Intelligent weeding equipment based on visual navigation

Abstract

The utility model discloses intelligent weeding equipment based on visual navigation, and relates to the technical field of intelligent weeding equipment. In order to solve the problems that transverse movement in a field and increase and decrease of the operation number of weeding components of an existing weeding machine in the using process need manual adjustment, ridges are prone to being damaged in the working process, the using convenience of the weeding machine is reduced, mechanical weeding mostly refers to inter-row weeding, the inter-plant weed effect is not ideal, weeds cannot be intelligently recognized, and the weeding efficiency is high. And the operation path of the weeding machine is planned for efficient weeding. The device comprises a connecting frame, a translation mechanism, a turnover mechanism and a visual navigation mechanism, one side of the connecting frame is movably connected with a weeding mechanism, the other side of the connecting frame is connected with a supporting wheel, and the weeding mechanism comprises a rack, a weeding shovel and weeding fingers; the rack is movably connected to the connecting frame, a plurality of weeding shovels and a plurality of weeding fingers are arranged on the rear side of the rack, and a visual navigation mechanism is arranged at the upper end of the rack. The farmland weeding machine is used for farmland weeding.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent weeding equipment, and in particular to an intelligent weeding equipment based on visual navigation. Background Art

[0002] Weed control is one of the key steps in the agricultural production process. Existing farmland weed control technologies mainly include manual weeding, mechanical weeding, chemical weeding, etc. Manual weeding has high accuracy, but high cost, low efficiency and long cycle. With the development and progress of agricultural machinery technology, it has been gradually replaced. Mechanical weeding is to kill weeds through physical actions such as cutting and burying. It is an economical, safe, green and sustainable weed control technology.

[0003] A lawn mower, also known as a lawn mower, a lawn mower, or a lawn trimmer, is a mechanical tool used to mow lawns, vegetation, etc. It consists of a cutter disc, an engine, a running wheel, a walking mechanism, a blade, an armrest, and a control part. The cutter disc is mounted on the running wheel, and an engine is mounted on the cutter disc. The blade is mounted on the output shaft of the engine. The blade utilizes the high-speed rotation of the engine to increase the speed a lot, which saves the working time of the weeding workers and reduces a lot of human resources. A lawn mower is needed in the agricultural production process.

[0004] At present, when agricultural weeders are in use, the weeding parts are usually connected to the frame, which requires manual adjustment of the lateral movement of the weeder in the field. This can easily damage the ridges during operation, reducing the convenience of using the weeder. At the same time, mechanical weeding is mostly inter-row weeding, and the effect on inter-plant weeds is not ideal. Utility Model Content

[0005] The purpose of the utility model is to solve the problems in the prior art that the lateral movement of the weeder in the field and the increase or decrease of the number of weeding parts in operation during use need to be manually adjusted, the field ridges are easily damaged during operation, the convenience of using the weeder is reduced, and at the same time, mechanical weeding is mostly inter-row weeding, and the effect on weeds between plants is not ideal, and thus provide an intelligent weeding device based on visual navigation.

[0006] The technical solution adopted by the utility model to solve the above-mentioned problems is: an intelligent weeding equipment based on visual navigation, including a connecting frame, a translation mechanism, a flipping mechanism, a weeding mechanism and a visual navigation system; the front end of the connecting frame is connected with a supporting wheel, and the rear end is movably connected with a weeding mechanism, and the weeding mechanism includes a frame, an inter-row weeding unit and an inter-plant weeding unit; the frame is movably connected to the connecting frame, and a plurality of inter-row weeding units and a plurality of inter-plant weeding units are arranged at intervals on the rear side of the frame, a visual navigation mechanism is arranged on the top of the frame, the translation mechanism is used to control the translation movement of the weeding mechanism along the connecting frame, the flipping mechanism is used to control the up and down flipping movement of the left and right sides of the weeding mechanism, and the visual navigation system is used to identify weeds and control the weeding operation of the weeding equipment.

[0007] Furthermore, the frame includes a main frame and two flip frames, the main frame is slidably connected to the connecting frame through a translation mechanism, and the left and right sides of the main frame are rotationally connected to the flip frames through a flip mechanism.

[0008] Furthermore, the translation mechanism includes a translation cylinder and a sliding frame, the front end of the sliding frame is slidably connected to the connecting frame, and the rear end is connected to the main frame. One end of the translation cylinder is arranged on the connecting frame, and the other end is arranged on the sliding frame.

[0009] Furthermore, the flip mechanism includes a flip cylinder and a connecting shaft, the main frame and the flip frame are rotationally connected via the connecting shaft, one end of the flip cylinder is connected to the main frame via a rotating shaft, and the other end is connected to the flip frame via a rotating shaft.

[0010] Furthermore, the inter-row weeding unit includes an inter-row frame, a connecting plate, an inter-row oil cylinder, a crossbeam, an inter-row ground wheel, a plurality of inter-row weeding plates and a weeding shovel; the inter-row frame is connected to the main frame or the flip frame, the front end of the connecting plate is hinged to the inter-row frame, and the rear end is hinged to the crossbeam, one end of the inter-row oil cylinder is connected to the inter-row frame through a rotating shaft, and the other end is connected to the crossbeam through a rotating shaft, the front end of the crossbeam is provided with inter-row ground wheels and inter-row weeding plates, and the rear end is provided with a weeding shovel, the inter-row weeding plates are divided into two rows and are respectively arranged on the left and right sides of the crossbeam, the inter-row weeding plates and the weeding shovel are fixedly connected to the crossbeam through a spiral bracket, the weeding shovel is a V-shaped structure, the front end of the weeding shovel is a shovel tip, and shovel wings are provided on the left and right sides of the shovel tip.

[0011] Furthermore, the inter-row weeding unit includes an inter-row frame, a rotating plate, an inter-row oil cylinder, a connecting beam, an inter-row ground wheel, a plurality of inter-row weeding plates and a plurality of weeding fingers; the inter-row frame is connected to the main frame or the flip frame, the front end of the rotating plate is hinged to the inter-row frame, and the rear end is hinged to the connecting beam, one end of the inter-row oil cylinder is connected to the inter-row frame through a rotating shaft, and the other end is connected to the connecting beam through a rotating shaft, the front end of the connecting beam is provided with an inter-row ground wheel, the middle part is provided with a plurality of inter-row weeding plates, and the rear end is provided with a plurality of weeding fingers, the inter-row weeding plates are divided into two rows and are respectively arranged on the left and right sides of the connecting beam, the weeding fingers are divided into two rows and are respectively arranged on the left and right sides of the connecting beam, and the inter-row weeding plates and the weeding fingers are fixedly connected to the connecting beam through a spiral truss.

[0012] Furthermore, the inter-row weeding boards are divided into two rows and are respectively arranged on the left and right sides of the connecting beam, each row of inter-row weeding boards is divided into multiple soil-raising board groups, and each soil-raising board group is composed of two inter-row weeding boards cross-arranged on the left and right sides; the weeding fingers are divided into two rows and are respectively arranged on the left and right sides of the connecting beam, each row of weeding fingers is composed of multiple weeding fingers, and the angle α between the weeding fingers and the ground is 25°-40°.

[0013] Furthermore, the visual navigation system includes a camera, a range counter, an orientation sensor, a drive status sensor and a controller, the output end of the camera is connected to the input end of the image processing module in the controller, the range counter, the orientation sensor and the drive status sensor are all electrically connected to the controller, the controller outputs a control signal to the driver, the driver drives the rotating motor, and the rotating motor controls the rotation of the weeding finger. The camera is used to collect video information of weeds in the field, the range counter is used to calculate the range of the weeding equipment, the orientation sensor is used to monitor the speed and direction of the weeding equipment, and the drive status sensor is used to collect the action parameters of the translation cylinder, the flip cylinder, the row cylinder and the plant cylinder.

[0014] The utility model has the following beneficial technical effects:

[0015] The utility model adjusts the lateral translation of the weeding mechanism through the extension and translation mechanism, and the weeder can move freely in the horizontal direction along the field terrain, thereby improving the convenience of using the weeder. The turning mechanism drives the turning frame to turn upward, thereby making the left and right side structures of the weeding mechanism turn upward as a whole, thereby realizing the adjustment of the working width of the weeder, thereby making the weeder better adapted to the field environment and improving the versatility of the weeder.

[0016] The weeding shovel and weeding fingers adopted by the utility model are connected to the end of the spiral bracket or spiral truss by bolts, and the spiral bracket or spiral truss is further connected to the crossbeam or connecting beam. The spiral bracket and the spiral truss are generally S-shaped, and the lower part is in an inverted U shape. The structure has a shock-absorbing effect, which can prevent the weeding parts from breaking and being damaged due to the compressive strength exceeding the compressive strength of the material of the weeding parts due to uncontrollable factors such as soil hardening.

[0017] The utility model adopts the machine inter-row weeding unit and the inter-plant weeding unit to be arranged at intervals for coordinated weeding operations. The inter-plant weeding board and weeding fingers remove weeds on the ridges, the inter-row weeding board removes weeds on the two sides of the ridges, and the weeding shovel removes weeds in the ridge ditch. The weeding shovel can also trim the ridge soil broken by the weeding fingers. The two inter-plant weeding boards arranged crosswise on the left and right have high weeding efficiency for weeding between plants and low damage to the ridges. The weeding fingers are provided with outer weeding teeth and inner weeding teeth. The gaps between the teeth are used as seedling avoidance spaces. The weeding is staggered up and down to cut weeds, which can efficiently remove weeds of different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the utility model;

[0019] Figure 2 yes Figure 1 The main view;

[0020] Figure 3 yes Figure 1 Left view of

[0021] Figure 4 yes Figure 1 A top view of

[0022] Figure 5 It is a structural schematic diagram of the flipping mechanism;

[0023] Figure 6 It is a structural schematic diagram of the translation mechanism;

[0024] Figure 7 It is a three-dimensional structural schematic diagram of the inter-row weeding unit;

[0025] Figure 8 yes Figure 7 The main view;

[0026] Fig. 9 yes Figure 7 A top view of

[0027] Fig.10 yes Figure 7 Left view of

[0028] Fig.11 It is a schematic diagram of the three-dimensional structure of the inter-plant weeding unit;

[0029] Fig.12 yes Fig.11 The main view;

[0030] Fig.13 yes Fig.11 A top view of

[0031] Fig.14 yes Fig.11 Left view of

[0032] Fig.15 It is one of the structural diagrams of weeding fingers;

[0033] Fig.16 It is the second structural diagram of the weeding finger;

[0034] Fig.17 It is the third structural diagram of weed control finger;

[0035] Fig.18 This is a schematic diagram of the structure of the inter-row soil board;

[0036] Fig.19 This is a schematic diagram of the structure of the inter-plant soil-raising board;

[0037] Fig. 20 It is a schematic diagram of the operation of the weed control mechanism in the field;

[0038] Fig.21 It is a schematic diagram of the distribution of weed control fingers in the field;

[0039] Fig. 22 It is the control principle diagram of the utility model;

[0040] In the figure: 1, connecting frame; 2, translation mechanism; 21, translation cylinder; 22, sliding frame;

[0041] 3. Main frame; 4. Turning frame; 5. Turning mechanism; 51. Turning cylinder; 52. Connecting shaft; 6. Support wheel;

[0042] 7. Inter-row weeding unit; 71. Inter-row frame; 72. Connecting plate; 73. Inter-row oil cylinder; 74. Crossbeam; 75. Inter-row ground wheel; 76. Screw bracket; 77. Inter-row weeding board; 78. Weeding shovel;

[0043] 8. inter-row weeding unit; 81. inter-row frame; 82. rotating plate; 83. inter-row oil cylinder; 84. connecting beam; 85. inter-row ground wheel; 86. spiral truss; 87. inter-row weeding board;

[0044] 88. Weeding finger; 881. Rotating motor; 882. External weeding teeth; 883. Internal weeding teeth; 9. Visual navigation system. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the utility model more clearly understood, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments of the specification. The specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0046] Specific implementation method 1: Combination Figure 1-Figure 20 The present embodiment is described. The present embodiment describes an intelligent weeding device based on visual navigation, comprising a connecting frame 1, a translation mechanism 2, a flipping mechanism 5, a weeding mechanism and a visual navigation system 9; the front end of the connecting frame 1 is connected to a support wheel 10, and the rear end is movably connected to a weeding mechanism, and the weeding mechanism comprises a frame, an inter-row weeding unit 7 and an inter-plant weeding unit 8; the frame is movably connected to the connecting frame 1, and a plurality of inter-row weeding units 7 and a plurality of inter-plant weeding units 8 are arranged at intervals on the rear side of the frame, and a visual navigation mechanism 9 is arranged on the top of the frame, the translation mechanism 2 is used to control the translation movement of the weeding mechanism along the connecting frame 1, the flipping mechanism 5 is used to control the up and down flipping movement of the left and right sides of the weeding mechanism, and the visual navigation system 9 is used to identify weeds and control the weeding operation of the weeding device. The frame comprises a main frame 3 and two flipping frames 4, the main frame 3 is slidably connected to the connecting frame 1 through the translation mechanism 2, and the left and right sides of the main frame 3 are respectively connected to the flipping frames 4 through the flipping mechanism 5.

[0047] Specific implementation method 2: Combination Figure 1-Figure 20 To illustrate this embodiment, the translation mechanism 2 in this embodiment includes a translation cylinder 21 and a sliding frame 22. The front end of the sliding frame 22 is slidably connected to the connecting frame 1, and the rear end is connected to the main frame 3. One end of the translation cylinder 21 is set on the connecting frame 1, and the other end is set on the sliding frame 22.

[0048] The translation cylinder 21 used in this embodiment is arranged along the horizontal direction, the end of the cylinder rod of the translation cylinder 21 is connected to the connecting frame 1, and the cylinder barrel of the translation cylinder 21 is installed on the sliding frame 22. The extension and retraction of the cylinder rod pushes the sliding frame 22 to move horizontally left and right along the connecting frame 1.

[0049] The translation cylinder 21 used in this embodiment is a universal standard part, and its structure and principle can be known to technical personnel through the technical manual; the sliding frame 22 and the connecting frame 1 preferably adopt structures such as sliding rails, sliding grooves, dovetail grooves and linear guides to achieve relative sliding, so as to complete the translation movement.

[0050] The other components and connection relationships are the same as those of the first embodiment.

[0051] Specific implementation method three: Combination Figure 1-Figure 20To illustrate this embodiment, the flip mechanism 5 in this embodiment includes a flip cylinder 51 and a connecting shaft 52. The main frame 3 and the flip frame 4 are rotatably connected via the connecting shaft 52. One end of the flip cylinder 51 is connected to the main frame 3 via a rotating shaft, and the other end is connected to the flip frame 4 via a rotating shaft. Two flip cylinders 51 are used in total, each controlling a flip frame 4.

[0052] The end of the cylinder rod of the turning cylinder 51 used in this embodiment is connected to the turning frame 4 through a rotating shaft, and the cylinder barrel of the turning cylinder 51 is connected to the main frame 3 through a rotating shaft. The extension and contraction of the cylinder rod pulls the turning frame 4 to rotate up and down around the connecting shaft 52, thereby controlling the lifting and lowering of the inter-row weeding unit 7 and the inter-plant weeding unit 8 installed on the turning frame 4. The turning cylinder 51 used in this embodiment is a universal standard part, and its structure and principle can be known to technicians in this field through the technical manual.

[0053] The other components and connection relationships are the same as those of the first embodiment.

[0054] Specific implementation method four: Combination Figure 1-Figure 20 To illustrate this embodiment, the inter-row weeding unit 7 includes an inter-row frame 71, a connecting plate 72, an inter-row oil cylinder 73, a crossbeam 74, an inter-row ground wheel 75, a plurality of inter-row weeding plates 77 and a weeding shovel 78;

[0055] The inter-row frame 71 is connected to the main frame 3 or the turning frame 4, the front end of the connecting plate 72 is hinged to the inter-row frame 71, and the rear end is hinged to the crossbeam 74, one end of the inter-row oil cylinder 73 is connected to the inter-row frame 71 through a rotating shaft, and the other end is connected to the crossbeam 74 through a rotating shaft, the front end of the crossbeam 74 is provided with an inter-row ground wheel 75 and an inter-row weeding plate 77, and the rear end is provided with a weeding shovel 78, the inter-row weeding plates 77 are divided into two rows and are respectively arranged on the left and right sides of the crossbeam 74, the inter-row weeding plates 77 and the weeding shovel 78 are fixedly connected to the crossbeam 74 through a spiral bracket 74, the weeding shovel 78 is a V-shaped structure, the front end of the weeding shovel 78 is a shovel tip, and shovel wings are provided on the left and right sides of the shovel tip.

[0056] The inter-row weeding plate 77 and weeding shovel 78 used in this embodiment are connected to the end of the spiral bracket 74 by bolts, and the spiral bracket 74 is further connected to the crossbeam 74. The spiral bracket 74 is generally S-shaped, and the lower part is inverted U-shaped. Its structure has a shock-absorbing effect to prevent the inter-row weeding plate 77 and the weeding shovel 78 from breaking and being damaged due to uncontrollable factors such as soil hardening due to exceeding the compressive strength of the material.

[0057] The connecting plates 72 used in this embodiment are two upper and lower ones, the front end of the connecting plates 72 is hinged to the inter-row frame 71, and the rear end is hinged to the cross beam 74. The inter-row oil cylinder 73 is arranged between the two connecting plates 72, the cylinder barrel end of the inter-row oil cylinder 73 is hinged to the inter-row frame 71, and the cylinder rod end of the inter-row oil cylinder 73 is connected to the cross beam 74 through a rotating shaft. The cross beam 74 is provided with a waist-shaped groove along the vertical direction, and the rotating shaft can slide in the waist-shaped groove. The inter-row weeding plates 77 used in this embodiment are divided into two rows and are respectively arranged on the left and right sides of the cross beam 74. Multiple inter-row weeding plates 77 can be arranged in each row. In this embodiment, one inter-row weeding plate 77 on each side is preferably used.

[0058] The other components and connection relationships are the same as those of the first embodiment.

[0059] Specific implementation method five: Combination Figure 1-Figure 20 To illustrate this embodiment, the inter-row weeding unit 8 described in this embodiment includes an inter-row frame 81, a rotating plate 82, an inter-row oil cylinder 83, a connecting beam 84, an inter-row ground wheel 85, a plurality of inter-row weeding plates 87 and a plurality of weeding fingers 88;

[0060] The inter-row frame 81 is connected to the main frame 3 or the turning frame 4, the front end of the rotating plate 82 is hinged to the inter-row frame 81, and the rear end is hinged to the connecting beam 84, one end of the inter-row oil cylinder 83 is connected to the inter-row frame 81 through a rotating shaft, and the other end is connected to the connecting beam 84 through a rotating shaft, the front end of the connecting beam 84 is provided with an inter-row ground wheel 85, the middle part is provided with a plurality of inter-row weeding plates 87, and the rear end is provided with a plurality of weeding fingers 88, the inter-row weeding plates 87 are divided into two rows and are respectively arranged on the left and right sides of the connecting beam 84, the weeding fingers 88 are divided into two rows and are respectively arranged on the left and right sides of the connecting beam 84, and the inter-row weeding plates 87 and the weeding fingers 88 are fixedly connected to the connecting beam 84 through a spiral truss 86.

[0061] The inter-row weeding board 87 and weeding fingers 88 used in this embodiment are connected to the ends of the spiral truss 86 by bolts, and the spiral truss 86 is further connected to the connecting beam 84. The spiral truss 86 is generally S-shaped, and the lower part is an inverted U-shape. Its structure has a shock-absorbing effect, preventing the inter-row weeding board 87 and weeding fingers 88 from breaking and being damaged due to uncontrollable factors such as soil hardening that exceed the compressive strength of the material.

[0062] The rotating plates 82 used in this embodiment are two upper and lower ones. The front end of the rotating plate 82 is hinged to the inter-row frame 81, and the rear end is hinged to the connecting beam 84. The inter-row oil cylinder 83 is arranged between the two rotating plates 82. The cylinder end of the inter-row oil cylinder 83 is hinged to the inter-row frame 81, and the cylinder rod end of the inter-row oil cylinder 8 is connected to the connecting beam 84 through a rotating shaft. A waist-shaped groove is arranged on the connecting beam 84 along the vertical direction, and the rotating shaft can slide in the waist-shaped groove.

[0063] The inter-row weeding boards 77 used in this embodiment are divided into two rows and are respectively arranged on the left and right sides of the cross beam 74. Multiple inter-row weeding boards 77 can be arranged in each row. In this embodiment, one inter-row weeding board 77 is preferably used on the left and one on the right.

[0064] The other components and connection relationships are the same as those of the first embodiment.

[0065] Specific implementation method six: Combination Figure 1-Figure 22 To explain this embodiment, the inter-row weeding boards 87 described in this embodiment are divided into two rows and are respectively arranged on the left and right sides of the connecting beam 84, and each row of inter-row weeding boards 87 is divided into a plurality of soil-raising board groups, and each soil-raising board group is composed of two inter-row weeding boards 87 arranged crosswise on the left and right sides;

[0066] The weeding fingers 88 are divided into two rows and are respectively arranged on the left and right sides of the connecting beam 84. Each row of weeding fingers 88 is composed of multiple weeding fingers 88. The angle α between the weeding fingers 88 and the ground is 25°-40°; the weeding fingers 88 are driven by a rotating motor 881. The main body of the weeding fingers 88 is a disc structure. A plurality of outer weeding teeth 882 are evenly arranged on the outer side of the circumference of the disc. A plurality of inner weeding teeth 883 are evenly arranged on the middle part of the disc. The angle β between the inner weeding teeth 883 and the disc is 40°-60°.

[0067] The inter-row weeding boards 87 used in this embodiment are divided into two rows and are respectively arranged on the left and right sides of the connecting beam 84. Each row of inter-row weeding boards 87 is divided into multiple soil-raising board groups. Each soil-raising board group is composed of two inter-row weeding boards 87 arranged crosswise on the left and right. The number of inter-row weeding boards 87 and weeding fingers 88 can be freely adjusted according to the inter-row seedling spacing. The number of external weeding teeth 882 and internal weeding teeth 883 is adjustable and can be freely adjusted according to the inter-row seedling spacing. The gaps between the external weeding teeth 882 are used as seedling sheltering space, and the distribution area of ​​the external weeding teeth 882 and the internal weeding teeth 883 is used as weeding space.

[0068] The preferred technical solution of this embodiment adopts seven inter-row weeding units 7 and six inter-plant weeding units 8. Three inter-row weeding units 7 and two inter-plant weeding units 8 are installed on the main frame 3, and the inter-row weeding units 7 and the inter-plant weeding units 8 are arranged at intervals. Two inter-row weeding units 7 and two inter-plant weeding units 8 are respectively installed on the turning frames 4 on the left and right sides, and the inter-row weeding units 7 and the inter-plant weeding units 8 are arranged at intervals. In this layout, two inter-row weeding units 7 and one inter-plant weeding unit 8 jointly complete the weeding operation of a ridge of crops.

[0069] This embodiment uses an inter-row weeding plate 87 and a weeding finger 88 to remove weeds on the ridge, an inter-row weeding plate 77 to remove weeds on both sides of the ridge, and a weeding shovel 78 to remove weeds in the ridge ditch, and the weeding shovel 78 can effectively remove weeds between rows and between rows. The weeding shovel 78 can also trim the soil on the ridge broken by the weeding finger 88. The two inter-row weeding plates 87 arranged crosswise on the left and right have high weeding efficiency for weeding between rows and low damage to the ridge. The weeding finger 88 is provided with an outer weeding tooth 882 and an inner weeding tooth 883. The gap between the teeth is used as a seedling avoidance space, and the weeds are cut alternately up and down, which can effectively remove weeds of different heights.

[0070] The preferred technical solution of this embodiment adopts the arrangement spacing of the weeding fingers 88 along the ridge direction of the field ridge according to the different sowing spacing of crops. The spacing of the weeding fingers 88 with different sowing spacing adopts corresponding distances. In this way, adjacent weeding fingers 88 are arranged as seedling avoidance spaces, thereby reducing damage to the crop seedlings while weeding.

[0071] The other components and connection relationships are the same as those of the first embodiment.

[0072] Specific implementation method seven: Combination Fig. 22 To illustrate this embodiment, the visual navigation system 9 described in this embodiment includes multiple cameras, a range counter, an orientation sensor, a drive status sensor and a controller. The output end of the camera is connected to the input end of the image processing module in the controller. The range counter, the orientation sensor and the drive status sensor are all electrically connected to the controller. The controller outputs a control signal to the driver. The driver drives the rotating motor 881, and the rotating motor 881 controls the rotation of the weeding finger 88. The camera is used to collect video information of weeds in the field. The range counter is used to calculate the range of the weeding equipment. The orientation sensor is used to monitor the speed and direction of the weeding equipment. The drive status sensor is used to collect the action parameters of the translation cylinder 21, the flip cylinder 51, the row cylinder 73 and the plant cylinder 83.

[0073] The other components and connection relationships are the same as those of the first embodiment.

[0074] The working principle of this utility model:

[0075] The utility model adjusts the lateral translation of the weeding mechanism through the extension and translation mechanism 2, so that the weeder can move freely laterally along the field terrain, effectively improving the convenience of using the weeder; the turning frame 4 is driven to turn upward by the turning mechanism 5, so that the left and right side structures of the weeding mechanism are turned upward as a whole, thereby realizing the adjustment of the working width of the weeder, so that the weeder can better adapt to the field environment, and the versatility of the weeder is improved.

[0076] The utility model adopts the machine inter-row weeding unit 7 and the inter-plant weeding unit 8 to be arranged at intervals for coordinated weeding operations, the inter-plant weeding board 87 and the weeding finger 88 remove the weeds on the ridge, the inter-row weeding board 77 removes the weeds on the two sides of the ridge, and the weeding shovel 78 removes the weeds in the ridge ditch, and the weeding shovel 78 can also trim the ridge soil broken by the weeding finger. The two inter-plant weeding boards 87 arranged crosswise on the left and right have high weeding efficiency for weeding between plants and low damage to the ridges. The weeding finger 88 is provided with an outer weeding tooth 882 and an inner weeding tooth 883. The gap between the teeth is used as a seedling avoidance space, and the weeding is staggered up and down to cut the weeds, which can efficiently remove weeds of different heights.

[0077] During the movement of the weeder, it is necessary to monitor the field in front of the weeder in real time. The camera in the visual navigation mechanism 9 is used to collect weed videos in front of the weeder, identify the type of weeds in the field, and use the artificial intelligence recognition model of the deep residual network to identify the input image to obtain the recognition result. The weeds in the rice field can be identified intelligently and efficiently, so that the control unit can adjust the weeder in real time while it is moving. The hydraulic system controls the inter-row cylinders and inter-plant cylinders to accurately control the rise and fall of each inter-row weeding unit and inter-plant weeding unit, thereby improving the maneuverability of the weeder.

[0078] The above-described embodiments are only preferred and exemplary and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent weeding device based on visual navigation, Features: It comprises a connecting frame (1), a translation mechanism (2), a flipping mechanism (5), a weeding mechanism and a visual navigation system (9); The front end of the connecting frame (1) is connected to a support wheel (10), and the rear end is movably connected to a weeding mechanism, wherein the weeding mechanism comprises a frame, an inter-row weeding unit (7) and an inter-plant weeding unit (8); The frame is movably connected to the connecting frame (1); a plurality of inter-row weeding units (7) and a plurality of inter-plant weeding units (8) are arranged at intervals on the rear side of the frame; a visual navigation system (9) is arranged on the top of the frame. The translation mechanism (2) is used to control the translation movement of the weeding mechanism along the connecting frame (1), the flipping mechanism (5) is used to control the up and down flipping movement of the left and right sides of the weeding mechanism, and the visual navigation system (9) is used to identify weeds and control the weeding operation of the weeding equipment; The frame comprises a main frame (3) and two flip frames (4); the main frame (3) is slidably connected to the connecting frame (1) via a translation mechanism (2); the left and right sides of the main frame (3) are rotatably connected to the flip frames (4) via flip mechanisms (5); The translation mechanism (2) comprises a translation cylinder (21) and a sliding frame (22); the front end of the sliding frame (22) is slidably connected to the connecting frame (1), and the rear end is connected to the main frame (3); one end of the translation cylinder (21) is arranged on the connecting frame (1), and the other end is arranged on the sliding frame (22); The turning mechanism (5) comprises a turning cylinder (51) and a connecting shaft (52); the main frame (3) and the turning frame (4) are rotatably connected via the connecting shaft (52); one end of the turning cylinder (51) is connected to the main frame (3) via a rotating shaft, and the other end is connected to the turning frame (4) via a rotating shaft.

2. The intelligent weeding device based on visual navigation according to claim 1, Features: The inter-row weeding unit (7) comprises an inter-row frame (71), a connecting plate (72), an inter-row oil cylinder (73), a crossbeam (74), an inter-row ground wheel (75), a plurality of inter-row weeding plates (77) and a weeding shovel (78); The inter-row frame (71) is connected to the main frame (3) or the tilting frame (4); the front end of the connecting plate (72) is hinged to the inter-row frame (71), and the rear end is hinged to the crossbeam (74). One end of the inter-row oil cylinder (73) is connected to the inter-row frame (71) via a rotating shaft, and the other end is connected to the crossbeam (74) via a rotating shaft. The front end of the cross beam (74) is provided with inter-row wheels (75) and inter-row weeding plates (77), and the rear end is provided with a weeding shovel (78). The inter-row weeding plates (77) are divided into two rows and are respectively arranged on the left and right sides of the cross beam (74). The inter-row weeding plate (77) and the weeding shovel (78) are both fixedly connected to the crossbeam (74) via a spiral bracket (76). The weeding shovel (78) is of a V-shaped structure, the front end of the weeding shovel (78) is a shovel tip, and shovel wings are arranged on the left and right sides of the shovel tip.

3. The intelligent weeding device based on visual navigation according to claim 1, Features: The inter-row weeding unit (8) comprises an inter-row frame (81), a rotating plate (82), an inter-row oil cylinder (83), a connecting beam (84), an inter-row ground wheel (85), a plurality of inter-row weeding plates (87), and a plurality of weeding fingers (88); The inter-row frame (81) is connected to the main frame (3) or the turning frame (4); the front end of the rotating plate (82) is hinged to the inter-row frame (81), and the rear end is hinged to the connecting beam (84). One end of the inter-row oil cylinder (83) is connected to the inter-row frame (81) via a rotating shaft, and the other end is connected to the connecting beam (84) via a rotating shaft. The front end of the connecting beam (84) is provided with an inter-row ground wheel (85), the middle part is provided with a plurality of inter-row weeding plates (87), and the rear end is provided with a plurality of weeding fingers (88). The inter-row weeding plates (87) are divided into two rows and are respectively arranged on the left and right sides of the connecting beam (84). The weeding fingers (88) are divided into two rows and are respectively arranged on the left and right sides of the connecting beam (84). The inter-row weeding plate (87) and the weeding fingers (88) are both fixedly connected to the connecting beam (84) via a spiral truss (86).

4. The intelligent weeding device based on visual navigation according to claim 3, Features: The inter-row weeding boards (87) are divided into two rows and are respectively arranged on the left and right sides of the connecting beam (84); each row of inter-row weeding boards (87) is divided into a plurality of soil-raising board groups, and each soil-raising board group is composed of two inter-row weeding boards (87) arranged crosswise on the left and right sides; The weeding fingers (88) are divided into two rows and are respectively arranged on the left and right sides of the connecting beam (84); each row of weeding fingers (88) is composed of a plurality of weeding fingers (88); and the angle α between the weeding fingers (88) and the ground is 25°-40°.

5. The intelligent weeding device based on visual navigation according to claim 1, Features: The visual navigation system (9) comprises a camera, a range counter, an orientation sensor, a drive state sensor and a controller. The output end of the camera is connected to the input end of an image processing module in the controller. The range counter, the orientation sensor and the drive state sensor are all electrically connected to the controller. The controller outputs a control signal to a driver. The driver drives a rotary motor (881). The rotary motor (881) controls the rotation of a weeding finger (88). The camera is used to collect video information of weeds in the field. The range counter is used to calculate the range of the weeding equipment. The orientation sensor is used to monitor the speed and direction of the weeding equipment. The drive state sensor is used to collect action parameters of a translation cylinder (21), a flip cylinder (51), an inter-row cylinder (73) and an inter-plant cylinder (83).

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