CN209824341U - Intelligent weeding and seedling thinning machine in small arched shed - Google Patents
Intelligent weeding and seedling thinning machine in small arched shed Download PDFInfo
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- CN209824341U CN209824341U CN201920529670.0U CN201920529670U CN209824341U CN 209824341 U CN209824341 U CN 209824341U CN 201920529670 U CN201920529670 U CN 201920529670U CN 209824341 U CN209824341 U CN 209824341U
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Abstract
The utility model relates to an inside intelligence weeding of little hunch canopy dredges seedling machine, including installing running gear's moving platform, and install total controller and the mechanical arm device on moving platform, the expansion end of mechanical arm device is installed and is removed sparse motor, distance sensor and high definition digtal camera, and the output shaft rigid coupling that removes sparse motor has the screw drill bit. The utility model discloses a running gear drives equipment and removes in little hunch canopy, realize from walking the operation, can carry out moving platform's altitude mixture control through two segmentation support arms, satisfy the little hunch canopy of difference and use, use through distance sensor and high definition digtal camera's cooperation, realized target seedling and ruderal accurate location, utilize to remove to dredge the motor and drive the high-speed multi-target seedling that rotates of screw drill and weeds and reject, reduced the damage to the seedling, labor intensity is reduced, the automation and the intelligent level of weeding and dredging the seedling have been improved.
Description
Technical Field
The utility model relates to an agricultural equipment field especially involves hunch interior weeding device field of canopy, specifically indicates a little inside intelligent weeding thinning machine of hunch canopy.
Background
The greenhouse utilized in vegetable production in China originated from 30 th century. The Mr. Wu Zucuren, a Dian-Jiu, a Chinese gardening subject, sets a wood frame glass covered hotbed in Hangzhou bridge gardening yards, initiates a summer vegetable glass hotbed seedling raising technology, and later changes the wood frame into a soil wall. In the later period of 50 years, the original Hangzhou vegetable test field of Hangzhou vegetable research institute adopts a glass greenhouse to cultivate tomatoes and hot peppers. In the 60 s, plastic films were introduced from japan, and small plastic films were used for cultivation of vegetables in small archways. In the later 60 s and the early 70 s, plastic middle and small sheds are popularized everywhere, and mainly used for raising seedlings and early-maturing cultivation of vegetables in winter and spring.
Since the 80 s of the last century, the arched greenhouse industry in China is rapidly developing, and most of the greenhouses which are built and used in China have the area exceeding 17 million hectares are plastic arched sheds and sunlight greenhouse facilities. The built common small arched shed is removed, and the small arched shed is nested in the plastic greenhouse more commonly.
The small arch shed is different from the large arch shed in the following aspects: the small arched shed has no condition for allowing manual work to enter the inside of the small arched shed for field management, but weeding in the vegetable seedling period is very important, the density of vegetables is an important factor influencing the yield and the quality of the vegetables, manual weeding and seedling thinning in the traditional mode are time-consuming, labor-consuming and labor-consuming, the labor intensity is high, and the traditional manual weeding and seedling thinning are large in damage to the vegetable seedlings.
Disclosure of Invention
The utility model discloses to prior art's not enough, provide a little inside intelligent weeding of hunch canopy and drench seedling machine, can enter into little hunch canopy inside and weed and dredge the seedling operation, can the automatic identification appear weeds and the seedling that need reject, greatly reduced intensity of labour, improved labor efficiency.
The utility model discloses a through following technical scheme realizes, provide a seedling machine is dredged in inside intelligence weeding of little hunch canopy, including installing running gear's moving platform, and install total controller and the mechanical arm device on moving platform, the expansion end of mechanical arm device is installed and is removed sparse motor, distance sensor and high definition digtal camera, and the output shaft rigid coupling that removes sparse motor has the screw drill bit, distance sensor, high definition digtal camera, mechanical arm device and running gear all with total controller electric connection.
When the scheme is used, the moving platform is driven to move in the small arched shed through the traveling device to realize self-walking, the distance between vegetable seedlings is measured through the distance sensor, the measured distance is transmitted to the master controller, the master controller compares the received measured distance with the set distance, if the measured distance is smaller than the set distance, the master controller controls the mechanical arm device to act, the dredging and removing motor is moved to plants which do not meet the distance requirement, and the dredging and removing motor drives the threaded drill to rotate so as to remove the plants which do not meet the distance requirement; meanwhile, the captured pictures are transmitted to a master controller by the high-definition camera, the master controller distinguishes crops and weeds and sends GPS information to a controller of the mechanical arm device, the mechanical arm device moves the dredging and removing motor to the position right above the weeds to be removed or crop seedlings, and the dredging and removing motor drives the threaded drill to rotate at a high speed to remove the target crops or weeds; high definition digtal camera and distance sensor's cooperation is used, has realized accurate location, reaches point-to-point weeding and dredges the purpose of seedling.
As optimization, the mechanical arm device comprises a mechanical arm base fixedly connected to the bottom surface of the mobile platform and a delta mechanical arm arranged on the mechanical arm base, the front end of the delta mechanical arm is provided with the dredging motor, the distance sensor and the high-definition camera, and the distance sensor and the high-definition camera are respectively positioned on two sides of the dredging motor. The optimization scheme adopts the delta mechanical arm with three degrees of freedom in parallel connection, has higher flexibility, high working speed and stable performance, completely meets the requirements of weeding and thinning, can adopt a high-torque direct-current motor for ensuring the weeding and thinning effect, and is convenient to connect with a solar cell panel; set up distance sensor and high definition digtal camera respectively in removing the both sides of dredging the motor, easy to assemble takes place the interact when avoiding installing.
As optimization, a solar cell panel and a lithium battery pack electrically connected with the solar cell panel are installed on the mobile platform. This optimization scheme generates electricity through solar cell panel, dredges the seedling machine through illumination for whole intelligence weeding during daytime and provides electric power to working at night for the seedling machine is dredged in intelligence weeding with lithium cell group with unnecessary electric power storage, and whole intelligence weeding is dredged seedling machine environmental protection, green, pollution-free, the energy can be saved.
Preferably, the walking device comprises at least four driving motors which are respectively connected with the mobile platform through supporting arms, and output shafts of the driving motors are connected with driving wheels. According to the walking device in the optimized scheme, each driving wheel is connected with the driving motor, sufficient power is guaranteed, independent control is conveniently carried out on each driving wheel, the requirement for turning or turning is met, and flexibility is improved.
Preferably, the vertical projection of the mobile platform is positioned inside the rectangle formed by the driving wheels. The driving wheel is arranged on the outer side of the vertical projection of the mobile platform, so that the supporting area is increased, and the stability of the whole machine is improved.
Preferably, the supporting arm comprises an upper arm hinged with the mobile platform, a lower arm hinged with the upper arm, and a hydraulic rod with two ends hinged with the upper arm and the lower arm respectively. This optimization scheme adopts the support arm of two segmentations to provide the holding power through the hydraulic stem, make intelligence weeding thinning machine can freely height-adjusting, satisfy the size height of different hunch sheds, and be favorable to improving the stability of system.
Preferably, the upper arm and the lower arm and the upper arm and the mobile platform are hinged through hinge shafts, and the hinge shafts are arranged along the moving direction of the mobile platform. The setting of this optimization scheme makes moving platform carry out height control along vertical, avoids taking place the swing, has improved moving platform altitude mixture control's agility and stability.
And as optimization, the front ends and the upper ends of the four corners of the mobile platform are respectively provided with an infrared obstacle avoidance sensor electrically connected with the master controller. The height of the arched shed is detected through the arranged infrared obstacle avoidance sensor, the height information is transmitted to the master controller, the master controller controls the controller of the hydraulic rod according to the received height information, and the controller of the hydraulic rod controls the hydraulic rod to move, so that the height of the mobile platform can enter the small arched shed.
The use method of the intelligent weeding and seedling thinning machine in the small arched shed comprises the following processes:
1. the solar panel receives sunlight to provide power for the whole intelligent weeding and thinning machine, and the rest power is stored in the lithium battery pack to provide power for the intelligent weeding and thinning machine to work at night;
2. the driving motor drives the moving platform to reach a working place, the infrared obstacle avoidance sensors at the upper ends and the front ends of four corners of the moving platform detect the height of the small arched shed, information is transmitted to the master controller, the master controller processes the information, then the hydraulic controller is driven to work, and the hydraulic controller drives the hydraulic rod to act, so that the height of the whole moving platform can enter the small arched shed;
3. after the moving platform enters the small arched shed, the distance sensors measure the distance between the vegetable seedlings from one side of the vegetable ridge, the measured distance between the vegetable seedlings is compared with a set distance, if the measured distance is larger than the set distance, no measures are taken, if the measured distance is smaller than the set distance, the vegetable thinning motor drives the thread drill bit to rotate at a high speed, the delta mechanical arm drives the vegetable thinning motor and the thread drill bit to move integrally, vegetable seedlings which do not meet the set distance are removed, and the purpose of thinning the vegetable seedlings is achieved; in the process of movement of the delta mechanical arm, a high-definition camera captures an image and sends the image to a master controller, the master controller identifies weeds and then determines the position of the weeds, the master controller controls the delta mechanical arm to move above the weeds, and a thread drill bit is driven to rotate through a thinning motor to remove the weeds;
4. and the mobile platform continues to advance, and the work is repeated.
The utility model has the advantages that: drive equipment through running gear and remove in little hunch canopy, realize from walking the operation, can carry out moving platform's altitude mixture control through two segmentation support arms, satisfy the little hunch canopy of difference and use, cooperation through distance sensor and high definition digtal camera is used, target seedling and ruderal accurate location have been realized, utilize to remove and dredge the motor and drive the high-speed multi-target seedling of rotating of screw drill and weeds and reject, the damage to the seedling has been reduced, labor intensity is reduced, the automation and the intelligent level of weeding and dredging the seedling have been improved.
Drawings
FIG. 1 is a schematic structural view of the intelligent weeding and thinning machine of the utility model;
fig. 2 is a bottom view of the intelligent weeding and seedling thinning machine of the utility model;
FIG. 3 is a side view of the intelligent weeding thinning machine of the present invention;
FIG. 4 is a partial enlarged view of the intelligent weeding and thinning machine of the present invention;
shown in the figure:
1. the driving wheel, 2, the hydraulic stem, 3, the support arm, 4, infrared obstacle avoidance sensor, 5, moving platform, 6, solar cell panel, 7, driving motor, 8, arm base, 9, delta arm, 10, distance sensor, 11, high definition digtal camera, 12, remove and dredge the motor, 13, the screw drill bit, 14, lithium cell group, 15, master switch, 16, master controller, 17, hydraulic control system.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
As shown in fig. 1, inside intelligent weeding and thinning machine of little hunch canopy, including the moving platform 5 who installs running gear, and install master switch 15 on moving platform 5, master controller 16 and mechanical arm device, master switch 15, master controller 16 and mechanical arm device all are located the moving platform below, the front end and the upper end in 5 four corners of moving platform are equipped with respectively and keep away barrier sensor 4 with master controller electric connection's infrared, the moving platform end is installed the supplementary device of walking straight, the supplementary device of walking straight mainly comprises the decoder.
The mechanical arm device comprises a mechanical arm base 8 fixedly connected to the bottom surface of the moving platform and a delta mechanical arm 9 installed on the mechanical arm base 8 and having three degrees of freedom in parallel, a dredging motor 12, a distance sensor 10 and a high-definition camera 11 are installed at the front end of the delta mechanical arm 9, the distance sensor and the high-definition camera are respectively located on two sides of the dredging motor, the dredging motor is a high-torque direct-current motor, a threaded drill bit 13 is fixedly connected to an output shaft of the high-torque direct-current motor, and the high-torque direct-current motor, the distance sensor 10, the high-definition camera 11, the mechanical arm device and the walking device are all electrically connected with a master controller.
Running gear includes four driving motor 7 that are connected with moving platform through support arm 3 respectively, driving motor 7's output shaft has drive wheel 1, and four drive wheels are the rectangle and distribute, and moving platform 5's vertical projection is located inside the rectangle that each drive wheel 1 formed. The driving motors are assembled at the tail ends of the four supporting arms, so that the intelligent weeding and seedling thinning machine can be supported to turn around in place by 360 degrees, and the intelligent weeding and seedling thinning machine can be supported to be converted into forward and backward movement.
The supporting arm 3 comprises an upper arm, a lower arm and a hydraulic rod, wherein the upper end of the upper arm is hinged to the moving platform, the lower arm is hinged to the lower end of the upper arm, the two ends of the hydraulic rod are respectively hinged to the upper arm and the lower arm, the hydraulic rod is connected with a hydraulic control system 17, and the hydraulic control system is electrically connected with the master controller. Provide the holding power through the hydraulic stem for intelligence weeding seedling thinning machine can freely adjust the height, satisfies the size height of different hunch sheds, has improved the stability of system. As an optimization scheme, the upper arm and the lower arm and the upper arm and the moving platform are hinged through hinge shafts, the hinge shafts are arranged along the moving direction of the moving platform, when the hydraulic rod extends out or retracts, the moving platform only moves vertically, and the swinging is avoided, so that the stability of the moving product platform is ensured.
The solar cell panel 6 is fixedly mounted on the mobile platform, and the lithium battery pack 14 is electrically connected with the solar cell panel 6, the solar cell panel is fixed on the upper surface of the mobile platform, and the lithium battery pack is fixed on the lower surface of the mobile platform. The solar cell panel receives the sunshine and shines and provides electric power for whole intelligent weeding seedling thinning machine to in the lithium cell group with surplus electric power storage, provide electric power for intelligent weeding seedling thinning machine night work.
The use method of the intelligent weeding and seedling thinning machine in the small arched shed comprises the following processes:
1. receive sunshine through solar cell panel and shine and provide electric power for whole intelligent weeding seedling thinning machine to in the lithium cell group with surplus electric power storage, provide electric power for intelligent weeding seedling thinning machine night work.
2. Arrive the workplace through driving motor drive moving platform, keep away the height that the barrier sensor detected little hunch canopy through the infrared of four corner upper ends of moving platform and front end to with information transmission to master controller, master controller carries out information processing, then drive hydraulic controller work, hydraulic controller drives the action of hydraulic pressure pole, make whole moving platform rise or descend suitable height, make inside whole moving platform's the height can get into little hunch canopy.
3. After the moving platform enters the small arched shed, the high-definition camera and the distance sensor at the front end of the delta mechanical arm start to work, the distance sensor starts to measure the distance between each vegetable seedling from one side of a vegetable ridge, the measured distance between the vegetable seedlings is compared with the set distance, if the measured distance is larger than the set distance, no measure is taken, if the measured distance is smaller than the set distance, the high-torque direct current motor drives the threaded drill to rotate at a high speed, the delta mechanical arm drives the high-torque direct current motor and the threaded drill to move integrally, vegetable seedlings which do not meet the set distance are removed, and the purpose of thinning the vegetable seedlings is achieved; in the process of movement of the delta mechanical arm, a high-definition camera captures an image and sends the image to a master controller, the master controller identifies weeds and determines the positions of the weeds through calculation, the master controller controls the delta mechanical arm to move above the weeds, and a high-torque direct-current motor drives a threaded drill to rotate to remove the weeds;
4. and the mobile platform continues to advance, and the work is repeated.
The utility model adopts the delta mechanical arm with higher flexibility, which can ensure the realization of all-directional traversal scanning and realize no dead angle weeding and seedling thinning; the weeding and seedling thinning device adopts a point-to-point design, adopts a high-torque direct current motor to provide power, is matched with a threaded drill bit, and is provided with a high-definition camera and a distance sensor, so that accurate positioning is realized, and the aim of point-to-point weeding and seedling thinning is fulfilled; the solar energy is utilized to provide energy, so that the whole intelligent weeding and seedling thinning machine is environment-friendly, green and pollution-free, and saves energy.
Of course, the above description is not limited to the above examples, and technical features of the present invention that are not described in the present application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only used for illustrating the technical solutions of the present invention and are not intended to limit the present invention, and the present invention has been described in detail with reference to the preferred embodiments, and those skilled in the art should understand that changes, modifications, additions or substitutions made by those skilled in the art within the spirit of the present invention should also belong to the protection scope of the claims of the present invention.
Claims (8)
1. The utility model provides an inside intelligent weeding of little hunch canopy machine of thinning out, its characterized in that: including installing running gear's moving platform (5), and install total controller (16) and the arm device on moving platform (5), the expansion end of arm device is installed and is removed sparse motor (12), distance sensor (10) and high definition digtal camera (11), and the output shaft rigid coupling that removes sparse motor has screw drill bit (13), distance sensor (10), high definition digtal camera (11), arm device and running gear all with total controller (16) electric connection.
2. The intelligent weeding and seedling thinning machine in small arched shed according to claim 1, characterized in that: the mechanical arm device comprises a mechanical arm base (8) fixedly connected to the bottom surface of the moving platform and a delta mechanical arm (9) installed on the mechanical arm base (8), the front end of the delta mechanical arm (9) is installed, the dredging motor, the distance sensor and the high-definition camera are arranged, and the distance sensor and the high-definition camera are respectively located on two sides of the dredging motor.
3. The intelligent weeding and seedling thinning machine in small arched shed according to claim 1, characterized in that: the mobile platform is provided with a solar cell panel (6) and a lithium battery pack (14) electrically connected with the solar cell panel (6).
4. The intelligent weeding and seedling thinning machine in small arched shed according to claim 1, characterized in that: the walking device comprises at least four driving motors (7) which are respectively connected with the mobile platform through supporting arms (3), and output shafts of the driving motors (7) are connected with driving wheels (1).
5. The intelligent weeding and seedling thinning machine in small arched shed according to claim 4, characterized in that: the vertical projection of the moving platform (5) is positioned in the rectangular inner part formed by the driving wheels (1).
6. The intelligent weeding and seedling thinning machine in small arched shed according to claim 4, characterized in that: the supporting arm (3) comprises an upper arm hinged with the mobile platform, a lower arm hinged with the upper arm, and a hydraulic rod (2) with two ends hinged with the upper arm and the lower arm respectively.
7. The intelligent weeding and seedling thinning machine in small arched shed according to claim 6, characterized in that: the upper arm and the lower arm, and the upper arm and the mobile platform are hinged through hinge shafts, and the hinge shafts are arranged along the moving direction of the mobile platform.
8. The intelligent weeding and seedling thinning machine in small arched shed according to claim 1, characterized in that: the front ends and the upper ends of the four corners of the moving platform (5) are respectively provided with an infrared obstacle avoidance sensor (4) which is electrically connected with the master controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920529670.0U CN209824341U (en) | 2019-04-18 | 2019-04-18 | Intelligent weeding and seedling thinning machine in small arched shed |
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| CN201920529670.0U CN209824341U (en) | 2019-04-18 | 2019-04-18 | Intelligent weeding and seedling thinning machine in small arched shed |
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| CN209824341U true CN209824341U (en) | 2019-12-24 |
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| CN201920529670.0U Expired - Fee Related CN209824341U (en) | 2019-04-18 | 2019-04-18 | Intelligent weeding and seedling thinning machine in small arched shed |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109964558A (en) * | 2019-04-18 | 2019-07-05 | 山东农业大学 | A kind of Small plastic shed inside intelligence weeding gapper and application method |
| CN113826607A (en) * | 2021-09-14 | 2021-12-24 | 东北农业大学 | Shearing type intelligent weeding robot based on weed prescription chart |
-
2019
- 2019-04-18 CN CN201920529670.0U patent/CN209824341U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109964558A (en) * | 2019-04-18 | 2019-07-05 | 山东农业大学 | A kind of Small plastic shed inside intelligence weeding gapper and application method |
| CN109964558B (en) * | 2019-04-18 | 2023-11-03 | 山东农业大学 | Small arch shed internal intelligent weeding and seedling thinning machine and use method |
| CN113826607A (en) * | 2021-09-14 | 2021-12-24 | 东北农业大学 | Shearing type intelligent weeding robot based on weed prescription chart |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191224 Termination date: 20210418 |
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| CF01 | Termination of patent right due to non-payment of annual fee |