JPH0611201B2 - Weeder - Google Patents

Description

TECHNICAL FIELD The present invention relates to a weeding machine for weeding grasses between crops planted on ridges at intervals.

[Conventional technology]

2. Description of the Related Art Conventionally, weeding machines used for agricultural work include those that cut down grass by rotating a weeding claw.

[Problems to be solved by the invention]

However, in such a weeding machine, when weeding grasses between crops planted at intervals on the ridges, workers must pay close attention not to accidentally cut down the crops,
The burden on the operator is large, and it is difficult to improve work efficiency.

An object of the present invention is to detect a crop planted on a ridge and automatically stop its operation when the weeding nail reaches the position of the crop so that the grass between crops can be worked without burdening an operator. An object of the present invention is to provide a weeding machine capable of surely weeding only.

[Means for solving problems]

A weeding machine of a first invention is a weeding machine for weeding between weeds between crops planted in a row on a ridge, with a traveling body that runs along the ridge and the traveling body. A moving distance detection sensor for detecting the moving distance of the traveling body, a weeding section having a rotatable weeding claw provided on the traveling body for weeding between the crops, and a forward direction of the weeding claw of the weeding section And a camera for crop detection, which is provided at a predetermined distance on the traveling body and is arranged at a position facing the upper surface of the crop, and determines whether or not the image picked up by this camera is a crop. For example, a storage means for storing the detected position and size of the crop, a data input device in which basic data such as the size, type, and stock of the crop planted on the ridge are input in advance, and this data input device Various groups set to Data and the output signal from the camera for detecting the moving distance and the crop detection is input, while performing a comparison operation of these basic data and the output signal, and a controller that outputs the result to the weeding unit, The stored crop size is stored by the traveling body being driven by a signal input from the controller to the weeding unit and traveling a distance corresponding to the preset predetermined interval from the stored camera detection position. And a weeding claw stopping means for stopping the weeding claw at a position laterally displaced from the crop for a period corresponding to the above.

A weeding machine of a second invention is a weeding machine for weeding between weeds between crops planted in a row on a ridge, with a traveling body traveling along the ridge, and the weeding machine provided on the traveling body. A moving distance detection sensor for detecting the moving distance of the traveling body, a weeding section having a rotatable weeding claw provided on the traveling body for weeding between the crops, and a forward direction of the weeding claw of the weeding section A first camera for crop detection, which is provided on the traveling body at a predetermined distance from each other and is located at a position facing the upper surface of the crop, and a crop provided at a position spaced apart from the first camera behind the first camera. A second camera for detection, and a storage means for determining whether or not the images picked up by the first and second cameras are crops, and if they are crops, the detected position and size of the crops. , The first camera and the second camera According to the shift detecting means for detecting the shift of the detection position with respect to the same crop, a data input device in which basic data such as the size, type, and stock of the crop planted on the ridge are input in advance, and this data input device is set. Various basic data and output signals from the moving distance detection sensor and the crop detection camera are input,
A first controller in which the running body is operated by a signal input to the weeding section from the controller while performing a comparison calculation of the basic data and the output signal and outputting the result to the weeding section. From the position detected by the camera of the camera, the weeding nail was dislocated laterally from the crop for a time corresponding to the stored size of the crop by running a distance corrected by the deviation amount for the predetermined interval set in advance. And a means for stopping the weeding claw to stop at the position.

[Action]

In the weeding machine of the first invention, the traveling distance of the traveling body is detected by the traveling distance detection sensor as the traveling body travels along the ridge, and this detection signal is input to the controller. Further, when the ridge is imaged by the camera and the imaged one is determined to be a crop, the detected position and size of this crop are stored in the storage means, and the detected position and size of this crop are determined according to the detected position and size. Signal is output, and this output signal is input to the controller.

Then, various basic data set by the data input device and output signals from the moving distance detection sensor and the camera for crop detection are input to the controller, and this controller performs comparison calculation of these and the result is the weeding unit. Output to. Further, the weeding claw stopping means is activated by the signal input to the weeding part, and when the weeding claw is moved by the traveling body by the weeding claw stopping means to the position of the crop where the weeding claw is measured, the weeding claw is stored by the stored contents. Rotation of
Stop for the size of the crop. Therefore, weeds between crops are surely weeded by the weeding claw, and the crops are not accidentally cut down by the weeding claw.

In the weeding machine of the second invention, when the traveling body is in a normal traveling state, when the crop is detected by the first camera, the first camera located behind the first camera at a predetermined interval from the first camera. Two
The camera can also catch the same crop at the same detection position if the traveling body moves a distance corresponding to this interval, but at this time, the deviation detection means determines that there is no deviation between the detection positions.

On the other hand, when wheels run idle while the traveling body is traveling, a difference occurs between the actual travel distance and the travel distance determined by the controller based on the output signal from the travel distance detection sensor. Therefore, when the first camera detects a crop, the second camera would normally detect the crop after outputting the output signal corresponding to the interval, but in reality, it corresponds to the spinning of the wheels. The crop is detected by the second camera after the extra output for the distance to be output. Therefore, the deviation detection means detects the difference between the number of signals corresponding to the actual movement distance and the number of signals corresponding to the interval as the deviation of the detection position, and this deviation amount corresponds to the stop control of the weeding nail,
It is added as a correction value. That is, after the first camera detects a crop, the weeding claw is moved by moving the traveling body for a distance including the above-mentioned deviation amount (amount of idle wheel) at the predetermined interval between the first camera and the weeding claw. A correction is added so that the weeding claw is stopped at a correct position with respect to the crop even if the wheel is idle.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1 and FIG. 2, the traveling body 14 of the weeder 13 is a ridge.
It has front, rear, left and right wheels 21 that roll along both sides of 11, and its main body is located above the ridge 11. Then, the wheels 21 are driven by a main clutch for starting and stopping, a transmission for shifting the vehicle speed, and a steering clutch interposed between the transmission and the left and right wheels 21 by an engine (not shown) built in the main body. The traveling body 14 is caused to travel along the ridge 11.

The weeding claw 15 is a weeding part formed at the rear end of the traveling body 14.
As shown in FIG. 3, it is attached to the lower portions of a pair of rotors 23 provided on the left and right sides of the ridge 11. Further, the weeding claws 15 are attached to the left and right rotors 23, and as shown in FIG. Further, the left and right rotors 23 are attached to the lower end portions of the rotary drive shafts 24 inclining along the inclination of the ridges 11 with respect to the vertical rotary drive shafts 24. The claws 15 are arranged in the central portion of the ridge 11 so as to overlap each other. Therefore, no residual grass is produced on the ridges 11 during the rotation operation, and reliable weeding is performed by each weeding claw 15.

Further, a mission 40 is attached to the upper ends of the rotary drive shafts 24 of the left and right rotors 23, and a power transmitting an output from a prime mover (not shown) via a clutch 25 to an input shaft 41 of the mission 40. A transmission shaft is connected and a brake (not shown) is also provided. Further, the clutch 25 is adapted to be brought into contact and separated by an output from a controller 29 described later. Then, when the operation of the weeding claws 15 is stopped by the clutch 25 and the brake, the respective weeding claws 15 on both sides of the left and right rotors 23 are arranged so as to be parallel to the traveling direction of the traveling body 14 around the crop 12, that is, the crop 12 Is controlled by the controller 29 so as to stop at a position laterally away from.

The camera 16 for detecting the crop is, as shown in FIG.
It is arranged at the front end of 14 at a position facing the upper surface of the crop 12 at a predetermined distance X from each weeding claw 15. As this camera 16, for example, a known CCD image sensor is used. That is, as shown in FIG. 5, light is projected from the light source 16a and the light reflected by the crop 12 is imaged on the image sensor 16b, and signals from the respective elements of the image sensor 16b correspond to light and dark. Is obtained.

FIG. 6 shows the above-mentioned detection principle, where a to a are elements of the image sensor 16b, and 1 to 11 are scan timings of the image sensor 16b. As shown in the figure, the reflected light from the light source 16a is input (scanned) at every certain distance in accordance with the traveling distance of the traveling body 14. Since each element a of the image sensor 16b outputs a signal according to "bright" or "dark" of the reflected light for each scan, the number of "bright" signals of each element a-will be described later in detail. Based on the crop 12
It is possible to determine whether or not it is and the projected area (size) of the crop and the like. The scan timing may be synchronized with a pulse for each constant traveling distance generated from the moving distance detecting sensor 27 (shown in FIG. 7) provided on the traveling body 14. By doing this, even if the speed of the traveling body 14 changes, scanning is performed at constant distances.
There is no error in the projected area of the crop 12.

Returning to FIG. 1, a moving direction detection sensor 28 is provided at the front end portion (right end portion in the drawing) of the traveling body 14. This moving direction detection sensor 28 uses an optical or contact type sensor
Detect 14 moving directions. That is, the crop 12 is the traveling body 14
It is determined whether the vehicle is at the center in the width direction or the traveling body 14 is displaced in the width direction.

FIG. 7 shows a schematic configuration of the control unit. The signals from the crop detecting camera 16, the moving distance detecting sensor 27, and the moving direction detecting sensor 28 are input to the controller 29. The controller 29 has an arithmetic unit and a storage unit, and various basic data (size of crops, distance between plants, etc.) preset by the data input device 30 are input via the input unit. A predetermined comparison calculation is performed based on the input signals from the various sensors and the like, and the result is output through an output unit to the weeding unit 22 and the steering unit of the traveling body 14.
It outputs to 31 and controls these.

The storage means 17 for the position and size of the crop 12 and the weeding claw stopping means 18 shown in FIG.
It is achieved as 29 functions.

In the above-described configuration, as the traveling body 14 travels, the traveling distance detection sensor 27 outputs a pulse for every certain traveling distance, as shown in FIG. The controller 29 causes the CCD image sensor 16b, which is the crop detection camera 16, to scan in synchronization with the output of the pulse. As a result, as shown in FIG. 6, from each element a of the image sensor 16b, “brightness” of reflected light is obtained at each scan timing 1 to 11.
A signal corresponding to "dark" is output. The controller 29 counts the number of elements outputting the "bright" signal of the image sensor 16b at each scan timing, that is, while the pulse is at the H level, and sets this as Wn. Then, this count value Wn is compared with a value Ws preset as the minimum width of the crop 12. The value of Ws is preset by the data input device 30, and can be changed according to the size and type of the crop 12.

As a result of the comparison, if Wn ≧ Ws, the object at the position detected by this scan timing is “probably a crop”, and the value of Wn is stored in the storage unit 17. This operation is performed every time a pulse from the movement distance detection sensor 27 is generated.

By the above operation, when the number of "bright" elements Ws becomes 0 for a certain distance, it is determined that the detection of one object is completed. The certain distance is set by the number of pulses of the moving distance detection sensor 27. This value is also a value preset by the data input device 30, and can be changed according to the distance between the stocks.

In this way, when it is determined that the detection of one object is completed, it is determined whether or not this object is the crop 12. This judgment is based on the preset minimum value Ss of the projected area of the crop 12.
And the sum of the value of Wn which is memorized as "it will be a crop".

Wn ₁ + Wn ₂ ...... Wnn ≧ Ss If the above equation is satisfied, the object is determined to be crop 12. The minimum value Ss of the projected area of the crop 12 is the data input device 30.
The value is set by and can be changed according to the size of the crop 12.

As a result, if it is determined that the crop 12 is present, all the memory between the memory that first stores "it may be a crop" and Wn = 0 is the crop 12.

Here, the memory configuration of the storage means 17 is as follows. That is, since the predetermined interval from the image sensor 16b to the weeding claw 15 (center of the rotor 23) is X, the number of memories of the storage means 17 is the above-mentioned predetermined interval X as shown in FIG. It becomes the number (A to) divided by the pulse. The memories A to are shifted in the opposite direction to the traveling direction of the traveling body 14 in synchronism with the above-mentioned pulse, and have a loop shape as a whole. In FIG. 8, the memory shifts in the direction from A, and when this memory outputs data to the arithmetic unit, it turns around to the memory of A.

In the case of FIG. 8, when the controller 29 determines that it is the crop 12 as described above, all the memory between the memory that is stored as “the crop is first” and Wn = 0 ( The hatched part) is memorized as a crop. Further, a certain number of memories as offset values are stored as crops before and after the first and last memories. Others are not crops, so clear the memory. As described above, all the memories that are the crops 12 are set to "1" regardless of the value of Wn, and the non-crop memories are stored as "0".

As a result, the image sensor 16b detects the crop 12,
When it is stored in the memory, they are shifted as the traveling body 14 advances, and when each weeding claw 15 reaches the position of the crop 12, that is, when the weeding claw 15 moves a distance corresponding to a predetermined interval X, the shifted information is obtained. Is passed to the calculation unit and the controller
The clutch 25 is disengaged by the output from 29, the rotational drive of the left and right rotary drive shafts 24 is stopped, and the weeding claws 15 on both sides of the left and right rotors 23 are cropped by the braking action of the brake.
It is stopped and controlled in a parallel state at a position deviated laterally from 12.
This stopped state continues until all the memories stored as the crop 12 have been shifted, that is, for the size of the crop 12. During this time, since each weeding claw 15 is stopped at a position laterally separated from the crop 12, the crop 12 is not cut down by the progress of the traveling body 14 at each weeding claw 15.

In this way, when each weeding nail 15 passes the position of the crop 12, the content shifted from the memory becomes a non-crop, so that each weeding nail 15 is driven to rotate again, and each weeding nail 15 has a ridge. Weeds between crops 12 above 11 are weeded.

Next, a case where two cameras for crop detection are used will be described. In FIG. 1, reference numeral 16 denotes the crop detection camera described above, which is hereinafter referred to as the first camera. In addition, a camera 16A of the same type is provided behind the first camera 16 at a distance R from the rear side in the traveling direction. This camera 16A is hereinafter referred to as the second camera. This second camera 16A also scans first
Similar to the camera (16), it is performed in synchronism with a pulse generated from the moving distance detection sensor (27) at regular intervals. Then, it is similarly judged whether or not it is the crop 12, and when it is judged as the crop 12, it is stored in the memory as in the case of FIG. Reference numeral 35 in FIG. 1 is a shift detecting means for detecting a shift in the detection position of the same crop 12 detected and stored by the first camera 16 and the second camera 16A.

Here, when the traveling body 14 is in a normal traveling state, when the crop 12 is detected by the first camera 16, the second camera 16A located behind the first camera 16 by the interval R is also the traveling body 14.
By moving a distance corresponding to the distance R, the same crop 12 can be caught at the same detection position. In this case, the deviation detecting means 35 determines that there is no deviation between the two detection positions.

On the other hand, when the wheels 21 run idle during traveling of the traveling body 14, the distance between the movement distance determined by the controller 29 based on the pulse from the movement distance detection sensor 27 of FIG. Difference occurs. Therefore, when the first camera 16 detects the crop 12, the second camera 16A should detect the crop 12 after the pulse output corresponding to the interval R is supposed to be detected. The crop 12 is detected by the second camera 16A after the extra pulse is output for the distance corresponding to the circumference. The deviation detecting means 35 detects the difference between the number of pulses corresponding to the above-mentioned actual movement distance and the number of pulses corresponding to the interval R as the deviation of the detection position.

This deviation amount is added as a correction value when the weeding claw 15 is stopped. That is, the first camera 16 is the crop 12
Then, the weeding claw 15 is stopped and controlled by moving the traveling body 14 for a distance that is equal to the predetermined distance X between the first camera 16 and the weeding claw 15 plus the above-mentioned amount of deviation (the amount of wheel idle). To make corrections. By doing so, even if the wheel 21 runs idle, the weeding claw 15 can be stopped and controlled at an accurate position with respect to the crop 12.

In the above description, the CCD image sensor is used as the crop detection camera 16 or 16A, but another camera such as a television camera may be used.

〔The invention's effect〕

According to the first aspect of the present invention, when weeding between weeds between crops planted in a row on a furrow, the crop is detected by a camera and the position and size of the crop are stored. By doing so, when the weeding claw moves to the position of the crop, the rotating action of the weeding claw can be automatically stopped, and when weeding on the ridge, the weeding claw does not cut down the crop, and weeds are surely weeded. It is possible to reduce the burden on the worker and improve the work efficiency.

According to the second invention, the difference between the movement distance determined by the controller and the actual movement distance can be detected by the output from the movement distance detection sensor, and the difference can be surely corrected. Can be stopped at an exact position without cutting the crop against the crop.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a weeder according to the present invention,
FIG. 2 is a plan view of the weeding machine shown in FIG. 1, and FIG.
The front view showing the operating state of the weeding part shown in the figure, FIG. 4 is a plan view of the weeding rotor shown in FIG. 3, and FIG. 5 is an example of detection by the camera for crop detection shown in FIG. Side view showing, No. 6
FIG. 7 is an explanatory diagram of the principle of crop detection by the camera of FIG. 5, FIG. 7 is a block diagram showing the configuration of the control unit in the present invention,
FIG. 8 is a diagram showing a storage state of the storage device used in the present invention. 11 ... ridges, 12 ... crops, 13 ... weeding machines, 14 ... running bodies,
15 …… Weeding claw, 16, 16A …… Crop detection camera, 16a…
... First camera, 16b ... Second camera, 17 ... Crop position and size storage means, 18 ... Weeding claw stopping means, 22
...... Weeding section, 27 …… Movement distance detection sensor, 29 …… Controller, 30 …… Data input device, 35 …… Displacement detection means.

Claims (2)

[Claims] 1. A weeding machine for weeding between weeds between crops planted in a row on a ridge, wherein a traveling body that runs along the ridge and a movement of the traveling body provided on the traveling body. A moving distance detection sensor for detecting a distance, a weeding part having a rotatable weeding claw provided on the running body for weeding between crops, and a predetermined distance apart in front of the weeding claw of the weeding part in the traveling direction. Then, a camera for detecting crops provided on the traveling body and arranged at a position facing the upper surface of the crop, and whether or not the image picked up by this camera is a crop, and if the crop is a crop, A storage means for storing the detection position and size, a data input device in which basic data such as the size, type, and stock of the crop planted on the ridges are input in advance, and the data input device is set. Various basic days And a controller for outputting the output signal from the camera for detecting the moving distance and the crop detection camera, comparing and calculating the basic data and the output signal, and outputting the result to the weeding section, The stored crop size is stored by the traveling body being driven by a signal input from the controller to the weeding unit and traveling a distance corresponding to the preset predetermined interval from the stored camera detection position. A weeding claw stopping means for stopping the weeding claw at a position laterally displaced from the crop for a period corresponding to the above. 2. A weeding machine for weeding between weeds between crops planted in a row on a ridge, wherein a traveling body that runs along the ridge and a movement of the traveling body provided on the traveling body. A moving distance detection sensor for detecting a distance, a weeding part having a rotatable weeding claw provided on the running body for weeding between crops, and a predetermined distance apart in front of the weeding claw of the weeding part in the traveling direction. And a first crop detection camera provided on the traveling body and arranged at a position facing the upper surface of the crop, and a crop detection first camera provided at a position spaced apart from the first camera rearward. A second camera; a storage unit that determines whether or not the images captured by the first and second cameras are crops and stores the detected position and size of the crop if the crops; Camera and second camera A deviation detecting means for detecting a deviation of the detection position with respect to one crop, a data input device in which basic data such as the size, type, and stock of the crop planted on the ridge are input in advance, and the data input device is set. A controller that inputs various basic data and output signals from the moving distance detection sensor and the camera for crop detection, performs a comparison calculation of the basic data and the output signal, and outputs the result to the weeding section. And the traveling body is driven by a signal input from the controller to the weeding unit, and travels a distance in which the predetermined interval set in advance from the stored detection position of the first camera is corrected by the deviation amount. Weeding to stop the weeding claw in a position laterally offset from the crop while corresponding to the size of the memorized crop Herbicidal machine characterized by comprising a stop means.