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Cotton tip pruning method based on tracked robot

A robot and crawler-type technology, applied in the field of cotton topping based on crawler robots, can solve problems such as harsh working environment, low topping efficiency, and affecting cotton farmers' enthusiasm for planting, and achieve the effect of solving low work efficiency

Inactive Publication Date: 2020-03-20
XIANGTAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the working environment of manual topping is harsh, and the topping efficiency is too low, which seriously restricts the scale of cotton planting and affects the enthusiasm of cotton farmers.

Method used

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  • Cotton tip pruning method based on tracked robot
  • Cotton tip pruning method based on tracked robot
  • Cotton tip pruning method based on tracked robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] The cotton topping method based on crawler robot provided in this embodiment is a method for cotton topping applied to crawler robot, wherein, as figure 2 As shown, the crawler robot includes: a body 1, crawler belts 2 on both sides below the chassis of the vehicle body 1, with the forward direction of the robot as the positive direction, and the stepper motor 3 driven by the rear of the crawler belt 2 to move the robot, so Describe the four-degree-of-freedom mechanical arm 4 at the front of the vehicle body 1, the cylindrical cutter device 4a at the forward claw head of the mechanical arm 4, the automatic lifting rod 5 in the middle of the vehicle body 1, and the automatic lifting rod 5 in the middle of the vehicle body 1. The binocular camera 6 on the pole top position, the core control board 7 and the motor drive board 8 inside the vehicle body, and the battery module 9 at the rear of the vehicle body 1 .

[0052] Such as figure 2 As shown, the mechanical arm 4 in...

Embodiment 2

[0086] In this embodiment, five pots of cotton plants with soil randomly excavated in the test field are arranged in a row, and the cotton topping method based on the crawler robot is described in detail. The specific process is as follows Figure 5 shown, including:

[0087] Arrange the cotton plants planted in the pots in a vertical row with a distance of 20 cm, and place the crawler robot on the right side of the cotton plants placed side by side with a distance of 8 cm, such as image 3 shown;

[0088] 1. Measure the height of the five pots of cotton plants before topping and record the height data before topping, adjust the initial height of the automatic lifting rod 5 so that the binocular camera 6 is at the level of the cotton plants, and obtain the first pot of cotton plant through the binocular camera 6 The image information of the upper branches and leaves is sent to the image processing device of the core control board 7 for processing;

[0089] 2. After obtaining...

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Abstract

The invention discloses a cotton tip pruning method based on a tracked robot, and the method comprises the steps: obtaining the distribution of branches and leaves at the upper part of a cotton plantthrough a binocular camera, and determining the position of a terminal bud of the plant; matching a planned motion path of the mechanical arm; controlling the mechanical arm to move, so as to ensure that side leaves are not touched to cause plant damage, and the distance needs to guarantee effective tip pruning; controlling the mechanical arm to extend a claw cylindrical rotary cutter to the headof a bud tip, and cutting off a terminal bud to complete tip pruning work of the cotton plant; controlling the mechanical arm to retract, and continuing tip pruning operation according to the steps; controlling the tracked robot to advance to the next working point, and controlling a lifting rod in real time according to the cotton plant height to adjust the height of the binocular camera until areasonable topping operation position is reached; the cotton field tip pruning device effectively solves the problems of low working efficiency and high labor intensity of manual topping in a cotton field, and achieves the purpose of topping in a low-cost and high-efficiency mechanical mode.

Description

technical field [0001] The invention relates to the technical field of agricultural production, in particular to a crawler robot-based cotton topping method. Background technique [0002] Cotton is an important strategic material in my country, and it is also a high-status economic crop in agricultural production. During the growth of cotton, it is necessary to limit its growth height to make it fruit early to avoid production loss due to climate. The means to limit the growth height of cotton plants is cotton topping, that is, during the flower bud stage of cotton plant growth, physical or chemical means are used to remove the top buds of cotton, so that the auxin content at the top of the main stem of cotton plants is drastically reduced, thereby inhibiting the growth of cotton plants , so that more nutrients are supplied to the growth of reproductive organs such as flower buds, so as to achieve the effect of early boll formation and increased boll formation of cotton pla...

Claims

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Application Information

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IPC IPC(8): A01G3/08A01G7/06A01G22/50
CPCA01G3/08A01G7/06A01G22/50
Inventor 曾小英杨广宇朱琦邱家麟李上保黄家文向懿邹娟王求真
Owner XIANGTAN UNIV
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