阅读说明：本技术 一种无人驾驶水稻中耕除草机及其作业方法 (Unmanned rice intertillage weeding machine and operation method thereof ) 是由 齐龙 刘闯 韦国运 傅灯斌 田玉渊 麦振鹏 王志琪 周宇浩 唐震宇 于 2021-08-09 设计创作，主要内容包括：本发明公开了一种无人驾驶水稻中耕除草机及其作业方法,所述除草机由动力系统、行-株间除草装置、自动导航驾驶系统组成；所述自动导航驾驶系统由三部分组成：定位系统、控制系统以及车载电脑；所述除草机具有操作方法简单、科学合理、除草作业效果好、伤苗率低、减少农民劳动强度和保护环境的特点。(The invention discloses an unmanned rice intertillage weeding machine and an operation method thereof, wherein the weeding machine consists of a power system, a row-inter-plant weeding device and an automatic navigation driving system; the automatic navigation driving system consists of three parts: a positioning system, a control system and a vehicle-mounted computer; the weeding machine has the characteristics of simple operation method, scientific and reasonable operation, good weeding operation effect, low seedling injury rate, reduction of labor intensity of farmers and environmental protection.)

1. An unmanned rice intertillage weeder is characterized in that: the weeding machine comprises a power system, a row-inter-plant weeding device and an automatic navigation driving system;

the power system comprises a frame, paddy field wheels, a power device, a transmission device, a steering device and a hydraulic lifting device, wherein the power device is used for driving a vehicle body to move on the frame; the power device is positioned at the front upper part of the vehicle body and is connected with the transmission device and the steering device below the power device; the transmission device is connected with 4 paddy field wheels below the frame, transmits the power of the engine to the paddy field wheels and drives the weeding machine to move forward;

the row-inter-plant weeding device is hung on the hydraulic lifting device and consists of a cutter tooth type inter-row weeding wheel, an umbrella type inter-plant weeding wheel, a frame and a two-stage profiling mechanism, wherein 7 weeding monomers are used, and the row-inter-plant weeding device can be used for effectively preventing and killing weeds among rows and plants of a paddy field by one-time operation;

the automatic navigation driving system consists of three parts: a positioning system, a control system and a vehicle-mounted computer; the positioning system consists of a Beidou high-precision receiver and a satellite antenna; the Beidou high-precision receiver is integrated with a vehicle-mounted computer, positions the field position of the weeding machine in real time through the satellite antenna, obtains position information by adopting a differential positioning method, and feeds the position information back to the vehicle-mounted computer; after the satellite signals and the information of the angle sensor are fused and processed by the vehicle-mounted computer, a control instruction is transmitted to the industrial personal computer, the industrial personal computer controls the electric steering wheel and the push rod motor, and the traveling direction, the advancing speed and the lifting weeding device of the weeding machine are adjusted;

the control system consists of an industrial personal computer, an electric steering wheel, a push rod motor and a remote controller and is responsible for receiving a signal instruction transmitted by the vehicle-mounted computer and controlling the whole weeding machine; the industrial personal computer is used for controlling the rotation of the electric steering wheel and the extension of the push rod motor, and controls the lifting of the hydraulic lifting device by controlling the hydraulic electromagnetic valve, so that the purpose of lifting the weeding device is achieved; the electric steering wheel controls the motor to rotate by the industrial personal computer, and controls the rotation and field turning of the weeding machine; the push rod motor is arranged in the body of the weeding machine, and controls the running speed of the weeding machine by pushing the accelerator of the engine to stretch back and forth; the remote controller is used for remotely controlling the travel, the parking, the left/right steering and the manual/unmanned driving mode of the weeding machine by an operator;

the vehicle-mounted computer is used for planning a path of the navigation system, comparing and analyzing position information fed back by the positioning system with preset position information, generating a control instruction to correct an error between a real-time position and a preset position of the weeding machine, and sending the instruction to the control system; meanwhile, the vehicle-mounted computer can display the current operation posture and the pre-driving path of the weeding machine, set navigation system parameters, automatically calculate the operated area, and display the operated area in a graphical mode, so that repeated operation is reduced, and the operation efficiency is improved.

2. The unmanned rice cultivator as claimed in claim 1, wherein: and the devices of the automatic navigation driving system are all connected through wires.

3. The method of operating an unmanned rice cultivating and weeding machine according to claims 1-2, wherein: the operation method comprises a seedling transplanting time period and a weeding time period;

1) and (3) transplanting rice seedlings: firstly, an operator drives the unmanned rice transplanter to respectively drive A, B points as reference points at two ends of a field by using a navigation system, then an unmanned mode is started, the automatic driving system takes a connecting line AB line between A, B points as a reference line, the automatic driving system automatically controls the transplanter to plan a path and transplant rice seedlings, and the automatic driving system can automatically turn 180 degrees to change rows when walking to the head of the field and then continue transplanting rice seedlings;

after the unmanned rice transplanter completes all interpolation operations in a field, the information of the path traveled by the unmanned rice transplanter is uploaded to the base station, so that the unmanned rice cultivator downloads the traveling path of the unmanned rice cultivator in the weeding period in the later period and travels along wheel tracks during rice transplanting, the traveling tracks of the rice transplanting and weeding operations are completely the same, and the seedling injury rate during weeding can be effectively reduced;

2) the weeding time period is as follows: carrying out weeding operation 10-20 days after the rice is transplanted; during weeding, the unmanned rice intertillage weeding machine downloads a traveling route of the rice transplanter from a navigation system, starts an unmanned mode, travels along a wheel track route during transplanting of the rice transplanter for weeding and automatically adjusts the direction; the weeding device is lifted when the field turns, and the weeding device is lowered to continue weeding after the field turns and turns.

4. The method of operating an unmanned rice cultivator as claimed in claim 3, wherein: the distance between the two reference points A, B and the edge of the field block is larger than the length of a vehicle body so as to accommodate the field turning of the transplanter; 6 rows of seedlings are interpolated every time by the unmanned transplanter, the row spacing of the seedlings is 30cm, and the planting distance is 11-25 cm.

5. The method of operating an unmanned rice cultivator as claimed in claim 4, wherein: the weeder has a weeder wheel with 3-5cm of depth of penetration, and covers 7 rows of seedlings in each operation, thereby effectively preventing the missed weeding.

Technical Field

The invention relates to a rice intertillage weeding machine, in particular to an unmanned rice intertillage weeding machine, and belongs to the technical field of mechanical weeding of paddy fields.

Background

Nowadays, chemical weeding and artificial weeding are mainly applied to paddy field weed control in China. However, the continuous use of a large amount of herbicides with a single action mechanism is easy to cause the weeds to generate drug resistance for 3 to 5 years. The labor intensity of manual weeding is high, the efficiency is low, the investment cost is high, and the application in the conventional rice planting production is less. The mechanical weeding can avoid rural non-point source pollution caused by chemical weeding, improve weeding efficiency and reduce labor intensity. However, the traditional mechanical weeding machines and riding paddy field weeding machines are manually operated and driven, and the problem of high seedling injury rate caused by incorrect alignment during the operation of the machines easily exists, so that the popularization and the application of the machines are influenced. At present, with the transfer of rural labor population, more and more young and strong labor is not engaged in agricultural production any more, so that the agricultural production faces the problem of labor shortage. In addition, due to the rapid development of the unmanned technology, the high-precision positioning control system of the unmanned technology can replace a manual driving agricultural machine to carry out accurate row alignment operation, the labor intensity of farmers is reduced, the operation efficiency is improved, and the application of the unmanned technology to the rice intertillage weeding machine is bound to be a trend. Therefore, there is a need to develop an operating method and device of an unmanned rice intertillage weeding machine, which can reduce the seedling injury rate, reduce the labor intensity, improve the weeding efficiency, improve the environmental pollution and accelerate the development of green agriculture.

The invention solves the technical problems of high seedling injury rate and inaccurate row alignment during weeding operation, rural labor population transfer, more and more young people going out to work and rural labor force sharply reduced by solving the technical problems that the existing rice mechanical weeding machine such as a riding paddy field weeding machine is manually operated and driven and the seedling injury rate is increased due to inaccurate row alignment during the operation of the machine. The invention can not only replace the manual driving of the rice intertillage weeding machine, solve the technical problem of the unmanned weeding machine, reduce the labor intensity of farmers; can quickly carry out line operation, improve weeding efficiency, reduce the seedling injury rate of rice and promote the stable development of agriculture.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a co-rutting operation method and a co-rutting operation device of an unmanned rice intertillage weeding machine.

The technical scheme adopted by the invention for realizing the purpose is as follows: an unmanned rice intertillage weeding machine mainly comprises a power system, a row-plant weeding device and an automatic navigation driving system.

The power system comprises a frame, paddy field wheels, a power device, a transmission device, a steering device and a hydraulic lifting device, wherein the power device is used for driving a vehicle body to move on the frame. The power device is positioned at the front upper part of the vehicle body and is connected with the transmission device and the steering device below the power device; the transmission device is connected with 4 paddy field wheels below the frame, and transmits the power of the engine to the paddy field wheels to drive the weeding machine to move forward.

The weeding device is hung on the hydraulic lifting device and mainly comprises a knife-tooth type inter-row weeding wheel, an umbrella type inter-plant weeding wheel, a frame and a two-stage profiling mechanism, wherein 7 weeding monomers are used, and the weeding device can act on 7 rows of rice in one-time operation and can effectively prevent and remove weed among rows and plants of a paddy field; the weeding wheels between the rows and the plants rotate in a driven way after contacting with soil, so that the seedling injury rate is reduced.

The automatic navigation driving system mainly comprises three parts, wherein the first part is a positioning system, the second part is a control system, and the third part is a vehicle-mounted computer.

The positioning system mainly comprises a Beidou high-precision receiver, a satellite antenna and the like. The satellite antenna is installed in front of the vehicle body, the Beidou high-precision receiver and the vehicle-mounted computer are integrated into a whole, the Beidou high-precision receiver positions the field position of the weeding machine in real time through the satellite antenna, the position information is obtained by adopting a differential positioning method, and meanwhile, the position information is fed back to the vehicle-mounted computer. The vehicle-mounted computer fuses and processes the satellite signals and the information of the angle sensor, and then transmits a control instruction to the industrial personal computer, and the industrial personal computer controls the electric steering wheel and the push rod motor, adjusts the traveling direction and the advancing speed of the weeding machine and lifts the weeding device.

The control system mainly comprises an industrial personal computer, an electric steering wheel, a push rod motor, a remote controller and the like, and is responsible for receiving a signal instruction transmitted by the vehicle-mounted computer and controlling the whole weeding machine. Wherein, the industrial computer is used for controlling the rotation of electronic steering wheel and the flexible of push rod motor, and the industrial computer can control the lift of hydraulic pressure lifting device through controlling hydraulic pressure solenoid valve simultaneously to reach the purpose of lift weeding device. In addition, the industrial personal computer is arranged in the case and can not be interfered by external environment (rain, sunshine, humidity and the like); the electric steering wheel controls the motor to rotate by the industrial personal computer, and controls the rotation and field turning of the weeding machine; the push rod motor is arranged in the body of the weeding machine, and controls the running speed of the weeding machine by pushing the accelerator of the engine to stretch back and forth; the remote controller can remotely control the weeding machine to advance, stop, turn left/right and switch manual/unmanned driving modes by an operator.

The vehicle-mounted computer is mainly used for path planning of a navigation system, compares and analyzes position information fed back by the positioning system with preset position information, generates a control instruction to correct an error between a real-time position and a preset position of the weeding machine, and sends the instruction to the control system. Meanwhile, the vehicle-mounted computer can display the current operation posture and the pre-driving path of the weeding machine, set navigation system parameters, automatically calculate the operated area, and display the operated area in a graphical mode, so that repeated operation is reduced, and the operation efficiency is improved.

The devices of the automatic navigation driving system are all connected through wires.

The same-track operation method of the unmanned intertillage weeding machine comprises the following steps:

1. and (3) transplanting rice seedlings: firstly, an operator drives the unmanned rice transplanter to respectively drive A, B points as reference points at two ends of a field by using a navigation system, then an unmanned mode is started, the automatic driving system automatically controls the transplanter to plan a path and transplant rice seedlings by using a connecting line AB line between A, B points as a reference line, and the unmanned rice transplanter can automatically turn 180 degrees to change rows when walking to the head of the field and then continue transplanting rice seedlings. Wherein, the distance between the two reference points A, B and the edge of the field block is larger than the length of a vehicle body to accommodate the field turning of the transplanter; 6 rows of seedlings are interpolated every time by the unmanned transplanter, the row spacing of the seedlings is 30cm, and the planting distance is 11-25 cm.

After the unmanned rice transplanter completes all interpolation operations in a field, the information of the path traveled by the unmanned rice transplanter is uploaded to the base station, so that the unmanned rice intertillage weeder can download the traveling path of the unmanned rice intertillage weeder in the weeding period in the later period and travel along wheel tracks during rice transplanting, the traveling tracks of the rice transplanting and weeding operations are completely the same, and the seedling injury rate during weeding can be effectively reduced.

2. The weeding time period is as follows: and (5) carrying out weeding operation after 10-20 days after the rice is transplanted. During weeding, the unmanned rice intertillage weeding machine downloads a traveling route of the rice transplanter from a navigation system, then starts an unmanned mode, travels along a wheel track route during transplanting of the rice transplanter for weeding and automatically adjusts the direction; the weeding device is lifted when the field turns, and the weeding device is lowered to continue weeding after the field turns and turns. Wherein, weeder's weeder's weeder is 3 ~ 5cm in depth of penetrating into the soil, and operation covers 7 lines of seedlings at every turn, effectively prevents to miss and removes.

The invention provides a co-rutting operation method and a co-rutting operation device of an unmanned rice intertillage weeding machine, which are verified by multiple field weeding tests and have the characteristics of simple, scientific and reasonable operation method, good weeding operation effect, low seedling injury rate, reduced labor intensity of farmers and environmental protection.

The beneficial effects are as follows: (1) the co-rutting operation method and the co-rutting operation device of the unmanned rice intertillage weeder can effectively reduce the seedling hurting rate of the weeder and improve the weeding rate and the working efficiency of machines. The weeding rate of the whole machine is more than 85 percent, the seedling hurting rate is less than 3 percent, and the weeding rate and the seedling hurting rate are both better than those of the existing weeding machine.

(2) The cost is saved, the economic benefit is improved, the unmanned rice intertillage weeding machine co-rutting operation technology is adopted, labor force for manual weeding and driving of the machine can be reduced compared with the existing mechanical weeding machine, labor cost is greatly saved, and labor intensity of farmers is reduced.

(3) The weeding device of the weeding machine has an intertillage effect, can increase the oxygen content of soil, promotes the growth of rice and improves the yield.

Drawings

FIG. 1 is a schematic view showing a co-track running route of the unmanned rice transplanter and the unmanned rice intertillage weeding machine of the present invention

FIG. 2 is a schematic perspective view of the present invention

FIG. 3 is a schematic side view of the present invention

In the figure: 1-satellite antenna, 2-electric steering wheel, 3-vehicle-mounted computer, 4-industrial control case, 5-paddy field wheel, 6-vehicle body, 7-profiling mechanism, 8-floating plate, 9-inter-plant weeding wheel, 10-inter-row weeding wheel, 11-weeding device frame, 12-power device, 13-transmission device, 14-push rod motor and 15-hydraulic lifting device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiments of the present invention are described in detail below. A co-rutting operation method and a co-rutting operation device of an unmanned rice intertillage weeder comprise the following steps:

an unmanned rice intertillage weeding machine mainly comprises a power system, a row-plant weeding device and an automatic navigation driving system.

The power system comprises a frame, paddy field wheels, a power device, a transmission device, a steering device and a hydraulic lifting device, wherein the power device is used for driving a vehicle body to move on the frame. The power device is positioned at the front upper part of the vehicle body and is connected with the transmission device and the steering device below the power device; the transmission device is connected with 4 paddy field wheels below the frame, and transmits the power of the engine to the paddy field wheels to drive the weeding machine to move forward.

The weeding device is hung on the hydraulic lifting device and mainly comprises a knife-tooth type inter-row weeding wheel, an umbrella type inter-plant weeding wheel, a frame and a two-stage profiling mechanism, wherein 7 weeding monomers are used, and the weeding device can act on 7 rows of rice in one-time operation and can effectively prevent and remove weed among rows and plants of a paddy field; the two weeding wheels are driven to rotate to weed after contacting with soil, so that the seedling injury rate is reduced.

The automatic navigation driving system mainly comprises three parts, wherein the first part is a positioning system, the second part is a control system, and the third part is a vehicle-mounted computer.

The positioning system mainly comprises a Beidou high-precision receiver, a satellite antenna and the like. The satellite antenna is installed in front of the vehicle body, the Beidou high-precision receiver and the vehicle-mounted computer are integrated into a whole, the Beidou high-precision receiver positions the field position of the weeding machine in real time through the satellite antenna, the position information is obtained by adopting a differential positioning method, and meanwhile, the position information is fed back to the vehicle-mounted computer. The vehicle-mounted computer fuses and processes the satellite signals and the information of the angle sensor, and then transmits a control instruction to the industrial personal computer, and the industrial personal computer controls the electric steering wheel and the push rod motor, adjusts the traveling direction and the advancing speed of the weeding machine and lifts the weeding device.

The control system mainly comprises an industrial personal computer, an electric steering wheel, a push rod motor, a remote controller and the like, and is responsible for receiving a signal instruction transmitted by the vehicle-mounted computer and controlling the whole weeding machine. Wherein, the industrial computer is used for controlling the rotation of electronic steering wheel and the flexible of push rod motor, and the industrial computer can control the lift of hydraulic pressure lifting device through controlling hydraulic pressure solenoid valve simultaneously to reach the purpose of lift weeding device. In addition, the industrial personal computer is arranged in the case and can not be interfered by external environment (rain, sunshine, humidity and the like); the electric steering wheel controls the motor to rotate by the industrial personal computer, and controls the rotation and field turning of the weeding machine; the push rod motor is arranged in the body of the weeding machine, and controls the running speed of the weeding machine by pushing the accelerator of the engine to stretch back and forth; the remote controller can remotely control the weeding machine to advance, stop, turn left/right and switch manual/unmanned driving modes by an operator.

The vehicle-mounted computer is mainly used for path planning of a navigation system, compares and analyzes position information fed back by the positioning system with preset position information, generates a control instruction to correct an error between a real-time position and a preset position of the weeding machine, and sends the instruction to the control system. Meanwhile, the vehicle-mounted computer can display the current operation posture and the pre-driving path of the weeding machine, set navigation system parameters, automatically calculate the operated area, and display the operated area in a graphical mode, so that repeated operation is reduced, and the operation efficiency is improved.

The devices of the automatic navigation driving system are all connected through wires.

The co-rutting operation method of the unmanned rice intertillage weeder comprises the following steps:

(1) and (3) transplanting rice seedlings: firstly, an operator drives A, B points on two ends of a field as reference points by using a navigation system, then starts an unmanned mode, an automatic driving system automatically controls a rice transplanter to plan a path and transplant rice seedlings by using a connecting line AB line between A, B points as a reference line, and the rice transplanter can automatically turn 180 degrees to change rows when walking to the head of the field and then continues transplanting rice seedlings, as shown in figure 1. Wherein the distance between the two reference points A, B and the edge of the field block is larger than the length of one vehicle body to accommodate the field turning of the transplanter; 6 rows of seedlings are interpolated every time by the unmanned transplanter, the row spacing of the seedlings is 30cm, and the planting distance is 11-25 cm.

After the unmanned rice transplanter finishes all interpolation operations in a field, immediately draining water for irrigation after transplanting, wherein the thickness of the water layer is about 3-5cm, and uploading the navigation information of the path traveled by the unmanned rice transplanter, so that the unmanned rice intertillage weeder downloads the traveling path of the unmanned rice transplanter during weeding and travels along wheel tracks during transplanting, and the traveling tracks of the transplanting and weeding operations are completely the same.

(2) The weeding time period is as follows: and (5) carrying out weeding operation after 10-20 days after the rice is transplanted. During weeding, the unmanned rice intertillage weeding machine downloads a walking route of a rice transplanter during transplanting in a navigation system, and a driver drives the weeding machine to a reference point A at the position where the rice transplanter starts transplanting rice seedlings and performs opposite row; then starting an unmanned mode, and enabling the weeding machine to walk along a wheel track route for weeding and automatically adjusting the direction when the rice transplanter transplants rice; the weeding device is lifted when the field turns, and the weeding device is lowered to continue weeding after the field turns and turns. The weeder has a weeder wheel penetration depth of 3-5cm, covers 7 rows of seedlings in each operation, and effectively prevents missing removal in a repeated weeding area of 10-15 cm at two sides of a connected row.

The using condition of the invention is that in the rice transplanting period, an operator drives the unmanned rice transplanter to the head of a field to start a navigation control system, connects a base station in a vehicle-mounted computer and clicks a button at point A, then drives the rice transplanter to move to the other end of the field and clicks a button at point B in the vehicle-mounted computer to automatically generate a driving path; pressing the automatic driving button on the remote controller, the transplanter turns the corner automatically, lifts the transplanting device and interpolates the operation according to the planned path. After all interpolation operations in the field are completed, the operator uploads the navigation route in the vehicle-mounted computer. In the weeding period, a navigation control system is started, a base station is connected in a vehicle-mounted computer to download a running path of the rice transplanter, an operator drives the unmanned rice intertillage weeding machine to be close to the point A, and presses an automatic driving button on a remote controller, so that the weeding machine can travel according to a rice transplanting route, turn around the field head and perform weeding operation; and after the weeding operation is finished, stopping the vehicle and closing the navigation control system.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.