Automatic seedling avoidance system and seedling avoidance method for mechanical weeding between paddy fields

Abstract

The invention discloses an automatic seedling avoidance system and a seedling avoidance method for mechanical weeding between paddy fields, wherein the automatic seedling avoidance system comprises a data acquisition module, a trajectory planning module and a motion control module; the data acquisition module is used to acquire the actual position of each seedling and the longitudinal moving speed of a traction platform; the trajectory planning module is used to measure the motion and working data of a disc-type weeding tool; and the motion control module is used to send corresponding control instructions to the traction platform of the disc-type weeding tool. The automatic seedling avoidance system and a seedling avoidance method for mechanical weeding between paddy fields utilize the data acquisition module to acquire the seedling position information acquired by the visual module, and then the trajectory planning module plans in advance the weeding operation trajectory of the disc-type weeding tool relative to the geodetic coordinate system, thereby realizing precise control of the disc-type weeding tool, facilitating the weeding operation between facilities, and improving the weeding efficiency between facilities.

Description

Technical Field

[0001] The invention relates to an automatic seedling avoidance system and method, in particular to an automatic seedling avoidance system and method for mechanical weeding between paddy fields. Background Art

[0002] At present, the weeding technologies that are compatible with the intelligent weeding platform mainly include chemical weeding and mechanical weeding. Compared with chemical weeding, mechanical weeding is a green and environmentally friendly weeding technology that is more in line with the requirements of sustainable development of modern agriculture. Therefore, the development of automated intelligent weeding components based on mechanical weeding technology has become an important research direction for the development of intelligent weeding platforms. Faced with the planting pattern of row-planted seedlings and their complex natural growth, inter-row weeding machines are easy to develop due to their continuous operation path rules. Therefore, a variety of machine products for inter-row weeding have appeared at home and abroad. However, due to the small spacing between seedlings (only 10 to 17 cm), the continuous operation path of inter-row weeding machines is also relatively complex, which makes it difficult for such machines to be successfully developed, and the inter-row weeding effect has always been at a low level.

[0003] In order to solve the above problems, it is necessary to design an automatic seedling avoidance system and method for mechanical weeding between rows in paddy fields, to help the platform improve the effect of weeding between rows and promote the development of automated, intelligent and green weeding in paddy fields in my country. Summary of the invention

[0004] The purpose of the invention is to provide an automatic seedling avoidance system and method for mechanical weeding between rows in paddy fields, which can help the platform improve the weeding effect between rows and promote the development of automated, intelligent and green weeding in paddy fields in my country.

[0005] Technical solution: The automatic seedling avoidance system for mechanical weeding between paddy fields of the present invention comprises a data acquisition module, a trajectory planning module and a motion control module;

[0006] The data acquisition module is used to obtain the actual position of each seedling identified by the visual module in the front identification area and the longitudinal movement speed collected by the speed measurement module;

[0007] The trajectory planning module is used to calculate the movement and working data of the disc weeding tool according to the actual position of the seedlings, the working parameters of the disc weeding tool and the longitudinal moving speed obtained by the data acquisition module, including the moving trajectory between plants, the lateral moving displacement, the lateral moving speed, the cutting-in working diameter and the cutting-out working diameter;

[0008] The motion control module is used to send corresponding control instructions to the traction platform of the disc weeding tool according to the motion data calculated by the trajectory planning module, so that the disc weeding tool can perform weeding operations according to the set inter-plant movement trajectory, lateral movement displacement, lateral movement speed, cutting-in working diameter and cutting-out working diameter.

[0009] The present invention also provides a seedling avoidance method of an automatic seedling avoidance system for mechanical weeding between paddy fields, comprising the following steps:

[0010] Step 1: Determine the maximum diameter d of the root protection circle of the seedling max , the center of the seedling root protection circle is the location of the seedling root;

[0011] Step 2: Obtain the actual row and column position P(i, j) of each seedling identified by the visual module in the front recognition area and the longitudinal moving speed V collected by the speed measurement module. 纵 and working parameters of the disc weeding tool, the working parameters of the disc weeding tool including a cut-in working diameter and a cut-out working diameter;

[0012] Step 3: According to the actual row and column positions P(i, j) of each seedling, the inter-plant movement trajectory of the disc weeding tool is planned, and then according to the principle of motion synthesis, the inter-plant movement trajectory and the longitudinal movement speed V 纵 Calculate the lateral displacement D of the disc weeding tool 横 and lateral speed V 横 , where i represents the row where the seedling is located, and j represents the column where the seedling is located;

[0013] Step 4: According to the inter-plant movement trajectory, the actual row and column position P(i, j) of each seedling, and the maximum diameter d of the seedling root protection circle max and the working parameters of the disc weeding tool to determine whether the disc weeding tool will cut the roots of the seedlings when cutting in and out of the plants. If the roots of the seedlings are cut, the disc weeding tool adjusts the working parameters, that is, adjusts the cutting-in working diameter and the cutting-out working diameter, and then proceeds to step 5. If the roots of the seedlings are not cut, then directly proceeds to step 5;

[0014] Step 5: According to the longitudinal moving speed V 纵 , lateral displacement D 横 , lateral movement speed V 横 The disc weeding tool is driven and controlled according to the working parameters of the disc weeding tool, so that the disc weeding tool performs weeding operations according to the set inter-plant movement trajectory, cutting-in working diameter and cutting-out working diameter.

[0015] Furthermore, in step 3 of the seedling avoidance method, the specific steps of planning the inter-plant movement trajectory of the disc weeding tool according to the actual row and column positions P(i, j) of each seedling are:

[0016] Step 3.1, setting the inter-plant movement trajectory to be composed of V-shaped trajectory segments connected in sequence, and each V-shaped trajectory segment is composed of two trajectory lines, Track-I and Track-II;

[0017] Step 3.2, calculate the straight line equation of Track-I trajectory line as:

[0018] K 1 x+y-(K 1 S Y +S Y )=0

[0019] In the formula, K 1 is the slope of the Track-I track line, and the calculation formula is:

[0020]

[0021] Where M X is the x-axis coordinate of the endpoint M of the Track-I track line, and the calculation formula is:

[0022]

[0023] Where P x (i+1, j+1) is the horizontal coordinate of the adjacent seedling P(i+1, j+1) that the Track-I track line passes through; P x (i+2, j+1) is the horizontal coordinate of the adjacent seedling P(i+2, j+1) that the Track-I track line passes through;

[0024] M Y is the y-axis coordinate of the endpoint M of the Track-I track line, and the calculation formula is:

[0025]

[0026] Where P Y (i+1, j+1) is the ordinate of the adjacent seedling P(i+1, j+1) that the Track-I track line passes through; P Y (i+2, j+1) is the ordinate of the adjacent seedling P(i+2, j+1) that the Track-I track line passes through;

[0027] S X is the x-axis coordinate of the endpoint S of the Track-I track line, and the calculation formula is:

[0028]

[0029] Where P x (i, j) is the horizontal coordinate of the adjacent seedling P(i, j) that the Track-I track line passes through; P x (i+1, j) is the horizontal coordinate of the adjacent seedling P(i+1, j) that the Track-I track line passes through;

[0030] S Yis the y-axis coordinate of the endpoint S of the Track-I track line, and the calculation formula is:

[0031]

[0032] Where P Y (i, j) is the ordinate of the adjacent seedling P(i, j) that Track-I passes through; P Y (i+1, j) is the ordinate of the adjacent seedling P(i+1, j) that the Track-I track line passes through;

[0033] Then the lateral displacement of the disc weeding tool along the Track-I track line is calculated as:

[0034] D 横右 =M X -S X

[0035] Then the lateral moving speed of the disc weeding tool along the Track-I track line is calculated as:

[0036]

[0037] Step 3.3, calculate the straight line equation of Track-II trajectory line:

[0038] K 2 x+y-(K 2 E Y +M Y )=0

[0039] In the formula, K 2 is the slope of the Track-II track line, and the calculation formula is:

[0040]

[0041] E X is the x-axis coordinate of the endpoint E of the Track-II track line, and the calculation formula is:

[0042]

[0043] Where P x (i, j+2) is the horizontal coordinate of the adjacent seedling P(i, j+2) that the Track-II trajectory line passes through; P x (i+1, j+2) is the horizontal coordinate of the adjacent seedling P(i+1, j+2) that the Track-II trajectory line passes through;

[0044] E Y is the y-axis coordinate of the endpoint E of the Track-II track line, and the calculation formula is:

[0045]

[0046] Where P Y (i, j+2) is the ordinate of the adjacent seedling P(i, j+2) that the Track-II trajectory line passes through; P Y (i+1, j+2) is the ordinate of the adjacent seedling P(i+1, j+2) that the Track-II trajectory line passes through;

[0047] Then the lateral displacement of the disc weeding tool along the Track-II trajectory is calculated as:

[0048] D 横左 =M X -E X

[0049] Then the lateral moving speed of the disc weeding tool along the Track-II track line is calculated as:

[0050]

[0051] Step 3.4, construct a V-shaped track segment according to the straight line equations of the two track segments Track-I and Track-II, and connect the V-shaped track segments in sequence to form an inter-plant movement track.

[0052] Furthermore, in step 4 of the seedling avoidance method, the specific steps of determining whether the disc weeding tool will cut the roots of the seedlings when cutting in and out of the plant spaces are:

[0053] Step 4.1, when the disc weeding tool moves along the track line Track-I, calculate the vertical distance R from the seedling P(i+1, j) to the track Track-I 1-in for:

[0054]

[0055] when When the weeding tool cuts into the plant, it will not cut the root of the seedling P(i+1, j), d T，1-in is the cutting working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted;

[0056] Then calculate the vertical distance R from the seedling P(i+1, j+1) to the track Track-I 1-out for:

[0057]

[0058] when When the weeding tool cuts out of the plant, it will not cut the root of the seedling P(i+1, j+1), dT，1-out is the cut-out working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted.

[0059] Step 4.2, when the disc weeding tool moves along the Track-II track, calculate the vertical distance R from the seedling P(i+1, j+1) to the track Track-II 2-in for:

[0060]

[0061] when When the disc weeding tool cuts into the plant, it will not cut the root of the seedling P(i+1, j+1). T，2-in is the cutting working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted;

[0062] Then calculate the vertical distance R from the seedling plant P(i+1, j+2) to the track Track-II 2-out for:

[0063]

[0064] when When the weeding tool cuts out of the plant, it will not cut the root of the seedling P(i+1, j+2), d T，2-o It is the cutting working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted.

[0065] Further, in step 4 of the seedling avoidance method, when adjusting the working diameter of the disc weeding tool:

[0066] First, according to the set safety avoidance threshold γ, the working diameter d that needs to be adjusted in the current state of the disc weeding tool is calculated. T,i for:

[0067]

[0068] Where i is 1-in, 1-out, 2-in or 2-out;

[0069] Then, according to the calculated working diameter d, T,i The cutting-in working diameter or the cutting-out working diameter of the disc weeding tool at the corresponding position is adjusted.

[0070] Furthermore, in step 5 of the seedling avoidance method, the working parameters of the disc weeding tool also include the rotation speed of the disc weeding tool. When the disc weeding tool is driven and controlled, the rotation speed of the disc weeding tool is also driven and controlled. The specific steps are:

[0071] First, the angle θ between two adjacent weeding claws is calculated according to the number N of weeding claws of the disc weeding tool:

[0072]

[0073] According to the diameter d of the weeding claw itself 爪 The maximum time interval t when two adjacent weeding claws pass through the current trajectory line is calculated as:

[0074]

[0075] Where V 纵 is the longitudinal moving speed of the disc weeding tool, V 横 The lateral moving speed of the disc weeding tool on the current trajectory, including V 横左 and V 横右 , V 合 The moving speed of the disc weeding tool along the current trajectory;

[0076] Then calculate the minimum speed of the disc weeding tool ω min for:

[0077]

[0078] Finally, according to the calculated minimum speed ω min to set the speed of the disc weeding tool.

[0079] Compared with the prior art, the present invention has the following beneficial effects:

[0080] (1) The data acquisition module is used to obtain the actual position information of the seedlings obtained by the visual module, and then the trajectory planning module plans in advance the inter-plant movement trajectory of the disc weeding tool relative to the geodetic coordinate system, so as to achieve precise control of the disc weeding tool, facilitate the inter-plant weeding operation of the facility, and improve the inter-plant weeding efficiency;

[0081] (2) Based on the principle of motion synthesis, the motion control module automatically plans the lateral displacement and lateral movement speed of the disc weeding tool relative to the traction platform according to the position information of the seedlings, the forward speed of the traction platform of the disc weeding tool, and the inter-plant movement trajectory of the disc weeding tool relative to the geodetic coordinate system, which is conducive to simplifying the structural design of the motion transmission mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 It is a structural diagram of the automatic seedling avoidance system of the present invention;

[0083] Figure 2 It is a schematic diagram of the inter-plant movement trajectory of the present invention;

[0084] Figure 3 It is a schematic flow chart of the seedling avoidance method of the present invention;

[0085] Figure 4 It is a working schematic diagram of the disc-type weeding tool of the present invention, in which the i-th claw is located in the synthetic motion direction;

[0086] Figure 5 This is a schematic diagram of the working state of the disc-type weeding tool of the present invention when the (i+1)th claw is located in the synthetic motion direction. DETAILED DESCRIPTION

[0087] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0088] Embodiment 1:

[0089] like Figure 1 As shown, the automatic seedling avoidance system for mechanical weeding between paddy fields disclosed in the present invention comprises: a data acquisition module, a trajectory planning module and a motion control module;

[0090] The data acquisition module is used to obtain the actual position of each seedling identified by the visual module in the front identification area and the longitudinal movement speed collected by the speed measurement module;

[0091] The trajectory planning module is used to calculate the movement and working data of the disc weeding tool according to the actual position of the seedlings, the working parameters of the disc weeding tool and the longitudinal moving speed obtained by the data acquisition module, including the moving trajectory between plants, the lateral moving displacement, the lateral moving speed, the cutting-in working diameter and the cutting-out working diameter;

[0092] The motion control module is used to send corresponding control instructions to the traction platform of the disc weeding tool according to the motion data calculated by the trajectory planning module, so that the disc weeding tool can perform weeding operations according to the set inter-plant movement trajectory, lateral movement displacement, lateral movement speed, cutting-in working diameter and cutting-out working diameter.

[0093] Among them, the traction platform samples the existing mechanical structure to realize the longitudinal movement and reciprocating lateral movement of the disc weeding tool; the visual module is installed on the front side of the traction platform to detect and identify the seedlings in front of the longitudinal movement and establish the corresponding geodetic coordinate system; the speed measurement module is installed on the lower side of the traction platform to detect the speed of the longitudinal walking wheels.

[0094] The automatic seedling avoiding system of the present invention utilizes the data acquisition module to acquire the actual position information of the seedlings acquired by the visual module, and then the trajectory planning module plans in advance the inter-plant movement trajectory of the disc weeding tool relative to the geodetic coordinate system, thereby realizing precise control of the disc weeding tool, facilitating the inter-plant weeding operation of the facility and improving the inter-plant weeding efficiency; the motion control module can automatically plan the lateral movement displacement and lateral movement speed of the disc weeding tool relative to the traction platform according to the actual position information of the seedlings, the longitudinal forward speed of the traction platform of the disc weeding tool and the inter-plant movement trajectory of the disc weeding tool relative to the geodetic coordinate system, thereby simplifying the structural design of the motion transmission mechanism.

[0095] As shown in 3, the present invention also provides a seedling avoidance method of an automatic seedling avoidance system for mechanical weeding between paddy fields, comprising the following steps:

[0096] Step 1: Determine the maximum diameter d of the root protection circle of the seedling max , the center of the seedling root protection circle is the location of the seedling root;

[0097] Step 2: The data acquisition module obtains the actual row and column position P(i, j) of each seedling identified by the visual module in the front identification area, and the longitudinal moving speed V collected by the speed measurement module. 纵 and working parameters of the disc weeding tool, the working parameters of the disc weeding tool including a cut-in working diameter and a cut-out working diameter;

[0098] Step 3: The trajectory planning module plans the inter-plant movement trajectory of the disc weeding tool according to the actual row and column positions P(i, j) of each seedling, and then plans the inter-plant movement trajectory and the longitudinal movement speed V according to the motion synthesis principle. 纵 Calculate the lateral displacement D of the disc weeding tool 横 and lateral speed V 横 , where i represents the row where the seedling is located, and j represents the column where the seedling is located;

[0099] Step 4: According to the inter-plant movement trajectory, the actual row and column position P(i, j) of each seedling, and the maximum diameter d of the seedling root protection circle max and the working parameters of the disc weeding tool to determine whether the disc weeding tool will cut the roots of the seedlings when cutting in and out of the plants. If the roots of the seedlings are cut, the disc weeding tool adjusts the working parameters, that is, adjusts the cutting-in working diameter and the cutting-out working diameter, and then proceeds to step 5. If the roots of the seedlings are not cut, then directly proceeds to step 5;

[0100] Step 5: The motion control module determines the longitudinal moving speed V 纵 , lateral displacement D 横 , lateral movement speed V 横The working parameters of the disc weeding tool are used to drive and control the disc weeding tool, so that the disc weeding tool moves along the set inter-plant movement trajectory (for the longitudinal movement speed V 纵 , lateral displacement D 横 , lateral movement speed V 横 Control is carried out to achieve), cut into the working diameter and cut out the working diameter to perform weeding operations.

[0101] By calculating in advance the vertical distance from the seedling to the inter-plant movement trajectory of the disc weeding tool relative to the geodetic coordinate system and the maximum diameter of the seedling root protection circle when no root cutting occurs, it can be determined whether the working diameter of the disc weeding tool needs to be adjusted when cutting in and out of the plants, which can significantly reduce the seedling injury rate.

[0102] Further, such as Figure 2 As shown, in step 3, the specific steps of planning the inter-plant movement trajectory of the disc weeding tool according to the actual row and column positions P(i, j) of each seedling are:

[0103] Step 3.1, set the inter-plant movement trajectory to be composed of V-shaped trajectory segments connected in sequence, each V-shaped trajectory segment is composed of two trajectory lines, Track-I and Track-II, and establish a row and column coordinate system based on the distribution of seedlings, such as Figure 2 As shown;

[0104] Step 3.2, calculate the straight line equation of Track-I trajectory line as:

[0105] K 1 x+y-(K 1 S Y +S Y )=0

[0106] In the formula, K 1 is the slope of the Track-I track line, and the calculation formula is:

[0107]

[0108] Where M X is the x-axis coordinate of the endpoint M of the Track-I track line, and the calculation formula is:

[0109]

[0110] Where P x (i+1, j+1) is the horizontal coordinate of the adjacent seedling P(i+1, j+1) that the Track-I track line passes through; P x (i+2, j+1) is the horizontal coordinate of the adjacent seedling P(i+2, j+1) that the Track-I track line passes through;

[0111] MY is the y-axis coordinate of the endpoint M of the Track-I track line, and the calculation formula is:

[0112]

[0113] Where P Y (i+1, j+1) is the ordinate of the adjacent seedling P(i+1, j+1) that the Track-I track line passes through; P Y (i+2, j+1) is the ordinate of the adjacent seedling P(i+2, j+1) that the Track-I track line passes through;

[0114] S X is the x-axis coordinate of the endpoint S of the Track-I track line, and the calculation formula is:

[0115]

[0116] Where P x (i, j) is the horizontal coordinate of the adjacent seedling P(i, j) that the Track-I track line passes through; P x (i+1, j) is the horizontal coordinate of the adjacent seedling P(i+1, j) that the Track-I track line passes through;

[0117] S Y is the y-axis coordinate of the endpoint S of the Track-I track line, and the calculation formula is:

[0118]

[0119] Where P Y (i, j) is the ordinate of the adjacent seedling P(i, j) that Track-I passes through; P Y (i+1, j) is the ordinate of the adjacent seedling P(i+1, j) that the Track-I track line passes through;

[0120] Then the lateral displacement of the disc weeding tool along the Track-I track line is calculated as:

[0121] D 横右 =M X -S X

[0122] Then the lateral moving speed of the disc weeding tool along the Track-I track line is calculated as:

[0123]

[0124] Step 3.3, calculate the straight line equation of Track-II trajectory line:

[0125] K 2x+y-(K 2 E Y +M Y )=0

[0126] In the formula, K 2 is the slope of the Track-II track line, and the calculation formula is:

[0127]

[0128] E X is the x-axis coordinate of the endpoint E of the Track-II track line, and the calculation formula is:

[0129]

[0130] Where P x (i, j+2) is the horizontal coordinate of the adjacent seedling P(i, j+2) that the Track-II trajectory line passes through; P x (i+1, j+2) is the horizontal coordinate of the adjacent seedling P(i+1, j+2) that the Track-II trajectory line passes through;

[0131] E Y is the y-axis coordinate of the endpoint E of the Track-II track line, and the calculation formula is:

[0132]

[0133] Where P Y (i, j+2) is the ordinate of the adjacent seedling P(i, j+2) that the Track-II trajectory line passes through; P Y (i+1, j+2) is the ordinate of the adjacent seedling P(i+1, j+2) that the Track-II trajectory line passes through;

[0134] Then the lateral displacement of the disc weeding tool along the Track-II trajectory is calculated as:

[0135] D 横左 =M X -E X

[0136] Then the lateral moving speed of the disc weeding tool along the Track-II track line is calculated as:

[0137]

[0138] Step 3.4, construct a V-shaped track segment according to the straight line equations of the two track segments Track-I and Track-II, and connect the V-shaped track segments in sequence to form an inter-plant movement track.

[0139] Furthermore, the lateral displacement D横 Including the lateral displacement D to the left 横左 and the lateral displacement D to the right 横右 , that is, the lateral displacement D 横 is the displacement of the V-shaped trajectory segment, and the lateral movement speed V 横 Including the lateral movement to the left and the speed V to the right 横左 and the lateral speed V to the right 横右 , that is, the lateral moving speed V 横 It is the speed of the left and right movement in the V-shaped trajectory segment.

[0140] Furthermore, in step 4, the specific steps of determining whether the disc weeding tool will cut into the roots of the seedlings when cutting into or out of the plant spaces are as follows:

[0141] Step 4.1, when the disc weeding tool moves along the track line Track-I, calculate the vertical distance R from the seedling P(i+1, j) to the track Track-I 1-in for:

[0142]

[0143] when When the weeding tool cuts into the plant, it will not cut the root of the seedling P(i+1, j), d T，1-in is the cutting working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted;

[0144] Then calculate the vertical distance R from the seedling P(i+1, j+1) to the track Track-I 1-out for:

[0145]

[0146] when When the weeding tool cuts out of the plant, it will not cut the root of the seedling P(i+1, j+1), d T，1-o is the cut-out working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted.

[0147] Step 4.2, when the disc weeding tool moves along the Track-II track, calculate the vertical distance R from the seedling P(i+1, j+1) to the track Track-II 2-in for:

[0148]

[0149] when When the disc weeding tool cuts into the plant, it will not cut the root of the seedling P(i+1, j+1). T，2-in is the cutting working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted;

[0150] Then calculate the vertical distance R from the seedling plant P(i+1, j+2) to the track Track-II 2-out for:

[0151]

[0152] when When the weeding tool cuts out of the plant, it will not cut the root of the seedling P(i+1, j+2), d T，2-out It is the cutting working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted.

[0153] Further, in step 4, when adjusting the working diameter of the disc weeding tool:

[0154] First, according to the set safety avoidance threshold γ, the working diameter d that needs to be adjusted in the current state of the disc weeding tool is calculated. T,i for:

[0155]

[0156] Where i is 1-in, 1-out, 2-in or 2-out;

[0157] Then, according to the calculated working diameter d, T,i The cutting-in working diameter or the cutting-out working diameter of the disc weeding tool at the corresponding position is adjusted.

[0158] Furthermore, in step 5, the working parameters of the disc weeding tool also include the rotation speed of the disc weeding tool. When the disc weeding tool is driven and controlled, the rotation speed of the disc weeding tool is also driven and controlled, such as Figure 4 and 5 As shown, the specific steps are:

[0159] First, the angle θ between two adjacent weeding claws is calculated according to the number N of weeding claws of the disc weeding tool:

[0160]

[0161] According to the diameter d of the weeding claw itself 爪 The maximum time interval t when two adjacent weeding claws pass through the current trajectory line is calculated as:

[0162]

[0163] Where V 纵 is the longitudinal moving speed of the disc weeding tool, V 横 The lateral moving speed of the disc weeding tool on the current trajectory, including V 横左 and V 横右 , V 合 The moving speed of the disc weeding tool along the current trajectory;

[0164] Then calculate the minimum speed of the disc weeding tool ω min for:

[0165]

[0166] Finally, according to the calculated minimum speed ω min to set the speed of the disc weeding tool.

[0167] By reasonably determining the rotation speed of the disc weeding tool according to the diameter of the weeding claw itself and the moving speed of the disc weeding tool along the current trajectory, it is possible to effectively prevent adjacent weeding claws from missing weeds, further improving the weeding effect of the automatic seedling avoidance system.

[0168] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. An automatic seedling avoidance method for mechanical weeding between paddy fields, characterized in that: The automatic seedling avoidance system is implemented, and the automatic seedling avoidance system includes a data acquisition module, a trajectory planning module and a motion control module; The data acquisition module is used to obtain the actual position of each seedling identified by the visual module in the front identification area and the longitudinal movement speed collected by the speed measurement module; The trajectory planning module is used to calculate the movement and working data of the disc weeding tool according to the actual position of the seedlings, the working parameters of the disc weeding tool and the longitudinal moving speed obtained by the data acquisition module, including the moving trajectory between plants, the lateral moving displacement, the lateral moving speed, the cutting-in working diameter and the cutting-out working diameter; The motion control module is used to send corresponding control instructions to the traction platform of the disc weeding tool according to the motion data calculated by the trajectory planning module, so as to realize the weeding operation of the disc weeding tool according to the set inter-plant movement trajectory, lateral movement displacement, lateral movement speed, cutting-in working diameter and cutting-out working diameter; The automatic seedling avoidance method comprises the following steps: Step 1: Determine the maximum diameter d of the root protection circle of the seedling max , the center of the seedling root protection circle is the location of the seedling root; Step 2: Obtain the actual row and column position P(i, j) of each seedling identified by the visual module in the front recognition area and the longitudinal moving speed V collected by the speed measurement module. 纵 and working parameters of the disc weeding tool, the working parameters of the disc weeding tool including a cut-in working diameter and a cut-out working diameter; Step 3: According to the actual row and column positions P(i, j) of each seedling, the inter-plant movement trajectory of the disc weeding tool is planned, and then according to the principle of motion synthesis, the inter-plant movement trajectory and the longitudinal movement speed V 纵 Calculate the lateral displacement D of the disc weeding tool 横 and lateral speed V 横 , where i represents the row where the seedling is located, and j represents the column where the seedling is located; Step 4: According to the inter-plant movement trajectory, the actual row and column position P(i, j) of each seedling, and the maximum diameter d of the seedling root protection circle max and the working parameters of the disc weeding tool to determine whether the disc weeding tool will cut the roots of the seedlings when cutting in and out of the plants. If the roots of the seedlings are cut, the disc weeding tool adjusts the working parameters, that is, adjusts the cutting-in working diameter and the cutting-out working diameter, and then enters step 5. If the roots of the seedlings are not cut, directly enters step 5; Step 5: According to the longitudinal moving speed V 纵 , lateral displacement D 横 , lateral movement speed V 横 and the working parameters of the disc weeding tool to drive and control the disc weeding tool, so that the disc weeding tool performs weeding operations according to the set inter-plant movement trajectory, cutting-in working diameter, and cutting-out working diameter; In step 3, the specific steps of planning the inter-plant movement trajectory of the disc weeding tool according to the actual row and column positions P(i, j) of each seedling are as follows: Step 3.1, setting the inter-plant movement trajectory to be composed of V-shaped trajectory segments connected in sequence, and each V-shaped trajectory segment is composed of two trajectory lines, Track-I and Track-II; Step 3.2, calculate the straight line equation of Track-I trajectory line as: K1x+y-(K1S Y +S Y )=0 Where K1 is the slope of Track-I, and the calculation formula is: Where M X is the x-axis coordinate of the endpoint M of the Track-I track line, and the calculation formula is: Where P x (i+1, j+1) is the horizontal coordinate of the adjacent seedling P(i+1, j+1) that the Track-I track line passes through; P x (i+2, j+1) is the horizontal coordinate of the adjacent seedling P(i+2, j+1) that the Track-I track line passes through; M Y is the y-axis coordinate of the endpoint M of the Track-I track line, and the calculation formula is: Where P Y (i+1, j+1) is the ordinate of the adjacent seedling P(i+1, j+1) that the Track-I track line passes through; P Y (i+2, j+1) is the ordinate of the adjacent seedling P(i+2, j+1) that the Track-I track line passes through; S X is the x-axis coordinate of the endpoint S of the Track-I track line, and the calculation formula is: Where P x (i, j) is the horizontal coordinate of the adjacent seedling P(i, j) that the rack-I trajectory line passes through; P x (i+1, j) is the horizontal coordinate of the adjacent seedling P(i+1, j) that the rack-I trajectory line passes through; S Y is the y-axis coordinate of the endpoint S of the Track-I track line, and the calculation formula is: Where P Y (i, j) is the ordinate of the adjacent seedling P(i, j) that Track-I passes through; P Y (i+1, j) is the ordinate of the adjacent seedling P(i+1, j) that the Track-I track line passes through; Then the lateral displacement of the disc weeding tool along the rack-I trajectory is calculated as: D 横右 =M X -S X Then the lateral moving speed of the disc weeding tool along the Track-I track line is calculated as: Step 3.3, calculate the straight line equation of Track-II trajectory line: K2x+y-(K2E Y +M Y )=0 Where K2 is the slope of the Track-II track line, and the calculation formula is: E X is the x-axis coordinate of the endpoint E of the Track-II track line, and the calculation formula is: Where P x (i, j+2) is the horizontal coordinate of the adjacent seedling P(i, j+2) that the Track-II trajectory line passes through; P x (i+1, j+2) is the horizontal coordinate of the adjacent seedling P(i+1, j+2) that the rack-II trajectory line passes through; E Y is the y-axis coordinate of the endpoint E of the Track-II track line, and the calculation formula is: Where P Y (i, j+2) is the ordinate of the adjacent seedling P(i, j+2) that the Track-II trajectory line passes through; P Y (i+1, j+2) is the ordinate of the adjacent seedling P(i+1, j+2) that the Track-II trajectory line passes through; Then the lateral displacement of the disc weeding tool along the Track-II trajectory is calculated as: D 横左 =M X -E X Then the lateral moving speed of the disc weeding tool along the Track-II track line is calculated as: Step 3.4, construct a V-shaped track segment according to the straight line equations of the two track segments Track-I and Track-II, and connect the V-shaped track segments in sequence to form an inter-plant movement track.

2. The automatic seedling avoidance method for mechanical weeding between paddy fields according to claim 1, characterized in that: In step 4, the specific steps for determining whether the disc weeding tool will cut into the roots of the seedlings when cutting into or out of the plant spaces are as follows: Step 4.1, when the disc weeding tool moves along the track line Track-I, calculate the vertical distance R from the seedling P(i+1, j) to the track Track-I 1-in for: when When the weeding tool cuts into the plant, it will not cut the root of the seedling P(i+1, j), d T，1-in is the cutting working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted; Then calculate the vertical distance R from the seedling P(i+1, j+1) to the track Track-I 1-out for: when When the weeding tool cuts out of the plant, it will not cut the root of the seedling P(i+1, j+1), d T，1-out is the cut-out working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted. Step 4.2, when the disc weeding tool moves along the Track-II track, calculate the vertical distance R from the seedling P(i+1, j+1) to the track Track-II 2-in for: when When the disc weeding tool cuts into the plant, it will not cut the root of the seedling P(i+1, j+1). T，2-in is the cutting working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted; Then calculate the vertical distance R from the seedling plant P(i+1, j+2) to the track Track-II 2-out for: when When the weeding tool cuts out of the plant, it will not cut the root of the seedling P(i+1, j+2), d T，2-out It is the cutting working diameter of the disc weeding tool at the current position. At this time, there is no need to adjust the working diameter of the disc weeding tool. Otherwise, the working diameter of the disc weeding tool needs to be adjusted.

3. The automatic seedling avoidance method for mechanical weeding between paddy fields according to claim 2, characterized in that: In step 4, when adjusting the working diameter of the disc weeding tool: First, according to the set safety avoidance threshold γ, the working diameter d that needs to be adjusted in the current state of the disc weeding tool is calculated. T,i for: Where i is 1-in, 1-out, 2-in or 2-out; Then, according to the calculated working diameter d T,i The cutting-in working diameter or the cutting-out working diameter of the disc weeding tool at the corresponding position is adjusted.

4. The automatic seedling avoidance method for mechanical weeding between paddy fields according to claim 1, characterized in that: In step 5, the working parameters of the disc weeding tool also include the rotation speed of the disc weeding tool. When the disc weeding tool is driven and controlled, the rotation speed of the disc weeding tool is also driven and controlled. The specific steps are: First, the angle θ between two adjacent weeding claws is calculated according to the number N of weeding claws of the disc weeding tool: According to the diameter d of the weeding claw itself 爪 The maximum time interval t when two adjacent weeding claws pass through the current trajectory line is calculated as: Where V 纵 is the longitudinal moving speed of the disc weeding tool, V 横 The lateral moving speed of the disc weeding tool on the current trajectory, including V 横左 and V 横右 , V 合 The moving speed of the disc weeding tool along the current trajectory; Then calculate the minimum speed of the disc weeding tool ω min for: Finally, according to the calculated minimum speed ω min to set the speed of the disc weeding tool.

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