System Integration Design of Intra-Row Weeding Robot

摘要

<abstract> <bold>Abstract.</bold> Mechanical weeding robot is the most important equipment to reduce the herbicide use. In this paper it was indicated that the mechanical weeding robot was very necessary. The difficulties and key technologies which must to be solved were also discussed in the research. According to the analysis of weeding robot working environment, the principle of the system integration for mechanical weeding robot has been set forth. The real time location of the crop and navigation data for the tractor and weeding equipment could be acquired by the weeding robot based on machine vision. This information would be sent to the embedded control system to control the tractor’s navigation, the hydraulic copying system and the movement of the weeding hoes. The technologies of the targets recognition, the navigation based on Hough transform method, the integration of the energy supply system and the hydraulic copying system were also mentioned in this paper. The control of land surface copying and the side movement control could be realized.<bold> </bold>The intra-row weeds could be removed by the intra-row weeding hoes without damaging crops based on the electro-hydraulic servo control technology.