Soybean inter-row weeding robot and working method thereof

Abstract

The application discloses a soybean inter-plant weeding robot and a working method thereof, and comprises a walking mechanism, the walking mechanism comprising a rack, four sets of bogies mounted on the rack, walking assemblies mounted on the bogies, a top plate mounted on the top of the rack, and a storage battery mounted on the top plate; a terrain following mechanism, the terrain following mechanism comprising a deformation rack, ground wheels, an encoder and a camera; a weed removing mechanism, the weed removing mechanism comprising a linear sliding table, elastic teeth, a motor support, a swing assembly and a tooth seat, the linear sliding table being mounted at the bottom of the deformation rack, the motor support being mounted on the linear sliding table, the swing assembly being mounted on the motor support, the tooth seat being rotationally connected to the bottom of the motor support, the swing assembly being in transmission cooperation with the tooth seat, and the elastic teeth being provided in a plurality of sets. The application effectively avoids the problems of missing weeds or mistakenly damaging soybean seedlings caused by terrain undulation, is suitable for different flatness of soybean field terrains, and greatly improves the precision of inter-plant weeding.

Description

Technical Field

[0001] This invention relates to the field of agricultural intelligent robot technology, and in particular to a soybean interplant weeding robot and its working method. Background Technology

[0002] With the upgrading of planting technology in major soybean producing areas in China, pneumatic seeders have been widely used. These seeders produce soybean seedlings with uniform spacing and neat arrangement, providing favorable conditions for mechanical weeding operations. This is gradually replacing the traditional manual weeding method, becoming an industry trend. Currently, chemical weeding is still the main method in soybean producing areas. However, the long-term use of chemical agents easily causes ecological problems such as soil pollution and pesticide residues, which does not meet the needs of green agriculture development. Early mechanical weeding equipment mainly consisted of rotary hoes, which removed weeds by indiscriminately agitating the soil with rotating hoe teeth. However, their structural design lacked mechanisms for identifying and avoiding soybean plants, resulting in extremely high seedling damage rates. These have now been largely phased out.

[0003] While existing comb-type weeding mechanisms can be used for intercropping corn and soybean plants, they do not integrate visual positioning and intelligent recognition modules. The weeding method is essentially still "blind weeding." The core principle is similar to that of a rotary hoe. It only attempts to reduce the seedling damage rate through mechanical structure optimization, but it cannot accurately distinguish between soybean plants and weeds, resulting in a low weeding rate and a high seedling damage rate. Furthermore, the overall mechanism is complex and has poor adaptability.

[0004] In addition, although laser weeders, as a new type of weeding equipment, have the advantage of non-contact weeding, they are difficult to accurately locate and effectively remove weeds between densely planted soybeans due to the problem of leaf shading in soybean planting, resulting in low weeding efficiency. At the same time, their manufacturing and maintenance costs are high, making it difficult to popularize and promote them on a large scale in major soybean producing areas.

[0005] In summary, among existing soybean weeding technologies, chemical weeding poses a risk of ecological pollution, traditional mechanical weeding equipment lacks precise identification and avoidance capabilities, and new laser weeding equipment suffers from efficiency and cost bottlenecks. None of these technologies can meet the core requirements of "precise weeding, low seedling damage rate, low cost, and easy popularization" in soybean cultivation. There is an urgent need for a dedicated weeding device that integrates intelligent identification, terrain adaptation, and precise execution functions to overcome the shortcomings of existing technologies. Summary of the Invention

[0006] The purpose of this invention is to provide a soybean interplant weeding robot and its working method to solve the problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides the following solution: The present invention provides a soybean interplant weeding robot, comprising: The traveling mechanism includes a frame, on which four sets of bogies are mounted, on which traveling components are mounted, and on the top of the frame is a top plate, on which a battery is mounted. The terrain following mechanism includes a deformation frame, a ground wheel, an encoder, and a camera. The deformation frame is installed below the middle position of the top plate. An electric cylinder is rotatably connected to the top of the frame. The output shaft of the electric cylinder is rotatably connected to the deformation frame. The ground wheel is installed on one side of the bottom of the deformation frame through a ground wheel bracket. The encoder is installed on the ground wheel bracket. The camera is fixed to the other side of the bottom of the deformation frame through a camera bracket. A weed removal mechanism includes a linear slide, elastic teeth, a motor bracket, a swing assembly, and a tooth holder. The linear slide is installed at the bottom of the deformation frame and between the ground wheel and the encoder. The motor bracket is installed on the linear slide, and the swing assembly is installed on the motor bracket. The tooth holder is rotatably connected to the bottom of the motor bracket. The swing assembly and the tooth holder are in a transmission engagement to drive the tooth holder to rotate. Several sets of elastic teeth are provided, and the sets of elastic teeth are fixed at equal intervals on the tooth holder.

[0008] The soybean interplant weeding robot provided by the present invention includes a bogie comprising: A hollow turntable, wherein the hollow turntable is rotatably connected to both sides of the bottom of the frame; The L-shaped wheel leg is rotatably connected to the hollow turntable, and a first servo motor is fixedly connected to the hollow turntable. The first servo motor is connected to the L-shaped wheel leg through a transmission connection.

[0009] The soybean interplant weeding robot provided by the present invention includes the following walking components: A wheel, which is rotatably connected to the L-shaped wheel leg via a drive shaft; A drive motor is fixedly connected to the L-shaped wheel leg, and the drive motor is in transmission cooperation with the drive shaft.

[0010] The soybean interplant weeding robot provided by the present invention includes a deformable frame comprising: An upper mounting plate is fixedly connected to the bottom surface of the top plate; A lower mounting plate, which is arranged parallel to the upper mounting plate. A parallel four-bar linkage, wherein the top of the parallel four-bar linkage is rotatably connected to the bottom surface of the upper mounting plate via an upper bearing seat, and the bottom of the parallel four-bar linkage is rotatably connected to the top surface of the lower mounting plate via a lower bearing seat; A lifting rod, which is horizontally and fixedly connected to the parallel four-bar linkage; The fixed end of the electric cylinder is rotatably connected to the frame, and the telescopic end of the electric cylinder is rotatably connected to the middle position of the lifting rod through a connector.

[0011] The soybean interplant weeding robot provided by the present invention includes a linear slide table comprising: A lead screw bracket is fixedly connected to the bottom of the lower mounting plate, and the lead screw bracket has a U-shaped structure. A lead screw, which is rotatably connected to the lead screw bracket; A lead screw nut, which is slidably connected to the lead screw bracket, and the lead screw nut and the lead screw are threadedly connected; The second servo motor is fixedly connected to the lead screw bracket, and the second servo motor is axially connected to the lead screw. The motor bracket is fixed to the bottom of the lead screw nut.

[0012] The soybean interplant weeding robot provided by the present invention includes, in which the oscillating component comprises: The third servo motor is fixed on the motor bracket, and the output shaft of the third servo motor is fixedly connected to a drive gear; The driven gear is fixed at one end of the gear seat, and the driving gear meshes with the driven gear.

[0013] A method for operating a soybean interplant weeding robot includes the following steps: S1. Collect samples of weed stem diameter, elastic tooth, and soybean stem diameter. Combine the three types of samples to generate a dataset. Use a classification algorithm to classify the samples in the dataset. Then, use a semantic segmentation algorithm to perform fine segmentation on the classification results, focusing on segmenting the stem diameter of the plants. Subsequently, use a target detection algorithm to screen out soybean plants based on the segmentation results. Train the model to learn how to calculate the spacing between soybean plants, locate the coordinates of the plants in the camera image, and measure the distance between the elastic tooth and the plant. Finally, deploy the trained classification, segmentation, and detection integrated model into the robot's control module to provide algorithmic support for subsequent recognition and operations. S2, start the battery to power the walking mechanism, terrain following mechanism, weed removal mechanism and control module. The control module issues an initialization command to reset the walking components of the walking mechanism to the standby state, adjust the bogie to the initial guide angle, return the elastic teeth of the weed removal mechanism to the initial stationary position, and the linear slide moves the motor bracket to the preset initial coordinates. At the same time, the control module drives the electric cylinder to move. The output shaft of the electric cylinder extends and retracts to move the deformation frame and adjust the height of the deformation frame so that the ground wheel is in slight contact with the ground to ensure that the encoder can accurately collect the ground wheel rotation data. S3. After the robot starts walking, the ground wheels roll with the undulations of the ground. The encoder collects the rotation data of the ground wheels in real time and simultaneously obtains the robot's walking speed, moving distance and ground terrain information. After receiving the terrain data fed back by the encoder, the control module adjusts the extension and retraction of the electric cylinder in real time. The deformation frame adapts to the current terrain through posture changes, ensuring that the weed removal mechanism and the ground always maintain a constant working distance, avoiding incomplete weeding or damage to soybean plants by the elastic teeth due to terrain undulations. S4, the camera is fixed to the bottom of the deformation frame by the camera bracket and moves synchronously with the deformation frame to collect image information of the soybean seedling row area in real time and transmit the image data to the control module in real time. At the same time, the encoder continuously collects the robot's walking speed and moving distance data, and timestamps it with the image information collected by the camera to ensure that the position of the plant in the image corresponds one-to-one with the actual walking position of the robot, providing synchronous data support for subsequent accurate identification and weeding actions. S5, the control module calls the deployed model to process the images captured by the camera. First, it distinguishes between soybean stalks and weeds, then segments the centerline position of the soybean stalks, sorts the soybean stalks according to the direction of the seedling extension, calculates the coordinates of the center point of the gap between adjacent soybean plants and the actual width based on the sorting result, and constructs a dynamic gap map. Then, the dynamic gap map is bound to the position data collected by the encoder to realize the real-time update of the coordinate system, ensuring that the gap position is accurately matched with the robot's walking trajectory, laying the foundation for the position calibration of the elastic teeth and the determination of the timing of the action. S6, the control module sends control commands to the linear slide table according to the coordinates of the center point of the gap between adjacent soybean plants in the dynamic gap map. After the linear slide table is started, it drives the motor bracket installed on it to move in the horizontal direction, thereby adjusting the lateral position of the tooth seat and several sets of equally spaced elastic teeth, reducing the lateral alignment deviation between the elastic teeth and the center point of the gap, ensuring that the elastic teeth can accurately align with the weed area between plants, and avoiding weeding omissions or damage to soybean stems due to positional deviation. S7, the bogie of the walking mechanism, together with the walking components, drives the robot to move at a constant speed along the seedling row. The terrain following mechanism continuously feeds back terrain changes through the ground wheels and encoders. The electric cylinder adjusts the posture of the deformation frame in real time to maintain a stable working distance. The control module cyclically executes the process of image and motion information acquisition, plant recognition and dynamic gap map construction, elastic tooth lateral position calibration and weeding action timing determination and execution, continuously carrying out weed removal operations until the weed removal operation between plants in the designated planting area is completed.

[0014] According to the working method of the soybean interplant weeding robot provided by the present invention, a matching degree evaluation function is designed to determine the appropriate timing of the elastic teeth's action. : In the formula above, alignment deviation is the lateral deviation between the theoretical position of the j-th tooth and the center point of the i-th gap. The smaller the deviation, the higher the score should be. Safety margin: gap width Subtract the elastic tooth oscillation envelope width The greater the margin, the safer it is, and the higher the score should be. Where α and β are weights, and σ controls the tolerance for alignment deviation. This means that any tooth width greater than the clearance will result in a huge penalty, ensuring safety.

[0015] According to the working method of the soybean interplant weeding robot provided by the present invention, the classification adopts a classification model, which includes CNN-Based, YOLO series, YOLOX, PP-YOLOE+, and EfficientDet.

[0016] The present invention discloses the following technical effects: The device works in concert with a terrain-following mechanism, a deformation frame, an electric cylinder, an encoder, and a camera. The ground wheel keeps in real time with the ground to sense undulations, the encoder collects movement data, and the camera identifies the terrain and the environment between plants. The height and angle of the deformation frame are dynamically adjusted so that the weed removal mechanism is always aligned with the gaps between plants. This effectively avoids the problem of missing weeds or accidentally damaging soybean seedlings due to terrain undulations. It is adaptable to soybean field terrain with different flatness and greatly improves the accuracy of weed removal between plants.

[0017] The weed removal mechanism adopts an elastic tooth design, with several sets of elastic teeth fixed at equal intervals on the tooth base. The rotation driven by the swing component achieves weed removal. The elastic material can effectively buffer the impact force of contact with soybean seedlings, avoiding damage to the stems and roots of soybean seedlings. At the same time, the rotation of the tooth base and the precise movement of the linear slide are coordinated to remove only weeds, maximizing the preservation of soybean seedlings and providing a good guarantee for soybean growth.

[0018] The device is powered by a battery and operates automatically throughout the entire process, including walking, following the terrain, and removing weeds. It requires no manual operation, significantly reducing labor input and lowering the labor costs of weeding in soybean fields. Compared to traditional chemical weeding methods, this device removes weeds through mechanical and physical means, avoiding pesticide residues that could pollute the soil, water, and soybeans themselves. This aligns with the needs of green agriculture development and improves soybean quality. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of the soybean interplant weeding robot of the present invention; Figure 2 This is a schematic diagram of the terrain following mechanism of the present invention. Figure I ; Figure 3 This is a schematic diagram of the weed removal mechanism of the present invention. Figure 4 This is a schematic diagram of the terrain following mechanism of the present invention. Figure II ; Figure 5 This is a schematic diagram of the walking mechanism of the present invention; Figure 6 The working method of the soybean interplant weeding robot of the present invention is as follows: Figure I ; Figure 7 The working method of the soybean interplant weeding robot of the present invention is as follows: Figure II ; Figure 8 The working method of the soybean interplant weeding robot of the present invention is as follows: Figure III ; Figure 9 The working method of the soybean interplant weeding robot of the present invention is as follows: Figure IV .

[0021] Among them, 100 is the walking mechanism; 200 is the terrain following mechanism; and 300 is the weed removal mechanism. 101. Connector; 102. Wheel; 103. Drive shaft; 104. Drive motor; 105. L-shaped wheel leg; 106. Hollow turntable; 107. First servo motor; 108. Frame; 109. Top plate; 110. Battery; 111. Electric cylinder; 201. Parallel four-bar linkage; 202. Upper bearing housing; 203. Upper mounting plate; 204. Lifting rod; 205. Lower bearing housing; 206. Lower mounting plate; 207. Ground wheel bracket; 208. Ground wheel; 209. Encoder; 210. Camera; 211. Camera bracket; 301. Flexible tooth; 302. Gear seat; 303. Driven gear; 304. Driving gear; 305. Third servo motor; 306. Motor bracket; 307. Lead screw nut; 308. Lead screw; 309. Lead screw bracket; 310. Second servo motor. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Reference Figures 1-5 This invention provides a soybean interplant weeding robot, comprising: The traveling mechanism 100 includes a frame 108, on which four sets of bogies are mounted, and on which traveling components are mounted, and on the top of the frame 108 a top plate 109 is mounted, and on the top plate 109 a battery 110 is mounted. The terrain following mechanism 200 includes a deformation frame, a ground wheel 208, an encoder 209, and a camera 210. The deformation frame is installed below the middle position of the top plate 109. An electric cylinder 111 is rotatably connected to the top of the frame 108. The output shaft of the electric cylinder 111 is rotatably connected to the deformation frame. The ground wheel 208 is installed on one side of the bottom of the deformation frame through a ground wheel bracket 207. The encoder 209 is installed on the ground wheel bracket 207. The camera 210 is fixed to the other side of the bottom of the deformation frame through a camera bracket 211. The weed removal mechanism 300 includes a linear slide, elastic teeth 301, a motor bracket 306, a swing assembly, and a tooth holder 302. The linear slide is installed at the bottom of the deformation frame and is located between the ground wheel 208 and the encoder 209. The motor bracket 306 is installed on the linear slide, the swing assembly is installed on the motor bracket 306, and the tooth holder 302 is rotatably connected to the bottom of the motor bracket 306. The swing assembly and the tooth holder 302 are in a transmission engagement to drive the tooth holder 302 to rotate. Several sets of elastic teeth 301 are provided, and the several sets of elastic teeth 301 are fixed at equal intervals on the tooth holder 302.

[0025] Further optimization of the design, the bogie includes: Hollow turntable 106 is rotatably connected to both sides of the bottom of frame 108; L-shaped wheel leg 105 is rotatably connected to hollow turntable 106. A first servo motor 107 is fixedly connected to the hollow turntable 106, and the first servo motor 107 is connected to the L-shaped wheel leg 105 through transmission.

[0026] The first servo motor 107, fixed on the hollow turntable 106, starts after receiving instructions from the control module. Through the transmission structure, it drives the L-shaped wheel legs 105, which are rotatably connected to it, to adjust their angle, thereby changing the orientation of the walking components at the bottom of the L-shaped wheel legs 105. The four sets of bogies work together. Through the precise speed adjustment of the first servo motor 107, the robot's walking direction (straight, turning, turning in place) can be flexibly adjusted. At the same time, the angle adjustment of the L-shaped wheel legs 105 can adapt to slight terrain undulations. Together with the walking components, it ensures that the robot turns smoothly along the gaps between soybean plants, ensuring the accuracy of the walking trajectory.

[0027] The solution has been further optimized, and the walking components include: Wheel 102 is rotatably connected to L-shaped wheel leg 105 via drive shaft 103; The drive motor 104 is fixedly connected to the L-shaped wheel leg 105, and the drive motor 104 is in transmission cooperation with the drive shaft 103.

[0028] After receiving a control signal, the drive motor 104 starts and drives the drive shaft 103 connected to it to rotate through transmission. The drive shaft 103 then drives the wheel 102 mounted on it to rotate synchronously. The robot moves in a straight line by utilizing the friction between the wheel 102 and the ground. The drive motor 104 can be speed-adjusted to control the robot's walking speed and adapt to different field operation rhythms. At the same time, the wheel 102 is rotatably connected to the L-shaped wheel leg 105 through the drive shaft 103. It can change its orientation synchronously with the angle adjustment of the L-shaped wheel leg 105, and complete the turning action in conjunction with the bogie to ensure smooth and continuous walking and turning actions.

[0029] Further optimization of the design includes: The upper mounting plate 203 is fixedly connected to the bottom surface of the top plate 109; The lower mounting plate 206 is arranged parallel to the upper mounting plate 203. The top of the parallel four-bar linkage 201 is rotatably connected to the bottom surface of the upper mounting plate 203 via the upper bearing seat 202, and the bottom of the parallel four-bar linkage 201 is rotatably connected to the top surface of the lower mounting plate 206 via the lower bearing seat 205. Lifting rod 204 is horizontally fixedly connected to parallel four-bar linkage 201; The fixed end of the electric cylinder 111 is rotatably connected to the frame 108, and the telescopic end of the electric cylinder 111 is rotatably connected to the middle position of the lifting rod 204 through the connector 101.

[0030] The upper mounting plate 203 is fixed to the bottom surface of the top plate 109, providing fixed support for the entire deformation frame. The lower mounting plate 206 is arranged parallel to the upper mounting plate 203 and is used to install components such as the linear slide and the ground wheel 208. The top of the parallel four-bar linkage 201 is rotatably connected to the bottom surface of the upper mounting plate 203 through the upper bearing seat 202, and the bottom is rotatably connected to the top surface of the lower mounting plate 206 through the lower bearing seat 205, ensuring stability during deformation. When the electric cylinder 111 receives a control signal to extend or retract, its extension end drives the lifting rod 204, which is horizontally fixed on the parallel four-bar linkage 201, to move through the connector 101. The lifting rod 204 drives the parallel four-bar linkage 201 to extend and retract, thereby driving the lower mounting plate 206 to rise and fall, realizing the terrain-following function and ensuring that the weeding and detection components on the lower mounting plate 206 always conform to the field terrain.

[0031] Further optimization of the scheme, the linear slide includes: The lead screw bracket 309 is fixedly connected to the bottom of the lower mounting plate 206. The lead screw bracket 309 has a U-shaped structure. Lead screw 308 is rotatably connected to lead screw bracket 309; The lead screw nut 307 is slidably connected to the lead screw bracket 309, and the lead screw nut 307 is threadedly connected to the lead screw 308. The second servo motor 310 is fixedly connected to the lead screw bracket 309, and the second servo motor 310 and the lead screw 308 are axially connected. After receiving the weed position signal from the control module, the second servo motor 310 starts and directly drives the lead screw 308, which is shaft-connected to it, to rotate on the lead screw support 309. When the lead screw 308 rotates, the lead screw nut 307, which is threaded to it, slides linearly along the guide structure of the lead screw support 309. Since the motor support 306 is fixed to the bottom of the lead screw nut 307, the sliding of the lead screw nut 307 will synchronously drive the motor support 306 and the weed removal components (tooth seat 302, elastic tooth 301, etc.) at the bottom to move. Through the precise speed control and positioning of the second servo motor 310, the precise displacement of the weed removal mechanism 300 in the gap between plants is achieved, ensuring that it is aligned with the weed position.

[0032] The motor bracket 306 is fixed to the bottom of the lead screw nut 307.

[0033] Further optimization of the design includes the following swing components: The third servo motor 305 is fixed on the motor bracket 306, and the output shaft of the third servo motor 305 is fixedly connected to the drive gear 304. Driven gear 303 is fixed to one end of gear seat 302, and driving gear 304 meshes with driven gear 303.

[0034] The third servo motor 305 is fixed on the motor bracket 306. When in operation, it receives a control signal and starts. Its output shaft drives the drive gear 304 fixed on it to rotate synchronously. The drive gear 304 meshes with the driven gear 303 fixed at one end of the gear holder 302, thereby driving the driven gear 303 and the gear holder 302 to rotate together. By adjusting the speed of the third servo motor 305, the rotation speed of the gear holder 302 can be controlled, so that several sets of elastic teeth 301 fixed at equal intervals on the gear holder 302 can reach a suitable weeding speed. The high-speed rotation of the elastic teeth 301 is used to remove the roots or stems and leaves of weeds. At the same time, the gear meshing transmission method ensures smooth and precise power transmission and avoids misalignment of weeding caused by the rotational deviation of the gear holder 302.

[0035] refer to Figures 6-9 A method for operating a soybean interplant weeding robot includes the following steps: S1. Collect samples of weed stem diameter, elastic tooth 301, and soybean stem diameter. Combine the three types of samples to generate a dataset. Use a classification algorithm to classify the samples in the dataset. Then, use a semantic segmentation algorithm to perform fine segmentation on the classification results, focusing on segmenting the plant stem diameter. Subsequently, use a target detection algorithm to screen out soybean plants based on the segmentation results. Train the model to learn how to calculate the spacing between soybean plants, locate the coordinates of the plants in the camera 210 frame, and measure the distance between the elastic tooth 301 and the plants. Finally, deploy the trained classification, segmentation, and detection integrated model into the robot's control module to provide algorithmic support for subsequent recognition and operations. S2, start the battery 110 to power the walking mechanism 100, terrain following mechanism 200, weed removal mechanism 300 and control module. The control module issues an initialization command to reset the walking components of the walking mechanism 100 to the standby state, adjust the bogie to the initial guide angle, and return the elastic tooth 301 of the weed removal mechanism 300 to the initial stationary position. The linear slide moves the motor bracket 306 to the preset initial coordinates. At the same time, the control module drives the electric cylinder 111 to move. The output shaft of the electric cylinder 111 extends and retracts to move the deformation frame and adjust the height of the deformation frame so that the ground wheel 208 is in slight contact with the ground, ensuring that the encoder 209 can accurately collect the rotation data of the ground wheel 208. S3. After the robot starts walking, the ground wheel 208 rolls with the undulation of the ground. The encoder 209 collects the rotation data of the ground wheel 208 in real time and simultaneously obtains the robot's walking speed, moving distance and ground terrain information. After receiving the terrain data fed back by the encoder 209, the control module adjusts the extension and retraction of the electric cylinder 111 in real time. The posture change of the deformation frame adapts to the current terrain to ensure that the weed removal mechanism 300 and the ground always maintain a constant working distance, so as to avoid incomplete weeding or damage to soybean plants by the elastic teeth 301 due to terrain undulation. S4, the camera 210 is fixed to the bottom of the deformation frame via the camera bracket 211 and moves synchronously with the deformation frame to collect image information of the soybean seedling row area in real time and transmit the image data to the control module in real time. At the same time, the encoder 209 continuously collects the robot's walking speed and moving distance data and timestamps them with the image information collected by the camera 210 to ensure that the position of the plant in the image corresponds one-to-one with the actual walking position of the robot, providing synchronous data support for subsequent accurate identification and weeding actions; S5, the control module calls the deployed model to process the images captured by camera 210. First, it distinguishes between soybean stalks and weeds, then segments the centerline position of the soybean stalks, sorts the soybean stalks according to the direction of seedling extension, calculates the coordinates of the center point of the gap between adjacent soybean plants and the actual width based on the sorting result, and constructs a dynamic gap map. Then, the dynamic gap map is bound to the position data collected by encoder 209 to realize the real-time update of the coordinate system, ensuring that the gap position is accurately matched with the robot's walking trajectory, laying the foundation for the position calibration and action timing determination of elastic tooth 301; S6, the control module sends a control command to the linear slide table according to the coordinates of the center point of the gap between adjacent soybean plants in the dynamic gap map. After the linear slide table is started, it drives the motor bracket 306 installed on it to move in the horizontal direction, thereby adjusting the lateral position of the tooth seat 302 and several sets of equally spaced elastic teeth 301, reducing the lateral alignment deviation between the elastic teeth 301 and the center point of the gap, ensuring that the elastic teeth 301 can accurately align with the weed area between plants, and avoiding the omission of weeding or damage to soybean stems due to positional deviation. S7, the bogie of the walking mechanism 100, in conjunction with the walking components, drives the robot to move at a constant speed along the seedling row. The terrain following mechanism 200 continuously feeds back terrain changes through the ground wheel 208 and encoder 209. The electric cylinder 111 adjusts the posture of the deformation frame in real time to maintain a stable working distance. The control module cyclically executes the process of image and motion information acquisition, plant recognition and dynamic gap map construction, elastic tooth 301 lateral position calibration and weeding action timing determination and execution, continuously carrying out weed removal operations until the weed removal operation between plants in the designated planting area is completed.

[0036] To further optimize the scheme and determine the appropriate timing for the elastic tooth 301 to actuate, a matching degree evaluation function is designed. : In the formula above, alignment deviation is the lateral deviation between the theoretical position of the j-th tooth and the center point of the i-th gap. The smaller the deviation, the higher the score should be. Safety margin: gap width Subtract the oscillation envelope width of the elastic tooth 301 The greater the margin, the safer it is, and the higher the score should be. Where α and β are weights, and σ controls the tolerance for alignment deviation. This means that any tooth width greater than the clearance will result in a huge penalty, ensuring safety.

[0037] To further optimize the scheme, classification models are adopted, including CNN-Based, YOLO series, YOLOX, PP-YOLOE+, and EfficientDet.

[0038] The globally optimal approach requires sliding window search and triggering decisions. The system continuously scans a sliding window (e.g., covering the gaps between the next 15-20 plants) forward, using the current foremost elastic tooth 301 as a reference. Within this window, 10 teeth with a fixed spacing (taking 10 elastic teeth 301 as an example) are "paired" with all possible groups of 10 consecutive gaps, and the score for each pairing is calculated.

[0039] Before triggering the action of the elastic tooth 301, when it is detected that a certain score not only exceeds the preset safety threshold, but is also on an upward trend (about to reach the matching peak), a swing command is issued based on the prediction of the agricultural machinery speed.

[0040] The threshold setting method is that all 10 gaps must be satisfied in any triggered action. (With a safety margin). Encoder 209 is used to measure the forward speed to predict the precise time it takes for the tooth set to reach the target gap position, compensating for calculation and control delays. Local optima are employed: if a perfect 10-tooth match does not occur for an extended period, the algorithm is downgraded to searching for a high-scoring combination of "9-tooth matches".

[0041] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0042] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A soybean interplant weeding robot, characterized in that, include: The walking mechanism (100) includes a frame (108), on which four sets of bogies are mounted, on which walking components are mounted, and on the top of the frame (108) is a top plate (109), on which a battery (110) is mounted. The terrain following mechanism (200) includes a deformation frame, a ground wheel (208), an encoder (209), and a camera (210). The deformation frame is installed below the middle position of the top plate (109). An electric cylinder (111) is rotatably connected to the top of the frame (108). The output shaft of the electric cylinder (111) is rotatably connected to the deformation frame. The ground wheel (208) is installed on one side of the bottom of the deformation frame through a ground wheel bracket (207). The encoder (209) is installed on the ground wheel bracket (207). The camera (210) is fixed on the other side of the bottom of the deformation frame through a camera bracket (211). The weed removal mechanism (300) includes a linear slide, elastic teeth (301), a motor bracket (306), a swing assembly, and a tooth seat (302). The linear slide is installed at the bottom of the deformation frame and is located between the ground wheel (208) and the encoder (209). The motor bracket (306) is installed on the linear slide. The swing assembly is installed on the motor bracket (306). The tooth seat (302) is rotatably connected to the bottom of the motor bracket (306). The swing assembly and the tooth seat (302) are in a transmission engagement to drive the tooth seat (302) to rotate. The elastic teeth (301) are provided in several groups, and the several groups of elastic teeth (301) are fixed at equal intervals on the tooth seat (302).

2. The soybean interplant weeding robot according to claim 1, characterized in that, The bogie includes: Hollow turntable (106), the hollow turntable (106) is rotatably connected to both sides of the bottom of the frame (108); L-shaped wheel leg (105) is rotatably connected to the hollow turntable (106). A first servo motor (107) is fixedly connected to the hollow turntable (106), and the first servo motor (107) is connected to the L-shaped wheel leg (105) through transmission.

3. The soybean interplant weeding robot according to claim 2, characterized in that, The walking component includes: A wheel (102) is rotatably connected to the L-shaped wheel leg (105) via a drive shaft (103); A drive motor (104) is fixedly connected to the L-shaped wheel leg (105), and the drive motor (104) is in transmission cooperation with the drive shaft (103).

4. The soybean interplant weeding robot according to claim 1, characterized in that, The deformation frame includes: Upper mounting plate (203), the upper mounting plate (203) is fixedly connected to the bottom surface of the top plate (109); The lower mounting plate (206) is arranged parallel to the upper mounting plate (203). A parallel four-bar linkage (201) is provided, the top of which is rotatably connected to the bottom surface of the upper mounting plate (203) via an upper bearing seat (202), and the bottom of which is rotatably connected to the top surface of the lower mounting plate (206) via a lower bearing seat (205). A lifting rod (204) is horizontally fixedly connected to the parallel four-bar linkage (201); The fixed end of the electric cylinder (111) is rotatably connected to the frame (108), and the telescopic end of the electric cylinder (111) is rotatably connected to the middle position of the lifting rod (204) through the connector (101).

5. A soybean interplant weeding robot according to claim 4, characterized in that, The linear slide includes: A lead screw bracket (309) is fixedly connected to the bottom of the lower mounting plate (206), and the lead screw bracket (309) has a U-shaped structure. A lead screw (308) is rotatably connected to the lead screw bracket (309); A lead screw nut (307) is slidably connected to the lead screw bracket (309), and the lead screw nut (307) is threadedly connected to the lead screw (308); The second servo motor (310) is fixedly connected to the lead screw bracket (309), and the second servo motor (310) is axially connected to the lead screw (308); The motor bracket (306) is fixed to the bottom of the lead screw nut (307).

6. The soybean interplant weeding robot according to claim 1, characterized in that, The swing component includes: The third servo motor (305) is fixed on the motor bracket (306), and the output shaft of the third servo motor (305) is fixedly connected to the drive gear (304). Driven gear (303) is fixed at one end of the gear seat (302), and the driving gear (304) meshes with the driven gear (303).

7. A method for operating a soybean inter-plant weeding robot, based on the soybean inter-plant weeding robot according to any one of claims 1-6, characterized in that, Includes the following steps: S1. Collect samples of weed stem diameter, elastic tooth (301) and soybean stem diameter, combine the three types of samples to generate a dataset, use a classification algorithm to classify the samples in the dataset, and then use a semantic segmentation algorithm to finely segment the classification results, focusing on segmenting the plant stem diameter. Then, based on the segmentation results, use a target detection algorithm to screen out soybean plants, train the model to learn the methods of calculating the distance between soybean plants, locating the coordinates of the plant in the camera (210) image, and measuring the distance between the elastic tooth (301) and the plant. Finally, deploy the trained classification, segmentation and detection integrated model to the robot's control module to provide algorithm support for subsequent recognition and operation. S2, start the battery (110) to power the walking mechanism (100), terrain following mechanism (200), weed removal mechanism (300) and control module. The control module issues an initialization command to reset the walking components of the walking mechanism (100) to the standby state, adjust the bogie to the initial guide angle, and return the elastic teeth (301) of the weed removal mechanism (300) to the initial stationary position. The linear slide moves the motor bracket (306) to the preset initial coordinates. At the same time, the control module drives the electric cylinder (111) to move. The output shaft of the electric cylinder (111) extends and retracts to drive the deformation frame to move, adjust the height of the deformation frame, and keep the ground wheel (208) in slight contact with the ground to ensure that the encoder (209) can accurately collect the rotation data of the ground wheel (208). S3, after the robot starts walking, the ground wheel (208) rolls with the undulation of the ground. The encoder (209) collects the rotation data of the ground wheel (208) in real time and synchronously obtains the robot's walking speed, moving distance and ground terrain information. After receiving the terrain data fed back by the encoder (209), the control module adjusts the extension and retraction of the electric cylinder (111) in real time. The deformation frame adapts to the current terrain through posture changes, ensuring that the weed removal mechanism (300) and the ground always maintain a constant working distance, avoiding incomplete weeding or damage to soybean plants by the elastic teeth (301) due to terrain undulations. S4, the camera (210) is fixed to the bottom of the deformation frame through the camera bracket (211) and moves synchronously with the deformation frame to collect image information of the soybean seedling row area in real time and transmit the image data to the control module in real time. At the same time, the encoder (209) continuously collects the robot's walking speed and moving distance data and timestamps it with the image information collected by the camera (210) to ensure that the position of the plant in the image corresponds one-to-one with the actual walking position of the robot, providing synchronous data support for subsequent accurate identification and weeding actions; S5, the control module calls the deployed model to process the image collected by the camera (210), first distinguishes soybean stalks from weeds, then segments the center line position of the soybean stalks, sorts the soybean stalks according to the direction of seedling extension, calculates the coordinates of the center point of the gap between adjacent soybean plants and the actual width based on the sorting result, constructs a dynamic gap map, and then binds the dynamic gap map with the position data collected by the encoder (209) to realize the real-time update of the coordinate system, ensuring that the gap position is accurately matched with the robot's walking trajectory, laying the foundation for the position calibration and action timing determination of the elastic tooth (301); S6, the control module sends a control command to the linear slide table according to the coordinates of the center point of the gap between adjacent soybean plants in the dynamic gap map. After the linear slide table is started, it drives the motor bracket (306) installed on it to move in the horizontal direction, thereby adjusting the lateral position of the tooth seat (302) and several sets of equally spaced elastic teeth (301), reducing the lateral alignment deviation between the elastic teeth (301) and the center point of the gap, ensuring that the elastic teeth (301) can accurately align with the weed area between plants, and avoiding the omission of weeding or damage to soybean stems due to positional deviation. S7, the bogie of the walking mechanism (100) works with the walking components to drive the robot to move at a constant speed along the seedling row. The terrain following mechanism (200) continuously feeds back terrain changes through the ground wheel (208) and encoder (209). The electric cylinder (111) adjusts the posture of the deformation frame in real time to maintain a stable working distance. The control module cyclically executes the process of image and motion information acquisition, plant identification and dynamic gap map construction, elastic tooth (301) lateral position calibration and weeding action timing determination and execution, and continuously carries out weed removal operations until the weed removal operation between plants in the designated planting area is completed.

8. The working method of the soybean interplant weeding robot according to claim 7, characterized in that, To determine the appropriate timing of the elastic tooth (301), a matching degree evaluation function is designed. : In the formula above, alignment deviation is the lateral deviation between the theoretical position of the j-th tooth and the center point of the i-th gap. The smaller the deviation, the higher the score should be. Safety margin: gap width Subtract the oscillation envelope width of the elastic tooth (301) The greater the margin, the safer it is, and the higher the score should be. Where α and β are weights, and σ controls the tolerance for alignment deviation. This means that any tooth width greater than the clearance will result in a huge penalty, ensuring safety.

9. The working method of the soybean interplant weeding robot according to claim 7, characterized in that, The classification uses classification models, including CNN-Based, YOLO series, YOLOX, PP-YOLOE+, and EfficientDet.

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