A vibrating mechanical weeding device based on machine vision

Abstract

The present invention discloses a vibration mechanical weeding device based on machine vision, which relates to the field of agricultural machinery, and is specifically applied to intelligent field weeding of various crops in the agricultural field. The device consists of a three-point suspension, a body, a visual part, and an actuator. The device can be applied to weeding operations of various crops in different growth cycles. At the same time, the present invention adopts the traditional three-point suspension and hanging method of agricultural machinery, can be carried on various field walking platforms, and can adapt to various complex field environments. The device applies machine vision technology, deploys a visual recognition system on the device, and controls the terminal actuator to avoid seedlings and weed after identifying and locating seedlings and grass through a camera. At the same time, the device innovatively adopts a method of using a vibrating tooth comb to break the soil and bring the grass to the soil surface, which minimizes the damage to the ridge platform, and at the same time has the effect of loosening the soil, reducing the amount of chemical herbicides, protecting the ecological environment, improving the weeding efficiency, and reducing the weeding seedling injury rate.

Description

Technical Field

[0001] The invention discloses a vibration mechanical weeding device based on machine vision, relates to the field of agricultural machinery, and is specifically applied to intelligent field weeding of various crops in the agricultural field. Background Art

[0002] Farmland weeds are a kind of plant with a wide distribution area and tenacious vitality. They have always existed in the beginning and end of human farming process and are one of the most adaptable and luxuriant plants in nature. Weeds will compete with crops for water, nutrients, light and space, or indirectly spread pests and diseases, which will seriously affect the growth and development of crops, reduce the quality of agricultural products, reduce crop yields, bring great losses to agricultural production, and increase management labor and production costs. According to statistics, the area of ​​weed damage in my country is huge, and the reduction in yield of a single crop can reach hundreds of millions of kilograms. It can be seen that the growth of weeds has seriously harmed the development of my country's agriculture and the quality of agricultural products. Therefore, we must take effective measures to prevent and control farmland weeds to ensure the yield and quality of my country's agricultural products. Therefore, in order to overcome the harm of weeds to agricultural production, the current weeding methods at home and abroad are mainly manual weeding, mechanical weeding, chemical weeding, and biological weeding. Domestic and foreign research institutions have also studied laser weeding and electric current weeding, but the technology is still immature. Due to the low efficiency, time-consuming and labor-intensive manual weeding, it is no longer suitable for the development of modern agriculture. Chemical weeding saves time and effort, and has a relatively high weeding efficiency, so chemical weeding is very popular among farmers and has become the main weeding method at present. However, chemical weeding currently adopts extensive "carpet-style" and "wide-width" herbicide application methods, which has caused serious waste of herbicide resources and ecological environmental pollution. Excessive pesticide input leads to non-point source pollution and continuous environmental deterioration, which not only directly increases agricultural production costs, but also indirectly increases environmental governance costs. Mechanical weeding is a key production technology for the sustainable development of dryland agriculture. It uses various plowing, turning, harrowing, inter-tillage and loosening measures to weed before sowing, before germination and during various growth periods. It can kill unearthed weeds or bury grass seeds deeply, or turn underground stems out of the ground to dry or freeze them to death. This is the most commonly used measure in the arid areas of northern my country. In recent years, with the improvement of people's awareness of environmental protection, people are eager to solve the problems of environmental pollution caused by chemical weeding and pesticide residues in crops. Therefore, mechanical weeding is urgently needed as a truly pollution-free weeding method. With the rapid development of my country's scientific and technological level, the requirements for mechanical weeding are also constantly increasing. Traditional mechanical weeding has many restrictions, the weed eradication technology between plants is not perfect, the seedling injury rate is high, and the weeding effect is not ideal. Many types of weeds are tenacious, and mechanized operations with insufficient intensity are far from meeting the required requirements. Intelligent weeding equipment combined with machine vision came into being. It is in line with the requirements of agricultural mechanization and consistent with precision agricultural technology. It realizes the mechanization, automation and intelligence of farmland weeding, greatly reducing the labor intensity of farmers, reducing the use of chemical herbicides, protecting the ecological environment, improving weeding efficiency, and reducing the seedling injury rate.

[0003] In view of the poor weeding effect and high seedling injury rate of existing mechanical weeding, the present invention innovatively designs a vibrating mechanical weeding device based on machine vision, which can be applied to weeding operations in different growth cycles of various crops. At the same time, the present invention adopts the traditional three-point suspension and hooking method of agricultural machinery, can be mounted on a variety of field walking platforms, and can adapt to a variety of complex field environments. This device uses machine vision technology, deploys a visual recognition system on the device, and controls the terminal actuator to avoid seedlings and weed after identifying and locating the seedlings and grass through the camera. At the same time, this device innovatively adopts the method of using a vibrating tooth comb to shatter the soil and bring the grass to the soil surface, which minimizes the damage to the ridge platform and has the effect of loosening the soil. Summary of the invention

[0004] Traditional weeding machinery has poor weeding effect, high seedling injury rate and poor operation effect. In order to overcome the various problems of traditional weeding machinery, the present invention innovatively designs a vibration mechanical weeding device based on machine vision, which can be applied to weeding operations in different growth cycles of various crops. At the same time, the present invention adopts the traditional agricultural machinery three-point suspension and hooking method, which can be carried on a variety of field walking platforms and can adapt to a variety of complex field environments. And with the advent of the era of smart agriculture, the combination of agriculture and intelligence has become a driving force for agricultural progress. The combination of intelligence makes agricultural operations more efficient, high-quality and high-precision.

[0005] In order to achieve the above-mentioned purpose, the technical solution provided by the present invention is a vibrating mechanical weeding device based on machine vision, characterized in that the device consists of a three-point suspension, a body, a visual part, and an actuator. The three-point suspension consists of a hanging fixed plate 1, a suspension arm 2, a suspension arm fixed end 3, and a suspension lower end 4. The body consists of a square steel frame 5, a box back plate 6, a central control box 7, a hinge 8, a box top plate 9, a box side panel 10, a box disassembly panel 11, and a swing motor fixing seat 12. The visual part consists of a fixed bending plate 13, a rotating frame 14, a camera mounting seat 15, and a camera 16. The actuator consists of a swing motor seat 17, a vertical bearing 18, an optical axis 19, a motor 20, and a reducer 21. , a short rod 22, a long rod 23, a swing rod 24, an end actuator rod 25, a tooth comb fixing seat 26, a tooth comb 27, a spring 28, a slotting knife 29, a vibration motor fixing seat 30, a vibration motor 31, and a vibration motor dust cover 32, wherein a hanging fixing plate 1 is welded to a square steel frame 5, a suspension arm fixing end 3 and a suspension lower end 4 are welded to the hanging fixing plate 1, a suspension arm 2 is connected to the suspension arm fixing end 3 by bolts, a box back plate 6 and a box side panel 10 are connected to the square steel frame 5 by welding, a box top plate 9 is connected to the square steel frame 5 by a hinge 8, and bolts are used to fix the two, a swing motor fixing seat 12 and a central control box 7 are fixed to the box back plate 6 by bolts, and a box disassembly panel 11 It is fixed to the square steel frame 5 by bolts, a pair of fixed curved plates 13 are welded to the back plate 6 of the box body at a certain distance, the rotating frame 14 is hinged with the fixed curved plates 13 by bolts, the camera 16 is fixed to the camera mounting seat 15 by bolts, the camera mounting seat 15 is fixed to the rotating frame 14 by bolts, the swing motor seat 17 is fixed to the swing motor fixing seat 12 by bolts, the motor 20 and the reducer 21 are connected together by bolts, the reducer 21 is fixed to the swing motor seat 17 by bolts, a pair of vertical bearings 18 are fixed to the swing motor seat 17 by bolts, the optical axis 19 passes through the ends of the two vertical bearings 18 and is fixed to the swing rod 24, and one end of the short rod 22 is fixed to the reducer shaft, The other end is hinged to the long rod 23 by bolts, and the other end of the long rod 23 is hinged to the rocking arm 24 by bolts. The end actuator rod 25 is fixed to the rocking arm 24 by bolts. The tooth comb fixing seat 26 is fixed to the end actuator rod 25 by bolts. The vibration motor 31 is installed on the vibration motor fixing seat 30. After the vibration motor dust cover 32 is assembled with the vibration motor fixing seat 30, the vibration motor part is fixed to the tooth comb 27 by bolts. The tooth comb 27 forms an interference fit with the tooth comb fixing seat 26 by bolts. The spring 28 passes through the bolts for fixing the tooth comb and is installed in the gap between the tooth comb 27 and the tooth comb fixing seat 26 to improve the vibration effect of the tooth comb 27. The slotting knife 29 is fixed to the tooth comb fixing seat 26 by bolts.

[0006] The whole machine is connected to the vehicle-mounted platform through a three-point suspension consisting of a suspension arm 2, a suspension arm fixed end 3, and a suspension lower end 4. The camera 16 is located above the seedling belt to identify and locate the seedlings. When weeds are detected between plants, the motor 20 drives the reducer 21 to rotate under the drive of the control system, and then drives the reciprocating connecting rod mechanism composed of the short rod 22, the long rod 23, and the swing rod 24 to swing the two end effectors downward from the high seedling avoidance state to the soil-entering working state. After the two staggered end effectors enter the soil, the soil at the roots of the weeds is broken by the vibrating tooth comb 27, and the weeds are not attached. Then, they are pulled out of the soil by the forward-moving vibrating tooth comb 27. When the end effector is close to the root system of the seedling, it is driven by the swing motor and the reciprocating connecting rod mechanism to swing to a high place to separate from the soil, thereby completing the weed eradication and crop avoidance.

[0007] Compared with the prior art, the present invention has the following advantages and beneficial effects: the present invention is developed in view of the fact that the current agricultural mechanical weeding technology is not mature enough, and has a wide range of applications, and is suitable for weeding operations in different growth cycles of various crops. Combined with machine vision technology, it can accurately avoid the root system of crops, greatly reducing the seedling injury rate during weeding. The innovative use of a vibrating tooth comb to mow the grass loosens the soil and improves the growth environment of crops. The use of a swinging avoidance method can greatly save space and increase the seedling avoidance rate. The vibrating tooth comb loosens the soil attached to the roots of the weeds and then mows the weeds to the soil surface during the forward movement. This method can be used to eradicate various types of weeds, and the weed killing effect is more complete. In addition, the use of a purely mechanical weeding method does not use herbicides, and the pollution to the environment during the weeding process is reduced to the greatest extent, which meets people's requirements for reducing environmental pollution during the weeding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A schematic diagram of the present invention

[0009] Figure 2 A side view of the present invention

[0010] Figure 3 The front view of the present invention

[0011] Figure 4 A schematic diagram of the main functional components of the present invention DETAILED DESCRIPTION

[0012] In order to achieve the above-mentioned purpose, the technical solution provided by the present invention is a vibrating mechanical weeding device based on machine vision, characterized in that the device consists of a three-point suspension, a body, a visual part, and an actuator. The three-point suspension consists of a hanging fixed plate 1, a suspension arm 2, a suspension arm fixed end 3, and a suspension lower end 4. The body consists of a square steel frame 5, a box back plate 6, a central control box 7, a hinge 8, a box top plate 9, a box side panel 10, a box disassembly panel 11, and a swing motor fixing seat 12. The visual part consists of a fixed bending plate 13, a rotating frame 14, a camera mounting seat 15, and a camera 16. The actuator consists of a swing motor seat 17, a vertical bearing 18, an optical axis 19, a motor 20, and a reducer 21. , a short rod 22, a long rod 23, a swing rod 24, an end actuator rod 25, a tooth comb fixing seat 26, a tooth comb 27, a spring 28, a slotting knife 29, a vibration motor fixing seat 30, a vibration motor 31, and a vibration motor dust cover 32, wherein a hanging fixing plate 1 is welded to a square steel frame 5, a suspension arm fixing end 3 and a suspension lower end 4 are welded to the hanging fixing plate 1, a suspension arm 2 is connected to the suspension arm fixing end 3 by bolts, a box back plate 6 and a box side panel 10 are connected to the square steel frame 5 by welding, a box top plate 9 is connected to the square steel frame 5 by a hinge 8, and bolts are used to fix the two, a swing motor fixing seat 12 and a central control box 7 are fixed to the box back plate 6 by bolts, and a box disassembly panel 11 It is fixed to the square steel frame 5 by bolts, a pair of fixed curved plates 13 are welded to the back plate 6 of the box body at a certain distance, the rotating frame 14 is hinged with the fixed curved plates 13 by bolts, the camera 16 is fixed to the camera mounting seat 15 by bolts, the camera mounting seat 15 is fixed to the rotating frame 14 by bolts, the swing motor seat 17 is fixed to the swing motor fixing seat 12 by bolts, the motor 20 and the reducer 21 are connected together by bolts, the reducer 21 is fixed to the swing motor seat 17 by bolts, a pair of vertical bearings 18 are fixed to the swing motor seat 17 by bolts, the optical axis 19 passes through the ends of the two vertical bearings 18 and is fixed to the swing rod 24, and one end of the short rod 22 is fixed to the reducer shaft, The other end is hinged to the long rod 23 by bolts, and the other end of the long rod 23 is hinged to the rocking arm 24 by bolts. The end actuator rod 25 is fixed to the rocking arm 24 by bolts. The tooth comb fixing seat 26 is fixed to the end actuator rod 25 by bolts. The vibration motor 31 is installed on the vibration motor fixing seat 30. After the vibration motor dust cover 32 is assembled with the vibration motor fixing seat 30, the vibration motor part is fixed to the tooth comb 27 by bolts. The tooth comb 27 forms an interference fit with the tooth comb fixing seat 26 by bolts. The spring 28 passes through the bolts for fixing the tooth comb and is installed in the gap between the tooth comb 27 and the tooth comb fixing seat 26 to improve the vibration effect of the tooth comb 27. The slotting knife 29 is fixed to the tooth comb fixing seat 26 by bolts.

[0013] The whole machine is connected to the vehicle-mounted platform through a three-point suspension consisting of a suspension arm 2, a suspension arm fixed end 3, and a suspension lower end 4. The camera 16 is located above the seedling belt to identify and locate the seedlings. When weeds are detected between plants, the motor 20 drives the reducer 21 to rotate under the drive of the control system, and then drives the reciprocating connecting rod mechanism composed of the short rod 22, the long rod 23, and the swing rod 24 to swing the two end effectors downward from the high seedling avoidance state to the soil-entering working state. After the two staggered end effectors enter the soil, the soil at the roots of the weeds is broken by the vibrating tooth comb 27, and the weeds are not attached. Then, they are pulled out of the soil by the forward-moving vibrating tooth comb 27. When the end effector is close to the root system of the seedling, it is driven by the swing motor and the reciprocating connecting rod mechanism to swing to a high place to separate from the soil, thereby completing the weed eradication and crop avoidance.

Claims

1. A vibrating mechanical weeding device based on machine vision, characterized in that: The device is composed of a three-point suspension, a machine body, a visual part, and an actuator. The three-point suspension is composed of a hanging fixed plate (1), a suspension arm (2), a suspension arm fixed end (3), and a suspension lower end (4). The machine body is composed of a square steel frame (5), a box back plate (6), a central control box (7), a hinge (8), a box top plate (9), a box side panel (10), a box disassembly panel (11), and a swing motor fixing seat (12). The visual part is composed of a fixed bending plate (13), a rotating frame (14), a camera mounting seat (15), and a camera (16). The actuator is composed of a swing motor seat (17), a vertical bearing (18), an optical axis (19), a motor (20), a reducer (21), a short rod (22), a long rod (23), and a swing arm. (24), an end actuator rod (25), a tooth comb fixing seat (26), a tooth comb (27), a spring (28), a slotting knife (29), a vibration motor fixing seat (30), a vibration motor (31), and a vibration motor dust cover (32), wherein the hanging fixing plate (1) is welded to the square steel frame (5), the suspension arm fixing end (3) and the suspension lower end (4) are welded to the hanging fixing plate (1), the suspension arm (2) is connected to the suspension arm fixing end (3) by bolts, the box back plate (6) and the box side plate (10) are connected to the square steel frame (5) by welding, the box top plate (9) is connected to the square steel frame (5) by hinges (8), and the two are fixed by bolts, and the swing motor fixing seat (12) and the central control box (7) are connected by The box body is fixed to the back plate (6) by bolts, the box body disassembly panel (11) is fixed to the square steel frame (5) by bolts, a pair of fixed curved plates (13) are welded to the box body back plate (6) at a certain distance, the rotating frame (14) is hinged with the fixed curved plates (13) by bolts, the camera (16) is fixed to the camera mounting seat (15) by bolts, the camera mounting seat (15) is fixed to the rotating frame (14) by bolts, the swing motor seat (17) is fixed to the swing motor fixing seat (12) by bolts, the motor (20) and the reducer (21) are connected together by bolts, the reducer (21) is fixed to the swing motor seat (17) by bolts, and a pair of vertical bearings (18) are connected to the swing motor seat (17) by bolts. ), the optical axis (19) passes through two vertical bearings (18) and is fixed to the rocking rod (24) at the end, one end of the short rod (22) is fixed to the reducer shaft, and the other end is hinged to the long rod (23) by bolts, and the other end of the long rod (23) is hinged to the rocking rod (24) by bolts, the end actuator rod (25) is fixed to the rocking rod (24) by bolts, the tooth comb fixing seat (26) is fixed to the end actuator rod (25) by bolts, the vibration motor (31) is installed on the vibration motor fixing seat (30), and after the vibration motor dust cover (32) and the vibration motor fixing seat (30) are assembled, the vibration motor part is fixed to the tooth comb (27) by bolts, and the tooth comb (27) forms an interference fit with the tooth comb fixing seat (26) by bolts,The spring (28) passes through the bolts for fixing the tooth comb and is installed between the tooth comb (27) and the tooth comb fixing seat (26) to improve the vibration effect of the tooth comb (27). The slotting knife (29) is fixed to the tooth comb fixing seat (26) by bolts. The whole machine is connected to the vehicle-mounted platform through a three-point suspension consisting of a suspension arm (2), a suspension arm fixing end (3), and a suspension lower end (4). The camera (16) is located above the seedling belt to identify and locate the seedlings. When weeds are detected between plants, the motor (20) drives the reducer (21) to rotate under the drive of the control system, thereby driving the reciprocating connecting rod mechanism consisting of the short rod (22), the long rod (23), and the swing rod (24), so that the two end effectors are swung downward from the high seedling avoidance state to the soil entry working state. After the two staggered end effectors enter the soil, the weeds are removed by the vibrating tooth comb (27). After the soil at the grass root is shattered, the weeds are not attached and are then pulled out of the soil by the vibrating tooth comb (27) moving forward. When the end effector is close to the root system of the seedling, the end effector is swung upward to separate from the soil under the drive of the swing motor and the reciprocating connecting rod mechanism, completing the weed removal and crop avoidance. The coverage width of the two staggered execution components is one ridge width, which can achieve full coverage of weeds between plants and rows. When the execution components are swung down from a high place, the slotting knife (29) first touches the ground and cuts the soil surface, so as to slot the tooth comb (27) into the ground, thereby preventing the tooth comb (27) from directly touching the bottom and causing deformation to affect the loosening and grass pulling effect. The tooth comb (27) is interference fit with the tooth comb fixing seat (26) and the fixing bolt, and a spring (28) is inserted in the gap between the tooth comb (27) and the tooth comb fixing seat (26) to create mechanical vibration surplus for the tooth comb (27).

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