Visual navigation system-based in-line swinging type intelligent weed extractor

Abstract

The invention relates to an agricultural machine tool, in particular to an in-line swing type intelligent weed extractor based on a visual navigation system, which is characterized in that an intelligent control system receives images shot by a visual guide device and data acquired by a speed measuring device, and controls a weed extraction part to complete weed extraction action, and each line of crops is provided with a set of electric control executing mechanism; the inter-plant hoeing cutter is installed below the electric control executing mechanism, and the servo motor drives the inter-plant hoeing cutter to operate between crop plants along a cycloid track, so that weeds between the plants are removed. The hoeing device has the advantages that the hoeing component is directly driven by a power machine, transmission is simple, action is sensitive, the hoeing component can rotate around crop plants, weeds among the plants can be removed by avoiding the plants, and the defects that the hoeing component of an existing machine is rigidly connected with a plough body, only can linearly run, and is low in sensitivity, high in damage rate and not suitable for hoeing operation of fragile plants are overcome; therefore, applicable intelligent hoeing equipment is provided for various crops, especially fragile plants such as vegetables and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to an intelligent agricultural machine, namely an in-row swing intelligent weeding machine based on a visual navigation system. BACKGROUND

[0002] Weeding is an important part of crop field management. In the past, weeding was mainly done by manpower, which was labor-intensive and low in efficiency. In recent years, various weeding machines have been introduced to the market, reducing the burden of manual labor. However, the above-mentioned weeding machines can only remove weeds between crop rows, but cannot remove weeds between crop plants in the row. For weeds between crop plants in the row, herbicides are currently used to kill them. However, herbicides do not have the effect of loosening the soil, and also have certain side effects. For this reason, various intelligent weeding machines capable of weeding between crop plants in the row have been introduced to the market. Existing intelligent weeding machines mostly take images of crops and weeds, and then develop a weeding path by an intelligent control system, and control the weeding components to run along the determined path to remove weeds. The existing weeding components mostly use laser, flame jet or mechanical knives, etc. Among them, laser and flame consume more energy, so mechanical knife weeding is still the main way. However, current intelligent knife weeding machines mostly introduce foreign machines and technology, and the in-row weeding and inter-row weeding units are mostly the same component, and multiple units are all linkage components. Each time a weed is removed, the whole machine needs to act once, so the operation energy consumption is high, the sensitivity and accuracy are limited, the weed removal rate is low, and the crop damage rate is high. For this reason, the present company has developed a "Visual Easy Control Intelligent Weeding Machine" (CN119054443A). This weeding machine separates inter-row weeding and in-row weeding into two units, and only controls the in-row weeding unit intelligently, greatly reducing power consumption and achieving good results. However, each in-row weeding unit of the machine is a linkage mechanism, and each in-row weeding unit still uses a structure of a plow body dragging a share, and the weeding component of the structure makes a straight-line motion of left-right translation relative to the machine body, and cannot be directly driven between the power machine, so a conversion link is needed, and thus the structure is relatively complex, the control difficulty is relatively large, the sensitivity is relatively low, and the plant damage rate is relatively high. In order to reduce the damage to plants, a finger-shaped cutter is introduced from abroad. The finger-shaped cutter is made of a rubbery elastic material, and it is not easy to cause great harm to crops when it touches the crops. Since the roots of crop plants are relatively deep and have greater strength and toughness than weeds, the finger-shaped cutter can remove weeds while preserving plants. It is found that this component can only be used for crops with relatively strong plants, deep roots and sufficient toughness, and it is useless for weeding operations on fragile plants such as vegetables.

[0003] In addition, the existing intelligent weeding machine is mostly towed by a tractor, and the tractor is in front of the weeding machine, which obstructs the field of view of the camera device, increases the difficulty of intelligent control, and is one of the problems that need to be solved by the intelligent weeding machine. SUMMARY

[0004] The purpose of this invention is to provide an intelligent weeding machine that can perform intelligent weeding operations according to video signals, with weeding components for each row of crops operating independently. The weeding components can avoid crop plants, resulting in low crop damage and high weed removal rate. This intelligent weeding machine is capable of weeding both tough plants and fragile plants such as vegetables.

[0005] The above objective is achieved by the following technical solution: A row-mounted intelligent weeding machine based on a visual navigation system is provided. The weeding machine is driven by a tractor. Multiple plow bodies are installed behind the main beam of the weeding machine, each equipped with inter-row weeding blades. A speed measuring device is installed on the weeding machine or tractor, and a visual guidance device is installed above the weeding machine. The images captured by the visual guidance device and the travel data collected by the speed measuring device are input into the intelligent control system. The intelligent control system identifies weeds, sets the weeding path, and controls the inter-row weeding components to complete the row-mounted weeding action. The key feature is that: an electrically controlled actuator is installed in front of the main beam for each row of crops, and an inter-row weeding blade is installed below the electrically controlled actuator. A servo motor is installed inside the electrically controlled actuator, and the output shaft of the servo motor drives the inter-row weeding blade to run along a cycloidal trajectory between the crop plants, thereby clearing weeds between the crop plants in the row.

[0006] The cycloid is a periodic curve composed of two motion trajectories: the circular motion of the weeding blade driven by the servo motor and the linear motion of the weeding machine. Each cycle of the cycloid is a smooth arched line from the starting point to the ending point, and the concave surface of the arched line is relative to the position of a unit plant.

[0007] The method by which the intelligent control system controls the weeding component between plants to complete the weeding action within the row is as follows: The intelligent control system receives image data transmitted by the guidance device and weeding machine travel data provided by the speed measuring device. Based on the stored images, it identifies weeds and crop plants, determines the current plant spacing, that is, the distance b traveled by the cycloidal line from the starting point to the landing point in one cycle, and obtains the instantaneous speed v of the weeding machine from the travel data. After data processing, it obtains b / v, and according to the basic algorithm of cycloidal line operation 2π / ω=b / v, it obtains the value of ω, where: 2π is the angle of one revolution of the weeding blade between plants, and ω is the angular velocity of the weeding blade between plants. Then, the controller of the intelligent control system issues a command, which drives the weeding blade between plants to rotate at an angular velocity ω through the servo motor of the electric actuator.

[0008] A contour frame is mounted on the main beam. An electronically controlled actuator is installed in front of the contour frame relative to the crop row, and the plow body is installed behind the contour frame.

[0009] The weeding knife between plants includes a handle and a blade. The upper end of the handle is located on one side of the lower end of the servo motor output shaft, and the lower end of the handle is connected to the blade.

[0010] The cutter bar is a straight bar or a bent bar, the upper section of the bent bar extends obliquely outward, the middle and lower sections are bent inward and downward, and the cutter blade is crescent-shaped or circular or star-shaped with edges composed of multiple concave lines.

[0011] The main beam is provided with a set of supporting wheels at each end, the supporting wheels are installed below the rotating block through mounting arms, the rear side of the rotating block is provided with a rotating block shaft, the rotating block shaft is installed in the supporting wheel frame through rotating block shaft seats at the upper and lower ends, the supporting wheel frame is a profiling mechanism, the upper part is fixedly connected with the main beam, and the inside is provided with height-adjusting hydraulic devices and guide hydraulic devices which can move under the control of an intelligent system.

[0012] The main beam is provided with a section of a hanging beam below the middle part, the hanging beam is provided with a middle plow body below, the middle plow body is connected with the hanging beam through a middle profiling frame, the middle plow body is provided with a middle ground wheel below the front side, the middle plow beam of the middle plow body extends rearward, the middle plow beam is provided with a weeding shovel below each side, and the rear end is provided with a subsoiler.

[0013] The main beam is provided with a bias sensing wheel at a position deviated from the center through a profiling wheel frame, one side of the wheel shaft of the bias sensing wheel is provided with a driving sensor, and the inner side of the profiling wheel frame is provided with an azimuth sensor.

[0014] The rear upper side of the main beam is provided with an upper pull beam, the upper pull beam extends rearward after being obliquely upward, crosses the plow body and is obliquely downward, and the rear end is fixedly connected to the front side of a connecting plate, the rear side of the connecting plate is connected with a sliding compartment, and the sliding compartment is slidably connected with a rear suspension frame through a flange bearing.

[0015] The suspension frame is provided with a distance sensor on the upper side, the rear side of the suspension frame is provided with a hitch plate which can be hitched with a tractor, the front upper part of the suspension frame is provided with an upper sliding channel, the front upper middle part of the suspension frame is provided with a middle sliding channel, and the front lower part of the suspension frame is provided with a lower sliding channel, the upper side of the sliding compartment is provided with two sets of upper flange bearings matched with the upper sliding channel, the rear upper middle part of the sliding compartment is provided with two sets of middle flange bearings matched with the middle sliding channel, and the lower middle part of the sliding compartment is provided with two sets of lower flange bearings matched with the lower sliding channel, the middle sliding channel of the suspension frame is provided with a left pushing oil cylinder with a piston pushing leftward and a right pushing oil cylinder with a piston pushing rightward below, and the sliding compartment, the upper pull beam and the weeder all move leftward and rightward under the pushing of the pistons.

[0016] The lower side of the electric control actuator is driven by two counter-rotating wheels through a servo motor output shaft, each counter-rotating wheel is provided with a set of inter-plant weeding knives below, during operation, the two sets of inter-plant weeding knives rotate in opposite directions, make a pendulum motion along the two sides of the crop plants and the inter-plant gaps, and form two conjugate pendulum trajectories.

[0017] The inter-plant weeding blade is installed on the edge of the rotating wheel, and the two rotating wheels are installed below the electric control actuating mechanism through rotating shafts. One of the rotating wheels is a side gear meshing with the center gear at the lower end of the output shaft of the servo motor, and the other rotating wheel is a side wheel disc installed in parallel with the side gear. The upper side of the side wheel disc is fixedly connected with a wheel core gear coaxial with the side wheel disc and smaller in diameter than the side wheel disc. The upper side of the center gear is fixedly connected with a shaft core gear coaxial with the center gear and smaller in diameter than the center gear. An intermediate gear is installed below the electric control actuating mechanism through a rotating shaft, and the intermediate gear is meshed with the shaft core gear and the wheel core gear on both sides.

[0018] The present application has the advantages that the inter-plant weeding component is rigidly connected with the plow body in the prior art, can only move in a straight line, cannot make a turning action, has low sensitivity, has high damage rate, is not suitable for fragile plant weeding operation, the inter-plant weeding component rotates and moves, can be directly driven by a power machine, has simple transmission, has sensitive action, is suitable for rotating around the crop plants, can avoid the plants to remove the inter-plant weeds, and thus provides an applicable intelligent weeding equipment for various crops, especially fragile crops such as vegetables. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective view of the intelligent weeding machine of the first embodiment; Figure 2 is an assembly view of the main beam, the auxiliary beam and the visual guide device of the first embodiment; Figure 3 is an assembly view of the plow body, the profiling frame, the electric control actuating mechanism and the inter-plant weeding blade of the first embodiment; Figure 4 is a front view of the electric control actuating mechanism of the first embodiment; Figure 5 is a left side sectional view of the electric control actuating mechanism of the first embodiment; Figure 6 is a perspective view of the inter-plant weeding blade of the first embodiment; Figure 7 is a front view of the profiling frame of the first embodiment; Figure 8 is a block diagram of the intelligent control system of the first embodiment; Figure 9 is a schematic diagram of the running track of the inter-plant weeding blade of the first embodiment; Figure 10 is a schematic diagram of the cutting area of the inter-plant weeding blade of the first embodiment; Figure 11 is a top view of the intelligent weeding machine of the second embodiment; Figure 12 is an assembly front view of the supporting wheel of the second embodiment; Figure 13 is an assembled left view of the wheel support of the second embodiment; Figure 14 is a perspective view of the wheel support of the second embodiment; Figure 15 is an enlarged perspective view of the rotating block of the second embodiment; Figure 16 is an assembled perspective view of the main beam, sub-beam, vision device and hanging beam of the second embodiment; Figure 17 is a front view of the middle plow body of the second embodiment; Figure 18 is an assembled perspective view of the middle profiling frame and middle ground wheel of the second embodiment; Figure 19 is an assembled perspective view of the middle plow beam, weeding shovel and subsoiling shovel of the second embodiment; Figure 20 is a left rear perspective view of the offset sensing wheel of the second embodiment; Figure 21 is a right front perspective view of the offset sensing wheel of the second embodiment; Figure 22 is a front view of the electric control actuator of the second embodiment; Figure 23 is a top view of the inter-plant weeding blade of the second embodiment; Figure 24 is a block diagram of the intelligent control system of the second embodiment; Figure 25 is a state diagram of the inter-plant weeding blade in a plant spacing error state of the second embodiment; Figure 26 is a state diagram of the inter-plant weeding blade in a plant spacing error overrun state of the second embodiment; Figure 27 is a perspective view of the intelligent weeder of the third embodiment; Figure 28 is an assembled perspective view of the main beam, upper pull beam, hanging frame and sliding compartment of the third embodiment; Figure 29 is a front view of the upper pull beam of the third embodiment; Figure 30 is a front perspective view of the hanging frame of the third embodiment; Figure 31 is a rear perspective view of the hanging frame of the third embodiment; Figure 32 is a rear perspective view of the sliding compartment of the third embodiment; Figure 33 is a block diagram of the intelligent control system of the third embodiment; Figure 34is a front view of the electric control actuator of the fourth embodiment; Figure 35 is a bottom view of the electric control actuator of the fourth embodiment; Figure 36 is a running track diagram of the inter-plant weeding blade of the fourth embodiment; Figure 37 is a running state diagram of the inter-plant weeding blade of the fourth embodiment.

[0020] In the figure: main beam 1, visual guide device 2, camera 2-1, camera holder 2-2, plow body 3, plow beam 3-1, horizontal balance 3-2, plate spring 3-3, plow column 3-4, inter-row weeding blade 3-5, supporting wheel 4, supporting wheel holder 4-1, height adjustment hydraulic device 4-2, guide hydraulic device 4-3, mounting arm 4-4, rotating block 4-5, rotating block shaft 4-6, upper boss 4-7, lower boss 4-8, rotating block shaft seat 4-9, electric control actuator 5, servo motor 5-1, servo motor output shaft 5-2, speed change mechanism 5-3, connecting plate 5-4, inter-plant weeding blade 6, blade rod seat 6-1, blade rod 6-2, bending section 6-3, blade 6-4, secondary beam 7, profiling holder 8, holder plate 8-1, connecting rod 8-2, side plate 8-3, lock catch 8-4, front connecting plate 8-5, middle plow body 9, middle profiling holder 9-1, middle ground wheel 9-2, middle plow beam 9-3, weeding shovel 9-4, subsoiling shovel 9-5, offset sensing wheel 10, profiling wheel holder 10-1, driving sensor 10-2, orientation sensor 10-3, hanging beam 11, upper pull beam 12, front clamping plate 12-1, longitudinal beam 12-2, connecting plate 12-3, suspension holder 13, upper slide 13-1, middle slide 13-2, lower slide 13-3, hanging plate 13-4, distance sensor 13-5, left push oil cylinder 13-6, right push oil cylinder 13-7, temporary support 13-8, sliding compartment 14, upper flange bearing 14-1, middle flange bearing 14-2, lower flange bearing 14-3, piston end seat 14-4, central gear 15, side gear 16, side wheel disc 17, wheel core gear 18, intermediate gear 19, shaft core gear 20, plant midpoint a, plant distance b, base line c, parent circle d, moving point p, parent circle radius r, pendulum e, cutting area f. DETAILED DESCRIPTION

[0021] First embodiment: Figure 1A kind of in-row swing intelligent weeding machine based on vision navigation system is introduced, which is also driven by tractor to work in field. Since it belongs to conventional mode, tractor is not shown in the figure. As can be seen from the figure, a plurality of plow bodies 3 are installed behind the main beam 1 of the weeding machine, and row-weeding knives 3-5 are installed on both sides of each plow body, which can remove weeds between crop rows while moving. A vision navigation device 2 is installed above the main beam 1, and the main component of the vision navigation device, camera 2-1, can capture images of the field, and then transmit the images to the intelligent control system. The intelligent control system identifies weeds and crops, sets the weeding position, and controls the inter-plant weeding components to complete the in-row weeding action. Its characteristics are as follows: an electric control actuator 5 is installed in front of the main beam for each row of crops, a servo motor 5-1 is arranged in the electric control actuator, and an output shaft 5-2 of the servo motor is connected to an inter-plant weeding knife 6 at the lower end. The inter-plant weeding knife makes circular motion under the drive of the servo motor, and forms a cycloid trajectory in combination with the front moving route of the machine tool, so that the inter-plant weeding knife runs between the plants along the cycloid trajectory to remove weeds between the plants in the row.

[0022] In combination Figure 2 As can be seen from the figure, a relatively short auxiliary beam 7 is installed on the top of the main beam 1, and a camera holder 2-2 is installed on the top of the auxiliary beam. The camera holder can be a stand, and the camera 2-1 is installed on the upper end of the stand. The output end of the camera is connected to the input end of the controller image processing module of the intelligent control system, so that the obtained image signal can be transmitted to the controller. The power supply and the intelligent control system required here can be arranged in the tractor or installed on the weeding machine, and are not shown in the figure because they belong to conventional arrangement.

[0023] In combination Figure 3 As can be seen from the figure, the installation mode of the plow body 3 and the electric control actuator 5. A plurality of profiling holders 8 are installed on the main beam, an electric control actuator 5 is installed in front of each profiling holder, and a plow body 3 is installed behind each profiling holder. The plow beam 3-1 of the plow body 3 extends backward, and is connected to the plate spring 3-3 through the cross balance 3-2 on both sides, the other end of the plate spring is connected to the plow column 3-4, and the lower end of the plow column is connected to the row-weeding knife 3-5.

[0024] In combination Figure 4 , Figure 5 As can be seen from the figure, the electric control actuator 5 has a cubic shell, and a servo motor 5-1 is arranged in the shell. The output shaft 5-2 of the servo motor extends downward out of the shell, and the output shaft of the servo motor is provided with a speed change mechanism 5-3. Since the required transmission ratio has multiple values and the ratio is relatively large, the speed change mechanism can adopt planetary gear mechanism. Of course, if the motor itself is provided with a frequency conversion mechanism, it is equivalent to the above-mentioned speed change mechanism. A connecting plate 5-4 is fixed to the lower end of the output shaft of the servo motor, which can be used to install the inter-plant weeding knife.

[0025] In combination Figure 6As can be seen, the inter-plant weeding blade 6 has a blade rod 6-2, the upper section of which extends outwardly and downwardly, and the middle and lower section of which has a bent section 6-3 bent inwardly and downwardly, and the lower end of the bent section is provided with a blade 6-4. Obviously, the bent blade rod conforms to the shape of various vegetable plants, reduces the scraping of the upper branches and leaves of the plants, and enables the blade to approach the lower part of the plants to better remove the weeds around the plants. Meanwhile, the turning radius of the lower end of the blade rod is increased, and the weeding area is increased.

[0026] As can be seen in the figure, the blade 6-4 is crescent-shaped, and the cutting edge is arc-shaped. Such a shape is more suitable for operation around the plants, and the weeds are less likely to slide away, and the cutting performance is better. Of course, the edge outside the arc can also be provided with a cutting edge to increase the working surface for cutting weeds. The upper side of the back of the blade is connected with the blade rod, and the upper end of the blade rod is connected with the connecting plate 5-4 at the lower end of the output shaft of the servo motor through the blade rod seat 6-1. In this way, the upper end of the blade rod is away from the axis of the output shaft of the motor, and the outwardly inclined part of the blade rod, together with the blade at the lower end, has a large turning radius, which can meet the requirements of weeding operation.

[0027] Of course, different crops and different planting methods may have different requirements for the specifications of the blade rod and the blade. Therefore, the parameters of the blade rod and the blade should be determined according to the needs. Multiple sets of different specifications of the blade rod and the blade can also be prepared for selection.

[0028] In combination Figure 7 As can be seen, the profiling frame 8 is composed of a vertically installed frame plate 8-1 and a side plate 8-3, and two horizontally placed connecting rods 8-2, which form a parallel four-bar linkage mechanism. From the perspective of Figure 3 As can be seen from the perspective, the frame plate 8-1 and the side plate 8-3 and the two horizontally placed connecting rods 8-2 here have left and right sets, and a tension spring is arranged in the middle, which are connected through a rotating shaft to form a profiling mounting frame. The front of the side plate is provided with an opening, and the opening is engaged with the lock catch 8-4 to be fixedly connected with the main beam. Among them, the frame plate 8-1 at the rear of the profiling frame extends downward and then bends forward. The rear of the frame plate is connected with the front end of the plow body through a plate, and the front of the frame plate is connected with the electric control actuator through a front connecting plate 8-5.

[0029] In combination Figure 8 As can be seen, the working process of the intelligent control system of the weeding machine. As can be seen in the figure, the image signal obtained by the camera is transmitted to the intelligent control system, the intelligent control system can complete weed identification and weed positioning, determine the weeding path, and send instructions to the electric control actuator through the controller to control the servo motor of the electric control actuator, through the functions of forward rotation, reverse rotation, static and speed regulation, to drive the blade rod and the blade to operate, thereby removing the weeds around the plants.

[0030] From the above, the main feature of the machine is that the inter-plant weeding blade rotates in the gap between the crop plants, and removes weeds around the plants as much as possible without touching or touching the plants. Obviously, the rotating track of the inter-plant weeding blade has many kinds. A large number of experiments show that the running track of the pendulum as the weeding blade has better weeding effect. And the pendulum is an algorithm that is relatively simple and easy to control.

[0031] Figure 9 A relatively standard pendulum is exemplified. A row of crops is exemplified in the figure, and the center of each plant has a plus sign, which is the plant midpoint a determined by the controller after identifying the image provided by the vision system. The plant spacing b is indicated in the figure. There is an imaginary baseline c on one side of the plant, which points forward and is consistent with the direction of travel of the weeder. There is a mother circle d at one end of the baseline, which is the track of the inter-plant weeding blade rotating around the output shaft of the servo motor. The radius r of the mother circle is the rotating radius of the inter-plant weeding blade. The point of intersection of the mother circle and the baseline is the moving point p. During weeding operation, the inter-plant weeding blade rotates while moving forward, which is equivalent to the mother circle rolling on the baseline, and the moving point p repeatedly intersects the baseline as the mother circle rotates, and the track of the moving point is a pendulum e. The pendulum e is a periodically varying arch line. In the case of pure rolling of the mother circle along the baseline, the distance b from the starting point to the falling point of each segment of the arch pendulum is equal to the circumference of the mother circle 2πr, i.e. b=2πr, r=b / 2π. In addition, it can also be seen that the diameter 2r of the mother circle is equal to the height of the pendulum arch. Obviously, the height of the arch should be determined according to the specifications of the crops and the needs of weeding. At the same time, people also hope that each arch of the pendulum will be opposite to a crop. In this way, people can choose the appropriate inter-plant weeding blade rotating radius r according to the formula r=b / 2π while considering the pendulum arch height, so that the circumference of the inter-plant weeding blade rotating one turn = plant spacing b. At the same time, the starting point of the inter-plant weeding blade action should be determined between two plants, and the concave surface of each period of the running track of the inter-plant weeding blade, i.e. each segment of the arch line, will be opposite to a plant. Such an inter-plant weeding blade can run along the pendulum track between the plants under the control of the intelligent control system as shown in the figure. Figure 9

[0032] Here, a plant may have different concepts for different crops and different cultivation methods, and may be one, a cluster, a group, a cluster, a cluster, etc., so it can be called a unit of plant.

[0033] On this basis, the basic algorithm of the intelligent control system can be derived. From 2πr=b, it can be seen that the weeder must advance one plant spacing b, and the inter-plant weeding blade must rotate one turn 2π. Therefore, the time for the weeder to advance one plant spacing must be equal to the time for the inter-plant weeding blade to rotate one turn. Let the time be t, then t=2π / ω=b / v.

[0034] ​In the formula, 2π is the angle of the hoe blade rotating a circle, ω is the angular velocity of the hoe blade rotating (in radian). b is the plant spacing, which is also the distance from the starting point to the ending point of the cycloid. v is the instantaneous speed of the machine tool moving forward. Among them, b is determined by the controller according to the image provided by the visual navigation system, and v is provided by the machine tool speed measuring device. With the two data of b and v, the controller can determine the value of ω, and issue instructions to drive the inter-plant hoe blade through the servo motor of the electric control actuator.

[0035] Since this cycloid is formed by a point on the inter-plant hoe blade, and the entire blade passes through the working surface Figure 10 The cutting area f shown. It can be seen that the cutting area can cover most of the area around the plant, and most of the weeds are removed. Subsequently, the inter-row hoe 3-5 behind the main beam is cut on both sides of the plant, and the weeds on both sides of the plant, especially on one side of the arch-shaped line opening, are also removed.

[0036] It should be noted that Figure 9 , Figure 10 are schematic diagrams, and the cross section of the plant is magnified many times for easy observation, so the blank area not cut by the inter-plant hoe is much larger than the actual area, so this diagram cannot be used as the basis for calculating the cutting area.

[0037] The speed measuring device here has many kinds. In the case of good soil firmness, neat arrangement of crops, and stable movement of the machine tool, v can be provided by the speed measuring device of the tractor. In the case of complex working conditions, other commercially available speed sensors can be selected.

[0038] Further analysis shows that although the above algorithm is derived from the ideal state of pure rolling of the parent circle along the baseline, its scope of application is not limited to pure rolling. In actual operation, the condition of pure rolling of the parent circle relative to the baseline is rare, and most of the time is non-pure rolling. The non-pure rolling is that there is a certain slip rate. There are two cases of this slip rate: one is that the circumference of the inter-plant hoe rotating a circle is greater than the plant spacing, i.e. 2πr﹥b. In the case that the cycloid arch height requirement is high, the hoe rotating radius r cannot be too small, and the plant spacing b is relatively small, this phenomenon of the circumference being greater than the plant spacing will occur. The other is that the circumference of the inter-plant hoe rotating a circle is less than the plant spacing, i.e. 2πr﹤b. In the case that the cycloid arch height is limited, the hoe rotating radius r cannot be too large, and the plant spacing b is relatively large, this phenomenon will occur. Research shows that the arch of 2πr﹥b is slightly steep, and the arch of 2πr﹤b is slightly flat, as long as the slip rate is within the limited range, it can follow the algorithm t=2π / ω=b / v and work normally.

[0039] For complex cases with a slip rate beyond the range, further description is given in the following examples.

[0040] Experiments show that this intelligent control weeder has obvious advantages compared with the existing intelligent weeder. The weeding parts of the existing intelligent weeder are rigidly connected with the plow body and can only move left and right with the plow body, the running track is zigzag and belongs to reciprocating linear motion. Its disadvantages are that it cannot rotate, cannot rotate around the plants, cannot be directly driven by the power machine such as electric motor, the transmission link is complex, the electric control is difficult, and its sensitivity is limited. The weeder of the present application adopts rotating weeding parts, can run around the crops, is more suitable for electric drive, is convenient for intelligent control, is convenient for individual operation of each single unit, has high sensitivity, and all its indicators reach a high level.

[0041] According to actual measurement, the non-cutting distance of the intelligent weeder around the plants is less than 25 mm, the weed removal rate is greater than 80%, and the plant damage rate is less than 5%. It is especially suitable for weeding of fragile plants such as vegetables, and the operation efficiency is more than 800 times that of manual weeding.

[0042] The second embodiment is improved on the basis of the first embodiment. Although the implement of the first embodiment can complete intelligent weeding, it has higher requirements for the flatness of farmland, the firmness of soil, and the uniformity of plant arrangement. Therefore, the present embodiment introduces an intelligent weeder with higher intelligent control, lower requirements for operation conditions, and stronger adaptability.

[0043] By Figure 11 It can be seen that the present example mainly improves three points: first, the structure of the two end support wheels 4 of the main beam 1 is improved. Second, a middle plow body 9 is added in the middle of the main beam. Third, a set of offset sensing wheels 10 is added on the left or right side of the main beam. The above improvements will be described below in combination with the drawings: In combination Figure 12 , Figure 13 It can be seen that the two sets of support wheels 4 are respectively installed at the two ends of the main beam through the upper support wheel frames 4-1. The support wheel frame is a parallel four-bar mechanism with profiling function, and the front upper part is fixedly connected with the main beam through the bayonet and lock. The support wheel frame is provided with two sets of hydraulic devices that can act under the control of the intelligent system. One is the vertical height adjustment hydraulic device 4-2, and the other is the horizontal guide hydraulic device 4-3. The oil cylinder of the guide hydraulic device is exemplified as two branches, which are oppositely installed. Of course, a double-acting oil cylinder can also be used.

[0044] In combination Figure 14 It can be seen that the support wheel 4 is installed below the rotating block 4-5 through the side mounting arm 4-4.

[0045] In combination Figure 15It can be seen that the rear side of the rotating block 4-5 is provided with a rotating block shaft 4-6, which is installed in the support wheel frame through the rotating block shaft seats 4-9 at the upper and lower ends. The upper front side of the rotating block is provided with an upper protrusion 4-7 extending forward, and the lower front side is provided with a lower protrusion 4-8 extending forward. The mounting arm of the support wheel is installed in the groove on the lower side of the lower protrusion.

[0046] In combination Figure 16 It can be seen that a section of the hanging beam 11 is installed below the middle of the main beam 1, and the Figure 17 The middle plow body 9 is shown.

[0047] In combination Figure 17 , Figure 18 , Figure 19 It can be seen that the middle profiled frame 9-1 is installed on the front upper part of the middle plow body 9. The front upper part of the middle profiled frame can be fixed to the hanging beam through the bayonet and lock. The middle profiled frame is provided with a middle ground wheel 9-2 below. The rear of the middle profiled frame is provided with a middle plow beam 9-3 extending rearward, and the middle plow beam is provided with a weeding shovel 9-4 below each side. The rear end of the middle plow beam is provided with a deep loosening shovel 9-5.

[0048] As can be seen in the figure, the outer edge of the middle ground wheel 9-2 is thick and surrounded by a rubber tire. Combined with the weight of the machine body and the effect of the middle profiled frame, it has strong stability and can be used as the reference of the main beam and even the entire weeding machine, providing data for controlling the parallelism of the main beam and the ground. The rear middle plow beam 9-3 and the weeding shovel 9-4 and the deep loosening shovel 9-5 can not only remove weeds on the ground, but also provide a stable center line for the weeding machine. At the same time, after such a machine reciprocating operation, a certain width has a deep groove with air and water preservation, ventilation, and light transmission, which is also a planting mode currently widely used.

[0049] In combination Figure 20 It can be seen that the offset sensing wheel 10 is hinged to the lower rear side of the main beam through the profiled wheel frame 10-1. A set of driving sensors 10-2 is installed on the outer side of the profiled wheel frame and one end of the offset sensing wheel shaft. The driving sensor is a commercially available product that can record the distance and instantaneous speed v of the machine, providing data for the intelligent control system.

[0050] In combination Figure 21 It can be seen that a set of orientation sensors 10-3 is installed on the inner side of the profiled wheel frame 10-1. This sensor is a commercially available product in the form of a long rod, with the outer end pointing forward. It can reflect the position of the machine, and the left and right swing of the outer end can reflect the instantaneous direction data of the machine. The up and down swing of the outer end can provide data for the parallelism of the main beam and the ground and the depth of the weeding blade into the soil. Since the driving sensor and the orientation sensor are very close to the front and back of the visual guide device, the data collection point is close to the position of the image provided by the weeding plant, so as to provide accurate data for the intelligent control system.

[0051] In combination Figure 22 As can be seen, below the electric control actuator 5, there is an inter-plant weeding blade 6. The blade rod 6-2 of the inter-plant weeding blade is a straight rod, and the upper end of the blade rod is located on one side of the lower end of the output shaft of the servo motor. The lower end of the blade rod is provided with a circular blade 6-4. The circular blade can perform weeding work in any direction.

[0052] However, due to the small friction of the circular blade on the weeds, the weeds are easy to slide away, and the cutting performance is limited. Therefore, some sawteeth can be provided on the periphery of the blade. As shown in Figure 23 , a plurality of concave arc-shaped cutting edges are provided around the blade, the weeds are not easy to slide away, and the cutting performance is greatly improved.

[0053] In combination Figure 24 As can be seen, the working mode of the above mechanism is as follows: the image obtained by the camera, the data of the machine tool obtained by the driving sensor, the position, the direction of travel, the depth of the weeding blade into the soil, and the parallelism of the main beam and the ground of the machine tool are transmitted to the controller. The controller issues an instruction according to the parallelism data of the main beam and the ground, and adjusts the working of the hydraulic device 4-2, so that the main beam and the trailing part remain parallel to the ground. When the machine tool travel route appears to be curved, the image has been transmitted to the controller, and the intelligent control system issues an instruction to actuate the piston rod of the guide hydraulic device 4-3, which pushes the upper boss of the rotating block to turn left or right, thereby adjusting the direction of travel of the supporting wheel. At the same time, the controller determines the path of removing weeds by a specific algorithm, and instructs the servo motor of the electric control actuator to rotate, which controls the blade rod to run along the specified path, and completes the removal of inter-plant weeds. Subsequently, the plow body behind the main beam drags the inter-row weeding blade to cut from both sides of the crops, which can remove the weeds between the crop rows, thereby completing the weeding work within the working width.

[0054] Figure 25This paper introduces the operation mode of an inter-plant weeding knife. The diagram illustrates a row of crop plants, each with a plus sign at its center. This plus sign represents the midpoint 'a' of the plant, determined by the controller based on the image provided by the vision system. The plant spacing 'b' is determined from the plant midpoints. An imaginary baseline 'c' is drawn on one side of each plant, pointing in the same direction as the weeding machine's movement. During weeding, the circular motion of the inter-plant weeding knife around the servo motor's output shaft combines with the machine's linear motion to create a periodically changing arched cycloid 'e'. This cycloid has been described in a previous embodiment and will not be elaborated upon here. It is important to note how to handle uneven plant spacing 'b' as shown in the diagram. In this case, the distance between the current plant and its adjacent plants is input to the controller via an image signal. The controller checks the distance against a defined error value. When the error is within the set range, the value of 'b' for the current plant is the average of the distances between the two adjacent plants. This b value is half the sum of the distances between the current plant and its adjacent plants, or half the distance between two plants. Based on this b value, the intelligent control system, combined with the control program generated by the basic algorithm t=2π / ω=b / v, uses the midpoint of the distance between the current plant and the previous plant as the starting point, and the actual speed of the machine as the instantaneous speed v, to control the rotational speed of the servo motor. This causes the weeding blades between plants to rotate at an angular velocity ω, thus forming the cycloidal trajectory e and the cutting area f shown in the diagram, achieving a relatively optimized weeding effect.

[0055] When the plant spacing error exceeds the set limit, the following occurs: Figure 26 The two scenarios are illustrated below: In one scenario, when one or more plants are missing between two plants, and the actual plant spacing is an integer multiple of the standard spacing, the weeding blades between plants can operate at their original rotation speed to remove as many weeds as possible from the gaps. In the other scenario, when the distance between two plants is not an integer multiple of the normal spacing, the servo motor stops rotating, and the weeding blades between plants move forward with the tool to cut the weeds in the area.

[0056] It should be noted that, Figure 25 , Figure 26 These are all schematic diagrams. To facilitate observation, the cross-section of the plant has been magnified at a high magnification. As a result, the blank area between the plants that was not cut by the weeding knife is much larger than the actual area. Therefore, this diagram cannot be used as the basis for calculating the cutting area.

[0057] Experiments show that this intelligent weeding control mode achieves very high levels of performance across all indicators. Actual measurements show that the uncut distance around the plant perimeter is less than 20mm, the weed removal rate is greater than 85%, and the plant damage rate is less than 3%. It is particularly suitable for weeding fragile plants such as vegetables, and its efficiency is more than 1000 times that of manual weeding.

[0058] Third embodiment: On the basis of the foregoing embodiments, the hitching mode of the intelligent weeder and the tractor is improved. Since the weeder is wide in the transverse direction and long in the longitudinal direction, the components are connected by elasticity, the swing range is large, and the rigidity is low, it is not suitable to be installed in front of the tractor. Therefore, the existing intelligent weeder, especially the large machine, is mostly the traction type with the tractor in front and the machine behind. However, this mode occupies the best position of the camera, and the image quality and transmission time limit are negatively affected. For crops with strong and good flexibility and developed root system, the traction type machine can meet the demand of weeding operation. However, for crops such as vegetables, which are relatively fragile and commonly known as "not resistant to weeding", the weeding component requires high operation precision, and the disadvantages of the traction type will be revealed. Therefore, this example proposes a driving mode with the tractor behind and the weeding machine in front.

[0059] Figure 27 A front-mounted intelligent weeder is introduced. As shown in the figure, there is a suspension frame 13 behind the weeder, and the suspension frame is connected with the front weeder through an upper pull beam 12. Figure 28 、 Figure 29 As can be seen, the front part of the upper pull beam has a front clamping plate 12-1, which is fixedly connected with the auxiliary beam and another long beam capable of bearing electrical components. The front section of the upper pull beam is inclined upward, followed by a longitudinal beam 12-2 extending backward, which is inclined downward after crossing the plow body 3 of the weeder, and the rear end is fixedly connected with a connecting plate 12-3. The connecting plate 12-3 is connected with a sliding compartment 14 behind it, and the sliding compartment 14 is slidingly connected with the rear suspension frame 13.

[0060] As can be seen, Figure 30 As can be seen, the front side of the suspension frame 13 has three slot-shaped slides. The upper part is an upper slide 13-1 with a downward slot, the middle part is a middle slide 13-2 with a forward slot, and the lower part is a lower slide 13-3 with a downward slot. The slot of each slide should be provided with an inner convex folded edge. Two hydraulic cylinders are installed below the middle slide, one is a left push cylinder 13-6, and the other is a right push cylinder 13-7 (determined as left and right with the forward direction of the machine). Figure 31 As can be seen, the rear side of the suspension frame is provided with a hitch plate 13-4 connected with the tractor. A distance sensor 13-5 is also installed at the upper right corner of the suspension frame. The distance sensor is a commercially available product, which can measure the force difference between the left and right ends of the suspension frame, sense the change of the forward direction of the machine, and the required transverse distance difference between the suspension frame and the front weeder, and transmit the data to the controller to control the work of the left push cylinder 13-6 or the right push cylinder 13-7 to adjust the relative position of the machine and the suspension frame. A temporary support 13-8 is installed at the left and right ends of the suspension frame, which can be used to support the suspension frame before hitching with the tractor.

[0061] As can be seen, Figure 32As can be seen, the upper rear part of the sliding chamber 14 has a frame, and above the frame are two upper flange bearings 14-1 with their axes pointing upwards. Below the frame, on the wall panel, are two middle flange bearings 14-2 with their axes pointing backwards (the machine's forward direction is forward). In the lower middle part of the wall panel, there is a boss, on which are mounted two sets of lower flange bearings 14-3 with their axes pointing upwards. Below the middle flange bearings are two piston end seats 14-4.

[0062] Combination Figure 27 , Figure 28 , Figure 29 , Figure 30 , Figure 32 The connection between the upper pull beam and the suspension frame can be seen. The upper flange bearing of the sliding box is inserted into the upper slide rail of the suspension frame, the middle flange bearing is inserted into the middle slide rail of the suspension frame, and the lower flange bearing is inserted into the lower slide rail of the suspension frame. The outer end of the piston of the left push cylinder of the suspension frame abuts against the piston end seat on the left side of the sliding box. The end of the piston of the right push cylinder of the suspension frame abuts against the piston end seat on the right side of the sliding box. The front side of the sliding box wall panel is fixed to the connecting plate at the rear end of the upper pull beam by bolts. In this way, the upper pull beam connects the weeder to the suspension frame.

[0063] During operation, the weeder is in front, and the tractor is behind. The intelligent control system's workflow is as follows: Figure 33 As shown: The image signal from the camera is transmitted to the controller, which in turn sends data from the drive sensors, orientation sensor, and distance sensor to the controller. The controller then sends commands to the hydraulic cylinders and electronic actuators. The weeding blades operate according to these commands to remove weeds between rows. The plow at the rear drives the weeding shovel to remove weeds between rows. The hydraulic height adjustment devices on the support roller frames at both ends of the main beam are constantly activated to keep the main beam parallel to the ground. When the weeder needs to adjust its direction, the guiding hydraulic device on the support roller frame, according to the controller's command, pushes the rotating block to deflect the support rollers. Simultaneously, the cylinders on the suspension frame, according to the controller's command, push the sliding box and the upper pull beam to make corresponding displacements. Thus, the tractor and the weeder can work together in a coordinated and stable manner.

[0064] Experiments show that this intelligent weeding control mode achieves high levels of performance across all indicators. Actual measurements indicate that the uncut distance around the plant perimeter is less than 15mm, the weed removal rate is greater than 90%, and the plant damage rate is less than 2%. It is particularly suitable for weeding fragile plants such as vegetables, with an efficiency more than 1100 times that of manual weeding.

[0065] Fourth embodiment: An improvement upon the aforementioned embodiments. For example... Figure 34 As shown, two sets of weeding blades 6 are installed below the electronically controlled actuator 5. That is, there are two blades 6-2 and two blades 6-4. (This is in conjunction with an upward view.) Figure 35As can be seen, the upper ends of the blades of these two inter-plant weeding blades are respectively mounted on the edges of two rotating wheels, both of which are mounted below the electronically controlled actuator via a rotating shaft. One of the rotating wheels is a side gear 16, which meshes with the central gear 15 at the lower end of the servo motor output shaft. The other rotating wheel is a toothless side disc 17. A hub gear 18 is fixedly connected to the upper side of the side disc, and the hub gear is coaxial with the side disc and has a smaller diameter than the side disc. A shaft gear 20 is also fixedly connected to the upper side of the central gear, and the shaft gear is coaxial with the central gear and has a smaller diameter than the central gear. There is an intermediate gear 19 between the shaft gear and the side disc, which is also mounted below the electronically controlled actuator via a rotating shaft, meshing with the shaft gear and the side disc on both sides respectively. In this way, the central gear can drive the side disc to rotate through the three small-diameter gears. Obviously, through the above transmission method, the side gear and the side disc can rotate in opposite directions. At the same time, by selecting an appropriate transmission ratio, such as a 1:1 transmission ratio between all meshing gears, the side gear and the side wheel can rotate at the same speed. Furthermore, the tool holders on the side gear and the side wheel are symmetrical components with the same radius of rotation.

[0066] Figure 34 An example is given of a three-layered installation of the wheels: the central gear and side gears are installed on the outer layer, the side discs are on the middle layer, and the shaft gear, intermediate gears, and wheel hub gears are on the inner layer. This prevents the wheels from colliding with each other. It should be noted that, for ease of understanding, Figure 35 The perspective drawing method was used to draw the three inner gears that were not visible in the bottom view.

[0067] Combination Figure 36 As can be seen from the above-mentioned weeding blades, the lower ends of the two blades follow two generatrices d, rolling on two closely spaced baselines c, forming two conjugate cycloids e that are symmetrical in opposite directions. The movement of the entire blade forms... Figure 37 The cutting area f shown is clearly an effective method that eliminates the blank area at the cycloidal opening, resulting in a larger weeding area. Simultaneously, the weeding blades on both sides of the plow can be positioned further away from the crop, reducing the precision required and improving overall weeding efficiency. Actual measurements show that the uncut distance around the plant is less than 10mm, the weed removal rate is greater than 95%, and the plant damage rate is less than 2%. This method is particularly suitable for weeding fragile plants such as vegetables, and its efficiency is more than 1200 times that of manual weeding.

Claims

1. A row-swivel intelligent weeding machine based on a visual navigation system, wherein the weeding machine is driven by a tractor, multiple plow bodies (3) are installed behind the main beam (1) of the weeding machine, each plow body (3) is equipped with inter-row weeding blades (3-5), a speed measuring device is provided on the weeding machine or tractor, a visual guidance device (2) is installed above the weeding machine, the images captured by the visual guidance device (2) and the data collected by the speed measuring device are input into the intelligent control system, the intelligent control system identifies weeds, sets the weeding path, and controls the inter-row weeding components to complete the row-swiping action, characterized in that: The main beam (1) is equipped with an electric control actuator (5) for each row of crops. The electric control actuator (5) is equipped with a weeding knife (6) between the plants. The electric control actuator (5) is equipped with a servo motor (5-1). The output shaft (5-2) of the servo motor drives the weeding knife (6) between the plants to run along the cycloidal trajectory, thereby clearing weeds between the plants in the row.

2. The intelligent weeding machine based on a visual navigation system and characterized in that: The cycloid is a periodic curve composed of two motion trajectories: the weeding knife (6) moving in a circular motion driven by the servo motor (5-1) and the linear motion moving forward with the weeding machine. Each cycle of the cycloid is a smooth arched line from the starting point to the ending point, and the concave surface of the arched line is opposite to the position of a unit plant.

3. The intelligent weeding machine based on a visual navigation system with in-row rotation as described in claim 1, characterized in that: The method by which the intelligent control system controls the weeding component between plants to complete the weeding action within the row is as follows: The intelligent control system receives image data transmitted by the guidance device and weeding machine travel data provided by the speed measuring device. Based on the stored images, it identifies weeds and crop plants, determines the current plant spacing, that is, the distance b traveled by the cycloidal line from the starting point to the landing point in one cycle, and obtains the instantaneous speed v of the weeding machine from the travel data. After data processing, it obtains b / v, and according to the basic algorithm of cycloidal line operation 2π / ω=b / v, it obtains the value of ω, where: 2π is the angle of one revolution of the weeding blade between plants, and ω is the angular velocity of the weeding blade between plants. Then, the controller of the intelligent control system issues a command, which drives the weeding blade between plants to rotate at an angular velocity ω through the servo motor of the electric actuator.

4. The intelligent weeding machine based on a visual navigation system and characterized in that: The main beam (1) is equipped with a contour frame (8), an electric control actuator (5) is installed in front of the contour frame (8) relative to the position in the crop row, and a plow body (3) is installed behind the contour frame (8).

5. The intelligent weeding machine based on a visual navigation system with in-row rotation as described in claim 1, characterized in that: The weeding knife (6) between plants includes a blade (6-2) and a blade (6-4). The upper end of the blade (6-2) is located on one side of the lower end of the servo motor output shaft (5-2), and the lower end of the blade (6-2) is connected to the blade (6-4).

6. The intelligent weeding machine based on a visual navigation system and characterized in that: The blade holder (6-2) is a straight or curved rod, with the upper section of the curved rod extending outward at an angle and the lower middle section having a bent section (6-3) that bends inward and downward. The blade (6-4) is crescent-shaped, circular, or star-shaped with multiple concave lines forming its edge.

7. The intelligent weeding machine based on a visual navigation system with in-row rotation as described in claim 1, characterized in that: The main beam (1) is equipped with a set of support rollers (4) at each end. The support rollers (4) are installed under the rotating block (4-5) via the mounting arm (4-4). The rotating block (4-5) has a rotating block shaft (4-6) on its rear side. The rotating block shaft (4-6) is installed inside the support roller frame (4-1) via the rotating block shaft seats (4-9) at both ends. The support roller frame (4-1) is a contour-following mechanism. The upper part is fixedly connected to the main beam (1). It is equipped with a height adjustment hydraulic device (4-2) and a guide hydraulic device (4-3) that can be operated under the control of an intelligent system.

8. The intelligent weeding machine based on a visual navigation system with in-row rotation as described in claim 1, characterized in that: A section of suspension beam (11) is installed below the middle part of the main beam (1). A middle plow body (9) is installed below the suspension beam (11). The middle plow body is connected to the suspension beam through a middle contour frame (9-1). A middle ground wheel (9-2) is installed below the front of the middle plow body. The middle plow beam (9-3) of the middle plow body (9) extends backward. Weeding shovels (9-4) are installed below both sides of the middle plow beam (9-3), and a deep loosening shovel (9-5) is installed below the rear end.

9. The intelligent weeding machine based on a visual navigation system and characterized in that: The main beam (1) is positioned off-center and is equipped with an offset sensing wheel (10) via a contour wheel frame (10-1). A drive sensor (10-2) is mounted on one side of the wheel axle of the offset sensing wheel (10), and an orientation sensor (10-3) is mounted on the inner side of the contour wheel frame (10-1).

10. The intelligent weeding machine based on a visual navigation system and characterized in that: The main beam (1) is provided with an upper pull beam (12) at the rear top. The upper pull beam (12) is inclined upward and then extends backward, crosses the plow body (3) and then is inclined downward. Its rear end is fixed in front of the connecting plate (12-3). The rear of the connecting plate (12-3) is connected to the sliding box (14). The sliding box (14) is slidably connected to the rear suspension frame (13) through the flange bearing.

11. The intelligent weeding machine based on a visual navigation system and characterized in that: The suspension frame (13) is equipped with a distance sensor (13-5). The rear of the suspension frame (13) is provided with a mounting plate (13-4) that can be attached to the tractor. The upper front part of the suspension frame (13) is provided with an upper slide rail (13-1), the upper middle front part of the suspension frame is provided with a middle slide rail (13-2), and the lower front part of the suspension frame is provided with a lower slide rail (13-3). The upper part of the sliding box (14) is equipped with two sets of upper flange bearings (14-1) that cooperate with the upper slide rail. The upper middle rear part of the sliding box is equipped with two sets of middle flange bearings (14-2) that cooperate with the middle slide rail. The lower middle part of the sliding box is equipped with two sets of lower flange bearings (14-3) that cooperate with the lower slide rail. The middle slide rail of the suspension frame is provided with a left push cylinder (13-6) that pushes the piston to the left and a right push cylinder (13-7) that pushes the piston to the right. The sliding box (14), together with the upper pull beam (12) and the weeder, all move left and right under the push of the piston.

12. The intelligent weeding machine based on a visual navigation system and characterized in that: The electric actuator (5) drives two rotating wheels that rotate at the same speed and in opposite directions through the output shaft of the servo motor. Each rotating wheel is equipped with a set of weeding blades (6) between plants. During operation, the two sets of weeding blades rotate in opposite directions and make cycloidal movements along the sides of the crop plants and between the plants, forming two conjugate cycloidal trajectories.

13. The intelligent weeding machine based on a visual navigation system and characterized in that: The weeding knife (6) between plants is installed on the edge of the rotating wheel. Both rotating wheels are installed under the electric control actuator (5) through a rotating shaft. One of the rotating wheels is a side gear (16) that meshes with the central gear (15) at the lower end of the servo motor output shaft (5-2). The other rotating wheel is a side wheel disk (17) installed in parallel with the side gear (16). A wheel core gear (18) is fixedly connected to the upper side of the side wheel disk (17). The wheel core gear (18) is coaxial with the side wheel disk (17) and its diameter is smaller than that of the side gear (16). A shaft core gear (20) is fixedly connected to the upper side of the central gear (15). The shaft core gear (20) is coaxial with the central gear (15) and its diameter is smaller than that of the central gear (15). There is an intermediate gear (19) between the shaft core gear (20) and the wheel core gear (18). The intermediate gear (19) is installed under the electric control actuator (5) through a rotating shaft. The two sides of the intermediate gear (19) mesh with the shaft core gear (20) and the wheel core gear (18) respectively.

Images