A paddy field inter-row adaptive weeding system based on a self-propelled platform and a weeding method thereof

Abstract

The invention discloses a paddy field inter-row adaptive weeding system based on a self-propelled platform and a weeding method thereof, wherein the weeding system comprises a self-propelled platform and an inter-row weeding component; the self-propelled platform is provided with an automatic positioning module based on Beidou navigation, an automatic obstacle avoidance module based on ultrasonic and visual sensor perception, and an unmanned driving control module; the inter-row weeding component is installed on the self-propelled platform, and the unmanned driving control module is used to control the self-propelled platform to drive the inter-row weeding component to move according to the information of the automatic positioning module and in combination with the data perceived in real time by the automatic obstacle avoidance module; the inter-row weeding component is used to move in coordination with the self-propelled platform to realize inter-row mobile weeding. The adaptive weeding system and the weeding method thereof utilize the inter-row weeding component to cooperate with the self-propelled platform to realize inter-row mobile weeding, thereby realizing reliable control of the weeding path, reducing the seedling injury rate of inter-row weeding, and improving the weeding effect.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent weeding technology equipment, and in particular relates to an inter-plant adaptive weeding system based on a self-propelled platform and a weeding method thereof. Background Art

[0002] With the successful application of Beidou navigation technology in the field of smart agriculture in recent years, various new unmanned and intelligent agricultural machinery and equipment platforms are constantly emerging. Among them, my country's rice planting area is not only large, but there are also about 130 kinds of weeds in the field that compete with seedlings for nutrition, space, light, water and other resources, resulting in an increase in the number of tillers of seedlings, a decrease in the number of tillers, and an increase in the degree of damage caused by pests and diseases, which seriously affects the yield and quality of rice. The demand for intelligent weeding platforms is particularly urgent. However, with the steady advancement of my country's unmanned driving technology in agricultural machinery and equipment platforms, the status and role of automated intelligent weeding machines in the development of intelligent weeding platforms are becoming increasingly prominent.

[0003] 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.

[0004] In order to solve the above problems, it is necessary to design a paddy field inter-row adaptive weeding system and its weeding method based on a self-propelled platform, which can improve the inter-row weeding effect of the intelligent weeding platform and promote the development of automated, intelligent and green weeding in my country's row-planted paddy fields. Summary of the invention

[0005] The purpose of the invention is to provide a paddy field inter-row adaptive weeding system based on a self-propelled platform and a weeding method thereof, which can improve the inter-row weeding effect of the self-propelled platform.

[0006] Technical solution: The paddy field inter-row adaptive weeding system based on a self-propelled platform described in the present invention includes a self-propelled platform and an inter-row weeding component; the self-propelled platform is provided with an automatic positioning module based on Beidou navigation, an automatic obstacle avoidance module based on ultrasonic and visual sensor perception, and an unmanned driving control module; the inter-row weeding component is installed on the self-propelled platform, and the unmanned driving control module is used to control the self-propelled platform to drive the inter-row weeding component to move according to the information of the automatic positioning module and in combination with the data perceived in real time by the automatic obstacle avoidance module; the inter-row weeding component is used to move in coordination with the self-propelled platform to realize inter-row mobile weeding.

[0007] Furthermore, the inter-row weeding component includes a plurality of inter-row adaptive weeding units, each of which includes a seedling position detection module, a reciprocating lateral movement mechanism, a claw-type weeding disc and a system controller; the seedling position detection module is installed at the front end of the self-propelled platform, and is provided with an intelligent camera and an image processing module for online detection of the actual position of the seedlings; the reciprocating lateral movement mechanism is suspended and installed at the middle and lower part of the self-propelled platform, and is used to drive the claw-type weeding disc to perform reciprocating lateral movement relative to the self-propelled platform; the claw weeding disc is installed on the power output end of the reciprocating lateral movement mechanism for inter-row weeding; the system controller is used to receive the seedling position information obtained by the seedling position detection module and the longitudinal travel speed V from the self-propelled platform. 纵 , to control the reciprocating lateral movement mechanism to drive the claw-type weeding disc to move between the seedlings, thereby achieving weeding between the seedlings.

[0008] Furthermore, the reciprocating transverse movement mechanism includes a suspension bracket, a first driving device, a cylindrical camshaft and a slide; the suspension bracket is installed on a self-propelled platform; the first driving device is installed on the suspension bracket, the cylindrical camshaft is laterally rotatably installed on the suspension bracket, and the first driving device is used to drive the cylindrical camshaft to rotate; a circle of cam grooves is provided in the middle part of the cylindrical camshaft; the slide is laterally slidably installed on the suspension bracket, and an extension shaft is fixedly provided on the back of the slide, and the other end of the extension shaft extends into the cam groove on the cylindrical camshaft.

[0009] Furthermore, the suspension bracket includes two vertical beams and two horizontal beams, the upper ends of the two vertical beams are suspended and installed in the middle of the self-propelled platform, and the two horizontal beams are installed transversely and parallelly in the middle and lower parts of the two vertical beams; the two ends of the cylindrical camshaft are transversely rotatably installed on the two vertical beams through rolling bearing seats; a linear guide rail is transversely installed on the two horizontal beams, and the slide is slidably installed on the two linear guide rails through a slider; the end of the protruding shaft is sleeved with a first rolling bearing, the outer ring of the first rolling bearing extends into the cam groove of the cylindrical camshaft, and the cam groove pushes the first rolling bearing to move laterally.

[0010] Furthermore, when the first rolling bearing moves along the cam groove to the left and right ends of the cylindrical cam shaft, the axial center distance of the extending shaft at the left and right ends is equal to the seedling row spacing; the cam groove includes two connecting slide grooves and two rotating arc grooves, the two rotating arc grooves are respectively located at the left and right ends of the cylindrical cam shaft, and the two connecting slide grooves are respectively obliquely connected between the two rotating arc grooves. When the cylindrical cam shaft rotates one circle, the first rolling bearing moves back and forth once.

[0011] Furthermore, the claw-type weeding disc includes a second drive device, a third drive device, a weeding blade rod, a blade disc, a rotating disc and a plurality of weeding claws; the second drive device is vertically fixedly mounted on the slide, and its output shaft is downwardly connected to the weeding blade rod, and a cylindrical cover is fixedly connected to the lower end of the weeding blade rod, and the blade disc is fixedly mounted on the lower end of the cylindrical cover; a plurality of radial grooves are radially arranged on the circumferential edge of the blade disc, and the central angles of adjacent radial grooves are equal; the third drive device is fixed inside the cylindrical cover, and the upper side of the rotating disc is fixedly mounted On the output shaft of the third driving device; the lower side surface of the rotating disk is rotatably installed on the upper end surface of the knife disc, and a plurality of waist-shaped adjustment holes extending non-radially to the edge are arranged on the rotating disk; adjustment grooves are arranged on the two side groove edges of each radial slide groove, and radial sliders are slidably installed in the two opposite adjustment slide grooves, and the upper end of the radial slider is provided with a second extending shaft extending upward out of the radial slide groove, and the second extending shaft extends into the waist-shaped adjustment hole at the corresponding position; each weeding claw is vertically fixed on the lower end surface of each radial slider.

[0012] Furthermore, it also includes a columnar weeding cover; the columnar weeding cover is sleeved on the weeding knife rod, and the upper end is installed on the slide through the installation angle iron; a movable gap is left between the lower end of the columnar weeding cover and the upper end surface of the columnar cover shell.

[0013] The present invention also provides a weeding method for a paddy field inter-row adaptive weeding system based on a self-propelled platform, comprising the following steps:

[0014] Step 1: Before the operation, according to the requirements of the self-propelled platform for the number of rows to be weeded in a single trip, a corresponding number of inter-row adaptive weeding units are assembled;

[0015] Step 2: During operation, the system controller controls the reciprocating lateral movement mechanism and the claw-type weeding disc in real time to cooperate with the movement of the self-propelled platform to complete inter-plant weeding according to the seedling position information provided by the seedling position detection module. The specific steps are as follows:

[0016] Step 2.1, the seedling position detection module of the inter-row weeding component collects the actual position P(i, j) of the seedling online and sends it to the system controller, where i represents the row where the seedling is located and j represents the column where the seedling is located;

[0017] Step 2.2: The system controller determines the position information P(i, j) of the seedlings according to the longitudinal travel speed V of the self-propelled platform. 纵 and the maximum diameter d of the root protection circle of the seedling max , plan the rotation speed of the first driving device of the reciprocating transverse movement mechanism and the working radius required for each claw-type weeding disc to work: when the inter-row weeding component adopts a group of inter-row adaptive weeding units, the rotation speed of the first driving device is determined according to the position information of the two adjacent seedlings in the current row and the longitudinal travel speed of the self-propelled platform; when the inter-row weeding component adopts an even group of inter-row adaptive weeding units, the rotation speed of the first driving device is determined according to the position information of the two adjacent seedlings in each row and the longitudinal travel speed of the self-propelled platform;

[0018] In step 2.3, the system controller starts the first driving device of the reciprocating transverse movement mechanism and the second driving device of the claw-type weeding disk. Driven by the self-propelled platform, the reciprocating transverse movement mechanism pushes away the seedling leaves between the plants through the straw-pushing cover, and the claw-type weeding disk removes the weeds between the plants from the bottom. Each inter-plant adaptive weeding unit adjusts the working radius of the claw-type weeding disk in real time when cutting into the plants.

[0019] Furthermore, when the inter-row weeding component adopts a group of inter-row adaptive weeding units, the rotation speed of the first driving device is determined according to the position information of the two adjacent seedlings in the current row and the longitudinal travel speed of the self-propelled platform, specifically:

[0020] First calculate the speed of the first drive device:

[0021]

[0022] Where P y (i, j+1) is the ordinate of position P(i, j+1), P y (i, j) is the ordinate of position P(i, j), 0.5r means 0.5 revolution;

[0023] Then calculate the working radius of the claw weeding disc:

[0024]

[0025] When the inter-row weeding component adopts an even-group inter-row adaptive weeding unit, the rotation speed of the first driving device is determined according to the position information of two adjacent seedlings on each row and the longitudinal travel speed of the self-propelled platform, specifically:

[0026] First find the mean distance between two adjacent seedlings in N rows for:

[0027]

[0028] In the formula, the value of k is i, i+1, ..., or i+N-1, P y (k,j+1),P y (k,j),P y (k+N-1,j) and P y (k+N-1,j+1) are the ordinates of the corresponding positions respectively;

[0029] Then according to the average distance between two adjacent seedlings in N rows Determine the speed of the first drive device as:

[0030]

[0031] That is, when the first driving device drives the cylindrical cam shaft of each group of inter-row weeding components to rotate half a circle at a speed of n1, the center of the blade disc of each group of inter-row weeding components simultaneously performs inter-row weeding along the same trajectory;

[0032] Then, according to the initial position ordinate p of the center of the blade disc when N groups of inter-row weeding components are used for inter-row weeding, sy (k, j) Calculate the instantaneous position ordinate p of the center of each set of knife discs passing through the seedling row my (k,j) is:

[0033]

[0034] Then calculate the distance d from the instantaneous position to the positions of the two adjacent seedlings respectively 前 and d 后 for:

[0035] d 前 =|p my (k,j)-p y (k,j)|

[0036] d 后 =|p my (k,j)-p y (k,j+1)|

[0037] Finally take d 前 and d 后 The minimum value d in min To calculate the required working radius of each row of upper claw weeding discs:

[0038]

[0039] Furthermore, in step 1, the specific steps of forming a corresponding number of inter-plant adaptive weeding units are:

[0040] Step 1.1, according to the requirement of the self-propelled platform for the number of weeding rows in a single trip, a corresponding number of inter-row adaptive weeding units are used. When one group of inter-row adaptive weeding units is used, there is no specific requirement for the installation direction of the cylindrical cam shaft of the reciprocating transverse movement mechanism; when N groups of inter-row adaptive weeding units are used, the cylindrical cam shafts of all inter-row weeding components are installed in the same direction;

[0041] Step 1.2: Several inter-row adaptive weeding units are moved together with the self-propelled platform to the rows of seedlings to be weeded, and the maximum diameter d of the root protection circle of the seedlings is determined according to the working parameters of the transplanter during transplanting and the root growth of the seedlings during weeding. max .

[0042] Compared with the prior art, the present invention has the following beneficial effects: inter-row weeding is achieved by cooperating between the inter-row weeding components and the self-propelled platform, thereby realizing reliable control of the weeding path, reducing the seedling injury rate of inter-row weeding, and improving the weeding effect; and the identification and positioning of the seedlings and the longitudinal movement control can be realized by cooperating between the automatic positioning module, the automatic obstacle avoidance module and the unmanned driving control module. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of the structure of the inter-plant adaptive weeding unit of the present invention;

[0044] Figure 2 It is a schematic diagram of the cylindrical camshaft installation structure of the present invention;

[0045] Figure 3 It is a schematic diagram of the installation structure of the claw-type weeding disc of the present invention;

[0046] Figure 4 It is a schematic diagram of the cylindrical surface development structure of the cylindrical camshaft of the present invention;

[0047] Figure 5 It is a schematic diagram of the installation structure of the third driving device, the cutter disc and the rotating disc of the present invention;

[0048] Figure 6 It is a schematic diagram of the installation structure of the knife disc, the rotating disc and the weeding claws of the present invention;

[0049] Figure 7 This is the first application example of the present invention;

[0050] Figure 8 This is the second application case of the present invention. DETAILED DESCRIPTION

[0051] 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.

[0052] Embodiment 1:

[0053] like Figure 1-8 As shown, the paddy field inter-row adaptive weeding system based on a self-propelled platform disclosed by the present invention includes a self-propelled platform and an inter-row weeding component; the self-propelled platform is provided with an automatic positioning module based on Beidou navigation, an automatic obstacle avoidance module based on ultrasonic and visual sensor perception, and an unmanned driving control module; the inter-row weeding component is installed on the self-propelled platform, and the unmanned driving control module is used to control the self-propelled platform to drive the inter-row weeding component to move according to the information of the automatic positioning module and in combination with the data perceived in real time by the automatic obstacle avoidance module; the inter-row weeding component is used to move in coordination with the self-propelled platform to realize inter-row mobile weeding.

[0054] The inter-row weeding components are used in conjunction with the self-propelled platform to achieve inter-row mobile weeding, thereby achieving reliable control of the weeding path, reducing the seedling injury rate of inter-row weeding, and improving the weeding effect; the automatic positioning module, the automatic obstacle avoidance module and the unmanned driving control module are used in conjunction to achieve the positioning and longitudinal movement control of the self-propelled platform. The self-propelled platform can adopt an existing towing platform, such as a crawler tractor, and can achieve longitudinal controllable movement under the control of a system controller. The automatic positioning module, the automatic obstacle avoidance module and the unmanned driving control module all adopt existing technologies, and can achieve the positioning of the self-propelled platform, obstacle avoidance identification, and walking and steering control of the self-propelled platform under the control of the system controller, which is not the innovation point of the present invention.

[0055] Furthermore, the inter-row weeding component includes a plurality of inter-row adaptive weeding units, each of which includes a seedling position detection module, a reciprocating transverse movement mechanism 200, a claw-type weeding disc 300 and a system controller; the seedling position detection module is installed at the front end of the self-propelled platform, and is provided with an intelligent camera and an image processing module for online detection of the actual position of the seedlings. The technology for identifying and detecting the position of the seedlings using the seedling position detection module can be carried out using existing technology, which is not the innovation point of the present invention; the reciprocating transverse movement mechanism 200 is suspended and installed at the middle and lower part of the self-propelled platform, and is used to drive the claw-type weeding disc 300 to perform reciprocating transverse movement relative to the self-propelled platform; the claw weeding disc 300 is installed on the power output end of the reciprocating transverse movement mechanism 200, and is used for inter-row weeding; the system controller is used to receive the seedling position information obtained by the seedling position detection module and the longitudinal travel speed V from the self-propelled platform. 纵, to control the reciprocating lateral movement mechanism 200 to drive the claw-type weeding disc 300 to move between the seedlings to achieve weeding between the plants. The system controller can use an existing controller module, such as an ARM single-chip microcomputer control module, which is not the innovation of the present invention. The reciprocating lateral movement mechanism 200 can drive the claw-type weeding disc 300 to move back and forth horizontally, thereby cooperating with the longitudinal movement of the self-propelled platform to achieve controllable movement of the claw-type weeding disc 300 between the plants; the seedling position detection module can identify and locate the position of the seedlings in front, so that the system controller can controllably adjust the working radius of the claw-type weeding disc 300 to achieve reliable cleaning of weeds between the plants.

[0056] Furthermore, the reciprocating transverse movement mechanism 200 includes a suspension bracket 201, a first driving device 202, a cylindrical camshaft 203 and a slide 204; the suspension bracket 201 is installed on a self-propelled platform; the first driving device 202 is installed on the suspension bracket 201, and the cylindrical camshaft 203 is laterally rotatably installed on the suspension bracket 201, and the first driving device 202 is used to drive the cylindrical camshaft 203 to rotate; a circle of cam grooves 208 are provided in the middle of the cylindrical camshaft 203; the slide 204 is laterally slidably installed on the suspension bracket 201, and an extension shaft 204-1 is fixedly provided on the back of the slide 204, and the other end of the extension shaft 204-1 extends into the cam groove 208 on the cylindrical camshaft 203, and a first rolling bearing 204-2 is provided on the extending end, and the first rolling bearing 204-2 moves along the cam groove 208. By utilizing the cooperation between the cam groove 208 on the cylindrical cam shaft 203 and the first rolling bearing 204 - 2 , the cylindrical cam shaft 203 can rotate and push the slide 204 to move laterally, and the first rolling bearing 204 - 2 can effectively reduce the movement resistance;

[0057] Furthermore, the suspension bracket 201 includes two vertical beams 201-1 and two horizontal beams 201-2. The upper ends of the two vertical beams 201-1 are suspended and installed in the middle of the self-propelled platform through the suspension mounting plate 201-3, and the two horizontal beams 201-2 are installed horizontally and parallelly in the middle and lower parts of the two vertical beams 201-1; the two ends of the cylindrical camshaft 203 are installed horizontally and rotatably on the two vertical beams 201-1 through rolling bearing seats; a linear guide rail 206 is installed horizontally on the two horizontal beams 201-2, and the slide 204 is slidably installed on the two linear guide rails 206 through a slider 205 on the back; the end of the protruding shaft 204-1 is covered with a first rolling bearing 204-2, and the outer ring of the first rolling bearing 204-2 extends into the cam groove 208 of the cylindrical camshaft 203, and the cam groove 208 pushes the first rolling bearing 204-2 to move horizontally. By utilizing the sliding cooperation between the linear guide rail 206 and the slider 205, the slide 204 can achieve stable lateral sliding; the cylindrical cam shaft 203 can realize the lateral reciprocating motion of the claw-type weeding disc 300 relative to the self-propelled platform, avoiding the frequent reversing operation of the first drive device 202; for the planting mode of "large row spacing and small plant spacing" for seedlings, through the coordinated setting of the cam groove 208 of the cylindrical cam shaft 203, the claw-type weeding disc 300 is kept away from the roots of the seedlings when cutting in and out of the plants, which is convenient for real-time control of the working diameter of the claw-type weeding disc 300.

[0058] Furthermore, when the first rolling bearing 204-2 moves along the cam groove 208 to the left and right ends of the cylindrical cam shaft 203, the axial center distance of the extension shaft 204-1 at the left and right ends is equal to the seedling row spacing; the cam groove 208 includes two sections of connecting slide grooves 208-1 and two sections of rotating arc grooves 208-2, the two sections of rotating arc grooves 208-2 are respectively located at the left and right ends of the cylindrical cam shaft 203, and the two sections of connecting slide grooves 208-1 are respectively obliquely connected between the two sections of rotating arc grooves 208-2. When the cylindrical cam shaft 203 rotates one circle, the first rolling bearing 204-2 moves back and forth once, and the outer diameter d1 of the first rolling bearing 204-2 is slightly smaller than the groove width of the cam groove 208. In order to ensure smooth switching transition between two adjacent weeding operations between plants, when the cam groove 208 is unfolded along the outer cylindrical surface of the cylindrical cam shaft 203, its width should be φ d ×π,φ d is the diameter of the cylindrical cam shaft 203. The two sections of the rotary circular arc grooves 208-2 can realize the smooth rotation of the first rolling bearing 204-2 at both ends, thereby reducing the resistance of the lateral reciprocating motion.

[0059] Furthermore, the claw-type weeding disc 300 includes a second driving device 301, a third driving device 302, a weeding blade rod 304, a blade disc 305, a rotating disc 307 and a plurality of weeding claws 306; the second driving device 301 is vertically fixedly installed on the slide 204 by installing an angle iron 303, and its output shaft is downwardly connected to the weeding blade rod 304, and a cylindrical cover 308 is fixedly connected to the lower end of the weeding blade rod 304, and the blade disc 305 is fixedly installed on the lower end of the cylindrical cover 308; a plurality of radial grooves 305-1 are radially provided on the circumferential edge of the blade disc 305, and the central angles between each adjacent radial groove 305-1 are equal, and in this embodiment, there are four radial grooves 305-1, that is, the central angle is 90°; the third driving device 302 is fixed inside the cylindrical cover 308 by a fixed end cover 311, and the upper side of the rotating disc 307 is fixedly installed on the third On the output shaft of the driving device 302; the lower side surface of the rotating disk 307 is rotatably mounted on the upper end surface of the knife disc 305, and a plurality of waist-shaped adjustment holes 307-1 extending non-radially toward the edge are arranged on the rotating disk 307, and the distance from the center of the circle at the same position in each waist-shaped adjustment hole 307-1 is equal. In this embodiment, four waist-shaped adjustment holes 307-1 are arranged; adjustment grooves 305-2 are arranged on the groove edges on both sides of each radial slide groove 305-1, and radial sliders 309 are slidably mounted on the two opposite adjustment slide grooves 305-2, and the upper end of the radial slider 309 is provided with a second extending shaft 309-1 extending upwardly out of the radial slide groove 305-1, and the second extending shaft 309-1 extends into the waist-shaped adjustment hole 307-1 at the corresponding position; each weeding claw 306 is vertically fixed on the lower end surface of each radial slider 309. By rotating the adjustment rotating disk 307, the waist-shaped adjustment hole 307-1 can be used to push the radial slider 309 to move radially, so that the positions of the four weeding claws 306 from the center can be synchronously adjusted, that is, the adjustment of the weeding working diameter is achieved; by using the cooperation of the adjustment slide groove 305-2 and the radial slider 309, the weeding claws 306 can be stably installed and the radial position adjustment can be facilitated.

[0060] Furthermore, a second rolling bearing 309-2 is disposed on the upper end of the second extension shaft 309-1, and the second rolling bearing 309-2 is located in the waist-shaped adjustment hole 307-1. The second rolling bearing 309-2 can effectively reduce the resistance of radial adjustment.

[0061] Furthermore, it also includes a columnar weeding cover 310; the columnar weeding cover 310 is mounted on the weeding blade 304, and the upper end is mounted on the slide 204 through the mounting angle iron 303; there is a movable gap between the lower end of the columnar weeding cover 310 and the upper end surface of the columnar cover 308. The columnar weeding cover 310 can prevent the rotating weeding blade 304 from damaging the seedlings.

[0062] Furthermore, the first driving device 202 , the second driving device 301 and the third driving device 302 all adopt existing stepper motors, and the rotation speed of each stepper motor can be controlled in real time through the system controller.

[0063] The present invention also provides a weeding method for a paddy field inter-row adaptive weeding system based on a self-propelled platform, comprising the following steps:

[0064] Step 1: Before the operation, according to the requirements of the self-propelled platform for the number of rows to be weeded in a single trip, a corresponding number of inter-row adaptive weeding units are assembled. By combining different numbers of inter-row adaptive weeding units, it is possible to meet the needs of self-propelled platforms of different models, and the adaptability to working conditions is strong;

[0065] Step 2: During operation, the system controller controls the reciprocating transverse movement mechanism 200 and the claw weeding disc 300 in real time to cooperate with the movement of the self-propelled platform to complete inter-plant weeding according to the seedling position information provided by the seedling position detection module. The specific steps are as follows:

[0066] Step 2.1, the seedling position detection module of the inter-row weeding component collects the actual position P(i, j) of the seedling online and sends it to the system controller, where i represents the row where the seedling is located and j represents the column where the seedling is located;

[0067] Step 2.2: The system controller determines the position information of two adjacent seedlings on the corresponding row based on the longitudinal travel speed V of the self-propelled platform. 纵 and the maximum diameter d of the root protection circle of the seedling max , plan the rotation speed of the first driving device 202 of the reciprocating transverse movement mechanism 200 and the working radius required for each claw-type weeding disc 300 to work:

[0068] Case 1: When the inter-row weeding component uses a group of inter-row adaptive weeding units, the rotation speed of the first driving device 202 and the working radius of the claw-type weeding disc 300 are determined according to the position information P(i, j) and P(i, j+1) of two adjacent seedlings in the current row:

[0069] First, the rotation speed of the first driving device 202 is calculated as:

[0070]

[0071] Where P y (i, j+1) is the ordinate of position P(i, j+1), P y (i, j) is the ordinate of position P(i, j), 0.5r means 0.5 revolution;

[0072] Then calculate the working radius of the claw weeding disc 300:

[0073]

[0074] Case 2: When the inter-row weeding component uses N groups (N>1) of inter-row adaptive weeding units, the rotation speed of the first driving device 202 and the working radius of each claw-type weeding disc 300 are determined according to the position information P(k, j) and P(k, j+1) of two adjacent seedlings on the N rows:

[0075] First find the mean distance between two adjacent seedlings in N rows for:

[0076]

[0077] In the formula, the value of k is i, i+1, ..., or i+N-1, P y (k,j+1),P y (k,j),P y (k+N-1,j) and P y (k+N-1,j+1) are the ordinates of the corresponding positions respectively;

[0078] Then according to the average distance between two adjacent seedlings in N rows The rotation speed of the first driving device 202 is determined as:

[0079]

[0080] That is, when the first driving device 202 drives the cylindrical cam shaft 203 of each group of inter-row weeding components to rotate half a circle at a speed of n1, the center of the blade disc 305 of each group of inter-row weeding components simultaneously performs inter-row weeding once along the same trajectory;

[0081] Then, according to the initial position ordinate p of the center of the blade disc 305 when the N groups of inter-row weeding components are performing inter-row weeding, sy (k, j) calculates the instantaneous position ordinate p of the center of each set of knife discs 305 passing through the seedling row my (k,j) is:

[0082]

[0083] Then calculate the distance d from the instantaneous position to the positions of the two adjacent seedlings respectively 前 and d 后 for:

[0084] d 前 =|p my (k,j)-p y (k,j)|

[0085] d 后 =|p my(k,j)-p y (k,j+1)|

[0086] Finally take d 前 and d 后 The minimum value d in min To calculate the required working radius of each row of upper claw weeding discs 300:

[0087]

[0088] In step 2.3, the system controller starts the first driving device 202 of the reciprocating transverse movement mechanism 200 and the second driving device 301 of the claw-type weeding disc 300. Driven by the self-propelled platform, the reciprocating transverse movement mechanism 200 pushes away the leaves of the seedlings between the plants through the weeding cover 310, and the claw-type weeding disc 300 removes the weeds between the plants from the bottom, and each inter-plant adaptive weeding unit adjusts the working radius of the claw-type weeding disc 300 in real time when cutting into the plants.

[0089] The inter-row weeding component moves forward with the self-propelled platform, and the seedling position detection module automatically obtains the position information of the seedling plant, combined with the maximum diameter d of the seedling root protection circle. max The system controller plans in advance the working radius required for the inter-row weeding component to cut into the rows, thereby achieving precise online control of the disc weeding tool and reducing the seedling injury rate of inter-row weeding.

[0090] Furthermore, in step 1, the specific steps of forming a corresponding number of inter-plant adaptive weeding units are:

[0091] Step 1.1, according to the requirement of the self-propelled platform for the number of rows to be weeded in a single trip, a corresponding number of inter-row adaptive weeding units are used. When one group of inter-row adaptive weeding units is used, there is no specific requirement for the installation direction of the cylindrical cam shaft 203 of the reciprocating transverse movement mechanism 200; when N groups of inter-row adaptive weeding units are used, the cylindrical cam shafts 203 of all inter-row weeding components need to be installed in the same direction, and the slide 204 is kept to move relative to each other in the same direction, so that the weeding components of adjacent rows will not interfere with each other in motion;

[0092] Step 1.2: Several inter-row adaptive weeding units are moved together with the self-propelled platform to the rows of seedlings to be weeded, and the maximum diameter d of the root protection circle of the seedlings is determined according to the working parameters of the transplanter during transplanting and the root growth of the seedlings during weeding. max , which is obtained based on artificial experience.

[0093] 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. A paddy field inter-row adaptive weeding system based on a self-propelled platform, comprising a self-propelled platform and an inter-row weeding component; the self-propelled platform is provided with an automatic positioning module based on Beidou navigation, an automatic obstacle avoidance module based on ultrasonic and visual sensor perception, and an unmanned driving control module; the inter-row weeding component is installed on the self-propelled platform, and the unmanned driving control module is used to control the self-propelled platform to drive the inter-row weeding component to move according to the information of the automatic positioning module and the data perceived in real time by the automatic obstacle avoidance module; it is characterized in that The inter-row weeding component is used to move in coordination with the self-propelled platform to achieve inter-row weeding; The inter-row weeding component comprises a plurality of inter-row adaptive weeding units, each of which comprises a seedling position detection module, a reciprocating lateral movement mechanism (200), a claw-type weeding disc (300) and a system controller; the seedling position detection module is installed at the front end of the self-propelled platform, and is provided with an intelligent camera and an image processing module, and is used for online detection of the actual position of the seedling; the reciprocating lateral movement mechanism (200) is suspended and installed at the middle and lower part of the self-propelled platform, and is used for driving the claw-type weeding disc (300) to perform reciprocating lateral movement relative to the self-propelled platform; the claw-type weeding disc (300) is installed at the power output end of the reciprocating lateral movement mechanism (200), and is used for inter-row weeding; the system controller is used for receiving the seedling position information obtained by the seedling position detection module and the longitudinal travel speed V from the self-propelled platform. 纵 , to control the reciprocating transverse movement mechanism (200) to drive the claw-type weeding disc (300) to move between the seedlings, thereby achieving weeding between the seedlings; The reciprocating transverse movement mechanism (200) comprises a suspension bracket (201), a first driving device (202), a cylindrical cam shaft (203) and a slide (204); the suspension bracket (201) is mounted on a self-propelled platform; the first driving device (202) is mounted on the suspension bracket (201), the cylindrical cam shaft (203) is laterally rotationally mounted on the suspension bracket (201), and the first driving device (202) is used to drive the cylindrical cam shaft (203) to rotate; a circle of cam grooves (208) is provided in the middle of the cylindrical cam shaft (203); the slide (204) is laterally slidingly mounted on the suspension bracket (201), an extension shaft (204-1) is fixedly provided on the back of the slide (204), and the other end of the extension shaft (204-1) extends into the cam groove (208) on the cylindrical cam shaft (203); The claw-type weeding disc (300) comprises a second driving device (301), a third driving device (302), a weeding blade rod (304), a blade disc (305), a rotating disc (307) and a plurality of weeding claws (306); the second driving device (301) is vertically fixedly mounted on the slide (204), and its output shaft is downwardly connected to the weeding blade rod (304), the lower end of the weeding blade rod (304) is fixedly connected to a cylindrical cover (308), and the blade disc (305) is fixedly mounted on the lower end of the cylindrical cover (308); a plurality of radial grooves (305-1) are radially arranged on the circumferential edge of the blade disc (305), and the central angles of adjacent radial grooves (305-1) are equal; the third driving device (302) is fixedly mounted inside the cylindrical cover (308), and the upper side of the rotating disc (307) is fixedly mounted The rotary disk (307) is mounted on the output shaft of the third driving device (302); the lower side of the rotary disk (307) is rotatably mounted on the upper end surface of the blade disc (305), and a plurality of waist-shaped adjustment holes (307-1) extending non-radially toward the edge are arranged on the rotary disk (307); adjustment grooves (305-2) are arranged on both side groove edges of each radial slide groove (305-1), and radial sliders (309) are slidably mounted on two opposite adjustment grooves (305-2), and the upper end of the radial slider (309) is provided with a second extension shaft (309-1) extending upwardly out of the radial slide groove (305-1), and the second extension shaft (309-1) extends into the waist-shaped adjustment hole (307-1) at the corresponding position; each weeding claw (306) is vertically fixed on the lower end surface of each radial slider (309).

2. The paddy field inter-row adaptive weeding system based on a self-propelled platform according to claim 1, characterized in that: The suspension bracket (201) comprises two vertical beams (201-1) and two horizontal beams (201-2); the upper ends of the two vertical beams (201-1) are suspended and installed in the middle of the self-propelled platform, and the two horizontal beams (201-2) are installed transversely and parallelly in the middle and lower parts of the two vertical beams (201-1); the two ends of the columnar camshaft (203) are transversely and rotatably installed on the two vertical beams (201-1) through rolling bearing seats; the two horizontal beams (2 01-2) are both laterally installed with a linear guide rail (206), and the slide table (204) is slidably installed on the two linear guide rails (206) through a slider (205); the end of the extending shaft (204-1) is sleeved with a first rolling bearing (204-2), and the outer ring of the first rolling bearing (204-2) extends into the cam groove (208) of the cylindrical cam shaft (203), and the cam groove (208) pushes the first rolling bearing (204-2) to move laterally.

3. The paddy field inter-row adaptive weeding system based on a self-propelled platform according to claim 2, characterized in that: When the first rolling bearing (204-2) moves along the cam groove (208) to the left and right ends of the cylindrical cam shaft (203), the axial center distance of the extension shaft (204-1) at the left and right ends is equal to the seedling row spacing; the cam groove (208) comprises two sections of connecting slide grooves (208-1) and two sections of rotating circular arc grooves (208-2), the two sections of rotating circular arc grooves (208-2) are respectively located at the left and right ends of the cylindrical cam shaft (203), the two sections of connecting slide grooves (208-1) are respectively obliquely connected between the two sections of rotating circular arc grooves (208-2), and when the cylindrical cam shaft (203) rotates one circle, the first rolling bearing (204-2) moves back and forth once.

4. The paddy field inter-row adaptive weeding system based on a self-propelled platform according to claim 1, characterized in that: It also includes a columnar weeding cover (310); the columnar weeding cover (310) is mounted on the weeding blade (304), and the upper end is mounted on the slide (204) through a mounting angle iron (303); a movable gap is left between the lower end of the columnar weeding cover (310) and the upper end surface of the columnar cover shell (308).

5. A weeding method for the paddy field inter-row adaptive weeding system based on a self-propelled platform according to claim 1, characterized in that: The following steps are involved: Step 1: Before the operation, according to the requirements of the self-propelled platform for the number of rows to be weeded in a single trip, a corresponding number of inter-row adaptive weeding units are assembled; Step 2: During operation, the system controller controls the reciprocating transverse movement mechanism (200) and the claw-type weeding disc (300) in real time according to the seedling position information provided by the seedling position detection module to coordinate the movement of the self-propelled platform to complete inter-plant weeding. The specific steps are as follows: Step 2.1, the seedling position detection module of the inter-row weeding component collects the actual position P(i, j) of the seedling online and sends it to the system controller, where i represents the row where the seedling is located and j represents the column where the seedling is located; Step 2.2: The system controller determines the position information P(i, j) of the seedlings according to the longitudinal travel speed V of the self-propelled platform. 纵 and the maximum diameter d of the root protection circle of the seedling max , planning the rotation speed of the first driving device (202) of the reciprocating transverse movement mechanism (200) and the required working radius of each claw-type weeding disc (300) when working: when the inter-row weeding component adopts a group of inter-row adaptive weeding units, the rotation speed of the first driving device (202) is determined according to the position information of two adjacent seedlings in the current row and the longitudinal travel speed of the self-propelled platform; when the inter-row weeding component adopts an even group of inter-row adaptive weeding units, the rotation speed of the first driving device (202) is determined according to the position information of two adjacent seedlings in each row and the longitudinal travel speed of the self-propelled platform; In step 2.3, the system controller starts the first driving device (202) of the reciprocating transverse movement mechanism (200) and the second driving device (301) of the claw-type weeding disc (300). Driven by the self-propelled platform, the reciprocating transverse movement mechanism (200) pushes away the seedling leaves between the plants through the weeding cover (310), and the claw-type weeding disc (300) removes the weeds between the plants from the bottom, and each inter-plant adaptive weeding unit adjusts the working radius of the claw-type weeding disc (300) in real time when cutting into the plants.

6. The weeding method of the paddy field inter-row adaptive weeding system based on a self-propelled platform according to claim 5, characterized in that: When the inter-row weeding component uses a group of inter-row adaptive weeding units, the rotation speed of the first driving device (202) is determined according to the position information of two adjacent seedlings in the current row and the longitudinal travel speed of the self-propelled platform, specifically: First, the rotation speed of the first driving device (202) is calculated as: Where P y (i, j+1) is the ordinate of position P(i, j+1), P y (i, j) is the ordinate of position P(i, j), 0.5r means 0.5 revolution; Then calculate the working radius of the claw weeding disc (300): When the inter-row weeding component adopts an even-numbered inter-row adaptive weeding unit, the rotation speed of the first driving device (202) is determined according to the position information of two adjacent seedlings on each row and the longitudinal travel speed of the self-propelled platform, specifically: First find the mean distance between two adjacent seedlings in N rows for: In the formula, the value of k is i, i+1, ..., or i+N-1, P y (k,j+1),P y (k,j),P y (k+N-1,j) and P y (k+N-1,j+1) are the ordinates of the corresponding positions respectively; Then according to the average distance between two adjacent seedlings in N rows The rotation speed of the first driving device (202) is determined as: That is, when the first driving device (202) drives the cylindrical cam shaft (203) of each group of inter-row weeding components to rotate half a circle at a speed of n1, the center of the blade disc (305) of each group of inter-row weeding components simultaneously performs inter-row weeding along the same trajectory; Then, according to the initial position ordinate p of the center of the blade disc (305) when the N groups of inter-row weeding components are performing inter-row weeding, sy (k, j) calculates the instantaneous position ordinate p of the center of each set of knife discs (305) passing through the seedling row my (k,j) is: Then calculate the distance d from the instantaneous position to the positions of the two adjacent seedlings respectively 前 and d 后 for: d before = | p my (k,j)-p y (k,j)| d after = | p my (k,j)-p y (k,j+1)| Finally, take the minimum value d before and after d min The required working radius of each row of upper claw weeding discs (300) is calculated as:

7. The weeding method of the paddy field inter-row adaptive weeding system based on a self-propelled platform according to claim 5, characterized in that: In step 1, the specific steps of forming a corresponding number of inter-row adaptive weeding units are: Step 1.1, according to the requirement of the self-propelled platform for the number of rows to be weeded in a single trip, a corresponding number of inter-row adaptive weeding units are used. When one group of inter-row adaptive weeding units is used, there is no specific requirement for the installation direction of the cylindrical cam shaft (203) of the reciprocating transverse movement mechanism (200); when N groups of inter-row adaptive weeding units are used, the cylindrical cam shafts (203) of all inter-row weeding components are installed in the same direction; Step 1.2: Several inter-row adaptive weeding units are moved together with the self-propelled platform to the rows of seedlings to be weeded, and the maximum diameter d of the root protection circle of the seedlings is determined according to the working parameters of the transplanter during transplanting and the root growth of the seedlings during weeding. max .

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