An opening and closing intelligent weeding device based on binocular vision to obtain seedling grass information

Abstract

The invention belongs to the technical field of agricultural equipment, and relates to an opening and closing intelligent weeding device for obtaining seedling grass information based on binocular vision. Servo control system, inter-plant weeding end effector and parallel four-bar profiling unit; the binocular visual servo control system includes a binocular camera fixed on the front end of the crossbeam for collecting grass information in a large field, with Single chip microcomputer and servo controller with image processing function. The parallel four-bar profiling unit includes a parallel four-bar mechanism, a ground wheel rod and a ground wheel; the parallel four-bar mechanism includes an upper pull rod, a lower pull rod, a front mounting plate, a rear mounting plate, a hanging rod and a hook. The inter-row weeding end effector includes a top plate, a bottom plate, a hydraulic cylinder, a hoe bar and a hoe knife. The invention has the advantages of compact structure, high weeding efficiency, high accuracy, strong portability and wide applicability, and can be applied to various field working conditions.

Description

technical field [0001] The invention belongs to the technical field of agricultural equipment, and relates to an opening-and-closing intelligent weeding device for acquiring seedling grass information based on binocular vision. Background technique [0002] Elimination of field weeds is an important part of field management operations. At present, in our country, there are many methods of weeding, and the commonly used weeding methods include artificial weeding, chemical weeding and mechanical weeding. Manual weeding has the disadvantages of high labor intensity, time-consuming and laborious work, and low operating efficiency. Chemical herbicides are highly efficient, but if used improperly, not only will not achieve the expected control effect, but it will damage or even destroy crops, and the residual toxicity of the chemical will cause certain environmental pollution, which is not conducive to the sustainable development of agriculture. Mechanical weeding is more advanc...

AI Technical Summary

Problems solved by technology

At present, domestic mainstream mechanical weeding mostly uses a rotary hydraulic motor to drive the end actuator to perform swing or rotation operations, and uses single-camera machine vision to obtain the position information of seedlings and grass. The structure and function are relatively simple, and the control method is relatively complicated, requiring high accuracy

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