CN102138377A - Horizontal swing type inter-plant weeding device - Google Patents
Horizontal swing type inter-plant weeding device Download PDFInfo
- Publication number
- CN102138377A CN102138377A CN 201110035932 CN201110035932A CN102138377A CN 102138377 A CN102138377 A CN 102138377A CN 201110035932 CN201110035932 CN 201110035932 CN 201110035932 A CN201110035932 A CN 201110035932A CN 102138377 A CN102138377 A CN 102138377A
- Authority
- CN
- China
- Prior art keywords
- weeding
- yaw
- crop
- strain
- guide shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a horizontal swing type inter-plant weeding device, which comprises a car body, wherein the car body comprises a main frame (2) and a depth wheel (3); the horizontal swing type plant weeding device also comprises a horizontal swing weeding structure, a weeding component, an inter-row weeding structure and a vision and control system which are arranged on the main frame, wherein the horizontal swing weeding structure leads the weeding component to enter an inter-plant area for weeding through horizontal swing movement; the inter-row weeding structure enters the soil to weed through a shovel with double swings; and the vision and control system identifies crops, determines a plant protection area and an inter-plant weeding area and controls the horizontal swing weeding structure and the inter-row weeding structure to weed in the inter-plant weeding area. In the invention, the requirements of the inter-plant weeding device on the crop row tracking accuracy of a towing tractor can be reduced; the dependence of the inter-plant weeding device on the high crop row tracking accuracy of a weeding robot or the towing tractor is reduced; and the width of the inter-plant weeding shovel with the double swings can be selected according to row space so as to adapt to the weeding in inter-plant areas of grown crops of different row spaces.
Description
Technical field
The invention belongs to field of agricultural robots, weeder between the strain of particularly a kind of yaw formula.
Background technology
Weeds control in the agricultural production at present is main to rely on weed killer herbicide, though weed killer herbicide control crop smothering is effective, can bring such as omnicide, weed community transition, weeds pesticide resistance to strengthen and problems such as anti-medicine spectrum expansion, environmental pollution and residue of pesticide.In order to overcome the harm that chemical weed control brings and to break away from the weeding heavy physical labor, produce pollution-free food better, in recent years, weeding by machine's mode begins to be subjected to increasing attention.To the control of the weeds between crop row, all existing both at home and abroad Related product.And weeds control also has some reports between strain, and as finger-type weeder (Leinonen et al., 2004), brush shape weeder (Kouwenhoven, 1997), these weed control equipments all are difficult to effectively control the weeds in zone between strain.This Naboo Lv Ke university (Osnabrueck Univesity) difficult to understand and Amazone Werke have developed jointly weeder between the strain of eight pawl cycloids hoe, but it is uncontrollable to the weeds in the wide zone of 18mm around crop, adjustment is improper will to cause damage to crop if having slightly, and it is bigger that it is influenced by soil, because can not avoid than large clod damage crop (Dedousis, 2007); Britain has developed cutaway disk hoe (Tillett et al., 2008), Denmark has developed commentaries on classics tooth weeder (Griepentrog, 2006), weeder between rotary disk rake teeth weeder (Lempens et al., 1996) and eight pawl formula strains (Zhang Pengju. etc., 2010).Though above weed control equipment all has some experiment reports, all tow tractor is followed the tracks of the required precision height of crop row walking, generally need be installed on the agricultural machinery with navigation feature or on the intelligent robot, price is expensive.And still there is not weed control equipment between ripe strain so far.
Summary of the invention
Shortcoming at prior art, the purpose of this invention is to provide a kind of applicable to weeder between the yaw formula strain of various farm tractor tractions, can reduce weeder between strain and tow tractor be followed the tracks of the requirement of crop row precision, reduced between strain weeder to the dependence of weed-eradicating robot or tow tractor high precision tracking crop row, satisfy the requirement of different spacing in the rows and the weeding of Different Crop growth period by the weeding parts of changing different size, and can select the width of weeding double-vane shovel in the ranks to adapt to the regional weeding of different spacings raise crop in the ranks according to line-spacing.
For achieving the above object; technical scheme of the present invention is: weeder between the strain of a kind of yaw formula; comprise car body; this car body comprises body frame and gauge wheel; wherein; comprise that also the yaw of being located on the body frame removes grass structure; the weeding parts; remove grass structure in the ranks; vision and control system; this yaw removes grass structure and makes the weeding parts enter between strain the zone by weaving to carry out weeding; except that burying by double-vane shovel shovel, grass structure carries out weeding in the ranks; vision and control system are discerned crop; determine weeding zone between plant protection zone and strain, and the control yaw removes grass structure and carries out weeding except that grass structure weeding zone between strain in the ranks.
Also be provided with the structure that tests the speed on this gauge wheel, be used for measuring in real time the speed of service and the displacement of car body.
This removes grass structure in the ranks and comprises left double-vane shovel and right double-vane shovel; Regulate double-vane by the relative altitude of regulating double-vane shovel and body frame and shovel the depth of implements that buries.
This yaw removes yaw motor and the line slideway that grass structure comprises yaw mechanism rack, left yaw guide shaft axle bed, right yaw guide shaft axle bed, last yaw guide shaft, following yaw guide shaft, the linear roller bearing of usheing to seat, belt sensor;
Last yaw guide shaft and following yaw guide shaft are fixed on the yaw mechanism rack by left yaw guide shaft axle bed and right yaw guide shaft axle bed, the plane parallel that last yaw guide shaft and following yaw guide shaft are formed is in yaw mechanism rack plane, the linear roller bearing of usheing to seat is made up of two linear roller bearings, is enclosed within simultaneously on yaw guide shaft and the following yaw guide shaft; The yaw motor of belt sensor drives the linear roller bearing of usheing to seat by line slideway and swings back and forth on upper and lower yaw guide shaft, line slideway is fixed on the yaw mechanism rack, the linear roller bearing of usheing to seat is detected and is got by the sensor on the yaw motor of belt sensor at oscillating stroke on the guide shaft, and the weeding parts are fixed on the seat of the linear roller bearing of usheing to seat.
These weeding parts comprise weeding part stent, weeding parts electric rotating machine, universal joint, rotating shaft and weeding cutter;
The weeding part stent is fixed on the seat of the linear roller bearing of usheing to seat, and the weeding parts electric rotating machine that is installed on the weeding part stent drives the rotation of weeding cutter by universal joint and rotating shaft.
This weeding cutter is made up of disk, connector, fastening bolt and weeding blade tooth, and the weeding blade tooth is uniformly distributed on the disk, and disk closely links to each other with connector, and connector is connected in the rotating shaft, utilizes firm bolt that disk is fixed in the rotating shaft.
Vision and control system comprise video camera and image processing and control system; video camera is installed vertically downward; image is handled with control system and is used for receiving and identification processing video camera picture shot; crop in the picture is generated crop row and crop protection circle; and detect the stroke of transverse movement by the sensor on the yaw motor of belt sensor, realize SERVO CONTROL to the yaw motor of belt sensor.
The control method of weeder between the strain of a kind of yaw formula, wherein, at first, image processing and control system identify the crop in the picture, and calculate the center of every crop, with crop farthest the border be that radius, crop center are the guard circle parameter that the center of circle calculates every crop, utilize method of least squares to simulate the crop row straight line according to the centre coordinate of every crop;
Secondly; image processing and control system are according to crop centre coordinate, guard circle parameter and the crop row straight line parameter track path as yaw weeding structure control; between strain when zone belt sensor yaw Electric Machine Control weeding cutter follow the tracks of as the operation path with the crop row straight line; then left-half or the right half part with guard circle is that follow the tracks of in the operation path near crop, thereby realizes between strain regional weeding operation and dodge crop.
The invention has the beneficial effects as follows,, realize regional weeds control between strain by weaving to rotation weeding cutter; Owing to adopt the yaw mode, can reduce weeder between strain tow tractor is followed the tracks of the required precision of crop row, effectively reduced system cost; Replacing by different size dimension weeding parts, realization is to the control of the weeds in zone between zone and the strains of different spacing in the rows raise crops between the strain of crop different growing stage, and the width of selecting weeding double-vane shovel in the ranks by line-spacing is with the requirement of the regional weeding in the ranks of satisfying the different spacings raise crop.
Description of drawings
Fig. 1 is a weeder right view between the strain of yaw formula;
Fig. 2 is a weeder front view between the strain of yaw formula;
Fig. 3 is a weeder vertical view between the strain of yaw formula;
Fig. 4 is the end view of weeding cutter;
Fig. 5 is the upward view of weeding cutter;
Fig. 6 is a weeder operation schematic diagram between the strain of yaw formula.
Among the figure, 1. video camera, 2. body frame; 3. gauge wheel, the structure that 4. tests the speed, 5. yaw mechanism rack; 6. descend the yaw guide shaft, the 7. yaw motor of belt sensor, 8. weeding part stent; 9. weeding parts electric rotating machine, 10. universal joint, 11. rotating shafts; 12. the weeding cutter, 13. left double-vane shovels, 14. left yaw guide shaft axle beds; 15. line slideway, yaw guide shaft on 16., 17. right yaw guide shaft axle beds; 18. right double-vane shovel, 19. images are handled and control system, 20. linear roller bearings of usheing to seat; 21. disk, 22. connectors, 23. fastening bolts; 24. weeding blade tooth; 25. crop, 26. crop conducts, 27. crop protections circle.
Embodiment
Below in conjunction with embodiment and accompanying drawing the present invention is described in detail.
Extremely shown in Figure 6 as Fig. 1; the invention discloses weeder between the strain of a kind of yaw formula; comprise car body; this car body comprises body frame 2 and gauge wheel 3; wherein; comprise that also the yaw of being located on the body frame removes grass structure; the weeding parts; remove grass structure in the ranks; vision and control system; this yaw removes grass structure and makes the weeding parts enter between strain the zone by weaving to carry out weeding; except that burying by double-vane shovel shovel, grass structure carries out weeding in the ranks; vision and control system are discerned crop; determine weeding zone between plant protection zone and strain, and the control yaw removes grass structure and carries out weeding except that grass structure weeding zone between strain in the ranks.Body frame 2 provides mounting platform for weeder between the yaw strain, realizes that by a plurality of body frame 2 is in parallel multirows carry out weeding between strain simultaneously, and provides interface for weeder between the yaw strain and tow tractor trifilar suspension.Gauge wheel 3 is used to regulate weeding parts embedded depth.
Also be provided with the structure 4 that tests the speed on this gauge wheel 3, be used for measuring in real time the speed of service and the displacement of car body.The structure that tests the speed 4 is the coding disk that tests the speed, and it is installed on the axletree, measures in real time that weeder carries out speed and displacement between the yaw strain.
This removes grass structure in the ranks and comprises left double-vane shovel 13 and right double-vane shovel 18; Regulate double-vane by the relative altitude of regulating double-vane shovel and body frame 2 and shovel the depth of implements that buries.Left side double-vane shovel 13 and right double-vane shovel 18 are traditional double-vane shovel, and the width of double-vane shovel can be according to crop row apart from selecting.
This yaw removes yaw motor 7 and the line slideway 15 that grass structure comprises yaw mechanism rack 5, left yaw guide shaft axle bed 14, right yaw guide shaft axle bed 17, last yaw guide shaft 16, following yaw guide shaft 6, usher to seat linear roller bearing 20, belt sensor;
Last yaw guide shaft 16 and following yaw guide shaft 6 are fixed on the yaw mechanism rack 5 by left yaw guide shaft axle bed 14 and right yaw guide shaft axle bed 17, the plane parallel that last yaw guide shaft 16 and following yaw guide shaft 6 are formed is in yaw mechanism rack 5 planes, the linear roller bearing 20 of usheing to seat is made up of two linear roller bearings, is enclosed within simultaneously on yaw guide shaft 16 and the following yaw guide shaft 6; The yaw motor 7 of belt sensor drives the linear roller bearing 20 of usheing to seat by line slideway 15 and swings back and forth on upper and lower yaw guide shaft, line slideway 15 is fixed on the yaw mechanism rack 5, the linear roller bearing 20 of usheing to seat is detected and is got by the sensor on the yaw motor 7 of belt sensor at oscillating stroke on the guide shaft, and the weeding parts are fixed on the seat of the linear roller bearing 20 of usheing to seat.
These weeding parts comprise weeding part stent 8, weeding parts electric rotating machine 9, universal joint 10, rotating shaft 11 and weeding cutter 12;
Weeding part stent 8 is fixed on the seat of the linear roller bearing 20 of usheing to seat, and the weeding parts electric rotating machine 9 that is installed on the weeding part stent 8 drives 12 rotations of weeding cutter by universal joint 10 and rotating shaft 11.The weeding parts self rotation, oscillating motion and traction head under three motions cooperate to overtake between the strain of turnover crop the zone realize dodging crop and weeding operation.
This weeding cutter 12 is made up of disk 21, connector 22, fastening bolt 23 and weeding blade tooth 24, weeding blade tooth 24 is uniformly distributed on the disk 21, disk 21 closely links to each other with connector 22, and connector 22 is connected in the rotating shaft 11, utilizes firm bolt 23 that disk 21 is fixed in the rotating shaft 11.
Vision and control system comprise video camera 1 and image processing and control system 19; video camera 1 is installed vertically downward; image is handled with control system 19 and is used for receiving and identification processing video camera 1 picture shot; crop in the picture 25 is generated crop conduct 26 and crop protection circle 27; and detect the stroke of transverse movement by the sensor on the yaw motor of belt sensor, realize SERVO CONTROL to the yaw motor of belt sensor.
Simultaneously, the invention also discloses the control method of weeder between the strain of a kind of yaw formula, at first, image processing and control system 19 identify the crop in the picture, and calculate the center of every crop, with crop farthest the border be that radius, crop center are the guard circle parameter that the center of circle calculates every crop, utilize method of least squares to simulate the crop row straight line according to the centre coordinate of every crop;
Secondly; image processing and control system 19 are according to crop centre coordinate, guard circle parameter and the crop row straight line parameter track path as yaw weeding structure control; between strain when zone belt sensor yaw motor 7 control weeding cutters 12 follow the tracks of as the operation path with the crop row straight line; then left-half or the right half part with guard circle is that follow the tracks of in the operation path near crop, thereby realizes between strain regional weeding operation and dodge crop.
Claims (8)
1. weeder between yaw formula strain; comprise car body; this car body comprises body frame (2) and gauge wheel (3); it is characterized in that; comprise that also the yaw of being located on the body frame removes grass structure; the weeding parts; remove grass structure in the ranks; vision and control system; this yaw removes grass structure and makes the weeding parts enter between strain the zone by weaving to carry out weeding; except that burying by double-vane shovel shovel, grass structure carries out weeding in the ranks; vision and control system are discerned crop; determine weeding zone between plant protection zone and strain, and the control yaw removes grass structure and carries out weeding except that grass structure weeding zone between strain in the ranks.
2. weeder between yaw formula according to claim 1 strain is characterized in that, also is provided with the structure that tests the speed (4) on this gauge wheel (3), is used for measuring in real time the speed of service and the displacement of car body.
3. weeder between yaw formula according to claim 1 strain is characterized in that, this removes grass structure in the ranks and comprises left double-vane shovel (13) and right double-vane shovel (18); Regulate double-vane by the relative altitude of regulating double-vane shovel and body frame (2) and shovel the depth of implements that buries.
4. weeder between yaw formula according to claim 1 strain, it is characterized in that this yaw removes yaw motor (7) and the line slideway (15) that grass structure comprises yaw mechanism rack (5), left yaw guide shaft axle bed (14), right yaw guide shaft axle bed (17), last yaw guide shaft (16), following yaw guide shaft (6), the linear roller bearing of usheing to seat (20), belt sensor;
Last yaw guide shaft (16) and following yaw guide shaft (6) are fixed on the yaw mechanism rack (5) by left yaw guide shaft axle bed (14) and right yaw guide shaft axle bed (17), the plane parallel that last yaw guide shaft (16) and following yaw guide shaft (6) are formed is in yaw mechanism rack (5) plane, the linear roller bearing (20) of usheing to seat is made up of two linear roller bearings, is enclosed within simultaneously on yaw guide shaft (16) and the following yaw guide shaft (6); The yaw motor (7) of belt sensor drives the linear roller bearing (20) of usheing to seat by line slideway (15) and swings back and forth on upper and lower yaw guide shaft, line slideway (15) is fixed on the yaw mechanism rack (5), the linear roller bearing (20) of usheing to seat is detected and is got by the sensor on the yaw motor (7) of belt sensor at oscillating stroke on the guide shaft, and the weeding parts are fixed on the seat of the linear roller bearing of usheing to seat (20).
5. weeder between yaw formula according to claim 4 strain is characterized in that, these weeding parts comprise weeding part stent (8), weeding parts electric rotating machine (9), universal joint (10), rotating shaft (11) and weeding cutter (12);
Weeding part stent (8) is fixed on the seat of the linear roller bearing of usheing to seat (20), and the weeding parts electric rotating machine (9) that is installed on the weeding part stent (8) drives weeding cutter (12) rotation by universal joint (10) and rotating shaft (11).
6. weeder between yaw formula according to claim 5 strain, it is characterized in that, this weeding cutter (12) is made up of disk (21), connector (22), fastening bolt (23) and weeding blade tooth (24), weeding blade tooth (24) is uniformly distributed on the disk (21), disk (21) closely links to each other with connector (22), connector (22) is connected in the rotating shaft (11), utilizes firm bolt (23) that disk (21) is fixed in (11) in the rotating shaft.
7. weeder between yaw formula according to claim 4 strain; it is characterized in that; vision and control system comprise video camera (1) and image processing and control system (19); video camera (1) is installed vertically downward; image is handled with control system (19) and is used for receiving and identification processing video camera (1) picture shot; crop in the picture (25) is generated crop conduct (26) and crop protection circle (27); and detect the stroke of transverse movement by the sensor on the yaw motor of belt sensor, realize SERVO CONTROL to the yaw motor of belt sensor.
8. the control method of weeder between a yaw formula according to claim 7 strain, it is characterized in that, at first, image processing and control system (19) identify the crop (25) in the picture, and calculate the center of every crop, with crop farthest the border be that radius, crop center are the guard circle parameter that the center of circle calculates every crop, utilize method of least squares to simulate the crop row straight line according to the centre coordinate of every crop;
Secondly; image processing and control system (19) are according to crop centre coordinate, guard circle parameter and the crop row straight line parameter track path as yaw weeding structure control; between strain when zone belt sensor yaw motor (7) control weeding cutter (12) follow the tracks of as the operation path with the crop row straight line; then left-half or the right half part with guard circle is that follow the tracks of in the operation path near crop, thereby realizes between strain regional weeding operation and dodge crop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110035932 CN102138377B (en) | 2011-02-11 | 2011-02-11 | Horizontal swing type inter-plant weeding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110035932 CN102138377B (en) | 2011-02-11 | 2011-02-11 | Horizontal swing type inter-plant weeding device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102138377A true CN102138377A (en) | 2011-08-03 |
| CN102138377B CN102138377B (en) | 2013-07-31 |
Family
ID=44406360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110035932 Active CN102138377B (en) | 2011-02-11 | 2011-02-11 | Horizontal swing type inter-plant weeding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102138377B (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102612875A (en) * | 2012-04-12 | 2012-08-01 | 苏州博田自动化技术有限公司 | Automatic seedling avoiding control method for double-blade grass remover |
| CN102612874A (en) * | 2012-03-08 | 2012-08-01 | 华南农业大学 | Intelligent inter-row mechanical weeding machine |
| CN102972111A (en) * | 2012-12-04 | 2013-03-20 | 汤烈 | Weeding device capable of weeding among seedlings |
| CN103141172A (en) * | 2013-03-26 | 2013-06-12 | 中国农业大学 | Symmetrical and rotary seedling weeding unit |
| CN103283331A (en) * | 2013-06-20 | 2013-09-11 | 苏州博田自动化技术有限公司 | Intelligent guiding transversely-moving machine tool |
| CN103314663A (en) * | 2013-05-28 | 2013-09-25 | 河南理工大学 | Intelligentized intra-row and intra-plant weeding device for crops in seedling stage |
| CN103999582A (en) * | 2014-06-10 | 2014-08-27 | 中国农业大学 | Swinging type mechanical hand for weeding between seedlings |
| CN104965100A (en) * | 2015-05-15 | 2015-10-07 | 中国农业大学 | Agricultural speed and distance measuring apparatus |
| CN107912089A (en) * | 2017-11-06 | 2018-04-17 | 吉林大学 | In the ranks mechanical weeding device between strain |
| CN108243637A (en) * | 2018-04-18 | 2018-07-06 | 湖南农业大学 | A kind of rice is except barnyard grass machinery |
| CN108901206A (en) * | 2018-05-24 | 2018-11-30 | 东南大学 | A kind of orchard automatic Pilot weeding tractor |
| CN111955069A (en) * | 2020-08-26 | 2020-11-20 | 山东大学 | Profiling inter-plant weeding mechanism, weeding device and method |
| US20210000006A1 (en) * | 2019-07-02 | 2021-01-07 | Bear Flag Robotics, Inc. | Agricultural Lane Following |
| CN112616340A (en) * | 2020-12-29 | 2021-04-09 | 无锡卡尔曼导航技术有限公司 | Inter-plant inter-row weeding fertilizer applicator |
| CN112655288A (en) * | 2020-12-22 | 2021-04-16 | 浙江理工大学 | Paddy field inter-plant weeding device |
| CN112868285A (en) * | 2021-02-08 | 2021-06-01 | 农业农村部南京农业机械化研究所 | Swinging avoiding type unmanned intelligent recognition intertillage weeding machine |
| CN113317030A (en) * | 2021-07-13 | 2021-08-31 | 吉林大学 | Interplant weeding mechanism suitable for standardized farmland |
| CN113396650A (en) * | 2021-04-30 | 2021-09-17 | 中国农业大学 | Intelligent vegetable inter-plant weeding device and control method |
| CN113749083A (en) * | 2020-06-05 | 2021-12-07 | 苏州宝时得电动工具有限公司 | Automatic weeding device and method |
| CN113853844A (en) * | 2021-11-02 | 2021-12-31 | 吉林大学 | Rotation type intertillage weeding sword |
| CN114424705A (en) * | 2021-06-25 | 2022-05-03 | 江苏华源节水股份有限公司 | Intelligent field weeding method |
| CN114747362A (en) * | 2022-03-24 | 2022-07-15 | 福州大学 | Single-ridge double-row weeding device in field |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2239695Y (en) * | 1995-08-17 | 1996-11-13 | 许明远 | Horizontal disk-type weeder |
| US6671582B1 (en) * | 2002-08-26 | 2003-12-30 | Brian P. Hanley | Flexible agricultural automation |
| CN101412217A (en) * | 2008-12-04 | 2009-04-22 | 南京农业大学 | Autonomous field robot |
| CN101707992A (en) * | 2009-10-15 | 2010-05-19 | 南京林业大学 | high-efficiency weeding robot |
-
2011
- 2011-02-11 CN CN 201110035932 patent/CN102138377B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2239695Y (en) * | 1995-08-17 | 1996-11-13 | 许明远 | Horizontal disk-type weeder |
| US6671582B1 (en) * | 2002-08-26 | 2003-12-30 | Brian P. Hanley | Flexible agricultural automation |
| CN101412217A (en) * | 2008-12-04 | 2009-04-22 | 南京农业大学 | Autonomous field robot |
| CN101707992A (en) * | 2009-10-15 | 2010-05-19 | 南京林业大学 | high-efficiency weeding robot |
Cited By (37)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102612874A (en) * | 2012-03-08 | 2012-08-01 | 华南农业大学 | Intelligent inter-row mechanical weeding machine |
| CN102612875A (en) * | 2012-04-12 | 2012-08-01 | 苏州博田自动化技术有限公司 | Automatic seedling avoiding control method for double-blade grass remover |
| CN102612875B (en) * | 2012-04-12 | 2014-06-04 | 苏州博田自动化技术有限公司 | Automatic seedling avoiding control method for double-blade grass remover |
| CN102972111A (en) * | 2012-12-04 | 2013-03-20 | 汤烈 | Weeding device capable of weeding among seedlings |
| CN102972111B (en) * | 2012-12-04 | 2015-04-08 | 汤烈 | Weeding device capable of weeding among seedlings |
| CN103141172B (en) * | 2013-03-26 | 2015-01-14 | 中国农业大学 | Symmetrical and rotary seedling weeding unit |
| CN103141172A (en) * | 2013-03-26 | 2013-06-12 | 中国农业大学 | Symmetrical and rotary seedling weeding unit |
| CN103314663B (en) * | 2013-05-28 | 2015-06-24 | 河南理工大学 | Intelligentized intra-row and intra-plant weeding device for crops in seedling stage |
| CN103314663A (en) * | 2013-05-28 | 2013-09-25 | 河南理工大学 | Intelligentized intra-row and intra-plant weeding device for crops in seedling stage |
| CN103283331A (en) * | 2013-06-20 | 2013-09-11 | 苏州博田自动化技术有限公司 | Intelligent guiding transversely-moving machine tool |
| CN103283331B (en) * | 2013-06-20 | 2016-02-10 | 苏州博田自动化技术有限公司 | The traversing facility of a kind of intelligent steering |
| CN103999582B (en) * | 2014-06-10 | 2016-01-20 | 中国农业大学 | Mechanical weeding hand between a kind of swing type seedling |
| CN103999582A (en) * | 2014-06-10 | 2014-08-27 | 中国农业大学 | Swinging type mechanical hand for weeding between seedlings |
| CN104965100B (en) * | 2015-05-15 | 2018-09-04 | 中国农业大学 | It is agricultural to test the speed and range unit |
| CN104965100A (en) * | 2015-05-15 | 2015-10-07 | 中国农业大学 | Agricultural speed and distance measuring apparatus |
| CN107912089A (en) * | 2017-11-06 | 2018-04-17 | 吉林大学 | In the ranks mechanical weeding device between strain |
| CN108243637A (en) * | 2018-04-18 | 2018-07-06 | 湖南农业大学 | A kind of rice is except barnyard grass machinery |
| CN108243637B (en) * | 2018-04-18 | 2023-08-08 | 湖南农业大学 | Rice barnyard grass removing machine |
| CN108901206A (en) * | 2018-05-24 | 2018-11-30 | 东南大学 | A kind of orchard automatic Pilot weeding tractor |
| CN108901206B (en) * | 2018-05-24 | 2021-05-18 | 东南大学 | Orchard autopilot weeding tractor |
| US20210000006A1 (en) * | 2019-07-02 | 2021-01-07 | Bear Flag Robotics, Inc. | Agricultural Lane Following |
| US11778934B2 (en) * | 2019-07-02 | 2023-10-10 | Bear Flag Robotics, Inc. | Agricultural lane following |
| CN113749083A (en) * | 2020-06-05 | 2021-12-07 | 苏州宝时得电动工具有限公司 | Automatic weeding device and method |
| CN111955069A (en) * | 2020-08-26 | 2020-11-20 | 山东大学 | Profiling inter-plant weeding mechanism, weeding device and method |
| CN112655288B (en) * | 2020-12-22 | 2022-03-08 | 浙江理工大学 | Paddy field inter-plant weeding device |
| CN112655288A (en) * | 2020-12-22 | 2021-04-16 | 浙江理工大学 | Paddy field inter-plant weeding device |
| CN112616340A (en) * | 2020-12-29 | 2021-04-09 | 无锡卡尔曼导航技术有限公司 | Inter-plant inter-row weeding fertilizer applicator |
| CN112868285A (en) * | 2021-02-08 | 2021-06-01 | 农业农村部南京农业机械化研究所 | Swinging avoiding type unmanned intelligent recognition intertillage weeding machine |
| CN113396650A (en) * | 2021-04-30 | 2021-09-17 | 中国农业大学 | Intelligent vegetable inter-plant weeding device and control method |
| CN114424705A (en) * | 2021-06-25 | 2022-05-03 | 江苏华源节水股份有限公司 | Intelligent field weeding method |
| CN114424705B (en) * | 2021-06-25 | 2022-11-15 | 江苏华源节水股份有限公司 | Intelligent field weeding method |
| CN113317030A (en) * | 2021-07-13 | 2021-08-31 | 吉林大学 | Interplant weeding mechanism suitable for standardized farmland |
| CN113317030B (en) * | 2021-07-13 | 2022-07-29 | 吉林大学 | Interplant weeding mechanism suitable for standardized farmland |
| CN113853844B (en) * | 2021-11-02 | 2023-01-31 | 吉林大学 | Rotation type intertillage weeding sword |
| CN113853844A (en) * | 2021-11-02 | 2021-12-31 | 吉林大学 | Rotation type intertillage weeding sword |
| CN114747362A (en) * | 2022-03-24 | 2022-07-15 | 福州大学 | Single-ridge double-row weeding device in field |
| CN114747362B (en) * | 2022-03-24 | 2023-08-25 | 福州大学 | Single-ridge double-row weeding device in field |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102138377B (en) | 2013-07-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102138377B (en) | Horizontal swing type inter-plant weeding device | |
| AU2021203787B2 (en) | Wheeled agricultural robot with self-adaptive wheel track adjusting function and adjusting method thereof | |
| Bakker et al. | Systematic design of an autonomous platform for robotic weeding | |
| RU2771097C2 (en) | Agricultural working machine | |
| CN102612874B (en) | Intelligent inter-row mechanical weeding machine | |
| CN101990796A (en) | Weeding robot system and method based on machine vision | |
| CN106889052A (en) | A kind of weeder | |
| CN103081597B (en) | Swinging type intelligent inter-seedling hoeing machine and tool unit | |
| KR102001517B1 (en) | agricultural mobile robot for unmanned automation of agricultural production | |
| CN204722111U (en) | The comprehensive weeder of a kind of intelligent crops | |
| CN213880814U (en) | Double-operation profiling obstacle-avoiding weeding device between forest fruit plants and on ridges | |
| US20230345852A1 (en) | System and method for detecting levelness of tools of a tillage implement based on material flow | |
| Slaughter et al. | Vision guided precision cultivation | |
| US11039563B2 (en) | System for monitoring the condition of a seedbed within a field with a seedbed floor detection assembly | |
| CN109906686A (en) | Weeder between a kind of corn plants | |
| CN104904700A (en) | Intelligent comprehensive crop weeding device and method | |
| Ahmad | Development of an automated mechanical intra-row weeder for vegetable crops | |
| CN113287378A (en) | Weeding device and weeding method | |
| CN202524721U (en) | Intelligent inter-plant row mechanical weeding machine | |
| GB2598141A8 (en) | Agricultural machine | |
| CN103283331A (en) | Intelligent guiding transversely-moving machine tool | |
| WO2023226782A1 (en) | Crop weeding device having seedling avoidance function | |
| Grimstad et al. | Initial field-testing of Thorvald, a versatile robotic platform for agricultural applications | |
| CN215421520U (en) | Inter-row inter-plant weeding device | |
| US20220022359A1 (en) | Method for Weeding and a Weeding Rod |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |