Automatic lawn weeding device and method based on visual identification

Abstract

The invention discloses an automatic lawn weeding device based on visual identification and a method thereof.The automatic lawn weeding device comprises two sets of walking wheel sets, a vehicle body is installed on the two sets of walking wheel sets, the vehicle body comprises a front bin and a rear bin, a controller and a storage battery are installed in the front bin, and a grabbing device and a collecting mechanism are installed in the rear bin; the grabbing device is located on one side of the collecting mechanism, the collecting mechanism comprises a longitudinal push rod and a collecting shovel, the longitudinal push rod is longitudinally installed in the rear bin, the telescopic end of the longitudinal push rod extends downwards, a swing steering engine is installed at the telescopic end of the longitudinal push rod, and the collecting shovel is installed at the output end of the swing steering engine; the bottom of the rear chamber is provided with a channel for the collection shovel to penetrate through, and a collection chamber is further arranged in the rear chamber. Weeds with roots and soil are taken out through the collecting shovel, and weeds in the soil are taken out through the grabbing device, so that the weed removal problem is fundamentally solved, and the weed removal effect is better.

Description

Technical Field

[0001] The present invention relates to the technical field of weed removal equipment, and in particular to an automatic lawn weed removal device based on visual recognition and a control method thereof. Background Art

[0002] Lawns are widely used in hockey, baseball, golf and other fields, but weeds may grow in lawns. Since these fields are large in area, manual weeding is time-consuming and laborious. Therefore, an automatic lawn weeding device based on visual recognition is designed to remove weeds in lawns.

[0003] In the prior art, Chinese patent document CN118614250A, publication (announcement) date: 2024.09.10, discloses a robot that can cut and weed along grass roots, including an electric four-wheel drive vehicle, and a visual acquisition terminal, a manipulator, a weeding mechanism and a control terminal are arranged on the chassis of the electric four-wheel drive vehicle; the visual acquisition terminal is used to take photos of the electric four-wheel drive vehicle in the left, front and right directions of the forward direction when the electric four-wheel drive vehicle is driving on an automatic track between rows of farmland and send the collected photos to the control terminal; the control terminal is used to process the photos sent by the visual acquisition terminal and control the electric four-wheel drive vehicle, the manipulator and the weeding mechanism; the manipulator is used to move the weeding mechanism to the position corresponding to the weeds; the weeding mechanism is used to remove the weeds from the roots. Its characteristics are: through the electric saw with adjustable cutting direction, combined with the visual recognition algorithm, weeds can be removed at fixed points along the grass roots. At the same time, the feed distance of the saw blade can be controlled according to the distance between the plant and the weeds to avoid crop damage. Its shortcomings are: the robot cuts the weeds with the weeding blade, but the roots of the weeds are still in the soil. Some weeds are tenacious and will regenerate through the roots after a period of time. Therefore, it cannot fundamentally solve the problem of weed removal and the weed removal effect is poor. Summary of the invention

[0004] In order to solve the current technical problems, the main purpose of the present invention is to provide an automatic lawn weeding device and method based on visual recognition, which removes weeds with roots and soil through a collecting shovel, and removes weeds in the soil through a grabbing device, thereby fundamentally solving the weeding problem and achieving a better weeding effect.

[0005] In order to overcome the problems existing in the prior art, the technical solution adopted by the present invention is: an automatic lawn weeding device based on visual recognition, comprising two sets of walking wheel groups, a body is installed on the two sets of the walking wheel groups, the body comprises a front compartment and a rear compartment, a controller and a storage battery are installed in the front compartment, a grabbing device and a collecting mechanism are installed in the rear compartment, the grabbing device is located on one side of the collecting mechanism, the collecting mechanism comprises a longitudinal push rod and a collecting shovel, the longitudinal push rod is longitudinally installed in the rear compartment, the telescopic end of the longitudinal push rod extends downward, the telescopic end of the longitudinal push rod is installed with a swing steering gear, and the output end of the swing steering gear is installed with the collecting shovel; The bottom of the rear chamber is provided with a passage for the collecting shovel to pass through, and a collecting chamber is also provided in the rear chamber; Also included is a visual recognition system, the visual recognition system comprising a first image acquisition device mounted on the vehicle body and a second image acquisition device mounted above the collection shovel; The controller is used to control the coordinated operation of the walking wheel group, the grabbing device, the longitudinal push rod, the collecting shovel and the visual recognition system; the battery is used to supply power to the walking wheel group, the grabbing device, the longitudinal push rod, the collecting shovel, the visual recognition system and the controller.

[0006] The collecting shovel comprises a connecting frame, a connecting plate, a shovel blade and an opening and closing push rod. One end of the connecting frame is connected to the output end of the swing servo, and the other end is equipped with a connecting plate. The connecting plate is provided with three mounting grooves arranged in a triangular shape. The shovel blade is provided with an articulated sleeve. The articulated sleeves of the three shovel blades are respectively located in the mounting grooves. The articulated sleeves and the mounting grooves are hingedly connected by a pivot. Opening and closing push rods are respectively hingedly installed on the connecting plate at positions corresponding to the three shovel blades, and the opening and closing push rods are hinged to the shovel blade. The shovel blade is in a triangular structure. When the three shovel blades are closed under the action of the opening and closing push rod, they are in a triangular pyramid structure.

[0007] A rotating steering gear is also installed between the connecting frame and the connecting plate, and the rotating steering gear is used to drive the connecting plate to rotate and adjust the angle.

[0008] The grasping device comprises a first rotating seat, a first mechanical arm and a mechanical claw, wherein the first rotating seat is installed in the rear chamber, the first mechanical arm is installed on the first rotating seat, and the mechanical claw is installed at the free end of the first mechanical arm.

[0009] A support rod is installed on the outer wall of the longitudinal push rod, the support rod is located above the collection shovel, and the second image collection device is installed on the lower side of the support rod.

[0010] The rear compartment is also provided with a medicine injection mechanism, which is used to inject medicine into the soil collected in the collecting shovel to control or kill weeds in the soil.

[0011] The drug injection mechanism includes a second rotating seat, a second mechanical arm, an injection device and an injection head. The second rotating seat is installed in the rear chamber, the second mechanical arm is installed on the second rotating seat, the injection device is installed at the free end of the second mechanical arm, and the injection head is installed at the injection end of the injection device.

[0012] The injection device is an electric injector.

[0013] The injection device includes a shell, a micro water pump and a medicine box, the injection head is installed at one end of the shell, a plurality of micro water pumps and a corresponding number of medicine boxes are installed in the shell, the water inlets of the medicine boxes and the micro water pumps are connected one by one through pipes, the water outlets of the micro water pumps are connected to the injection head through pipes, and a one-way valve is installed on the pipe connecting the micro water pump and the injection head; a medicine adding port is provided on the medicine box, and the micro water pumps are respectively connected to the controller for power supply and control.

[0014] A method for automatic lawn weeding based on visual recognition, using the automatic lawn weeding device based on visual recognition, the method for automatic lawn weeding based on visual recognition comprises the following steps: S1: The device is placed on the artificial turf, and the device moves on the artificial turf according to a preset path; at this time, the collection shovel is adjusted by the swing servo, and the collection shovel is in the axial direction of the longitudinal push rod; S2: The first image acquisition device identifies the weeds on the artificial turf. When weeds are found, the device moves to the top of the weeds, and the second image acquisition device identifies the weeds under the channel to align the weeds with the channel; S3: The collection shovel is opened, the longitudinal push rod is extended, and the collection shovel is inserted downward into the soil; S4: After the collecting shovel is inserted to a certain depth, the collecting shovel is closed, and then the longitudinal push rod is retracted to lift the soil and weeds; S5: After the collection shovel leaves the soil, the servo is swung to adjust the axial direction of the collection shovel in the longitudinal push rod to be perpendicular to the axial direction of the longitudinal push rod, and then the longitudinal push rod is further retracted to make the bottom side of the collection shovel flush with the rear chamber; S6: The upper side of the collecting shovel is opened, the weeds in the collecting shovel are identified by the second image acquisition device, and the grabbing device is controlled to start, the grabbing device pushes away the soil, takes out the weeds in the collecting shovel and puts them into the collection bin; S7: the upper side of the collection shovel is closed to shape the soil, and the servo is swung to adjust the collection shovel to the axial direction of the longitudinal push rod; S8: The longitudinal push rod extends downward to put the soil back into the lawn, then the collection shovel is opened, the longitudinal push rod retracts, and the collection shovel is retracted into the rear chamber; When the soil needs to be flattened, the servo is swung to adjust the axial direction of the collecting shovel to be perpendicular to the axial direction of the longitudinal push rod, and then the longitudinal push rod is reciprocated and extended to flatten the soil through the collecting shovel.

[0015] The present invention has the following beneficial effects: 1. The present invention removes weeds with roots and soil through a collecting shovel, and removes weeds in the soil through a grabbing device, thereby fundamentally solving the problem of weeding and achieving a better weeding effect.

[0016] 2. The rear compartment of the present invention is also equipped with a drug injection mechanism, which is used to inject drugs into the soil collected in the collection shovel to control or kill weeds in the soil, and further prevent the regeneration of grass roots that are not cleaned up and the growth of weed seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure from another viewing angle of the present invention.

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure from the bottom perspective of the present invention.

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the drug injection mechanism of the present invention.

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the grabbing device of the present invention.

[0023] Figure 6 It is a schematic diagram of the connection structure between the longitudinal push rod and the collection shovel of the present invention.

[0024] Figure 7 It is a schematic diagram of the three-dimensional structure of the collection shovel of the present invention.

[0025] Figure 8 It is a schematic diagram of the structure inside the collection shovel of the present invention.

[0026] Fig. 9 It is a schematic diagram of the internal structure of the injection device of the present invention.

[0027] Reference numerals: Vehicle body 10, front compartment 11, rear compartment 12, collection compartment 13, passage 14; Traveling wheel set 20; Medicine injection mechanism 30, second rotating seat 31, second mechanical arm 32, injection device 33, housing 331, micro water pump 332, medicine box 333, medicine adding port 334, pipeline 335 one-way valve 336, injection head 34; Grasping device 40, first rotating seat 41, first mechanical arm 42, mechanical claw 43; Longitudinal push rod 50, swing steering gear 51, support rod 52; A collection shovel 60, a connecting frame 61, a rotating steering gear 62, a connecting plate 63, a shovel blade 64, an opening and closing push rod 66, and an articulated sleeve 65; Visual recognition system 70, first image acquisition device 71, second image acquisition device 72. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Embodiment 1: See also Figure 1-3 6. The present invention provides an automatic lawn weeding device based on visual recognition, comprising two sets of walking wheel groups 20, on which a body 10 is installed, the body 10 comprises a front compartment 11 and a rear compartment 12, a controller and a storage battery are installed in the front compartment 11, a grabbing device 40 and a collection mechanism are installed in the rear compartment 12, the grabbing device 40 is located on one side of the collection mechanism, the collection mechanism comprises a longitudinal push rod 50 and a collection shovel 60, the longitudinal push rod 50 is longitudinally installed in the rear compartment 12, the telescopic end of the longitudinal push rod 50 extends downward, a swing steering gear 51 is installed at the telescopic end of the longitudinal push rod 50, and the collection shovel 60 is installed at the output end of the swing steering gear 51. The swing steering gear 51 drives the collection shovel 60 to rotate, so that the collection shovel 60 can rotate in the axial direction of the longitudinal push rod 50 and in a direction perpendicular to the axial direction of the longitudinal push rod 50.

[0030] A passage 14 for the collecting shovel 60 to pass through is provided at the bottom of the rear chamber 12 . A collecting chamber 13 is also provided in the rear chamber 12 . The collecting chamber 13 is used to store the weeds caught by the catching device 40 .

[0031] The vehicle also includes a visual recognition system 70, which includes a first image acquisition device 71 installed on the vehicle body 10 and a second image acquisition device 72 installed above the collection shovel 60. The first image acquisition device 71 and the second image acquisition device 72 use cameras, the first image acquisition device 71 is used to detect weeds on the lawn, and the second image acquisition device 72 is used to align the weeds with the vehicle body 14 and identify the position of the weeds on the collection shovel 60.

[0032] The controller is used to control the coordinated operation of the walking wheel group 20, the grabbing device 40, the longitudinal push rod 50, the collecting shovel 60 and the visual recognition system 70; the battery is used to power the walking wheel group 20, the grabbing device 40, the longitudinal push rod 50, the collecting shovel 60, the visual recognition system 70 and the controller.

[0033] The present invention removes weeds with roots and soil through the collecting shovel 60, and removes weeds in the soil through the grabbing device 40, thereby fundamentally solving the problem of weeding and achieving a better weeding effect.

[0034] In this embodiment, the walking wheel set 20 can adopt the wheel structure in CN118614250A, or the track wheel structure disclosed in CN111731400A. The controller can adopt the control terminal in CN118614250A. The longitudinal push rod 50 adopts an electric push rod.

[0035] Specifically, in this embodiment, see Figure 7 , 8 The collection shovel 60 includes a connecting frame 61, a connecting plate 63, a blade 64 and an opening and closing push rod 66. One end of the connecting frame 61 is connected to the output end of the swing steering gear 51, and the other end is installed with a connecting plate 63. The connecting plate 63 has three installation grooves arranged in a triangular shape. The blade 64 is provided with an articulated sleeve 65. The articulated sleeves 65 of the three blades 64 are respectively located in the installation grooves. The articulated sleeve 65 and the installation groove are hinged by a pivot. The connecting plate 63 is respectively hingedly installed with an opening and closing push rod 66 at the positions corresponding to the three blades 64, and the opening and closing push rod 66 is hinged to the blade 64. The blade 64 is in a triangular structure. When the three blades 64 are closed under the action of the opening and closing push rod 66, they are in a triangular pyramid structure. In this embodiment, the opening and closing push rod 66 is an electric push rod.

[0036] When the opening and closing push rod 66 is fully extended, the collection shovel 60 is opened, that is, the three shovel blades 64 are opened. Figure 7 When the opening and closing push rod 66 is completely shortened, the collection shovel 60 is closed, that is, the three blades 64 are in a triangular pyramid state close to each other; see Figure 6The two opening and closing push rods 66 on the upper side can be further extended to further open the two shovel blades 64 on the upper side, making it easier for the grabbing device 40 to grab weeds. Of course, at this time, the shovel blade 64 on the lower side is in a horizontal state.

[0037] In this embodiment, see Figure 3 The channel 14 is triangular in shape and is matched with the blade 64 on the lower side of the collection shovel 60. The blade 64 can be perfectly aligned with the channel 14 to play a temporary bearing role.

[0038] Further, in order to facilitate the adjustment of the angle at which the collecting shovel 60 is inserted into the soil, see Figure 8 A rotary steering gear 62 is also installed between the connecting frame 61 and the connecting plate 63. The rotary steering gear 62 is used to drive the connecting plate 63 to rotate, thereby adjusting the entry angle of the collecting shovel 60 into the soil.

[0039] In this embodiment, see Figure 5 The grabbing device 40 includes a first rotating seat 41, a first mechanical arm 42 and a mechanical claw 43. The first rotating seat 41 is installed in the rear compartment 12, the first mechanical arm 42 is installed on the first rotating seat 41, and the mechanical claw 43 is installed at the free end of the first mechanical arm 42. The first rotating seat 41 and the first mechanical arm 42 can adopt the first rotating seat and rocker arm device disclosed in CN210551218U, and the mechanical claw 43 can adopt a multifunctional clamping mechanical claw disclosed in CN206982703U. When in use, the mechanical claw 43 is used to push away the soil and grab the weeds in the soil.

[0040] In this embodiment, see Figure 1 , 6 A support rod 52 is installed on the outer wall of the longitudinal push rod 50, and the support rod 52 is located above the collection shovel 60. The second image acquisition device 72 is installed on the lower side of the support rod 52. The second image acquisition device 72 is used to identify weeds through the channel 14 and align the weeds with the channel 14. After the collection shovel 60 takes out the soil with weeds, the second image acquisition device 72 identifies the position of the weeds in the soil and controls the action of the mechanical claw 43 so that the mechanical claw 43 takes out the weeds in the soil.

[0041] Embodiment 2: Based on Example 1, see Figure 1 , 2 A drug injection mechanism 30 is also installed in the rear chamber 12, and the drug injection mechanism 30 is used to inject drugs into the soil collected in the collecting shovel 60 to control or kill weeds in the soil, and further prevent the regeneration of grass roots that are not cleaned up and the growth of weed seedlings.

[0042] In this embodiment, see Figure 4The injection mechanism 30 includes a second rotating seat 31, a second mechanical arm 32, an injection device 33 and an injection head 34. The second rotating seat 31 is installed in the rear chamber 12, the second mechanical arm 32 is installed on the second rotating seat 31, the injection device 33 is installed at the free end of the second mechanical arm 32, and the injection head 34 is installed at the injection end of the injection device 33. In this embodiment, the second rotating seat 31 and the second mechanical arm 32 adopt the same structure as the first rotating seat 41 and the first mechanical arm 42.

[0043] In this embodiment, the injection device 33 can be installed at the free end of the second mechanical arm 32 by conventional technical means, such as a clamp structure. The injection device 33 is electrically connected to the controller and is controlled and powered by the controller.

[0044] In one of the schemes, see Figure 4 The injection device 33 is an electric injector, for example, a high-efficiency electric injector disclosed in CN211461597U is used.

[0045] In another embodiment, see Fig. 9 The injection device 33 includes a housing 331, a micro water pump 332 and a medicine box 333. The injection head 34 is installed at one end of the housing 331. A plurality of micro water pumps 332 and a corresponding number of medicine boxes 333 are installed on the housing 331. The water inlets of the medicine boxes 333 and the micro water pumps 332 are connected one by one through pipes 335. The water outlets of the micro water pumps 332 are connected to the injection head 34 through pipes 335. A check valve 336 is installed on the pipes 335 connecting the micro water pumps 332 and the injection head 34. The medicine box 333 is provided with a medicine adding port 334. The micro water pumps 332 are connected to the controller for power supply and control. Through the above structure, different kinds of medicines are added to each medicine box 333, so as to adapt to different weeds in a targeted manner. When one of the medicines needs to be injected, the corresponding micro pump 332 is started to pump out the medicine in the medicine box 333, and the medicine is sprayed out from the injection head 34 after passing through the one-way valve 336. The setting of the other one-way valves 336 can prevent the medicine from flowing back. In actual application, a closing cover is installed on the medicine adding port 334, and a micro hole is set on the closing cover. The pressure in the medicine box 333 is balanced through the micro hole, and the medicine does not leak out.

[0046] Embodiment 3: On the basis of Example 1, a method for automatic lawn weeding based on vision recognition is provided, which adopts the automatic lawn weeding device based on vision recognition. The method for automatic weeding includes the following steps.

[0047] S1: The device is placed on the artificial lawn, and the device moves on the artificial lawn according to a preset path, similar to the movement of a sweeping robot. At this time, the collection shovel 60 is adjusted by the swing steering gear 51, and the collection shovel 60 is in the axial direction of the longitudinal push rod 50.

[0048] S2: The first image acquisition device 71 identifies the weeds on the artificial lawn. When weeds are found, the device moves to the top of the weeds, and identifies the weeds under the channel 14 through the second image acquisition device 72 to align the weeds with the channel 14.

[0049] S3: the collecting shovel 60 is opened, the longitudinal push rod 50 is extended, and the collecting shovel 60 is inserted into the soil downwards. In this process, when the opening and closing push rod 66 is fully extended, the three shovel blades 64 are opened.

[0050] S4: after the collecting shovel 60 is inserted into a section of depth, the collecting shovel 60 is closed, and the longitudinal push rod 50 is retracted afterwards, and soil and weeds are lifted. In this process, when the opening and closing push rod 66 is all shortened, the collecting shovel 60 is closed.

[0051] S5: After the collection shovel 60 leaves the soil, the swing steering engine 51 is actuated to adjust the axial direction of the collection shovel 60 in the longitudinal push rod 50 to be perpendicular to the axial direction of the longitudinal push rod 50, and then the longitudinal push rod 50 is further retracted to make the bottom side of the collection shovel 60 flush with the rear chamber 12, as shown in FIG. Figure 1 , 2 shown.

[0052] S6: See Figure 6-8 The upper side of the collecting shovel 60 is opened, that is, the two upper blades 64 are opened under the action of the opening and closing push rod 66, and the weeds in the collecting shovel 60 are identified by the second image acquisition device 72, and the grasping device 40 is controlled to start, and the mechanical claw 43 of the grasping device 40 pushes away the soil, and takes out the weeds in the collecting shovel 60 and puts them into the collecting bin 13.

[0053] S7: The upper side of the collection shovel 60 is closed to shape the soil, and the swing steering engine 51 is operated to adjust the collection shovel 60 to the axial direction of the longitudinal push rod 50.

[0054] S8: the longitudinal push rod 50 extends downward to put the soil back into the lawn, and then the collecting shovel 60 is opened to backfill the original turf, the longitudinal push rod 50 retracts, and the collecting shovel 60 is retracted into the rear chamber 12.

[0055] When the soil needs to be flattened, the servo 51 is swung to adjust the shovel 60 in the axial direction of the longitudinal push rod 50 to be perpendicular to the axial direction of the longitudinal push rod 50, such as Figure 3 As shown, the longitudinal push rod 50 then reciprocates and extends, and the collecting shovel 60 impacts the soil, so that the soil and grass are flattened by the collecting shovel 60.

[0056] Embodiment 4: On the basis of Example 2, in order to further control or kill weeds in the soil and prevent the regeneration of grass roots that have not been cleaned up and the growth of weed seedlings, after the step of taking out the weeds in the soil in the collecting shovel 60 and before the step of closing the collecting shovel 60 to shape the soil, there is also a step of injecting medicine into the soil through the medicine injection mechanism 30.

[0057] Specifically, the injection mechanism 30 injects a certain amount of medicine into the soil through the injection device 33 according to the visually identified weed species. Direct injection into the soil after the weeds are pulled out can directly kill the remaining roots and prevent the remaining roots from growing again. It is faster and more effective than spraying the medicine from the outside.

Claims

1. An automatic lawn weeding device based on visual recognition, comprising two sets of running wheel assemblies (20), on which a vehicle body (10) is mounted, characterized in that: The vehicle body (10) comprises a front compartment (11) and a rear compartment (12), a controller and a storage battery are installed in the front compartment (11), a grabbing device (40) and a collection mechanism are installed in the rear compartment (12), the grabbing device (40) is located on one side of the collection mechanism, the collection mechanism comprises a longitudinal push rod (50) and a collection shovel (60), the longitudinal push rod (50) is longitudinally installed in the rear compartment (12), the telescopic end of the longitudinal push rod (50) extends downward, a swing steering gear (51) is installed at the telescopic end of the longitudinal push rod (50), and the collection shovel (60) is installed at the output end of the swing steering gear (51); The bottom of the rear chamber (12) is provided with a passage (14) for the collecting shovel (60) to pass through, and a collecting chamber (13) is also provided in the rear chamber (12); It also includes a visual recognition system (70), wherein the visual recognition system (70) includes a first image acquisition device (71) installed on the vehicle body (10) and a second image acquisition device (72) installed above the collection shovel (60); The controller is used to control the coordinated operation of the running wheel group (20), the gripping device (40), the longitudinal push rod (50), the collection shovel (60), and the visual recognition system (70); and the storage battery is used to supply power to the running wheel group (20), the gripping device (40), the longitudinal push rod (50), the collection shovel (60), the visual recognition system (70), and the controller.

2. The automatic lawn weed removal device based on visual recognition according to claim 1, characterized in that: The collecting shovel (60) comprises a connecting frame (61), a connecting plate (63), a shovel blade (64) and an opening and closing push rod (66). One end of the connecting frame (61) is connected to the output end of the swing steering gear (51), and the other end is provided with a connecting plate (63). The connecting plate (63) has three mounting grooves arranged in a triangular shape. The shovel blade (64) is provided with an articulated sleeve (65). The articulated sleeves (65) of the three shovel blades (64) are respectively located in the mounting grooves. The articulated sleeves (65) and the mounting grooves are hingedly connected by a pivot. Opening and closing push rods (66) are respectively hingedly installed on the connecting plate (63) at positions corresponding to the three shovel blades (64), and the opening and closing push rods (66) are hingedly connected to the shovel blade (64). The shovel blade (64) has a triangular structure. When the three shovel blades (64) are closed under the action of the opening and closing push rod (66), they have a triangular pyramid structure.

3. The automatic lawn weed removal device based on visual recognition according to claim 2, characterized in that: A rotary steering gear (62) is also installed between the connecting frame (61) and the connecting plate (63), and the rotary steering gear (62) is used to drive the connecting plate (63) to rotate and adjust the angle.

4. The automatic lawn weed removal device based on visual recognition according to claim 1, characterized in that: The grasping device (40) comprises a first rotating seat (41), a first mechanical arm (42) and a mechanical claw (43); the first rotating seat (41) is installed in the rear chamber (12); the first mechanical arm (42) is installed on the first rotating seat (41); and the mechanical claw (43) is installed at the free end of the first mechanical arm (42).

5. The automatic lawn weed removal device based on visual recognition according to claim 1, characterized in that: A support rod (52) is mounted on the outer wall of the longitudinal push rod (50), the support rod (52) is located above the collection shovel (60), and the second image collection device (72) is mounted on the lower side of the support rod (52).

6. The automatic lawn weed removal device based on visual recognition according to claim 2, characterized in that: A drug injection mechanism (30) is also installed in the rear chamber (12), and the drug injection mechanism (30) is used to inject drugs into the soil collected in the collection shovel (60) to control or kill weeds in the soil.

7. The automatic lawn weed removal device based on visual recognition according to claim 6, characterized in that: The drug injection mechanism (30) comprises a second rotating seat (31), a second mechanical arm (32), an injection device (33) and an injection head (34); the second rotating seat (31) is mounted in the rear chamber (12); the second mechanical arm (32) is mounted on the second rotating seat (31); the injection device (33) is mounted at the free end of the second mechanical arm (32); and the injection head (34) is mounted at the injection end of the injection device (33).

8. The automatic lawn weed removal device based on visual recognition according to claim 7, characterized in that: The injection device (33) is an electric injector.

9. The automatic lawn weed removal device based on visual recognition according to claim 7, characterized in that: The injection device (33) comprises a housing (331), a micro water pump (332) and a medicine box (333); the injection head (34) is mounted on one end of the housing (331); a plurality of micro water pumps (332) and a corresponding number of medicine boxes (333) are mounted on the housing (331); water inlets of the medicine boxes (333) and the micro water pumps (332) are connected in a one-to-one correspondence via pipes (335); water outlets of the micro water pumps (332) are respectively connected to the injection head (34) via pipes (335); a one-way valve (336) is mounted on the pipes (335) connecting the micro water pumps (332) and the injection head (34); a medicine adding port (334) is provided on the medicine box (333); and the micro water pumps (332) are respectively connected to a controller for power supply and control.

10. A method for automatic lawn weeding based on visual recognition, characterized in that: The automatic lawn weeding device based on visual recognition according to any one of claims 1 to 9 is adopted, and the automatic weeding method comprises the following steps: S1: placing the device on the artificial turf, and moving the device on the artificial turf along a preset path; at this time, the collection shovel (60) is adjusted by swinging the servo (51), and the collection shovel (60) is in the axial direction of the longitudinal push rod (50); S2: The first image acquisition device (71) identifies weeds on the artificial lawn. When weeds are found, the device moves above the weeds and identifies weeds below the passage (14) through the second image acquisition device (72) so that the weeds are aligned with the passage (14); S3: the collecting shovel (60) is opened, the longitudinal push rod (50) is extended, and the collecting shovel (60) is inserted downward into the soil; S4: After the collecting shovel (60) is inserted to a certain depth, the collecting shovel (60) is closed, and then the longitudinal push rod (50) is retracted to lift the soil and weeds; S5: After the collection shovel (60) leaves the soil, the swing steering engine (51) is actuated to adjust the axial direction of the collection shovel (60) to be perpendicular to the axial direction of the longitudinal push rod (50), and then the longitudinal push rod (50) is further retracted to make the bottom side of the collection shovel (60) flush with the rear chamber (12); S6: the upper side of the collecting shovel (60) is opened, the weeds in the collecting shovel (60) are identified by the second image acquisition device (72), and the grasping device (40) is controlled to start, and the grasping device (40) moves the soil to take out the weeds in the collecting shovel (60) and put them into the collection bin (13); S7: the upper side of the collection shovel (60) is closed to shape the soil, and the servo engine (51) is swung to adjust the collection shovel (60) to be in the axial direction of the longitudinal push rod (50); S8: the longitudinal push rod (50) extends downward to put the soil back into the lawn, then the collection shovel (60) is opened, the longitudinal push rod (50) retracts, and the collection shovel (60) is retracted into the rear chamber (12); When the soil needs to be flattened, the swing steering engine (51) is activated to adjust the axial direction of the collecting shovel (60) to be perpendicular to the axial direction of the longitudinal push rod (50), and then the longitudinal push rod (50) is reciprocated and extended to flatten the soil through the collecting shovel (60).

Images