TWM605003U

TWM605003U - Intelligent interplant weeder for crops

Info

Publication number: TWM605003U
Application number: TW109209683U
Authority: TW
Inventors: 陳世銘; 蔡兆胤; 劉奕辰; 趙劭元; 蔡錦銘
Original assignee: 國立臺灣大學
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2020-12-11

Abstract

本創作為一種智慧型農作物株間除草裝置，其與一曳引機連接，包括：一除草機構，係由二除草爪及其上方各連接一旋轉元件所組成，其旋轉時偏離原位置，以達成避讓一農作物的動作；一影像擷取單元，裝設於該除草機構上，用於擷取複數田間動態影像，以偵測該農作物位置及該曳引機之行走速度；一運算控制單元，其與影像擷取單元連結，接收該田間動態影像，藉由事先建立之辨識模式，以辨識與定位該農作物及計算該曳引機之行走速度，用以控制該除草機構進行除草動作。 This creation is an intelligent inter-crop weeding device connected to a traction machine, including: a weeding mechanism consisting of two weeding claws and a rotating element connected to the top of the two weeding claws, which deviate from the original position when rotating to achieve Avoiding the movement of a crop; an image capturing unit installed on the weeding mechanism for capturing multiple field dynamic images to detect the position of the crop and the walking speed of the traction machine; an arithmetic control unit, which It is connected with the image capture unit to receive the field dynamic image, and through the pre-established identification mode, to identify and locate the crop and calculate the walking speed of the tractor, so as to control the weeding mechanism to perform weeding action.

Description

智慧型農作物株間除草裝置 Intelligent weeding device between crops

本創作係為一種智慧型農作物株間除草裝置，藉由機械視覺及人工智慧技術偵測作物(例如：蔬菜)，再推動深入土壤之除草爪剷除雜草(含根部)，若設備偵測到有作物存在時，則旋轉偏心除草爪避讓，待通過作物後再回復原位置繼續清除株間雜草，係為智慧自動化農業相關技術領域。 This creation is an intelligent crop weeding device that uses machine vision and artificial intelligence technology to detect crops (such as vegetables), and then pushes the weeding claw deep into the soil to remove weeds (including roots). If the device detects that there is When the crop exists, the eccentric weeding claw is rotated to avoid it, and after the crop is passed, it returns to the original position to continue to remove the inter-plant weeds, which is a technical field related to intelligent automated agriculture.

機械視覺與影像處理在農業及工業上已有許多應用的案例，在現今農業人力不足的情況下，若能將相關技術應用於管理農業技術，定能達到降低生產成本，減少人力的效果。 There have been many application cases of machine vision and image processing in agriculture and industry. With the current shortage of agricultural manpower, if relevant technologies can be applied to manage agricultural technology, the effect of reducing production costs and manpower will surely be achieved.

經本創作人專利檢索後發現，與本案相關的專利前案如下列所述：如本國專利公告第I695672號，該發明在於提供一種在進行水田除草時，能夠在雜草緊緊纏繞在旋轉地進行雜草搔除作業的搔除體之前，以伴隨著搔除體的動作而從搔除體除去雜草之方式所進行的雜草搔除具，該發明並無法有效辨識作物特徵，有誤傷作物之可能。 After searching the author’s patent, it is found that the previous patents related to this case are as follows: For example, the patent publication No. I695672 of this country, the invention is to provide a method for weeding in a paddy field when weeds are tightly entangled in a rotating ground. Before the scraping body of the weed scraping operation, a weed scraping tool performed by removing weeds from the scraping body accompanied by the action of the scraping body. This invention cannot effectively identify the characteristics of the crop, and it may damage the crop by mistake. It's possible.

張小麗於2012發表【除草機機構設計及除草效果研究】，使用RGB值調整閥值，二值化後找出作物位置，透過馬達旋轉除草爪破壞雜草根系，雖已具有機械人之型態，能自動去除株間雜草，但其辨識緩慢，限定了除草機器人的行走速度。 Zhang Xiaoli published [Weeder Mechanism Design and Weeding Effect Research] in 2012, using RGB values to adjust the threshold, and after binarization to find the position of the crop, the root system of weeds is destroyed by rotating the weeding claw of the motor, although it has the form of a robot, It can automatically remove weeds between plants, but its recognition is slow, which limits the walking speed of the weeding robot.

本創作者欲開發以機器視覺獲得影像資訊結合之除草機構，進行株間、行間和溝底除草，用以提高除草效率、準確度並降低人工成本。雜草控制對於農業生產是相當重要的一環，目前台灣的農業多以除草劑作為雜草控制的手段。然而，除草劑對人體與環境皆有害，因此有機農業在近幾年備受推崇。有機農業是一種較不污染環境、不破壞生態，並能提供消費者健康與安全農產品的生產方式，但現行有機農業幾乎都是以人工進行除草，費時、人力成本又高，因採用機械除草，以目前技術幾乎只能解決溝底以及行間的雜草，無法解決株間雜草的問題，因此本創作希望可改善現行機械除草方式。 The creator wants to develop a weeding mechanism that uses machine vision to obtain image information combined with weeding between plants, rows and bottoms of trenches to improve the efficiency and accuracy of weeding and reduce labor costs. Weed control is a very important part of agricultural production. At present, Taiwan's agriculture mostly uses herbicides as a means of weed control. However, herbicides are harmful to the human body and the environment, so organic agriculture has been highly regarded in recent years. Organic agriculture is a production method that does not pollute the environment, does not damage the ecology, and can provide consumers with healthy and safe agricultural products. However, the current organic agriculture is almost always manual weeding, which is time-consuming and expensive. Because of the use of mechanical weeding, The current technology can almost only solve the problem of weeds at the bottom of the ditch and between rows, and cannot solve the problem of weeds between plants. Therefore, this creation hopes to improve the current mechanical weeding method.

本創作特別提出一種智慧型農作物株間除草裝置，其包括：一種智慧型農作物株間除草裝置，其與一曳引機連接，其包括：一除草機構，係由二除草爪及其上方各連接一旋轉元件所組成，其旋轉時偏離原位置，以達成避讓一農作物的動作；一影像擷取單元，裝設於該除草機構上，用於擷取複數田間動態影像，以偵測該農作物位置及該曳引機之行走速度；一運算控制單元，其與影像擷取單元連結，接收該田間動態影像，藉由事先建立之辨識模式，以辨識與定位該農作物及計算該曳引機之行走速度，用以控制該除草機構進行除草動作。另外該除草爪為一缺角圓盤，該缺角圓盤為了配合一農作物大小才形成缺口；再來，該影像擷取單元側邊設置一補光燈，提供偵測環境均勻充足光線用以消除該田間動態影像中之陰影；另該除草機構更包括：二組四連桿機構，其各設置一彈簧及一導輪，其該四連桿機構中之該彈簧配合該導輪對地面施行壓力，使該除草機構可依地面起伏上下擺動，並穩定控制該除草爪的入土深度；此外本裝置更包括一油壓系統，與該旋轉元件進行連接，用於配合該曳引機之行走速度，以調整該旋轉元件之旋轉速度。 This creation specifically proposes an intelligent inter-crop weeding device, which includes: an intelligent inter-crop weeding device, which is connected to a traction machine, and includes: a weeding mechanism, which is connected by two weeding claws and each of the tops is connected with one rotation It is composed of components that deviate from the original position when rotating to achieve the action of avoiding a crop; an image capture unit is installed on the weeding mechanism to capture multiple field dynamic images to detect the crop position and the The walking speed of the traction machine; an arithmetic control unit, which is connected with the image capture unit, receives the field dynamic image, and uses the identification mode established in advance to identify and locate the crop and calculate the walking speed of the traction machine, Used to control the weeding mechanism to perform weeding actions. In addition, the weeding claw is a notched disc, which forms a notch to match the size of a crop. Furthermore, a fill light is installed on the side of the image capture unit to provide uniform and sufficient light for the detection environment Eliminate the shadows in the field dynamic image; in addition, the weeding mechanism further includes: two sets of four-link mechanisms, each of which is provided with a spring and a guide wheel, and the spring in the four-link mechanism cooperates with the guide wheel to perform on the ground The pressure enables the weeding mechanism to swing up and down according to the ground ups and downs, and stably controls the depth of the weeding claw into the soil; in addition, the device also includes a hydraulic system connected with the rotating element to match the walking speed of the traction machine , To adjust the rotation speed of the rotating element.

1:除草機構 1: Weeding agency

11:除草爪 11: Weeding Claw

110:缺角圓盤 110: missing corner disc

12:旋轉元件 12: Rotating element

13:四連桿機構 13: Four-bar linkage

14:彈簧 14: Spring

15:導輪 15: guide wheel

2:影像擷取單元 2: Image capture unit

21:補光系統 21: Fill light system

3:運算控制單元 3: Operation control unit

4:油壓系統 4: Hydraulic system

第1圖係為本創作除草機構之上視組合立體圖 Figure 1 is a three-dimensional view of the top view of the creative weeding mechanism

第2圖係為本創作除草機構之下視組合立體圖 Figure 2 is a three-dimensional view of the bottom view of the creative weeding organization

為讓本創作之上述目的、特徵及優點更加明顯易懂，下文特舉實例，並配合所附之圖式做詳細說明如下： In order to make the above-mentioned purpose, features and advantages of this creation more obvious and easy to understand, the following examples are given in detail along with the attached drawings as follows:

欲開發以機器視覺獲得影像資訊結合之除草機構，進行株間、行間和溝底除草，用以提高除草效率、準確度並降低人工成本。如圖式第1、2圖之上視組合立體圖及下視組合立體圖所示，本創作提出一種智慧型農作物株間除草裝置，其與一曳引機(圖未示)連接，其包括：一除草機構1，係由二除草爪11及其上方各連接一旋轉元件12所組成，其旋轉時偏離原位置，以達成避讓一農作物(圖未示)的動作；一影像擷取單元2，裝設於該除草機構1上，用於擷取複數田間動態影像，以偵測該農作物位置及該曳引機之行走速度；一運算控制單元3，其與該影像擷取單元2連結，接收該田間動態影像，藉由事先建立之辨識模式，以辨識與定位該農作物及計算該曳引機之行走速度，用以控制該除草機構1進行除草動作。 We want to develop a weeding mechanism that uses machine vision to obtain image information combined with weeding between plants, rows and bottoms of ditch to improve weeding efficiency, accuracy and reduce labor costs. As shown in Figures 1 and 2 of the top view combined perspective view and the bottom view combined perspective view, this creation proposes an intelligent crop weeding device between plants, which is connected to a tractor (not shown) and includes: a weeding device The mechanism 1 is composed of two weeding claws 11 and a rotating element 12 connected to each of them, which deviates from the original position when rotating to achieve the action of avoiding a crop (not shown); an image capturing unit 2 is installed On the weeding mechanism 1, it is used to capture a plurality of field dynamic images to detect the position of the crops and the walking speed of the traction machine; an arithmetic control unit 3, which is connected with the image capture unit 2 to receive the field The dynamic image is used to identify and locate the crops and calculate the walking speed of the traction machine through the previously established identification mode to control the weeding mechanism 1 to perform weeding actions.

此外該除草爪11為一缺角圓盤110，該缺角圓盤配合該農作物大小形成其缺口。另該影像擷取單元2，更包括一補光燈21設置於該除草機構1上，用以消除該田間動態影像中之陰影。此外該除草機構1更包括：二四連桿機構13，其各設置一彈簧14及一導輪15，其該四連桿機構13中之該彈簧14配合該導輪15對地面施行壓力，使該除草機構1可依地面起伏上下擺動，並穩定控制該除草爪11的入土深度。本創作進一步包括一油壓系統4，與該旋轉元件12進行連接，用於配合該曳引機之行走速度，以調整該旋轉元件12之旋轉速度。 In addition, the weeding claw 11 is a cut-off disc 110, and the cut-off disc 110 forms a gap according to the size of the crop. In addition, the image capturing unit 2 further includes a fill light 21 arranged on the weeding mechanism 1 to eliminate shadows in the field dynamic image. In addition, the weeding mechanism 1 further includes: a two-four-bar linkage mechanism 13, each of which is provided with a spring 14 and a guide wheel 15. The spring 14 of the four-bar linkage mechanism 13 cooperates with the guide wheel 15 to exert pressure on the ground, so that The weeding mechanism 1 can up and down according to the ground Swing and stably control the depth of the weeding claw 11 into the soil. The present invention further includes a hydraulic system 4 connected with the rotating element 12 to match the traveling speed of the traction machine to adjust the rotating speed of the rotating element 12.

以上所述僅為本創作之較佳可行實施例，非因此即拘限本創作之申請專利範圍，故舉凡運用本創作說明書及圖式內容所為之等效方法變化，均同理包含於本創作之範圍內，合予陳明。 The above descriptions are only the preferred and feasible embodiments of this creation, and are not limited to the scope of patent application of this creation. Therefore, all equivalent method changes made by using this creation specification and schematic content are included in this creation in the same way. Within the scope of Chen Ming.

1:除草機構 1: Weeding agency

11:除草爪 11: Weeding Claw

12:旋轉元件 12: Rotating element

21:補光系統 21: Fill light system

3:運算控制單元 3: Operation control unit

13:四連桿機構 13: Four-bar linkage

14:彈簧 14: Spring

15:導輪 15: guide wheel

4:油壓系統 4: Hydraulic system

Claims

一種智慧型農作物株間除草裝置，其與一曳引機連接，其包括： An intelligent weeding device between crops, which is connected to a traction machine, and includes:

一除草機構，係由二除草爪及其上方各連接一旋轉元件所組成，其旋轉時偏離原位置，以達成避讓一農作物的動作； A weeding mechanism is composed of two weeding claws and a rotating element connected to each of them, which deviates from the original position when rotating to achieve the action of avoiding a crop;

一影像擷取單元，裝設於該除草機構上，用於擷取複數田間動態影像，以偵測該農作物位置及該曳引機之行走速度； An image capturing unit installed on the weeding mechanism for capturing a plurality of field dynamic images to detect the position of the crop and the walking speed of the traction machine;

一運算控制單元，其與該影像擷取單元連結，接收該田間動態影像，藉由事先建立之辨識模式，以辨識與定位該農作物及計算該曳引機之行走速度，用以控制該除草機構進行除草動作。 An arithmetic control unit connected with the image capturing unit to receive the field dynamic image, to identify and locate the crops and calculate the walking speed of the traction machine through the previously established identification mode, to control the weeding mechanism Carry out weeding actions.

如申請專利範圍第1項之智慧型農作物株間除草裝置，其該除草爪為一缺角圓盤，該缺角圓盤配合該農作物大小形成其缺口。 For example, in the intelligent crop weeding device of the first item in the scope of the patent application, the weeding claw is a cut-off disc, and the cut-off disc forms a gap according to the size of the crop.

如申請專利範圍第1項之智慧型農作物株間除草裝置，該影像擷取單元，更包括一補光燈設置於該除草機構上，用以消除該田間動態影像中之陰影。 For example, the intelligent crop weeding device of the first item of the scope of patent application, the image capturing unit further includes a supplementary light provided on the weeding mechanism to eliminate shadows in the field dynamic image.

如申請專利範圍第1項之智慧型農作物株間除草裝置，該除草機構更包括：二組四連桿機構，其各設置一彈簧及一導輪，其該四連桿機構中之該彈簧配合該導輪對地面施行壓力，使該除草機構可依地面起伏上下擺動，並穩定控制該除草爪的入土深度。 For example, the intelligent inter-crop weeding device for crops in the scope of the patent application, the weeding mechanism further includes: two sets of four-link mechanisms, each of which is provided with a spring and a guide wheel, and the spring of the four-link mechanism matches the The guide wheel exerts pressure on the ground, so that the weeding mechanism can swing up and down according to the ground ups and downs, and stably controls the depth of the weeding claw into the soil.

如申請專利範圍第1項之智慧型農作物株間除草裝置，其更包括一油壓系統，與該旋轉元件進行連接，用於配合該曳引機之行走速度，以調整該旋轉元件之旋轉速度。 For example, the intelligent crop weeding device of the first item in the scope of patent application further includes a hydraulic system connected with the rotating element for adjusting the rotating speed of the rotating element in accordance with the traveling speed of the traction machine.