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Seedling avoidance control method for inter-row mechanical weeding claw

A technology of mechanical weeding and control methods, which is applied in the field of mechanical weeding, and can solve problems such as the influence of forward speed

Inactive Publication Date: 2012-07-25
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the parameters of the control rules of the above methods need to be determined through experiments, and are easily affected by the forward speed.

Method used

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  • Seedling avoidance control method for inter-row mechanical weeding claw
  • Seedling avoidance control method for inter-row mechanical weeding claw
  • Seedling avoidance control method for inter-row mechanical weeding claw

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0060] A method for controlling seedling avoidance by mechanical weeding among plants, characterized in that it comprises the following steps:

[0061] 1. According to the forward speed v of the weeding claws m , the actual angular velocity ω o , running time t (the initial running time is defined as 0), the initial central angle γ of claws, the central angle β between adjacent claws, and the rotation radius R of claws r , and the functional relationship between the distance H between the rotation center of the weeding claws and the center of the target crop row, the trajectory equation of the weeding claws is established, and the trajectory of each weeding claw can be predicted according to the trajectory equation:

[0062] The coordinate system XOY is established with the center line of the target crop row as the X axis, and the trajectory equation of the weeding claws is established according to formula (1). There are eight weeding claws in the weeding device, and the radi...

Embodiment 2

[0092] The present embodiment is the same as embodiment one except the following features: in order to reach the inter-plant coverage rate, the determination method of the ratio λ of the actual rotational speed of the weeding claws and the forward speed is that the widest distance of the ring buckle is 0.5 times of the distance between the plants. .

Embodiment 3

[0094] This embodiment is the same as Embodiment 1 except for the following features: the determination method of the ratio λ between the actual rotational linear speed and the forward speed of the weeding claws is a simulation analysis method.

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Abstract

The invention discloses a seedling avoidance control method for an inter-row mechanical weeding claw, which includes: determining an equation of motion trajectory of the weeding claw and relevant parameters; using a target angular velocity PID (proportion integration differentiation) controller matching with forward velocity to obtain stable and accurate rotational speed of the weeding claw; obtaining a predicted motion trajectory of the weeding claw by the claw motion trajectory equation, the forward velocity, an actual angular velocity, a forward velocity error and an actual angular velocity error; analyzing three judgment conditions for collision between the weeding claw and a target plant in positional relation of the weeding claw predicted motion trajectory to the target plant; and outputting a control decision on the weeding claw according to judgment results. The principle of trochoidal motion intra-row weeding is fully utilized, so that precise and reliable rotation speed of the intra-row weeding claw and precise and reliable avoidance control signals can be provided. The method is adaptable to intra-row weeding devices or systems with the target plant avoiding function and using the trochoidal principle, the efficiency of intra-row mechanical weeding can be improved, and damage rate of seedlings can be lowered.

Description

technical field [0001] The invention belongs to the technical field of mechanical weeding, and in particular relates to a method for controlling inter-plant mechanical weeding claws and teeth to avoid seedlings. Background technique [0002] Intelligent inter-row mechanical weeding technology can selectively mechanically remove weeds between plants, and use the principle of weeding claw tooth swing motion to realize inter-plant area weeding technology. There are reports from the University of Osnabrück and Amazone Werke Jointly developed cycloidal hoe mechanical weeding device (Griepentrog, HW, M, Nielsen J. Autonomous intra-row rotor weeding based on GPS[C] / / 2006 CIGR World Congress Agricultural Engineering for a Better World, Bonn, Germany, 2006), Chinese invention patent application for a six-claw actuator for weeding robots ( Invention patent application number: 200810019830.3), Zhang Pengju, etc. (Zhang Pengju, Zhang Wen, Chen Shuren, etc. Virtual design and motion si...

Claims

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Application Information

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IPC IPC(8): A01B39/18A01M21/02
Inventor 罗锡文胡炼张智刚臧英赵祚喜周志艳汪沛
Owner SOUTH CHINA AGRI UNIV
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