CN109618572B

CN109618572B - Inter-plant weeding mechanism with self-adaptive adjustment function

Info

Publication number: CN109618572B
Application number: CN201910140022.0A
Authority: CN
Inventors: 权龙哲; 王千祎; 李紫辉; 崔光浩; 赵成顺; 张铁巍; 刘睿琪
Original assignee: Northeast Agricultural University
Current assignee: Northeast Agricultural University
Priority date: 2019-02-26
Filing date: 2019-02-26
Publication date: 2021-04-27
Anticipated expiration: 2039-02-26
Also published as: CN109618572A

Abstract

The invention relates to an inter-plant weeding mechanism with a self-adaptive adjusting function. The motor driving unit provides power to drive the seedling avoidance unit to rotate, the machine vision technology is used for collecting and identifying field seedling grass information on the basis, the seedling avoidance function is realized through self-adaptive adjustment of the seedling avoidance unit, the weeding mechanism is favorable for improving the weeding effect between plants, the weeding efficiency between plants is improved, the damage of weeding to seedlings is reduced, and the crop yield is ensured.

Description

Inter-plant weeding mechanism with self-adaptive adjustment function

The technical field is as follows:

the invention belongs to the technical field of agricultural engineering, and relates to an inter-plant weeding mechanism with a self-adaptive adjusting function.

Background art:

the devices for removing the inter-plant weeds are different, but the improvement of the weeding efficiency and the reduction of the seedling injury rate are realized by a single mechanical aspect or a mode of combining a sensor and a machine. And in part of researches, because the dependence on a driving device is larger and because field uncertainty factors are more, the actual effect is slightly different from the computer simulation in the operation process. Therefore, on the basis of the previous basic research on mechanical inter-plant weeding by people, the operation condition of the machine is monitored by using computer vision, and the operation parameters of the machine are changed after the obtained image information is processed in real time, so that the machine can operate more accurately and more stably. And the unique running track of the trochoid is utilized, and the density of the mesh grid-shaped scratching area is controlled to scratch the areas with different weed densities at different grades. Therefore, the weeding efficiency can be improved, and the damage degree to the ridge soil can be reduced.

In order to meet the requirement of modern development of green agriculture, under the guidance of a TRIZ theory, the project is combined with computer vision on the basis of a trochoid locus weeding technology, and a movement mode of an end effector can be intelligently adjusted in actual operation to avoid plants, so that the seedling injury rate is accurately reduced; according to the density of weeds, the trochoid weeding track is adjusted by using field image information, and the weeding efficiency is scientifically improved.

The invention content is as follows:

the invention aims to overcome the defects of the existing inter-plant weeding technology, improve the inter-plant weeding rate and reduce the seedling injury rate in order to improve the weeding effect. The inter-plant weeding mechanism can meet the weeding requirements of different plant distances and different crop growth periods by adjusting the trochoid weeding track by using field image information and can scientifically improve the weeding efficiency.

In order to reduce the damage to soil in the weeding process, the machine mainly adjusts the motion trail autonomously and assists in weeding in the critical trochoid trail. When the movement locus changed by automatic adjustment cannot reach the optimal solution of weeding and seedling avoidance, the optimal inter-plant weeding effect is achieved with the minimum damage degree to the land by adjusting the trochoid weeding locus.

In order to achieve the purpose, the technical scheme adopted by the invention is that the inter-plant weeding mechanism with the self-adaptive adjustment function is characterized by comprising an aluminum rotary platform 1 with a supporting function, a motor driving unit 2 and a variable-radius seedling-avoiding module 3, wherein the aluminum rotary platform 1 is made of aluminum and is used for supporting and connecting a central rotating shaft 5 of the mechanism and integrating mechanisms of all parts, a direct current motor 6 of an upper motor driving unit is connected to the tail end of the central rotating shaft 5 through a first coupler 7 and is fixed at an aluminum fixing plate 8 at the top of the driving module, an outer ring of a conductive sliding ring 9 is fixed on an aluminum fixing plate 8 at the top of the driving module at the top of the motor driving module 2 through a fixing bolt 10, an inner ring of the conductive sliding ring 9 is fixed on the central rotating shaft 5 through four fastening bolts 11, the conductive sliding ring 9 is connected with a control wire of a direct current motor, a synchronous belt wheel 12 is arranged at the output shaft of the motor and is connected with an encoder 14 through a first synchronous belt 13, and the encoder is fixed on a light aluminum profile beam 15 of the driving unit. The camera identification module 4 is fixed on the front aluminum profile beam 16.

The bottom flat plate 17 of the variable-radius seedling avoiding unit is fixed on an aluminum rotating platform 1, light aluminum profiles 18 are arranged around the bottom flat plate as a frame, a variable-radius driving direct current motor 19 is arranged on an upper flat plate 20, a motor output shaft is connected with a second coupler 21 and fixed at the middle part and the lower part of an upper cam shaft of a cam shaft 22 and respectively connected with a vertical bearing seat 23 and a horizontal bearing seat 24, a cam is contacted with a driven part bearing 32, the driven part bearing is fixed on a Y-shaped bracket 33, the Y-shaped bracket 32 is fixed with a support 34 and fixed on a sliding platform 26, a sliding platform sliding rail 25 is fixed on the bottom flat plate 17 of the variable-radius seedling avoiding unit, the sliding platform 26 is driven by the rotation of the cam shaft to move and control the tail end position of an elastic tooth 42 so as to achieve the purpose of controlling the rotating radius of the weeding mechanism, an optical axis clamping block 27 is, the spring is used for guaranteeing that the whole sliding platform keeps a state of being attached to the cam tightly, the sliding bearing 31 is installed on the angle rotating shaft 30, the upper surface of the angle rotating shaft is a plane, the sliding bearing is convenient to install and is fixed in the middle of the bearing seat 35 located on the two sides of the sliding platform 26, the angle sensor 36 is used for feeding back the position of the elastic teeth and transmitting signals to the control system, the angle sensor is fixed on the angle sensor support 37 and is fixed on the upper flat plate 20 of the variable-radius seedling-avoiding unit, the rotating shaft 39 is connected through the second synchronous belt 38 and is fixed on the clamping blocks 40 on the two sides, and the.

Description of the drawings:

FIG. 1 is an overall view of a weeding mechanism

FIG. 2 is an overall view of the motor drive unit

FIG. 3 is an overall view of a variable radius seedling avoiding unit

FIG. 4 is a right view of the variable radius seedling avoiding unit

Fig. 5 is an overall right side view of the weeding mechanism.

In fig. 1, an aluminum rotary platform; 2. a motor drive unit; 3. a variable radius seedling avoiding module; 4. camera identification module.

In fig. 2, 5, the central axis of rotation; 6. a DC motor of the upper motor driving unit; 7. a first coupling; 8. the top of the driving module is provided with an aluminum fixed flat plate; 9. a conductive slip ring; 10. fixing the bolt; 11. fastening screws; 12. a synchronous pulley; 13. a first synchronization belt; 14. an encoder; 15. a light aluminum profile beam; 16. leading aluminium alloy crossbeam.

In FIG. 3, 17, a bottom plate of a variable radius seedling avoiding unit; 18. a lightweight aluminum profile; 19. the radius-variable unit drives a direct current motor; 20. an upper plate; 21. a second coupling; 22. a camshaft; 23. a vertical bearing seat; 24. a horizontal bearing seat; 25. a sliding platform slide rail; 26. a sliding platform; 27. an optical axis clamping block; 28. an optical axis; 29. a spring; 30. an angular rotation axis; 31. a sliding bearing.

In fig. 4, 32, follower bearing; 33. a Y-shaped bracket; 34. a support; 35. a bearing seat; 36. an angle sensor; 37. an angle sensor support; 38. a second synchronous belt; 39. a rotating shaft; 40. clamping blocks at two sides; 41. a right-angle clamping block; 42. and (4) elastic teeth.

The specific implementation mode is as follows:

in order to achieve the purpose, the technical scheme provided by the invention is as follows: an inter-plant weeding mechanism with a self-adaptive adjusting function is characterized by comprising an aluminum rotating platform 1 with a supporting function, a motor driving unit 2 and a variable-radius seedling avoiding module 3, wherein the aluminum rotating platform 1 is made of aluminum and used for supporting and connecting a central rotating shaft 5 of a mechanism and integrating mechanisms of all parts, a direct current motor 6 of an upper motor driving unit is connected to the tail end of the central rotating shaft 5 through a first coupler 7 and fixed at an aluminum fixing plate 8 at the top of the driving module, an outer ring of a conductive sliding ring 9 is fixed on the aluminum fixing plate 8 at the top of the motor driving module 2 through a fixing bolt 10, an inner ring of the conductive sliding ring 9 is fixed on the central rotating shaft 5 through four fastening screws 11, the conductive sliding ring 9 is connected with a control wire of a direct current motor 19 through a lead and connected with an upper computer control unit, and a synchronous belt, the encoder 14 is connected with the first synchronous belt 13 and is fixed on a light aluminum profile beam 15 of the driving unit; the camera identification module 4 is fixed on the front aluminum profile beam 16.

The bottom flat plate 17 of the variable-radius seedling avoiding unit is fixed on an aluminum rotating platform 1, light aluminum profiles 18 are arranged around the bottom flat plate as a frame, a direct current motor 19 driven by the variable-radius unit is arranged on an upper flat plate 20, the output shaft of the motor is connected with a second coupler 21 and fixed on a cam shaft 22, the middle part and the lower part of the cam shaft are respectively connected with a vertical bearing seat 23 and a horizontal bearing seat 24, the cam is contacted with a driven part bearing 32, the driven part bearing is fixed on a Y-shaped bracket 33, the Y-shaped bracket 32 is fixed with a support seat 34 and fixed on a sliding platform 26, a sliding platform slide rail 25 is fixed on the bottom flat plate 17 of the variable-radius seedling avoiding unit, the sliding platform 26 is driven by the rotation of the cam shaft to move and control the tail end position of an elastic tooth 42 so as to control the rotating radius of the weeding mechanism, an optical axis clamping block 27 is, the spring is used for guaranteeing that the whole sliding platform keeps a state of being attached to the cam tightly, the sliding bearing 31 is installed on the angle rotating shaft 30, the upper surface of the angle rotating shaft is a plane, the sliding bearing is convenient to install and is fixed in the middle of the bearing seat 35 located on the two sides of the sliding platform 26, the angle sensor 36 is used for feeding back the position of the elastic tooth and transmitting a signal to the control system, the angle sensor is fixed on the angle sensor support 37, the angle sensor support 37 is fixed on the upper flat plate 20 of the variable-radius seedling-avoiding unit, the upper flat plate 20 of the variable-radius seedling-avoiding unit is connected with the rotating shaft 39 through the second synchronous.

When the weeding mechanism works, the aluminum horizontal rotary table 1 rotates to drive the three variable-radius seedling avoiding units 3 distributed on the rotary platform to rotate together, the tail ends of the elastic teeth 42 are inserted into soil, system motion parameters are transmitted to an upper computer through a machine vision system to pre-judge the motion trochoid locus of the tail ends of the elastic teeth, when the positions of seedlings are identified, the variable-radius seedling avoiding units drive the direct current motor 19 to control the cam shaft 22 to rotate through the coupler, further the driven part bearing 32 fixed on the Y-shaped support 33 is pushed, further the sliding platform 26 is pushed to move, the tail ends of the elastic teeth 42 are pushed to make extending motion for variable-radius seedling avoiding, after the motion response of the expanded-radius seedling avoiding is successful and the seedlings are avoided, the motion response is fed back to the positions of the elastic teeth 42 of the upper computer through the angle sensor 36 installed on the upper flat plate 20, and the variable-radius seedling avoiding units drive the direct, returning to the initial movement position of the weeding mechanism, the variable-radius unit driving direct current motor 19 has the characteristics of accurate control and quick response, and can realize dynamic seedling avoidance in the movement process.

Claims

1. An inter-plant weeding mechanism with a self-adaptive adjusting function is characterized by comprising an aluminum rotating platform (1) with a supporting function, a motor driving unit (2) and a variable-radius seedling avoiding module (3), wherein the aluminum rotating platform (1) is made of aluminum and used for supporting and connecting a central rotating shaft (5) of the mechanism and integrating mechanisms of all parts, a direct current motor (6) of an upper motor driving unit is connected to the tail end of the central rotating shaft (5) through a first coupler (7) and fixed at an aluminum fixing flat plate (8) at the top of the driving module, an outer ring of a conductive sliding ring (9) is fixed on an aluminum fixing flat plate (8) at the top of the driving module through a fixing bolt (10), an inner ring of the conductive sliding ring (9) is fixed on the central rotating shaft (5) through four fastening screws (11), and a synchronous belt wheel (12) is installed at an output, the camera identification module is connected with an encoder (14) through a first synchronous belt (13), the encoder is fixed on a light aluminum profile beam (15) of a driving unit, and the camera identification module (4) is fixed on a front aluminum profile beam (16); a bottom flat plate (17) of the variable-radius seedling avoiding unit is fixed on an aluminum rotary platform (1), light aluminum profiles (18) are arranged around the variable-radius seedling avoiding unit to serve as a frame, a direct current motor (19) driven by the variable-radius seedling avoiding unit is installed on an upper flat plate (20), an output shaft of the motor is connected with a second coupler (21) and fixed on a cam shaft (22), the middle part and the lower part of the cam shaft are respectively connected with a vertical bearing seat (23) and a horizontal bearing seat (24), the cam is contacted with a driven part bearing (32), the driven part bearing is fixed on a Y-shaped support (33), the Y-shaped support (33) is fixed with a support (34) together and fixed on a sliding platform (26), a sliding platform sliding rail (25) is fixed on the bottom flat plate (17) of the variable-radius seedling avoiding unit, an optical axis clamping block (27) is installed on the sliding platform (26) to fix an optical axis (28), a spring (29) is, the angle rotating shaft (30) is provided with a sliding bearing (31) and fixed in the middle of bearing seats (35) positioned on two sides of the sliding platform (26), an angle sensor (36) is fixed on an angle sensor support (37), the angle sensor support (37) is fixed on a variable-radius seedling avoiding unit upper flat plate (20), the rotating shaft (39) is connected through a second synchronous belt (38) and fixed on clamping blocks (40) on two sides, and a right-angle clamping block (41) for fixing elastic teeth (42) is arranged on the angle rotating shaft.

2. The inter-plant weeding mechanism with adaptive adjustment function according to claim 1, wherein the conductive slip ring (9) is connected with the control line of the variable radius unit driving DC motor (19) through a lead and is connected with the upper computer control unit.

3. The inter-plant weeding mechanism with adaptive adjustment function according to claim 1, wherein the rotation of the cam shaft drives the sliding platform (26) to move to control the end position of the elastic teeth (42) to control the rotation radius of the weeding mechanism, and the spring is used to ensure that the sliding platform is kept in close contact with the cam.