Horizontal swing type inter-plant weeding device

Abstract

The invention discloses a horizontal swing type inter-plant weeding device, which comprises a car body, wherein the car body comprises a main frame (2) and a depth wheel (3); the horizontal swing type plant weeding device also comprises a horizontal swing weeding structure, a weeding component, an inter-row weeding structure and a vision and control system which are arranged on the main frame, wherein the horizontal swing weeding structure leads the weeding component to enter an inter-plant area for weeding through horizontal swing movement; the inter-row weeding structure enters the soil to weed through a shovel with double swings; and the vision and control system identifies crops, determines a plant protection area and an inter-plant weeding area and controls the horizontal swing weeding structure and the inter-row weeding structure to weed in the inter-plant weeding area. In the invention, the requirements of the inter-plant weeding device on the crop row tracking accuracy of a towing tractor can be reduced; the dependence of the inter-plant weeding device on the high crop row tracking accuracy of a weeding robot or the towing tractor is reduced; and the width of the inter-plant weeding shovel with the double swings can be selected according to row space so as to adapt to the weeding in inter-plant areas of grown crops of different row spaces.

Description

technical field [0001] The invention belongs to the field of agricultural robots, and in particular relates to a weeding device between rows of horizontal swings. Background technique [0002] At present, the control of weeds in agricultural production mainly relies on herbicides. Although herbicides are effective in controlling weeds, they will bring about biological extinction, changes in weed communities, enhanced weed resistance and expanded drug resistance spectrum, environmental pollution and pesticides. residual issues. In order to overcome the harm caused by chemical weeding, get rid of the heavy manual labor of weeding, and produce green food better, in recent years, mechanical weeding has begun to receive more and more attention. For the control of weeds between crop rows, there are related products both at home and abroad. There are also some reports on inter-row weed control, such as finger weeding devices (Leinonen et al., 2004) and brush-like weeding devices ...

AI Technical Summary

Problems solved by technology

There are also some reports on inter-row weed control, such as finger weeding devices (Leinonen et al., 2004) and brush-like weeding devices (Kouwenhoven, 1997). These weeding machines are difficult to effectively control weeds in the inter-row area

Osnabrueck University (Osnabrueck Univesity) and Amazone Werke jointly developed the eight-claw cycloidal hoe inter-plant weeding device, but it cannot control the weeds in the 18mm wide area around the crop. Can cause damage to crops, and it is more affected by the soil, because larger soil clods cannot avoid damage to crops (Dedousis, 2007); Notched disc hoes were developed in the UK (Tillett et al., 2008), and rotary teeth were developed in Denmark Weeding device (Griepentrog, 2006), rotary disc rake weeding device (Lempens et al., 1996) and eight-claw inter-row weeding device (Zhang Pengju. et al., 2010)

Although there are some experimental reports on the above-mentioned weeding machines, they all have high requirements on the accuracy of tractors tracking crop rows. Generally, they need to be installed on agricultural machinery or intelligent robots with navigation functions, and the price is relatively expensive.

And there is still no mature inter-row weeding implement

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