Automatic seedling avoiding control method for double-blade grass remover
A control method and weeding machine technology, applied in the direction of computer control, program control, general control system, etc., can solve the problems of wrong removal of crops in the field, and achieve the effect of reducing cumulative error and improving accuracy and stability
Active Publication Date: 2014-06-04
SUZHOU AGRIBOT AUTOMATION TECH
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Problems solved by technology
However, this weeding machine is easy to cause wrong removal of crops in the field, so people hope to accurately control the action of the hoe, so that seedlings can be avoided in time when weeding (that is, to avoid wrong removal of crops)
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[0019] The following descriptions are only preferred embodiments of the present invention, and therefore do not limit the protection scope of the present invention.
[0020] Examples, see figure 1 and figure 2 Shown: the control method of automatic seedling-avoiding double-knife weeding machine, this weeding machine is used for the weeding of multi-row parallel field crops 10, and this double-knife weeding machine includes 2 weeding knives 20 that are arranged side by side, and weeding knives 20 has gap 21 and is respectively connected with motor, and motor can adopt DC servo motor. This control method includes:
[0021] (1) Set up the upper computer to detect the distance d between the blades and seedlings of the two hoe blades 20 1 and d 2 . The upper computer can be components such as a camera device and an infrared detection device arranged on the upper part of the lawnmower.
[0022] (2) Set an incremental rotary encoder to detect the angle value α of the two hoes ...
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The invention discloses an automatic seedling avoiding control method for a double-blade grass remover. The automatic seedling avoiding control method comprises the following steps: an upper computer is arranged for detecting blade-seedling distances d1 and d2 of two blades, an incremental rotary encoder is arranged for detecting angle values alpha 1 and alpha 2 of the two blades, a tachometer wheel is arranged for detecting forward speed V of the grass remover, and a singlechip which is a C8051F020 singlechip is arranged. After the singlechip receives the blade-seedling distances d1 and d2 through a serial port 1, and receives the angle values alpha 1 and alpha 2 of the blades 20 and the forward speed V of the grass remover through a sensor, a control system of the singlechip sends control signals of motor speeds n1 and n2 and angles of the blades 20 to a motor. The control method has the advantages that the actions of the blades can be precisely controlled, so that grass removal is precise, and seedling avoiding is effective.
Description
technical field [0001] The invention relates to the technical field of agricultural machinery control methods, in particular to a control method for an automatic seedling-avoiding double-knife weeder. Background technique [0002] Farmland weeds affect the yield and quality of field crops, and our country loses about 10% of the total grain output due to farmland weeds every year. At present, weeding methods are mostly by chemical or artificial methods. However, chemical weeding will bring problems such as increased weed resistance, environmental pollution and pesticide residues; manual weeding is inefficient and expensive. For this reason, mechanical weeding has gradually become the mainstream. Among them, the double-knife weeder is a very efficient weeding machine. The weeding machine is provided with two hoeing knives side by side, the hoeing knives have gaps and are respectively connected to motors, and the motors can be DC servo motors, and are suitable for weeding of...
Claims
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IPC IPC(8): A01B39/18G05B19/042
Inventor 王蓬勃耿长兴李伟刘卫东黄小龙张春龙
Owner SUZHOU AGRIBOT AUTOMATION TECH