CN204707823U - A kind of travelling car of intelligent weeder - Google Patents
A kind of travelling car of intelligent weeder Download PDFInfo
- Publication number
- CN204707823U CN204707823U CN201520241343.7U CN201520241343U CN204707823U CN 204707823 U CN204707823 U CN 204707823U CN 201520241343 U CN201520241343 U CN 201520241343U CN 204707823 U CN204707823 U CN 204707823U
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- China
- Prior art keywords
- travelling car
- video camera
- cross arm
- weeds
- fixed station
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- 241000196324 Embryophyta Species 0.000 claims abstract description 74
- 238000009333 weeding Methods 0.000 claims abstract description 24
- 239000003814 drug Substances 0.000 claims abstract description 12
- 229940079593 drug Drugs 0.000 claims abstract description 12
- 239000000725 suspension Substances 0.000 claims abstract description 8
- 230000008054 signal transmission Effects 0.000 claims description 3
- 239000003905 agrochemical Substances 0.000 abstract description 7
- 239000000575 pesticide Substances 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 244000038559 crop plants Species 0.000 description 6
- 230000003028 elevating effect Effects 0.000 description 5
- 239000002360 explosive Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000002363 herbicidal effect Effects 0.000 description 3
- 239000004009 herbicide Substances 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 241000209149 Zea Species 0.000 description 2
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 2
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 2
- 235000005822 corn Nutrition 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 231100000572 poisoning Toxicity 0.000 description 2
- 230000000607 poisoning effect Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000001314 paroxysmal effect Effects 0.000 description 1
- 239000000447 pesticide residue Substances 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- YZHUMGUJCQRKBT-UHFFFAOYSA-M sodium chlorate Chemical compound [Na+].[O-]Cl(=O)=O YZHUMGUJCQRKBT-UHFFFAOYSA-M 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Landscapes
- Soil Working Implements (AREA)
- Catching Or Destruction (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The utility model provides a kind of travelling car of intelligent weeder, belongs to field of mechanical technique.It solve the weeding of existing employing agricultural chemicals and cause the technical problems such as pesticide pollution.The front end of the travelling car of this intelligent weeder is provided with mechanical weeding device, travelling car rear end is provided with device for administration of drugs, travelling car comprises fixed station and four runners, four runners are all connected on the following table of fixed station by double cross arm independent suspension, double cross arm independent suspension comprises Top Crossbeam and lower cross arm, and Top Crossbeam is hinged on the following table of fixed station, and runner is rotatably connected on lower cross arm, be hinged between Top Crossbeam and lower cross arm, between Top Crossbeam and lower cross arm, damper be housed.The utility model has accurately can remove weeds and the advantage using pesticide-poor.
Description
Technical field
The utility model belongs to field of mechanical technique, relates to a kind of intelligent weeder, particularly a kind of travelling car of intelligent weeder.
Background technology
Farmland weed affects the growth of crops, if effectively do not controlled, will have a strong impact on the yield and quality of crops.Weeds and crops fight for moisture, nutrient, illumination and space, not only reduce the seed output and quality of crops, but also have indirectly encouraged growing and spreading of damage by disease and insect.
At present, herbicidal methods has artificial weeding, weeding by machine, biological insect control and chemical weed control etc.Artificial weeding labour intensity is large, takes time and effort, and weeding ratio is low, and oneself is through being not suitable with the development of modern agriculture.Chemical weed control is relatively time saving and energy saving, and weeding ratio is higher, for paroxysmal crop smothering successful, is at home and abroad widely used.If but the improper use of chemical weed control weed killer herbicide, not only can bring poisoning, and can cause that Practice for Pesticide Residue in Agricultural Products amount exceeds standard, even personnel are poisoning in environmental pollution.China adopts manual sprayer or engine-driven atomiser dispenser usually, and has boom sprayer, granular pesticide spraying apparatus etc. in U.S.'s application equipment.The shortcoming of these methods does not have recognizability to ground weed targets, no matter namely weeds are how many even with or without weeds, and spraying herbicide equably all earthward, thus cause pesticide pollution.
Summary of the invention
The purpose of this utility model there are the problems referred to above for existing technology, proposes a kind of travelling car of intelligent weeder, and the technical problem that the utility model solves is the use of how accurately to remove weeds and reducing agricultural chemicals.
The purpose of this utility model realizes by following technical proposal:
A kind of travelling car of intelligent weeder, comprise and there is travelling car, be arranged on the mechanical weeding device of travelling car front end and be arranged on the device for administration of drugs of travelling car rear end, the front end of described travelling car is provided with mechanical weeding device, travelling car rear end is provided with device for administration of drugs, described travelling car comprises fixed station and four runners, described four runners are all connected on the following table of fixed station by double cross arm independent suspension, double cross arm independent suspension comprises Top Crossbeam and lower cross arm, Top Crossbeam is hinged on the following table of fixed station, runner is rotatably connected on lower cross arm, be hinged between Top Crossbeam and lower cross arm, between Top Crossbeam and lower cross arm, damper is housed.This structure can keep the steady of travelling car.
The cross section of described fixed station is in square, and described four runners are separately positioned on four edges of fixed station.
The upper table surface of described fixed station is fixed with weed identification video camera, self-navigation video camera and controller, weeds in described weed identification shooting function identification travelling car direction of advance, described self-navigation video camera is connected with gps receiver, self-navigation shooting function is according to the position of the signal determination travelling car of gps receiver, weed identification video camera is connected with controller respectively with self-navigation video camera, weed identification video camera and self-navigation video camera divide Signal transmissions to controller, controller can calculate the position of weeds and the distance with travelling car according to the signal accepted, controller is connected with mechanical weeding device and device for administration of drugs respectively, after mechanical weeding device on travelling car moves to weeds position, controller sends signal weeds is excised by mechanical weeding device, again by device for administration of drugs in the dispenser of weeds position.
Weed identification video camera comprises left camera and right camera, it is the elevation information obtaining weeds in crop plant and row based on binocular vision, by color characteristic identification ground blue target (crop and weeds) to reduce image Stereo matching operand, from horizontal pixel histogram-fitting curve, identify crop plant according to crop plant spatial distribution characteristic again, and then identify weeds in trip.Identify crop for weeds in row by identifying that weeds change into, in weeds and the simultaneous crop row of crop, the blue target outside crop is exactly weeds, thus make the application of intelligent weeder become possibility, be conducive to the availability improving human resources, reduce pesticide dosage, preserve the ecological environment; Accurately can locate the position of weeds according to self-navigation video camera and gps receiver after accurate identification weeds, and by mechanical weeding device targeted elimination weeds, then in the accurate dispenser in weeds place, greatly reduce the use of agricultural chemicals.
Described self-navigation video camera is connected along fixed station fore-and-aft direction arranged in a straight line with gps receiver.Make weed identification video camera, self-navigation video camera keep when travelling car is advanced image stabilization clear, ensure weed identification rate.
Compared with prior art, the utility model has and accurately can remove weeds and use the advantage of pesticide-poor.
Accompanying drawing explanation
Fig. 1 is the perspective view of the travelling car intelligence weeder of a kind of intelligent weeder of the utility model;
Fig. 2 is the structural representation of the utility model mechanical weeding device;
Fig. 3 is the concrete technology path schematic diagram of weeds in the utility model weed identification video camera identification corn field;
In figure: 1, fixed station 11, runner 2, weed identification video camera 3, self-navigation video camera
31, gps receiver 4, controller 5, slide rail 51, sliding panel 52, fixed head 53, transverse cylinder 6, Cutter apron 61, lift cylinder 62, elevating lever 63, fixed cover 7, explosive barrel 71, shower nozzle 72, magnetic valve.
Embodiment
Be below specific embodiment of the utility model and by reference to the accompanying drawings, the technical solution of the utility model is further described, but the utility model be not limited to these embodiments.
As depicted in figs. 1 and 2, a kind of travelling car of intelligent weeder, comprise and there is travelling car, be arranged on the mechanical weeding device of travelling car front end and be arranged on the device for administration of drugs of travelling car rear end, this travelling car comprises fixed station 1 and four runners 11, the cross section of fixed station 1 is in square, four runners 11 are separately positioned on four edges of fixed station 1, four runners 11 are all connected to by double cross arm independent suspension on the following table of fixed station 1, double cross arm independent suspension comprises Top Crossbeam and lower cross arm, Top Crossbeam is hinged on the following table of fixed station 1, runner 11 is rotatably connected on lower cross arm, be hinged between Top Crossbeam and lower cross arm, between Top Crossbeam and lower cross arm, damper is housed.This structure can keep the steady of travelling car, makes weed identification video camera 2, self-navigation video camera 3 keep image stabilization clear when travelling car is advanced, and ensures weed identification rate.
The upper table surface of fixed station 1 is fixed with weed identification video camera 2, self-navigation video camera 3 and controller 4, self-navigation video camera 3 is connected along fixed station 1 fore-and-aft direction arranged in a straight line with gps receiver 31, weed identification video camera 2 can identify the weeds in travelling car direction of advance, self-navigation video camera 3 is connected with gps receiver 31, self-navigation video camera 3 can according to the position of the signal determination travelling car of gps receiver 31, weed identification video camera 2 is connected with controller 4 respectively with self-navigation video camera 3, weed identification video camera 2 and 3 points, self-navigation video camera by Signal transmissions to controller 4, controller 4 can calculate the position of weeds and the distance with travelling car according to the signal accepted, controller 4 is with mechanical weeding device and device for administration of drugs are connected respectively, after mechanical weeding device on travelling car moves to weeds position, controller 4 sends signal weeds is excised by mechanical weeding device, again by device for administration of drugs in the dispenser of weeds position.
Mechanical weeding device comprises slide rail 5, two pieces of sliding panels 51, two pieces of fixed heads 52 and two panels chaffcutter blade, slide rail 5 is fixed on the following table of fixed station 1 front end, slide rail 5 horizontally set, two pieces of sliding panels 51 are slidably connected on slide rail 5, two pieces of sliding panels 51 are set up in parallel along the length direction of slide rail 5, sliding panel 51 is vertically arranged, sliding panel 51 is provided with the Cutter apron 6 fixing chaffcutter blade, the following table that two pieces of fixed heads 52 are fixed on fixed station 1 lays respectively at the two ends of slide rail 5, two pieces of fixed heads 52 are all fixed with transverse cylinder 53, the piston rod end of the transverse cylinder 53 on two pieces of fixed heads 52 is fixed with close sliding panel 51 respectively.Promote sliding panel 51 by transverse cylinder 53, make two pieces of sliding panels 51 close to each other, two panels chaffcutter knife cut between weeds weeds are cut off.
Cutter apron 6 comprises lift cylinder 61, elevating lever 62 and fixed cover 63, lift cylinder 61 is fixed on the upper end of sliding panel 51, fixed cover 63 is fixed on the lower end of sliding panel 51, elevating lever 62 also can slide up and down along fixed cover 63 through fixed cover 63, the piston rod of lift cylinder 61 and the upper end of elevating lever 62 are fixed, and the lower end of elevating lever 62 can be fixed with chaffcutter blade.This structure can be elevated chaffcutter blade, makes chaffcutter blade can shear weeds lower end, reduces the use of agricultural chemicals.
Device for administration of drugs comprises explosive barrel 7 and shower nozzle 71, is connected between explosive barrel 7 and shower nozzle 71 by pipeline, is also provided with magnetic valve 72 between pipeline and explosive barrel 7, and magnetic valve 72 is connected with controller 4.Explosive barrel 7, built with agricultural chemicals, accurately can control opening or closing of shower nozzle 71 by magnetic valve 72, and agricultural chemicals is directly sprayed on the weeds root after shearing by shower nozzle 71, thoroughly kills weeds.
Weed identification video camera 2 comprises left video camera and right video camera, it is the elevation information obtaining weeds in crop plant and row based on binocular vision, by color characteristic identification ground blue target (crop and weeds) to reduce image Stereo matching operand, from horizontal pixel histogram-fitting curve, crop plant is identified again according to crop plant spatial distribution characteristic, and then identify weeds in trip, as shown in Figure 3, what illustrate in Fig. 3 is the route identified the weeds on corn field to concrete technology path.Identify crop for weeds in row by identifying that weeds change into, in weeds and the simultaneous crop row of crop, the blue target outside crop is exactly weeds, thus make the application of intelligent weeder become possibility, be conducive to the availability improving human resources, reduce pesticide dosage, preserve the ecological environment; Accurately can locate the position of weeds according to self-navigation video camera 3 and gps receiver 31 after accurate identification weeds, and by mechanical weeding device targeted elimination weeds, then in the accurate dispenser in weeds place, greatly reduce the use of agricultural chemicals.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various amendment or supplements or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present utility model or surmount the scope that appended claims defines.
Claims (4)
1. the travelling car of an intelligent weeder, the front end of travelling car is provided with mechanical weeding device, travelling car rear end is provided with device for administration of drugs, it is characterized in that: described travelling car comprises fixed station and four runners, described four runners are all connected on the following table of fixed station by double cross arm independent suspension, double cross arm independent suspension comprises Top Crossbeam and lower cross arm, Top Crossbeam is hinged on the following table of fixed station, runner is rotatably connected on lower cross arm, be hinged between Top Crossbeam and lower cross arm, between Top Crossbeam and lower cross arm, damper be housed.
2. the travelling car of a kind of intelligent weeder according to claim 1, is characterized in that: the cross section of described fixed station is in square, and described four runners are separately positioned on four edges of fixed station.
3. the travelling car of a kind of intelligent weeder according to claim 1, it is characterized in that: the upper table surface of described fixed station is fixed with weed identification video camera, self-navigation video camera and controller, weeds in described weed identification shooting function identification travelling car direction of advance, described self-navigation video camera is connected with gps receiver, self-navigation shooting function is according to the position of the signal determination travelling car of gps receiver, weed identification video camera is connected with controller respectively with self-navigation video camera, weed identification video camera and self-navigation video camera divide Signal transmissions to controller, controller can calculate the position of weeds and the distance with travelling car according to the signal accepted, controller is connected with mechanical weeding device and device for administration of drugs respectively, after mechanical weeding device on travelling car moves to weeds position, controller sends signal weeds is excised by mechanical weeding device, again by device for administration of drugs in the dispenser of weeds position.
4. the travelling car of a kind of intelligent weeder according to claim 3, is characterized in that: described self-navigation video camera is connected along fixed station fore-and-aft direction arranged in a straight line with gps receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520241343.7U CN204707823U (en) | 2015-04-21 | 2015-04-21 | A kind of travelling car of intelligent weeder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520241343.7U CN204707823U (en) | 2015-04-21 | 2015-04-21 | A kind of travelling car of intelligent weeder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204707823U true CN204707823U (en) | 2015-10-21 |
Family
ID=54306865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520241343.7U Expired - Fee Related CN204707823U (en) | 2015-04-21 | 2015-04-21 | A kind of travelling car of intelligent weeder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204707823U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017215624A1 (en) * | 2016-06-16 | 2017-12-21 | 苏州科瓴精密机械科技有限公司 | Robot |
| CN108902090A (en) * | 2018-05-30 | 2018-11-30 | 河北农业大学 | Automatic field management car traveles |
| CN109673602A (en) * | 2019-01-09 | 2019-04-26 | 湖南农业大学 | A kind of laser deinsectization device and method based on machine vision |
-
2015
- 2015-04-21 CN CN201520241343.7U patent/CN204707823U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017215624A1 (en) * | 2016-06-16 | 2017-12-21 | 苏州科瓴精密机械科技有限公司 | Robot |
| CN108902090A (en) * | 2018-05-30 | 2018-11-30 | 河北农业大学 | Automatic field management car traveles |
| CN109673602A (en) * | 2019-01-09 | 2019-04-26 | 湖南农业大学 | A kind of laser deinsectization device and method based on machine vision |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151021 Termination date: 20160421 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |