efficiency weeding method for a wheat field, which is characterized in that a weeding vehicle is utilized to weed the wheat field, the center of gravity of the weeding vehicle is adjusted through a supporting arm, the posture of the weeding vehicle is adjusted, and the weeding vehicle moves or turns in a column arrangement direction; the weed detection device is arranged in front of the frame, so that the purpose of detection in advance is achieved, the time delay of image processing is reduced, and the purpose of efficient weeding is achieved.
(2) The protective layer is of a webbed structure, the webbed structure is designed by imitating a duck foot structure, and webbed structures are formed between adjacent fingers. The protective layer coats the finger joints and the mechanical palm inside, and the service life of the movable layer is prolonged. Due to the design of the webs, the grounding action area of the manipulator and the wheat field is increased, and the stability of the weeding vehicle is improved; the design of the webs can further improve the sealing performance of fixed-point sealing and realize fixed-point weeding.
(3) According to the invention, the action of low-pressure airflow and continuous high-pressure airflow is different, wherein when the low-pressure airflow is formed in a fixed-point closed area, impurities blocked on the surface of the air outlet head are flushed out through the low-pressure airflow; the continuous high pressure air stream is placed behind the low pressure air stream for circumferential high pressure impingement on the weed roots. For some smaller weed roots, the high pressure gas can directly damage and kill the weeds.
(4) The weed detection device is arranged on the front lip of the frame by utilizing the telescopic section, so that the shielding of wheat and rice ears is reduced, compared with the unmanned aerial vehicle detection in the prior art, the weed detection device is suitable for wheat with various maturity degrees, has a larger visual field range, and improves the precision of weed positioning. In addition, the design can be suitable for long-time weed detection delay, and when a weeding mechanism weeds in the current weeding range, the weed detection area detects weeds in the next weeding range, so that the weeding positioning efficiency and the weeding efficiency are improved.
(5) The free end of the claw joint of the manipulator points to the row arrangement direction of wheat, namely the direction of the manipulator inclining weeds is consistent with the row arrangement direction of the wheat, and the contact between the manipulator inclining weeds and the wheat is reduced as much as possible in the process of inclining weeds.
(6) The free end of the claw joint of the manipulator points to the row arrangement direction of wheat, namely the direction of the manipulator inclining weeds is consistent with the row arrangement direction of the wheat, and the contact between the manipulator inclining weeds and the wheat is reduced as much as possible in the process of inclining weeds.
(7) The weed detection device aims to determine the weed species and the maturity so as to determine the predicted rooting depth, further control the fixed-point closed high-pressure spraying time, realize the loosening of roots in different degrees and peel off the soil and the roots.
(8) The surface of the protective layer is provided with friction bulges which are generated when the mould is formed. The friction bulge on the protective layer can increase anchoring force and buffering force and match with finger joint action, so that friction on the roots of weeds is improved, and the effect of grinding the roots of the weeds is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
Fig. 1 is a schematic perspective view of a weeding vehicle according to a preferred embodiment of the present invention;
FIG. 2 is a schematic illustration of the operation of the weeding vehicle of the preferred embodiment of the present invention;
FIG. 3 is a schematic structural view of a weeding mechanism according to a preferred embodiment of the present invention;
FIG. 4 is a perspective view of a robot of a preferred embodiment of the present invention;
FIG. 5 is a flow chart of a wheat weeding method according to a preferred embodiment of the present invention;
in the figure: 1. weeding vehicles; 11. a frame; 12. a support arm; 2. a wheat field; 21. wheat; 3. a unit weeding range; 4. the next weeding range; 5. a linear guide rail; 6. moving the mechanical arm; 7. fixing the mechanical arm; 8. a manipulator; 9. a web.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1, a schematic perspective view of a weeding vehicle 1 according to the present invention is shown. This weeding car 1 is including being located the frame 11 of two wheat tops, the support arm 12 of setting in frame 11 both sides, sets up the weeding mechanism in frame 11 bottom to and set up the weeds detection device in frame 11 front portion.
Because the frame 11 is positioned above the two rows of wheat, the height of the frame 11 is higher, and the streamline design is arranged on the surface of the frame 11, the influence of wind power on the weeding vehicle 1 can be reduced, and the stability of the whole weeding vehicle 1 is improved.
The top of the frame 11 of the present invention is provided with a solar panel for converting solar energy into electric energy and storing the electric energy in a storage battery or directly driving a load.
According to the invention, the supporting arm 12 is of a multi-joint structure, joints with smaller axial size are used as arms, adjacent joints are connected through the spherical joint shaft, the supporting arm 12 is bent to different degrees through the rotary joint, and the adjacent joints rotate for 360 degrees, so that the movement of the mechanical arm in different angles or directions is realized. The control method and system for the multi-joint structure of the support arm 12 belong to the prior art, and a person skilled in the art can reasonably set a program in the controller according to the functions, and details are not repeated here. It should be noted that the length of the support arm 12 of the present invention must be greater than the maximum height of the wheat.
In the invention, the center of gravity is changed by adjusting the bending degree and the bending sequence of each supporting arm 12, so that the weeding vehicles 1 move or turn in the row arrangement direction. Specifically, the method for moving the column arrangement direction includes: if the supporting arm 12 at the left front moves forwards, the frame 11 tilts leftwards, the supporting arm 12 at the right front moves forwards, the frame 11 tilts forwards, and the bending degree of the supporting arm 12 is adjusted to balance the frame 11; the other supporting arms 12 on the two sides of the frame 11 are repeatedly moved to realize the movement of the weeding vehicles 1 in the row arrangement direction.
Specifically, the turning method comprises the following steps: the bending degree of the support arm 12 at the forefront of one side of the frame 11 is taken as a rotating shaft, the frame 11 is enabled to incline towards one side of the rotating shaft, the support arm 12 at the other side is moved towards the turning direction, the bending degree of the support arms 12 at the two sides is adjusted, and the balance of the frame 11 is realized; the rest supporting arms 12 on the two sides of the frame 11 repeat the actions to realize the turning of the weeding vehicle 1. In the invention, one side supporting arm 12 is used as a rotating shaft to form anchoring force for the frame 11, so that the weeding vehicle 1 can turn.
As shown in fig. 2, there is shown a schematic view of the operation of the weeding vehicle 1 according to the present invention. After the movement of the weeding vehicle 1 is stopped, a unit weeding range 3 is formed. The unit weeding range 3 is as follows: the unit weeding length L determined by the distance between the front parts of the frame 11 when the previous movement stops and the next movement stops is expanded to the row spacing of 1-2 times from the central line of two rows of wheat 21 to the two sides, the unit weeding width S is determined, L multiplied by S is the weeding range, and the row spacing is the distance between adjacent wheat. A column pitch of 1.5 times is preferred in the present invention. In the wheat field 2, the arrow portion shows the movement direction of the weeding vehicle 1. The lower dashed box is the current unit weeding zone 3, and the upper dashed box is the next unit weeding zone 4.
As shown in fig. 3, a schematic view of the construction of the weeding mechanism according to the present invention is shown. The weeding mechanism of the invention comprises: the device comprises a plurality of linear guide rails 5 connected with the bottom of a vehicle frame 11, a movable mechanical arm 6 arranged on each linear guide rail 5, and a fixed mechanical arm 7 fixedly connected with the bottom of the vehicle frame 11. The plurality of linear guide rails 5 are connected end to end, the movable mechanical arm 6 moves on the corresponding linear guide rail 5, and the fixed mechanical arm 7 is located at the center of the bottom of the frame 11. It should be noted that the linear guides 5 connected end to end form a loop structure, i.e. two squares with one large and one small. Therefore, in the present invention, it is preferable that L ═ S, and the loop structure and the unit herbicidal range 3 here form a scale-up relationship.
Determining a many-to-one mapping relation between the unit weeding range 3 and the positions of different linear guide rails 5 in the weeding mechanism; wherein many-to-one refers to all the weed root positions in the unit weeding range 3 corresponding to each linear guide 5.
As shown in fig. 4, a schematic perspective view of the robot 8 of the present invention is shown. The free ends of the supporting arm 12, the movable mechanical arm 6 and the fixed mechanical arm 7 are all provided with a mechanical arm 8, the mechanical arm 8 comprises a protective layer and a movable layer, and the movable layer comprises finger joints and a palm of the mechanical arm 8.
In order to improve the operability, flexibility and quick response capability of the manipulator 8 in the invention, the manipulator 8 is based on a bionic hand technology, so that the manipulator 8 can carry out complicated weeding work like a human hand. The manipulator 8 has six active degrees of freedom, the thumb has an additional degree of freedom for realizing the back-holding action of the manipulator 8, the finger joint in each manipulator 8 is designed into a fiber-reinforced elastic tubular structure, and the middle part of each manipulator 8 is connected with a plurality of flexible joints for simulating the joint structure of a human body. The mechanical palm is provided with a driving device and a control board, the driving device is in communication connection with the control board, and the driving device controls and commands the movement of the claw joint and the mechanical palm based on the driving of the control board. The driving device may be a motor driving structure, a hydraulic driving structure, or a pneumatic driving structure, which is not limited in the present invention. The control board is understood as the brain of the manipulator 8, and like the driving device, sends a driving control instruction and receives state information fed back by the driving device, so that closed-loop control of the driving device is realized. In the present invention, the driving method is preferably applied, and the weight of the robot 8 is reduced. The elastic tubular structure can be bent to a target angle under the drive of different air pressures, so that various flexible claw holding postures are realized.
The protective layer of the invention is of a web-shaped structure 9. The webbed structure 9 is designed by imitating the structure of a duck foot, and the webbed structure 9 is formed between adjacent fingers. The protective layer may be a silicone material. The protective layer coats the finger joint and the palm of the manipulator 8 in the protective layer, so that the service life of the movable layer is prolonged. The design of the web 9 increases the grounding action area of the manipulator 8 and the wheat field, and improves the stability of the weeding vehicle 1; the design of the web 9 can further improve the sealing performance of fixed-point sealing and realize fixed-point weeding.
The surface of the protective layer is provided with friction bulges which are generated when the mould is formed. The friction bulge on the protective layer can increase anchoring force and buffering power and is matched with the action of finger joints, so that the friction on the roots of weeds is improved, and the effect of grinding the roots of the weeds is realized.
The weed detection device comprises a plurality of cameras and a processor, wherein the cameras are used for taking key frame images of weeds at the bottom of wheat in a wheat field, and the processor performs graying, threshold segmentation and filtering processing on the obtained weed image information and determines the attributes and positions of the weeds. The target characteristic information comprises: weed contour, color, size, shape, and texture.
The weed detection device mainly aims to determine the weed species and the maturity so as to determine the predicted rooting depth, further control the fixed-point closed high-pressure spraying time, realize the loosening of roots in different degrees and peel off the soil and the roots.
The camera here is connected to the front lip of the frame 11 by an S-shaped bar comprising an S-shaped connecting section and a telescopic section, the length of the S-shaped connecting section being smaller than the length of the telescopic section. When the weeding vehicle 1 weeds in a linear state, the telescopic section is always in an extended state, and a plurality of cameras positioned on the telescopic section shoot weeds at the bottom of wheat; when the weeding vehicle 1 is in a turning state, the telescopic section is in a contracted state, so that the wheat is prevented from being stirred by the telescopic section to cause the wheat to incline. And the telescopic section in the invention can be provided with a plurality of parallel telescopic sections. The telescopic section of the present invention belongs to the prior art, and those skilled in the art can reasonably set the structure or the driving program according to the aforementioned functions, which are not described in detail herein.
After the weeds are positioned at the position of the weeds by the weed detection device, the movable mechanical arm 6 on a certain linear guide rail 5 is distributed to move along the weeds according to the mapping relation, and the mechanical arm 8 is moved to the root position of the weeds in cooperation with the action of the mechanical arm 8. When a certain linear guide rail 5 is met and corresponds to a plurality of weeds in a wheat field area, the weeds are removed in sequence according to the principle of first left and then right and first up and down.
Compared with the unmanned aerial vehicle detection in the prior art, the weed detection device is suitable for wheat with various maturity degrees, has a larger visual field range, and improves the precision of weed positioning. In addition, the design can be suitable for long-time weed detection delay, and when a weeding mechanism weeds in the current weeding range, the weed detection area detects weeds in the next weeding range, so that the weeding positioning efficiency and the weeding efficiency are improved.
According to the data of the weed detection device, a manipulator 8 moves a mechanical arm 6 and a manipulator 8 fixes a mechanical arm 7 to seal, hold and pull out the roots of weeds at fixed points; the fixed point sealing means that: the finger joint bends towards the palm of the manipulator 8 to present an arch structure, and fixed point closure is formed at the finger joint, the palm of the manipulator 8 and the bottom of the wheat field; the central position of the fixed point closure is consistent with the root position of the weeds. The formation of fixed-point closure ensures that when the needle bar loosens the roots of the weeds, the influence of the airflow on the growth of the surrounding wheat is reduced as much as possible, and the purpose of fixed-point weed removal is realized.
The free end of the claw joint of the manipulator 8 points to the row arrangement direction of the wheat, namely the direction of the manipulator 8 inclining the weeds is consistent with the row arrangement direction of the wheat, and the contact between the weeds and the wheat is reduced as much as possible in the process of inclining the weeds.
The centers of the mechanical arms 8 of the movable mechanical arm 6 and the fixed mechanical arm 7 are provided with impact assemblies which are a plurality of flexible pipes connected with a protective layer. The root of each movable mechanical arm 6 or each fixed mechanical arm 7 is provided with an air injection device, and the flexible pipe is fixedly connected with the movable mechanical arm 6 or the fixed mechanical arm 7. One end of the flexible pipe is provided with an air outlet head which penetrates through the web 9-shaped structure, and the web 9 between each finger of the manipulator 8 corresponds to the air outlet head of the flexible pipe. The air injection device and the flexible pipe are utilized, so that the air outlet head injects low-pressure air flow and continuous high-pressure air flow to the fixed-point closed area.
The flexible pipe is a pipe fitting which is made of polymer composite materials, has certain high strength, high pressure and good flexibility, and is formed by compounding polyethylene resin, reinforced fiber yarns and reinforced steel wire ropes.
The plurality of air outlet heads point to the palm of the manipulator 8, so that high-pressure air sprayed by the air outlet heads impacts the circumference of the root of weeds, and the subsequent weeding operation is facilitated.
According to the invention, the action of low-pressure airflow and continuous high-pressure airflow is different, wherein when the low-pressure airflow is formed in a fixed-point closed area, impurities blocked on the surface of the air outlet head are flushed out through the low-pressure airflow; the continuous high pressure air stream is placed behind the low pressure air stream for circumferential high pressure impingement on the weed roots. For some smaller weed roots, high pressure can directly damage and kill the weed.
In addition, when the weeding vehicle 1 is subjected to heavy wind and rain, the bending degree of the supporting arm 12 is controlled, so that the frame 11 is placed at the bottom of the wheat, and the wind and rain resistance of the weeding vehicle 1 is improved by using the wheat.
Based on the structure of the weeding vehicle 1, as shown in fig. 5, the invention provides a wheat weeding method, which comprises the following steps:
s1, the weeding vehicle 1 moves along the row arrangement direction of the wheat by adjusting the posture of the supporting arm 12, and turns to the two adjacent rows of wheat at the terminal point of the wheat field;
s2, acquiring image information of weeds in the advancing direction through a weed detection device at the front part of the frame 11, distinguishing attributes of the weeds, and determining the root positions of the weeds;
s3, after the weeding vehicle 1 stops moving, a unit weeding range 3 is formed, the weeding mechanisms and the unit weeding range 3 form a mapping relation, the closest weeding mechanism is determined to be positioned to the root of the weed, and the closed fixed-point high-pressure impact, pulling-out and root grinding operations are sequentially carried out on the root of the weed.
Wherein, the fixed point high pressure impact operation in S3 aims at some weeds with riper and deeper root pricked into soil, and the enclosed space of the manipulator 8 and the airflow action of the flexible pipe are specifically utilized to reduce the bonding of the soil and the root of the weeds, thereby facilitating the subsequent pulling operation.
The pulling operation is specific to weeds which are punctured into soil shallowly through high-pressure impact or roots, and the processes of back holding and upward pulling of the manipulator 8 are realized by combining the manipulator 8 and the movable manipulator 6 or the fixed manipulator 7 of the bionic technology.
The root grinding operation aims at weeds subjected to high-pressure impact, and the weeds are further damaged after being pulled out through the rubbing action between fingers of the manipulator 8 and the friction protrusion.
The invention utilizes the weeding vehicle 1 to walk in the wheat field for weeding, and adjusts the gravity center of the weeding vehicle 1 through the supporting arm 12, thereby solving the problem that the posture of the weeding vehicle 1 can not be adjusted in the prior art. The invention solves the problems that the weeds are difficult to position and the time delay of the operation of positioning and weeding the weeds in the prior art by arranging the frame 11 above the wheat on two sides and arranging the weed detection device on the front lip of the frame 11. The cooperation of the structure of the 8 webs 9 of the manipulator and the flexible pipe is utilized to loosen the soil at the roots of the weeds, and the problem that the weeds with deep roots are difficult to pull out is solved. The support arms 12 on the two sides of the frame 11 span two rows of wheat, so that the wheat close planting arrangement in a wheat field is adapted, and the problem that the wheat is easily crushed or damaged in the wheat field in the prior art is solved.
While the preferred embodiments of the present invention have been described, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A high-efficiency weeding method for a wheat field comprises a weeding vehicle, wherein the weeding vehicle comprises: be located the frame of two wheat tops, set up the support arm of frame both sides sets up the weeding mechanism of frame bottom, and set up the anterior weeds detection device of frame, its characterized in that includes following steps:
s1, the weeding vehicles move along the row arrangement direction of the wheat by adjusting the postures of the supporting arms, and turn to the two adjacent rows of wheat at the terminal point of the wheat field;
s2, acquiring image information of weeds in the advancing direction through a weed detection device at the front part of the frame, distinguishing the attributes of the weeds, and determining the root positions of the weeds;
and S3, after the weeding vehicle stops moving, forming a unit weeding range, forming a mapping relation between the weeding mechanisms and the unit weeding range, determining that the closest weeding mechanism is positioned to the root of the weed, and sequentially carrying out closed fixed-point high-pressure impact, plucking and root grinding operations on the root of the weed.
2. The efficient weeding method for the wheat field according to claim 1, wherein: in S1, the method for adjusting the posture of the support arm includes: the center of gravity is changed by adjusting the bending degree and the bending sequence of each supporting arm, so that the weeding vehicles move or turn towards the row arrangement direction.
3. The efficient weeding method for the wheat field as claimed in claim 2, wherein: the supporting arm is of a multi-joint structure, and the supporting arm can be bent to different degrees through the rotary joint.
4. The efficient weeding method for the wheat field according to claim 1, wherein: in S3, in S3, the unit herbicidal range is: the unit weeding length L determined by the distance between the front parts of the frame when the former movement stops and the latter movement stops is expanded to the row spacing of 1-2 times from the central line of two rows of wheat to two sides, the unit weeding width S is determined, L multiplied by S is the weeding range, and the row spacing is the distance between the adjacent wheat.
5. The efficient weeding method for the wheat field according to claim 1, wherein: the weeding mechanism includes: the linear guide rails are connected with the bottom of the frame, the moving mechanical arms are arranged on each linear guide rail, and the fixed mechanical arms are fixedly connected with the bottom of the frame; the plurality of linear guide rails are connected end to end, the movable mechanical arm moves on the linear guide rails correspondingly, and the fixed mechanical arm is located at the center of the bottom of the frame.
6. The efficient weeding method for the wheat field according to claim 5, wherein: determining a many-to-one mapping relation between a unit weeding range and the positions of different linear guide rails in the weeding mechanism; wherein, many-to-one refers to all the weed root positions in the weeding range of the unit corresponding to each linear guide rail.
7. The efficient weeding method for the wheat field according to claim 5, wherein: the free ends of the supporting arm, the movable mechanical arm and the fixed mechanical arm are all provided with a mechanical arm, the mechanical arm comprises a protective layer and a movable layer, the movable layer comprises a finger joint and a mechanical palm, and the movable layer is based on a bionic hand technology; the protective layer is of a webbed structure, and friction bulges are arranged on the surface of the protective layer.
8. The efficient weeding method for the wheat field according to claim 7, wherein: the mechanical arms of the movable mechanical arm and the fixed mechanical arm seal, hold and pull out the roots of the weeds at fixed points; the fixed point sealing refers to: the finger joints are bent towards the mechanical palm, an arch structure is formed, and fixed point closure is formed at the finger joints, the mechanical palm and the bottom of the wheat field; the central position of the fixed point seal is consistent with the root position of the weeds.
9. The efficient weeding method for the wheat field according to claim 7, wherein: the movable mechanical arm and the fixed mechanical arm are provided with an impact assembly at the center, the impact assembly is a plurality of flexible pipes connected with a protective layer, the flexible pipes are fixedly connected with the movable mechanical arm or the fixed mechanical arm, one end of each flexible pipe is provided with an air outlet head, the air outlet heads penetrate through the web-shaped structures, and the air outlet heads are sealed to spray low-pressure air flow and continuous high-pressure air flow at fixed points.
10. The efficient weeding method for the wheat field according to claim 1, wherein: the surface of the frame is provided with a streamline design.
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| CN115316372A (en) * | 2022-09-02 | 2022-11-11 | 中国农业大学 | Rice mechanical weeding method and weeding device based on high-speed gas jet |
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