Patent ID: 11882797
Assignee: NANJING UNIVERSITY
Field: Measurement (Instruments)
Classification: CPC A  B  G | IPC A  B  G

Claim 4:
5. A method of using the automatic detection and recovery device for residual agricultural mulch film according to claim 1 comprises the following steps:
S1: planning a motion path of the wheeled robot according to the geometrical shape and position of a detected field, and uniformly sprinkling water into the defected field by the wheeled robot;
S2: after the water infiltrates into soil by a certain depth, detecting the water content of the detected field by the quadcopter carrying the near infrared water content analyzer along the motion path of the wheeled robot, determining a point where the water content of soil is high as a point where a residual mulch film is present by judging the water content of the soil, and recording the coordinates of this point;
S3: transmitting, by the quadcopter, the coordinates of the point where the residual mulch film is present to the wheeled robot, enabling the wheeled robot to sequentially move to the point where the residual mulch film is present along a planned path, and grabbing a soil mixture at this point;
S4: drying the soil mixture by the wheeled robot, and separating and recovering soil through high-speed rotation after drying;
S5: flatly spreading residues left after the soil is sifted, recognizing the residual mulch film by means of machine vision, and grabbing the residual mulch film by the mechanical gripper of the soil grabbing device.