CN109964558B - Small arch shed internal intelligent weeding and seedling thinning machine and use method - Google Patents

Abstract

The invention relates to an intelligent weeding and seedling-thinning machine in a small arch shed and a use method thereof. According to the invention, the walking device drives equipment to move in the small arch shed, so that self-walking operation is realized, the height of the mobile platform can be adjusted through the two-section supporting arm, different small arch sheds are satisfied, the accurate positioning of target seedlings and weeds is realized through the cooperation of the distance sensor and the high-definition camera, the thinning motor is utilized to drive the screw drill to rotate the multi-target seedlings and weeds at a high speed to remove the multi-target seedlings and weeds, the damage to the seedlings is reduced, the labor intensity is reduced, and the automation and intelligent level of weeding and thinning are improved.

Description

An intelligent weeding and seedling thinning machine inside a small shed and its use method

Technical field

The present invention relates to the field of agricultural equipment, and in particular to the field of weeding devices in sheds. Specifically, it refers to an intelligent weeding and thinning machine inside a small shed and a method of using it.

Background technique

The greenhouses used in vegetable production in China date back to the 1930s. Mr. Wu Gengmin, the founder of Chinese horticulture, set up a wood-frame glass-covered hotbed at Hangzhou Lanqiao Horticulture Garden, pioneering the summer vegetable glass hotbed seedling technology. Later, the wooden frame was replaced with an earth wall. In the late 1950s, the original Hangzhou Vegetable Experimental Field of the Hangzhou Vegetable Research Institute used glass greenhouses to cultivate tomatoes and peppers. In the 1960s, plastic films were introduced from Japan and began to be used to cultivate vegetables in small sheds. In the late 1960s and early 1970s, plastic small and medium-sized sheds began to be promoted in various places, mainly for seedling cultivation in winter and spring and early-maturing cultivation of vegetables.

Since the 1980s, my country's arched greenhouse industry has been developing rapidly. The area of greenhouses built and used across the country has exceeded 170,000 hectares. Most of these greenhouses are plastic arched sheds and solar greenhouse facilities. In addition to the ordinary small arch sheds built, it is also common to nest small arch sheds in plastic greenhouses.

The biggest difference between small arch sheds and large arch sheds is that small arch sheds do not have the conditions to allow manual entry for field management, but weeding during the seedling stage of vegetables is very important, and the density of vegetables is an important factor affecting the yield and quality of vegetables. Traditional methods Manual weeding and thinning of seedlings is time-consuming, labor-intensive, labor-intensive, and traditional manual weeding and thinning of seedlings is relatively harmful to vegetable seedlings.

Contents of the invention

In view of the shortcomings of the existing technology, the present invention provides an intelligent weeding and seedling thinning machine inside a small shed and a method of use thereof, which can enter the inside of the small shed to carry out weeding and thinning operations, and can automatically identify weeds and seedlings that need to be removed, greatly reducing the cost. Reduce labor intensity and improve labor efficiency.

The present invention is achieved through the following technical solutions. It provides an intelligent weeding and seedling thinning machine inside a small shed, which includes a mobile platform equipped with a walking device, a general controller and a mechanical arm device installed on the mobile platform. The mechanical arm The movable end of the device is equipped with a removal motor, a distance sensor and a high-definition camera. The output shaft of the removal motor is fixed with a threaded drill bit. The distance sensor, high-definition camera, robotic arm device and walking device are all electrically connected to the main controller. .

When this solution is used, the walking device drives the mobile platform to move in the small shed to achieve self-propelled motion. The distance between the vegetable seedlings is measured through the distance sensor and the measured distance is transmitted to the main controller. The main controller will receive the The measured distance is compared with the set distance. If the measured distance is less than the set distance, the overall control controls the action of the robotic arm device and moves the de-thinning motor to the plants that do not meet the distance requirements. The de-thinning motor drives the threaded drill bit to rotate and remove the undesirable plants. Plants that meet the distance requirements are removed; at the same time, the high-definition camera transmits the captured pictures to the main controller, which distinguishes crops and weeds, and sends the GPS information to the controller of the robotic arm device, which will remove the plants. The thinning motor moves directly above the weeds or crop seedlings that need to be removed, and uses the thinning motor to drive the threaded drill bit to rotate at high speed to remove the target crops or weeds; the high-definition camera and distance sensor are used together to achieve precise positioning and achieve point-to-point weeding and thinning. The purpose of seedlings.

As an optimization, the robotic arm device includes a robotic arm base fixed to the bottom of the mobile platform and a delta robotic arm installed on the robotic arm base. The front end of the delta robotic arm is equipped with the de-threshing motor and distance sensor. and high-definition camera, and the distance sensor and high-definition camera are located on both sides of the de-threshing motor. This optimization plan uses a parallel three-degree-of-freedom delta robotic arm, which has high flexibility, fast working speed, and stable performance, and fully meets the requirements for weeding and thinning. In order to ensure the dethinning effect, the dethinning motor can use a high-torque DC motor. , and at the same time facilitate the connection with the solar panel; the distance sensor and the high-definition camera are respectively placed on both sides of the de-scrubber motor to facilitate installation and avoid mutual influence during installation.

As an optimization, the mobile platform is equipped with a solar panel and a lithium battery pack electrically connected to the solar panel. This optimization plan generates electricity through solar panels, provides power to the entire smart weeding and seedling machine through light during the day, and stores excess power in a lithium battery pack to provide power for the smart weeding and seedling thinning machine to work at night. The entire smart The weeding and seedling thinning machine is environmentally friendly, green, pollution-free and energy-saving.

As an optimization, the walking device includes at least four drive motors respectively connected to the mobile platform through support arms, and the output shaft of the drive motor is connected to a drive wheel. In the walking device in this optimization plan, each drive wheel is connected to a drive motor, which ensures sufficient power and facilitates independent control of each drive wheel to meet direction changes or turning requirements and improve flexibility.

As an optimization, the vertical projection of the mobile platform is located inside the rectangle formed by each driving wheel. In this optimization plan, the driving wheel is placed outside the vertical projection of the mobile platform, which increases the support area and improves the stability of the entire machine.

As an optimization, the support arm includes an upper arm hinged with the mobile platform, a lower arm hinged with the upper arm, and a hydraulic rod with both ends hinged with the upper arm and the lower arm respectively. This optimization plan uses a two-section support arm and provides support through a hydraulic rod, so that the intelligent weeding and thinning machine can freely adjust the height to meet the size and height of different sheds, and is conducive to improving the stability of the system.

As an optimization, the upper arm and the lower arm, and the upper arm and the mobile platform are all hinged through a hinge axis, and the hinge axis is arranged along the moving direction of the mobile platform. The setting of this optimization plan allows the height of the mobile platform to be adjusted vertically to avoid swinging and improve the speed and stability of the height adjustment of the mobile platform.

As an optimization, the front and upper ends of the four corners of the mobile platform are respectively provided with infrared obstacle avoidance sensors that are electrically connected to the main controller. The height of the arch is detected through the infrared obstacle avoidance sensor, and the height information is transmitted to the main controller. The main controller controls the controller of the hydraulic rod based on the received height information. The controller of the hydraulic rod controls the action of the hydraulic rod to make the mobile platform High enough to enter a small shed.

The method of using the above-mentioned intelligent weeding and seedling thinning machine inside the small shed includes the following processes:

1. The solar panel receives sunlight to provide power for the entire intelligent weeding and seedling thinning machine, and stores the remaining power in the lithium battery pack to provide power for the intelligent weeding and seedling thinning machine to work at night;

2. Drive the mobile platform to the work site by driving the motor, detect the height of the small shed through the infrared obstacle avoidance sensors at the upper and front ends of the four corners of the mobile platform, and transmit the information to the main controller, which processes the information, and then Drive the hydraulic controller to work, and the hydraulic controller drives the hydraulic rod to move, so that the entire height of the mobile platform can enter the interior of the small shed;

3. After the mobile platform enters the small shed, the distance sensor starts to measure the distance between each vegetable seedling from one side of the vegetable ridge, and compares the measured distance between the vegetable seedlings with the set distance. If the set distance is too large, no measures will be taken. If the measured distance is smaller than the set distance, the de-threading motor will drive the thread drill bit to rotate at a high speed, and the delta robot arm will drive the de-threading motor and thread drill bit to move as a whole, which will not meet the setting. The vegetable seedlings in the distance are removed to achieve the purpose of thinning; during the movement of the delta robot arm, the high-definition camera captures the image and sends the image to the main controller. The main controller identifies the weeds and determines the location of the weeds. The total control The device controls the delta robotic arm to move above the weeds, and the threaded drill bit is rotated by the de-threading motor to remove the weeds;

4. Move the platform forward and repeat the above work.

The beneficial effects of the present invention are: the walking device drives the equipment to move in the small shed to realize self-propelled operations. The height of the mobile platform can be adjusted through the two-stage support arm to meet the use of different small sheds. Through the distance sensor and high-definition camera Used in combination, the target seedlings and weeds can be accurately positioned. The dethinning motor is used to drive the threaded drill bit to rotate at high speed to remove multi-target seedlings and weeds, which reduces damage to the seedlings, reduces labor intensity, and improves weeding efficiency. The level of automation and intelligence of seedling thinning.

Description of drawings

Figure 1 is a schematic structural diagram of the intelligent weeding and seedling thinning machine of the present invention;

Figure 2 is a bottom view of the intelligent weeding and seedling thinning machine of the present invention;

Figure 3 is a side view of the intelligent weeding and seedling thinning machine of the present invention;

Figure 4 is a partial enlarged view of the intelligent weeding and seedling thinning machine of the present invention;

Shown in the picture:

1. Driving wheel, 2. Hydraulic rod, 3. Support arm, 4. Infrared obstacle avoidance sensor, 5. Mobile platform, 6. Solar panel, 7. Drive motor, 8. Robot arm base, 9. Delta robot arm , 10. Distance sensor, 11. High-definition camera, 12. Dredge removal motor, 13. Thread drill bit, 14. Lithium battery pack, 15. Master switch, 16. Master controller, 17. Hydraulic control system.

Detailed ways

In order to clearly explain the technical features of this solution, this solution will be described below through specific implementation methods.

As shown in Figure 1, an intelligent weeding and seedling thinning machine inside a small shed includes a mobile platform 5 equipped with a walking device, a main switch 15, a main controller 16 and a robotic arm device installed on the mobile platform 5. The main switch 15 The main controller 16 and the robotic arm device are located under the mobile platform. The front and upper ends of the four corners of the mobile platform 5 are respectively equipped with infrared obstacle avoidance sensors 4 that are electrically connected to the main controller. An auxiliary straightening device is installed at the end of the mobile platform. The auxiliary straightening device is mainly composed of a decoder.

The robotic arm device includes a robotic arm base 8 fixed to the bottom of the mobile platform and a parallel three-degree-of-freedom delta robotic arm 9 installed on the robotic arm base 8. The front end of the delta robotic arm 9 is equipped with a degreaser motor 12 , distance sensor 10 and high-definition camera 11, the distance sensor and the high-definition camera are located on both sides of the de-threading motor respectively. The de-thinning motor is a high-torque DC motor, and a threaded drill bit 13 is fixedly connected to the output shaft of the high-torque DC motor. The high-torque DC motor The motor, distance sensor 10, high-definition camera 11, robotic arm device and walking device are all electrically connected to the main controller 16.

The walking device includes four drive motors 7 that are respectively connected to the mobile platform through support arms 3. The output shaft of the drive motor 7 is connected to a drive wheel 1. The four drive wheels are rectangularly distributed, and the vertical projection of the mobile platform 5 is located at Each drive wheel 1 forms a rectangular interior. The ends of the four support arms are equipped with drive motors, which can support the intelligent weeding and seedling thinning machine to make a 360° U-turn on the spot, and also support the forward and backward conversion of the intelligent weeding and seedling thinning machine.

The support arm 3 includes an upper arm with an upper end hinged to the mobile platform, a lower arm hinged with the lower end of the upper arm, and a hydraulic rod 2 with both ends hinged to the upper arm and the lower arm respectively. The hydraulic rod is connected to the hydraulic control system 17, and the hydraulic control system is connected to the hydraulic control system 17. The main controller is electrically connected. The support force provided by the hydraulic rod allows the intelligent weeding and thinning machine to freely adjust the height to meet the size and height of different sheds, improving the stability of the system. As an optimized solution, the upper arm and the lower arm, and the upper arm and the mobile platform are all hinged through a hinge axis. The hinge axis is arranged along the moving direction of the mobile platform. When the hydraulic rod extends or retracts, the mobile platform only vertically Displace in the direction to avoid swinging to ensure the stability of the mobile stage.

A solar panel 6 and a lithium battery pack 14 electrically connected to the solar panel 6 are fixedly installed on the mobile platform. The solar panel is fixed on the upper surface of the mobile platform and the lithium battery pack is fixed on the lower surface of the mobile platform. The solar panel receives sunlight to provide power for the entire smart weeding and seedling thinning machine, and stores the remaining power in the lithium battery pack to provide power for the smart weeding and seedling thinning machine to work at night.

The method of using the above-mentioned intelligent weeding and seedling thinning machine inside the small shed includes the following processes:

1. The solar panel receives sunlight to provide power for the entire intelligent weeding and seedling thinning machine, and stores the remaining power in the lithium battery pack to provide power for the intelligent weeding and seedling thinning machine to work at night.

2. Drive the mobile platform to the work site by driving the motor, detect the height of the small shed through the infrared obstacle avoidance sensors at the upper and front ends of the four corners of the mobile platform, and transmit the information to the main controller, which processes the information, and then The hydraulic controller is driven to work, and the hydraulic controller drives the hydraulic rod to move, making the entire mobile platform rise or fall to a suitable height, so that the height of the entire mobile platform can enter the interior of the small shed.

3. After the mobile platform enters the small shed, the high-definition camera and distance sensor at the front end of the delta robot arm start to work. The distance sensor starts from one side of the vegetable ridge to measure the distance between each vegetable seedling, and will measure the distance between the vegetable seedlings. Compared with the set distance, if the measured distance is larger than the set distance, no measures will be taken. If the measured distance is smaller than the set distance, the high-torque DC motor drives the thread drill bit to rotate at high speed, and the delta robotic arm drives The high-torque DC motor and threaded drill bit move as a whole to remove the vegetable seedlings that do not meet the set distance to achieve the purpose of thinning the seedlings; during the movement of the delta robotic arm, the high-definition camera captures the image and sends the image to the main controller. After calculation, the main controller identifies the weeds and determines their location. The main controller controls the delta robotic arm to move above the weeds, and drives the threaded drill bit to rotate through the high-torque DC motor to remove the weeds;

4. Move the platform forward and repeat the above work.

This invention uses a delta robotic arm with high flexibility, which can ensure all-round traversal scanning and achieve weeding and seedling thinning without dead ends; the weeding and seedling thinning device adopts a point-to-point design, uses a high-torque DC motor to provide power, and is equipped with a threaded drill bit. It is equipped with a high-definition camera and distance sensor to achieve precise positioning and achieve the purpose of point-to-point weeding and thinning; it uses solar energy to provide energy, making the entire intelligent weeding and thinning machine environmentally friendly, green, pollution-free and energy-saving.

Of course, the above description is not limited to the above examples. Undescribed technical features of the present invention can be realized by or using existing technologies, and will not be described again. The above embodiments and drawings are only used to illustrate the technical solutions of the present invention and are not It is a limitation of the present invention, and the present invention has been described in detail with reference to the preferred embodiments. Those of ordinary skill in the art will understand that changes, modifications, modifications, modifications, modifications, etc. made by those of ordinary skill in the art are within the essential scope of the present invention. Additions or substitutions do not depart from the spirit of the present invention and shall also fall within the scope of the claims of the present invention.

Claims (6)

1. An intelligent weeding and seedling-thinning machine in a small arch shed is characterized in that: the intelligent robot comprises a mobile platform (5) provided with a traveling device, and a master controller (16) and a mechanical arm device which are arranged on the mobile platform (5), wherein a dredging motor (12), a distance sensor (10) and a high-definition camera (11) are arranged at the movable end of the mechanical arm device, a threaded drill bit (13) is fixedly connected with an output shaft of the dredging motor, and the distance sensor (10), the high-definition camera (11), the mechanical arm device and the traveling device are electrically connected with the master controller (16);

the walking device comprises at least four driving motors (7) which are respectively connected with the mobile platform through supporting arms (3), and the output shafts of the driving motors (7) are connected with driving wheels (1); the support arm (3) comprises an upper arm hinged with the mobile platform, a lower arm hinged with the upper arm, and a hydraulic rod (2) with two ends respectively hinged with the upper arm and the lower arm;

the application method of the intelligent weeding and seedling-thinning machine in the small arch shed comprises the following steps:

1) The solar panel receives sunlight to provide power for the whole intelligent weeding and seedling-thinning machine, and the rest power is stored in the lithium battery pack to provide power for the intelligent weeding and seedling-thinning machine to work at night;

2) The method comprises the steps that a driving motor drives a mobile platform to reach a working place, infrared obstacle avoidance sensors at the upper ends and the front ends of four corners of the mobile platform detect the height of a small arch shed and transmit information to a master controller, the master controller processes the information and then drives a hydraulic controller to work, and the hydraulic controller drives a hydraulic rod to act, so that the height of the whole mobile platform can enter the interior of the small arch shed;

3) After the mobile platform enters the small arch shed, the distance sensor starts to measure the distance between vegetable seedlings from one side of the vegetable ridges, compares the measured distance between the vegetable seedlings with a set distance, and if the measured distance is smaller than the set distance, the thinning motor drives the threaded drill to rotate, and the delta mechanical arm drives the thinning motor and the threaded drill to integrally move so as to remove vegetable seedlings which do not meet the set distance; in the moving process of the delta mechanical arm, the high-definition camera captures an image and sends the image to the master controller, the master controller determines the position of weeds after identifying the weeds, the master controller controls the delta mechanical arm to move above the weeds, and the thinning motor drives the screw drill to rotate so as to remove the weeds;

4) The mobile platform continues to advance, and the above work is repeated.

2. The intelligent weeding and thinning machine for the interior of a small arch shed according to claim 1, wherein: the mechanical arm device comprises a mechanical arm base (8) fixedly connected to the bottom surface of the mobile platform and a delta mechanical arm (9) arranged on the mechanical arm base (8), wherein the front end of the delta mechanical arm (9) is provided with a dredger, a distance sensor and a high-definition camera, and the distance sensor and the high-definition camera are respectively positioned on two sides of the dredger.

3. The intelligent weeding and thinning machine for the interior of a small arch shed according to claim 1, wherein: the mobile platform is provided with a solar panel (6) and a lithium battery pack (14) electrically connected with the solar panel (6).

4. The intelligent weeding and thinning machine for the interior of a small arch shed according to claim 1, wherein: the vertical projection of the moving platform (5) is positioned inside the rectangle formed by the driving wheels (1).

5. The intelligent weeding and thinning machine for the interior of a small arch shed according to claim 1, wherein: the upper arm and the lower arm and the upper arm and the moving platform are hinged through hinge shafts, and the hinge shafts are arranged along the moving direction of the moving platform.

6. The intelligent weeding and thinning machine for the interior of a small arch shed according to claim 1, wherein: the front ends and the upper ends of four corners of the mobile platform (5) are respectively provided with an infrared obstacle avoidance sensor (4) electrically connected with the master controller.