Wine brewing vineyard inter-plant weeding method based on GNSS (Global Navigation Satellite System)

Abstract

The invention provides a GNSS (Global Navigation Satellite System)-based inter-plant weeding method for a wine-making vineyard, which comprises the following steps of: dotting and positioning root positions of grape plants by using a data collector, and acquiring longitude and latitude data of the root positions of the grape plants of a target operation plot; an automatic driving system is additionally arranged to achieve automatic driving operation of the tractor on the tractor, and the real-time position, the course angle and the speed data of the central point of a rear axle of the tractor are transmitted to the obstacle avoidance controller through CAN communication; acquiring the real-time position, course angle and speed data of the tip of the weeding cutter through coordinate conversion; a stay wire type distance sensor is used for detecting the telescopic distance of the weeding cutter in real time; determining a weeding strategy according to the real-time position of the tip of the weeding cutter and the grape plant root position information of the preset plot; and controlling the weeding mode of the navigation-hydraulic obstacle avoidance combined weeding device according to the weeding strategy. The advantages of autonomous navigation and hydraulic obstacle avoidance are combined, weeds between plants are removed to the maximum extent, and meanwhile the tree damage rate is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent agricultural weeding, and particularly to a method for inter-row weeding in a winemaking vineyard based on GNSS. Background Art

[0002] Inter-row weeding in vineyards has always been a difficult problem in the grape planting production process. Currently, the commonly used solutions are manual weeding and chemical weeding. With the increasing labor cost and the growing problem of labor shortage, the traditional manual weeding method can no longer meet the needs of vineyard management. At the same time, there are also some problems with the use of chemical herbicides. Long-term use of chemical herbicides may cause soil and environmental pollution and pose potential hazards to the ecosystem. Mechanical weeding can overcome the disadvantages of manual weeding and chemical weeding, and has the advantages of high efficiency, environmental protection, and good economic benefits. However, the current mainstream mechanical weeding strategy is passive obstacle avoidance, which has a high dependence on the touch rod. This method not only increases the probability of damaging crops but also leads to problems such as low weeding efficiency. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a method for inter-row weeding in a winemaking vineyard based on GNSS.

[0004] To achieve the above purpose, the present invention provides the following solutions: A method for inter-row weeding in a winemaking vineyard based on GNSS, which is applied to a navigation-hydraulic obstacle avoidance combined weeding device, includes: Using an RTK data collector to mark and locate the root positions of grape plants, and obtaining the longitude and latitude data of the roots of grape plants in the target operation plot; Summarize and process the longitude and latitude data of the roots of grape plants, and write them into the FLASH module of the obstacle avoidance controller through a program; Install an automatic driving system, including an intelligent navigation controller, an intelligent touch display and control screen, and an electric steering wheel, on a tractor, preset a navigation line and turn on the constant speed cruise mode of the tractor to ensure that the navigation line of the tractor is parallel to the grape plant rows and maintains a certain distance to ensure normal weeding operations, and realize the automatic driving operation of the tractor; The RTK-GNSS positioning module in the intelligent navigation controller receives the real-time position, heading angle, and speed data of the center point of the rear axle of the tractor, and the intelligent navigation controller sends this data to the obstacle avoidance controller through CAN communication; Based on the kinematic model of the tractor with agricultural implements, obtain the real-time position, heading angle, and speed data of the tip of the weeding knife by coordinate transformation of the center point position of the rear axle of the tractor; Use a wire-pulling type distance sensor to detect the telescopic distance of the weeding tool in real time, that is, the telescopic distance of the amplitude adjustment hydraulic cylinder; Determine a weeding strategy based on the real-time position of the tip of the weeding knife and the position information of the roots of grape plants in the target operation plot; Control the weeding mode of the navigation-hydraulic obstacle avoidance combined weeding device according to the weeding strategy.

[0005] Preferably, the amplitude adjustment hydraulic cylinder is controlled by an obstacle avoidance controller and drives the weeding tool to extend and retract.

[0006] Preferably, the kinematic equation of the tractor with agricultural implements is: ; ; ; ; ; ; Wherein, x (m), y (m) are the coordinates of the center point of the rear wheel axle of the tractor, θ (rad) is the heading angle of the tractor, δ (rad) is the front wheel steering angle of the tractor, ω (rad / s) is the angular velocity of the steering angle of the tractor, v (m / s) is the traveling speed of the tractor, l (m) is the wheelbase of the tractor, h (m) is the vertical distance from the agricultural implement to the axis of the rear wheel axle, g (m) is the vertical distance between the tip of the weeding knife and the central axis of the tractor, x d (m) 、y d (m) is the position coordinate of the tip of the weeding knife, φ (rad) is the angle between the line connecting the tip of the weeding knife and the center of the rear wheel axle of the tractor and the central axis of the tractor.

[0007] Preferably, the weeding tool obstacle avoidance strategy determined according to the real-time position of the tip of the weeding knife and the position of the grape plant roots includes: Initialize the operation state, turn on the main switch, keep the weeding tool in a stationary state, calculate the fitting line according to the positions of the roots of two grape plants to be operated in front of the weeding tool, draw a perpendicular line to the fitting line through the position point of the root of the first grape plant, and translate the perpendicular line in the opposite direction of the tractor's travel by different distances to obtain the preview line and the safety line; Calculate and return the distance between the tip of the weeding knife and the first pre-aiming straight line, and judge in real time whether the tip of the weeding knife reaches the first pre-aiming straight line, that is, whether the distance between the tip position of the weeding knife and the first pre-aiming straight line is less than zero, to obtain the first judgment result. If the first judgment result is yes, the weeding tool contracts, and then starts to calculate and return the distance between the tip of the weeding knife and the first safety straight line in real time. Then judge whether the tip of the weeding knife reaches the first safety straight line, that is, judge whether the distance between the tip position of the weeding knife and the first safety straight line is less than zero, to obtain the third judgment result. If the third judgment result is yes, the weeding tool extends, performs a weeding operation once, and then recalculates the new pre-aiming straight line and safety straight line according to the root positions of the next two grape plants, updates the pre-aiming straight line and safety straight line. Then judge whether the tip position of the weeding knife reaches the root position of the last grape plant at this time, that is, whether i is greater than or equal to k, to obtain the fifth judgment result, where i is the number of grape plants passed by the tool for obstacle avoidance at this time, and k is the total number of grape plants that need to avoid obstacles. If the fifth judgment result is yes, turn off the main switch and end the overall weeding operation of the target operation plot; if the fifth judgment result is no, judge the first judgment result according to the updated pre-aiming straight line and safety straight line, and repeat the above loop until the fifth judgment result is yes, turn off the main switch and end the overall weeding operation of the target operation plot; If the first judgment result is no, update the tip position of the weeding knife and the telescopic amount of the weeding tool, and judge whether the distance value of the weeding tool extended detected by the wire-pulling displacement sensor is greater than the distance value when the weeding tool is at the maximum extended position. The maximum extended position is the first limit position, to obtain the second judgment result. If the second judgment result is yes, the weeding tool stops moving and makes the first judgment again. If the second judgment result is no, the tool continues to extend and makes the first judgment again; If the third judgment result is no, update the tip position of the weeding knife and the telescopic amount of the weeding tool, and judge whether the distance value of the weeding tool contracted detected by the wire-pulling displacement sensor is less than the distance value when the weeding tool is at the minimum contracted position. The minimum contracted position is the second limit position, to obtain the fourth judgment result. If the fourth judgment result is yes, the weeding tool stops moving and makes the third judgment again. If the fourth judgment result is no, the tool continues to contract and makes the third judgment again.

[0008] Preferably, in the weeding strategy, the pre-aiming straight line and the safety straight line are two straight lines obtained by translating a vertical line, and the translation distance depends on the advance amount of the weeding tool from the root position of the grape plant; The setting of the advance amount needs to be obtained according to the geometric relationship of the weeding tool moving for obstacle avoidance: The weeding tool is away from the root of the grape plant x s When, the weeding tool contracts. The weeding tool is away from the root of the grape plant xe When the weeding tool extends, an obstacle avoidance operation is completed, and the maximum contraction distance of the weeding tool is s; On the premise of meeting obstacle avoidance, in order to expand the weeding area as much as possible, two conditions need to be met: the movement trajectory line of the tip of the weeding knife is tangent to the safe area of the plant root, and the movement trajectory line of the top of the touch rod is tangent to the safe area of the plant root; According to the above two conditions, combined with the kinematic geometric relationship, it is deduced that: ; ; {x}_{e}=\frac {{v}_{e}} {{v}_{e+}{v}_{s}}\left [ {\frac {{v}_{s}} {{v}_{e}}\cdot \frac {\left ( {{r}_{s}+k\sin {\alpha}} \right )} {\sin {\alpha}}-\frac {{r}_{s}} {\sin {\beta}}} \right ] ; ; ; Among them, x s (m) is the distance advance amount of the weeding tool from the grape plant when it needs to contract, x e (m) is the distance advance amount of the weeding tool from the grape plant when it needs to extend, s (m) is the maximum contraction distance of the weeding tool, v t (m / s) is the traveling speed of the tractor, v s (m / s) is the contraction speed of the weeding tool, v e (m / s) is the extension speed of the weeding tool, k (m) is the distance between the tip of the weeding knife and the top of the touch rod, x p (m) is the distance that the tip of the weeding knife extends into the grape plant row, r s (m) is the safe radius of the grape plant root.

[0009] Preferably, the touch rod is used as an emergency obstacle avoidance execution mechanism. When the touch rod touches the main trunk of the grape plant or other obstacles, the weeding tool rotates around the rotating disk by a certain angle to complete obstacle avoidance, which has the highest priority in the obstacle avoidance strategy.

[0010] Based on the weeding strategy, control the telescopic time of the weeding tool according to the delay time of the control system and the advance amount for obstacle avoidance during inter-plant weeding operations.

[0011] According to the specific embodiments provided by the present invention, the following technical effects are disclosed: The present invention provides a GNSS-based inter-plant weeding method for winemaking vineyards, which is applied to a navigation-hydraulic obstacle avoidance combined weeding device, including: using a data collector to mark and locate the positions of the roots of grape plants to obtain the longitude and latitude data of the roots of grape plants in the target operation plot; installing an automatic driving system on the tractor to achieve automatic driving operation of the tractor, and transmitting the real-time position, heading angle, and speed data of the center point of the rear axle of the tractor to the obstacle avoidance controller through CAN communication; obtaining the real-time position, heading angle, and speed data of the tip of the weeding tool through coordinate conversion; using a wire-pulling distance sensor to detect the telescopic distance of the weeding tool in real time; determining a weeding strategy based on the real-time position of the tip of the weeding tool and the position information of the roots of grape plants in the preset plot; controlling the weeding mode of the navigation-hydraulic obstacle avoidance combined weeding device according to the weeding strategy. This application can give a suitable weeding method according to the inter-plant weed situation, and reduce the tree damage rate while ensuring the weeding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0013] Figure 1 It is a flowchart of the GNSS-based inter-plant weeding method for winemaking vineyards provided by the embodiments of the present invention.

[0014] Figure 2 It is a motion model of a tractor with a weeding implement provided by the embodiments of the present invention.

[0015] Figure 3 It is a schematic structural diagram of a navigation-hydraulic obstacle avoidance combined weeding device provided by the embodiments of the present invention.

[0016] Figure 4 It is a schematic diagram of controlling the weeding tool to avoid obstacles provided by the embodiments of the present invention.

[0017] Figure 5 It is a schematic diagram of the movement trajectories of the weeding tool and the touch rod provided by the embodiments of the present invention.

[0018] Figure 6 It is a movement trajectory model of the weeding tool and the touch rod provided by the embodiments of the present invention.

[0019] Figure 7 This is the flowchart of the obstacle avoidance strategy for the weeding tool provided by the embodiment of the present invention. Specific embodiments

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] This example also provides a GNSS-based inter-row weeding method for wine grape vineyards, as Figure 1 shown, applied to a navigation-hydraulic obstacle avoidance combined weeding device (as Figure 3 shown), where the navigation-hydraulic obstacle avoidance combined weeding device includes: a weeding knife 1, an amplitude adjustment hydraulic cylinder 2, a wire-drawing displacement sensor 3, an obstacle avoidance controller, and an automatic driving system; the obstacle avoidance controller is communicatively connected to the automatic driving system through CAN, the obstacle avoidance controller is communicatively connected to the amplitude adjustment hydraulic cylinder 2, the expansion and contraction of the amplitude adjustment hydraulic cylinder 2 drives the expansion and contraction of the weeding knife 1, the wire-drawing displacement sensor 3 is communicatively connected to the obstacle avoidance controller, and the wire-drawing displacement sensor 3 is used to detect the expansion and contraction amount of the amplitude adjustment hydraulic cylinder 2; specifically, the weeding method in this example, as Figure 1 and Figure 3 shown, includes: Process 1: Use an RTK data collector to mark and position the root positions of grape plants, and obtain the longitude and latitude data of the roots of grape plants in the target operation plot; Process 2: Summarize and process the longitude and latitude data of the roots of grape plants, and write them into the FLASH module of the obstacle avoidance controller through a program; Process 3: Install the automatic driving system, including an intelligent navigation controller, an intelligent touch display and control screen, and an electric steering wheel, on the tractor; Process 4: Hang the navigation-hydraulic obstacle avoidance combined weeding equipment on the tractor through a three-point hitch, place it in the target operation plot, and adjust each system of the weeding equipment to the best state; Process 5: Preset a navigation line in the automatic driving system and turn on the constant speed cruise mode of the tractor to ensure that the navigation line of the tractor is parallel to the grape plant rows and maintains a certain distance to ensure normal weeding operations, and realize the automatic driving operation of the tractor; Process 6: The RTK-GNSS positioning module in the intelligent navigation controller receives the real-time position, heading angle, and speed data of the center point of the tractor's rear axle. The intelligent navigation controller sends this data to the obstacle avoidance controller via CAN communication; Process 7: Based on the kinematic model of the tractor with agricultural implements, the real-time position, heading angle, and speed data of the tip of the weeding knife are obtained by coordinate transformation of the position of the center point of the tractor's rear axle; Process 8: Use a wire-pulling distance sensor to detect the telescopic distance of the weeding tool in real time, that is, the telescopic distance of the amplitude adjustment hydraulic cylinder; Process 9: Determine the weeding strategy according to the real-time position of the tip of the weeding knife and the position information of the roots of grape plants in the target operation plot; Process 10: Control the navigation-hydraulic obstacle avoidance combined weeding device according to the weeding strategy.

[0023] Specifically, the amplitude adjustment hydraulic cylinder is controlled by the obstacle avoidance controller and drives the weeding tool to expand and contract.

[0024] Specifically, as Figure 2 shown, the kinematic equation of the tractor with agricultural implements is: ; ; ; ; ; ; Among them, x (m), y (m) are the coordinates of the center point of the tractor's rear axle, θ (rad) is the heading angle of the tractor, δ (rad) is the front wheel steering angle of the tractor, ω (rad / s) is the angular velocity of the steering angle of the tractor, v (m / s) is the traveling speed of the tractor, l (m) is the wheelbase of the tractor, h (m) is the vertical distance from the agricultural implement to the axis of the rear axle, g (m) is the vertical distance between the tip of the weeding knife and the center axis of the tractor, x d (m) 、y d (m) are the position coordinates of the tip of the weeding knife, φ (rad) is the angle between the line connecting the tip of the weeding knife and the center of the tractor's rear axle and the center axis of the tractor.

[0025] Specifically, a weed control tool obstacle avoidance strategy is determined according to the real-time position of the tip of the weed control knife and the position of the root of the grapevine, such as Figure 4 and Figure 7 shown, including: Initialization of the operation status: Turn on the main switch, keep the weed control tool stationary, calculate the fitting line based on the root positions of two grapevines to be operated in front of the weed control tool, draw a perpendicular line to the fitting line through the root position point of the first grapevine, and translate the perpendicular line in the opposite direction of the tractor's travel by different distances to obtain the preview line and the safety line; Calculate and return the distance between the tip of the weed control knife and the first preview line, and continuously judge whether the tip of the weed control knife reaches the first preview line, that is, whether the distance between the tip position of the weed control knife and the first preview line is less than zero, to obtain the first judgment result. If the first judgment result is yes, the weed control tool retracts, and then continuously calculates and returns the distance between the tip of the weed control knife and the first safety line, and then judges whether the tip of the weed control knife reaches the first safety line, that is, judges whether the distance between the tip position of the weed control knife and the first safety line is less than zero, to obtain the third judgment result. If the third judgment result is yes, the weed control tool extends, performs a weed control operation once, recalculates the new preview line and safety line according to the root positions of the two grapevines for the next operation, updates the preview line and the safety line, and then judges whether the tip position of the weed control knife reaches the root position of the last grapevine at this time, that is, whether i is greater than or equal to k, to obtain the fifth judgment result, where i is the number of grapevines passed by the tool obstacle avoidance at this time, and k is the total number of grapevines that need obstacle avoidance. If the fifth judgment result is yes, turn off the main switch and end the overall weed control operation for the target operation plot; if the fifth judgment result is no, judge the first judgment result according to the updated preview line and safety line, and repeat the above loop until the fifth judgment result is yes, turn off the main switch and end the overall weed control operation for the target operation plot; If the first judgment result is no, update the tip position of the weed control knife and the telescopic amount of the weed control tool, and judge whether the extended distance value detected by the wire-pulling displacement sensor is greater than the distance value when the weed control tool is at the maximum extended position. The maximum extended position is the first limit position, to obtain the second judgment result. If the second judgment result is yes, the weed control tool stops moving and makes the first judgment again. If the second judgment result is no, the tool continues to extend and makes the first judgment again; If the third judgment result is no, update the tip position of the weed control knife and the telescopic amount of the weed control tool, and judge whether the retracted distance value detected by the wire-pulling displacement sensor is less than the distance value when the weed control tool is at the minimum retracted position. The minimum retracted position is the second limit position, to obtain the fourth judgment result. If the fourth judgment result is yes, the weed control tool stops moving and makes the third judgment again. If the fourth judgment result is no, the tool continues to retract and makes the third judgment again.

[0026] Specifically, as Figures 5 to 6 shown, in the weeding strategy, the preview straight line and the safety straight line are two straight lines obtained by translating a vertical line, and the translation distance depends on the advance amount of the weeding tool from the root position of the grape plant; The setting of the advance amount needs to be obtained according to the geometric relationship of the movement obstacle avoidance of the weeding tool: When the weeding tool is x s from the root of the grape plant, the weeding tool contracts. When the weeding tool is x e from the root of the grape plant, the weeding tool extends, completing an obstacle avoidance operation, and the maximum contraction distance s of the weeding tool; On the premise of meeting obstacle avoidance, to expand the weeding area as much as possible, two conditions need to be met: the movement trajectory line of the weeding tool tip is tangent to the safe area of the plant root, and the movement trajectory line of the top of the touch rod is tangent to the safe area of the plant root; According to the above two conditions, combined with the movement geometric relationship, it is deduced that: ; ; {x}_{e}=\frac {{v}_{e}} {{v}_{e+}{v}_{s}}\left [ {\frac {{v}_{s}} {{v}_{e}}\cdot \frac {\left ( {{r}_{s}+k\sin {\alpha}} \right )} {\sin {\alpha}}-\frac {{r}_{s}} {\sin {\beta}}} \right ] ; ; ; Among them, x s (m) is the distance advance amount of the weeding tool from the grape plant when it needs to contract, x e (m) is the distance advance amount of the weeding tool from the grape plant when it needs to extend, s (m) is the maximum contraction distance of the weeding tool, v t (m / s) is the traveling speed of the tractor, v s (m / s) is the contraction speed of the weeding tool, v e (m / s) is the extension speed of the weeding tool, k(m) is the distance between the tip position of the weeding knife and the top end of the touch rod. x p (m) is the distance that the tip of the weeding knife extends into the grapevine row. r s (m) is the safety radius of the grapevine root.

[0027] Specifically, the touch rod serves as an emergency obstacle avoidance execution mechanism. When the touch rod touches the main trunk of the grapevine or other obstacles, the weeding tool rotates around the rotating disk by a certain angle to complete obstacle avoidance, which has the highest priority in the obstacle avoidance strategy.

[0028] Based on the weeding strategy, according to the delay time of the control system and the lead amount required for normal inter-row weeding operation, the telescopic time of the weeding tool is controlled.

[0029] The beneficial effects of the present invention are as follows: Based on the GNSS automatic navigation technology, the present invention proposes a method for inter-row weeding in a winemaking vineyard based on GNSS. This method can perform active obstacle avoidance operations during vineyard weeding operations and achieve the linkage control of autonomous navigation and weeding machinery.

[0030] According to the proposed weeding method, the present invention designs a navigation-hydraulic obstacle avoidance combined weeding device. This device combines the advantages of navigation and hydraulic obstacle avoidance, ensuring the minimum crop damage while maximizing the removal of inter-row weeds.

[0031] In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A GNSS-based inter-plant weeding method for wine-making vineyards, applied to a navigation-hydraulic obstacle avoidance combined weeding device, characterized in that, Including: Use an RTK data collector to mark and locate the root positions of grape plants, obtain the longitude and latitude data of the grape plant roots in the target operation plot, summarize and process the data, and write it into the FLASH module of the obstacle avoidance controller through a program; Install an automatic driving system, including an intelligent navigation controller, an intelligent touch display and control screen, and an electric steering wheel, on the tractor, preset the navigation line and turn on the constant speed cruise mode of the tractor to ensure that the navigation line of the tractor is parallel to the grape plant rows and maintains a certain distance to ensure normal weeding operations, and realize the automatic driving operation of the tractor; The RTK-GNSS positioning module in the intelligent navigation controller receives the real-time position, heading angle, and speed data of the center point of the tractor's rear axle. The intelligent navigation controller sends this data to the obstacle avoidance controller through CAN communication. Based on the kinematic model of the tractor with agricultural implements, the real-time position, heading angle, and speed data of the weeding knife tip are obtained by coordinate transformation of the center point position of the tractor's rear axle; Use a wire-pulling distance sensor to detect the telescopic distance of the weeding tool in real time, that is, the telescopic distance of the amplitude adjustment hydraulic cylinder; Determine the weeding strategy according to the real-time position of the weeding knife tip and the grape plant root position information in the target operation plot; Control the weeding mode of the navigation-hydraulic obstacle avoidance combined weeding device according to the weeding strategy; 2. The method for inter-plant weeding in a winemaking vineyard based on GNSS according to claim 1, wherein The amplitude adjustment hydraulic cylinder is controlled by the obstacle avoidance controller and drives the weeding tool to expand and contract; 3. The method for inter-plant weeding in a winemaking vineyard based on GNSS according to claim 1, characterized in that, The kinematic equation of the tractor with agricultural implements is: ； ； ； ； ； ； Among them, x (m), y (m) is the coordinate of the center point of the rear wheel axle of the tractor, θ (rad) is the heading angle of the tractor, δ (rad) is the front wheel steering angle of the tractor, ω (rad / s) is the angular velocity of the steering angle of the tractor, v (m / s) is the traveling speed of the tractor, l (m) is the wheelbase of the tractor, h (m) is the vertical distance from the agricultural implement to the axis of the rear wheel axle, g (m) is the vertical distance between the tip of the weeding knife and the central axis of the tractor, x d (m) 、y d (m) is the position coordinate of the tip of the weeding knife, φ (rad) is the angle between the line connecting the tip of the weeding knife and the center of the rear wheel axle of the tractor and the central axis of the tractor.

4. A GNSS-based inter-plant weeding method for winemaking vineyards according to claim 1, characterized in that, Determine the weeding tool obstacle avoidance strategy according to the real-time position of the weeding knife tip and the grape plant roots, including: Initialize the operation state, turn on the main switch, keep the weeding tool in a stationary state, calculate the fitting straight line according to the root positions of two grape plants to be operated in front of the weeding tool, draw a perpendicular line to the fitting straight line through the root position point of the first grape plant, and translate the perpendicular line in the opposite direction of the tractor's travel by different distances to obtain the preview straight line and the safety straight line; Calculate and return the distance between the tip of the weeding knife and the first preview line, and determine in real time whether the tip of the weeding knife reaches the first preview line, that is, whether the distance between the tip position of the weeding knife and the first preview line is less than zero, to obtain the first judgment result. If the first judgment result is yes, the weeding tool contracts, and then starts to calculate and return the distance between the tip of the weeding knife and the first safety line in real time. Then, determine whether the tip of the weeding knife reaches the first safety line, that is, determine whether the distance between the tip position of the weeding knife and the first safety line is less than zero, to obtain the third judgment result. If the third judgment result is yes, the weeding tool extends to perform a weeding operation, and then recalculates the new preview line and safety line based on the root positions of two grape plants in the next operation, and updates the preview line and safety line. Then, determine whether the tip position of the weeding knife reaches the root position of the last grape plant at this time, that is, whether i is greater than or equal to k, to obtain the fifth judgment result, where i is the number of grape plants passed by the tool for obstacle avoidance at this time, and k is the total number of grape plants that need obstacle avoidance. If the fifth judgment result is yes, turn off the main switch and end the overall weeding operation of the target operation plot; if the fifth judgment result is no, judge the first judgment result based on the updated preview line and safety line, and repeat the above loop until the fifth judgment result is yes, turn off the main switch, and end the overall weeding operation of the target operation plot; If the first judgment result is no, update the tip position of the weeding knife and the telescopic amount of the weeding tool, and judge whether the distance value of the extension of the weeding tool detected by the wire-pulling displacement sensor is greater than the distance value when the weeding tool is at the maximum extension position. The maximum extension position is the first limit position, to obtain the second judgment result. If the second judgment result is yes, the weeding tool stops moving and makes the first judgment again. If the second judgment result is no, the tool continues to extend and makes the first judgment again; If the third judgment result is no, update the tip position of the weeding knife and the telescopic amount of the weeding tool, and judge whether the distance value of the contraction of the weeding tool detected by the wire-pulling displacement sensor is less than the distance value when the weeding tool is at the minimum contraction position. The minimum contraction position is the second limit position, to obtain the fourth judgment result. If the fourth judgment result is yes, the weeding tool stops moving and makes the third judgment again. If the fourth judgment result is no, the tool continues to contract and makes the third judgment again.

5. A weeding method between grapevine plants in a winemaking vineyard based on GNSS according to claim 4, characterized in that, In the weeding strategy, the preview line and the safety line are two lines obtained by translating a vertical line. The translation distance depends on the advance amount of the weeding tool from the root position of the grape plant. The setting of the advance amount needs to be obtained according to the geometric relationship of the weeding tool's movement for obstacle avoidance: The distance between the weeding tool and the root of the grape plant x s When it is, the weeding tool contracts. When the distance between the weeding tool and the root of the grape plant x e When it is, the weeding tool extends, completing an obstacle avoidance operation. The maximum contraction distance s of the weeding tool. On the premise of meeting obstacle avoidance, to expand the weeding area as much as possible, two conditions need to be met: the movement trajectory line of the tip of the weeding knife is tangent to the safe area of the plant root, and the movement trajectory line of the top of the touch rod is tangent to the safe area of the plant root. According to the two conditions described, combined with the kinematic geometric relationship, it is deduced that: ； ； {x}_{e}=\frac {{v}_{e}} {{v}_{e +}{v}_{s}}\left [ {\frac {{v}_{s}} {{v}_{e}}\cdot \frac {\left ( {{r}_{s}+k\sin {\alpha}} \right )} {\sin {\alpha}}-\frac {{r}_{s}} {\sin {\beta}}} \right ] ; ； ； Among them, x s (m) is the distance advance when the weeding tool needs to contract from the grape plant, x e (m) is the distance advance when the weeding tool needs to extend from the grape plant, s (m) is the maximum contraction distance of the weeding tool, v t (m / s) is the traveling speed of the tractor, v s (m / s) is the contraction speed of the weeding tool, v e (m / s) is the extension speed of the weeding tool, k (m) is the distance between the tip of the weeding knife and the top of the contact rod, x p (m) is the distance that the tip of the weeding knife extends into the grape plant row, r s (m) is the safety radius of the grape plant root.

6. A GNSS-based inter-plant weeding method for winemaking vineyards according to claim 5, characterized in that, It also includes: The touch rod is used as an emergency obstacle avoidance actuator. When the touch rod touches the main trunk of the grape plant or other obstacles, the weeding tool rotates a certain angle around the rotating disk to complete obstacle avoidance, and has the highest priority in the obstacle avoidance strategy.

Images