Agricultural machine weeding device

Abstract

The application discloses a kind of agricultural machinery weeding device, including frame, control box and be equipped with lateral fine adjustment mechanism in the lower side of frame;Control box top is equipped with binocular camera;Lateral fine adjustment mechanism includes two transmission shafts, transmission shaft is fixed with several connecting seats at equal intervals, and the bottom end of each connecting seat is connected with lifting drive mechanism;Lifting drive mechanism lower end is fixedly connected with one end of drive seat, and damping mechanism is connected between the other end of drive seat and frame;Drive seat bottom end is equipped with servo motor and the weeding cutter connected by transmission universal joint drive;Control box is electrically connected with binocular camera, reciprocating drive motor, lifting drive mechanism and servo motor respectively and transmits control signal.The application controls lateral fine adjustment mechanism, lifting drive mechanism and servo motor operation by the real-time calibration weed type and weed location of binocular camera, drives weeding cutter to run in plant spacing and pause gap, improves weeding precision and efficiency.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an agricultural machinery weeding device. Background Technology

[0002] Weeds in farmland have always been a significant factor hindering the healthy growth of crops. Overgrown weeds not only compete with crops for soil nutrients but also rob them of limited growing space and sunlight, severely impacting crop growth and leading to reduced yields in rice paddies and other crops. During the crop growing season, people typically remove weeds by hand or with hoes. However, this process often results in the removal of the weed tops while the roots remain in the soil. Furthermore, weeding can easily cause scratches, and the dust and bacteria on the weeds can lead to infection. In addition, manual weeding is inefficient, costly, and labor-intensive. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide an agricultural machinery weeding device to meet the field weeding needs of various crops and improve weeding efficiency.

[0004] Technical solution: The agricultural machinery weeding device of the present invention includes a frame, a control box fixedly installed at the center of the top of the frame, and a lateral fine adjustment mechanism fixedly installed on the lower side of the frame along the length of the frame; the top of the control box is provided with at least two sets of binocular cameras;

[0005] The lateral fine-tuning mechanism includes two parallel drive shafts and a reciprocating drive motor connected to the drive shafts. Several connecting seats are fixed at equal intervals on the drive shafts. Each connecting seat is connected to a lifting drive mechanism at its bottom end. The lateral fine-tuning mechanism controls the lifting drive mechanism to swing in the horizontal direction.

[0006] The lower end of the lifting drive mechanism is fixedly connected to one end of the drive seat, and the other end of the drive seat is pressed and connected to the frame by a shock-absorbing mechanism. The lifting drive mechanism controls the longitudinal lifting of the drive seat.

[0007] The bottom of the drive base is provided with a longitudinally mounted servo motor and a transmission universal joint connected to the servo motor shaft. The bottom of the transmission universal joint is connected to the weeding blade. A limiting frame is provided on the outer periphery of the servo motor and the transmission universal joint. A limiting ring is provided at the lower end of the limiting frame and fitted outside the transmission universal joint. The limiting ring restricts the swing freedom of the weeding blade in the horizontal plane.

[0008] The control box is electrically connected to the binocular camera, the reciprocating drive motor, the lifting drive mechanism, and the servo motor, and transmits control signals to them.

[0009] Preferably, the lateral fine-tuning mechanism includes a mounting groove arranged along the length of the frame, the drive shaft is rotatably disposed in the mounting groove, and the reciprocating drive motor is disposed at one end of the mounting groove and is connected to the drive shaft through a worm gear assembly.

[0010] Preferably, the lifting drive mechanism includes a fixed plate and a lifting plate arranged opposite each other. A lifting drive motor is provided at the center of the top of the fixed plate. A transmission screw is connected to the lower end of the lifting drive motor. A screw sleeve is provided on the lifting plate in cooperation with the transmission screw. The lifting plate moves up and down along the transmission screw through the screw sleeve.

[0011] The lifting plate has four driving rods at its bottom corners, and the bottom ends of the driving rods are fixedly connected to the driving base.

[0012] Preferably, a position sensor is provided at one end of the lifting plate corresponding to the fixed plate. The position sensor is located on the bottom surface of the lifting plate and connected to one end of the connecting strip, and the other end of the connecting strip is connected to the tightening handle located on the lifting plate. A rangefinder is connected to the lower part of the transmission screw.

[0013] Preferably, the weeding tool includes a mounting disc, a plurality of tool bearings distributed circumferentially on the bottom surface of the mounting disc, and a weeding blade inserted into the lower end of the tool bearings; a drive shaft is detachably provided at the center of the top of the mounting disc.

[0014] Preferably, the weeding blade includes a handle and a first cutting edge formed by the inward inclination of the lower end of the handle; a second cutting edge is provided on the inner side of the first cutting edge by the inward inclination, and a loose groove is formed between the first cutting edge and the second cutting edge.

[0015] Preferably, the drive seat has a through connecting hole in the width direction, and multiple drive seats are connected into one unit by a connecting rod passing through the connecting hole; a limit block is fixedly fitted on the connecting rod between two adjacent drive seats.

[0016] Preferably, the shock absorption mechanism includes a support sleeve, a guide column slidably disposed within the support sleeve, and a support spring fitted outside the support sleeve and the guide column. The outer ends of the support sleeve and the guide column are fixedly connected to the frame and the drive seat, respectively, and the two ends of the support spring are pressed between the frame and the drive seat.

[0017] Preferably, the rear ends of the frame are provided with depth limiting wheel assemblies, each including a depth limiting wheel bracket fixedly connected to the frame and a depth limiting wheel located at the bottom of the depth limiting wheel bracket; the frame is provided with a suspension frame for connection to the tractor between the two sets of depth limiting wheel assemblies.

[0018] Preferably, the control box contains a control system and a power supply system and a vision processing system connected to the control system. The power supply system includes a battery pack that provides power to the weeding device. The vision processing system is communicatively connected to a binocular camera.

[0019] The weed recognition model established by the visual processing system is based on the color and shape characteristics of weeds, and identifies different weed species through analysis and comparison; among them, shape characteristics include roundness, elongation, and concavity / convexity.

[0020] (1) The formula for calculating the roundness (form factor) is:

[0021]

[0022] In the formula: area is the target area of ​​the weeds, that is, the total number of pixels of the target; perimeter is the target perimeter, that is, the length of the outermost outline of the target;

[0023] (2) The formula for calculating the elongation ratio is:

[0024]

[0025] In the formula: area is the target area of ​​weeds, that is, the total number of pixels of the target; thiclcness is the width of the minimum bounding moment of the target;

[0026] (3) The formula for calculating convexity is:

[0027]

[0028] In the formula: convex_perimeter is the perimeter of the smallest convex polygon of the target; perimeter is the perimeter of the target, that is, the length of the outermost contour of the target.

[0029] Beneficial effects: Compared with the prior art, the present invention has the following outstanding advantages:

[0030] 1. The agricultural machinery weeding device of the present invention uses a binocular camera to calibrate the type and location of weeds in real time and transmits the image information to the control system. The control system controls the reciprocating drive motor of the lateral fine adjustment mechanism, the lifting drive motor of the lifting drive mechanism and the servo motor to operate. The weeding blade operates between fixed row spacing or plant spacing for a certain time and pause interval, thereby achieving precise weeding of farmland and reducing the probability of accidental damage.

[0031] 2. This invention employs a combination of a lateral fine-tuning mechanism and a lifting drive mechanism to achieve precise control over the lateral and lifting movements of the weeding blades, enabling the weeding blades to move over a wide range in both the lateral and vertical directions, thereby improving weeding efficiency.

[0032] 3. The weeding blade of the present invention drives the drive shaft to rotate via a servo motor with a sensor, which in turn drives the mounting disc to rotate at high speed, thereby driving the weeding blade to rotate in the circumferential direction to remove weeds, further improving weeding efficiency; in addition, the "Z"-shaped weeding blade plays a role in loosening the soil during the weeding process. Attached Figure Description

[0033] Figure 1 This is a first-view perspective three-dimensional structural diagram of the weeding device of the present invention;

[0034] Figure 2 This is a second-view perspective three-dimensional structural diagram of the weeding device of the present invention;

[0035] Figure 3 for Figure 2 Schematic diagram of the back section of the middle frame

[0036] Figure 4 for Figure 1 or Figure 2 Schematic diagram of the middle drive seat and its upper and lower end structures

[0037] Figure 5 for Figure 4 Schematic diagram of the lower structure of the central drive unit;

[0038] Figure 6 for Figure 5 First-person view structural diagram of a medium-sized weeding blade;

[0039] Figure 7 for Figure 5 A schematic diagram of the structure of a medium-sized weeding blade from a second-view perspective;

[0040] Figure 8 for Figure 1 First-person view structural diagram of the lifting drive mechanism;

[0041] Figure 9 for Figure 1 Schematic diagram of the lifting drive mechanism from a second-view perspective;

[0042] Figure 10 This is a schematic diagram of the visual processing system and weeding process structure of the present invention.

[0043] Figure label:

[0044] 100. Weeding device; 1. Frame; 2. Control box; 21. Cooling fan;

[0045] 3. Depth-limiting wheel assembly; 31. Depth-limiting wheel bracket; 32. Depth-limiting wheel;

[0046] 4. Binocular camera; 5. Mounted camera frame;

[0047] 6. Lateral fine-tuning mechanism; 61. Mounting slot; 62. Reciprocating drive motor; 63. Drive shaft; 64. Connecting seat;

[0048] 7. Lifting drive mechanism; 71. Lifting drive motor; 72. Fixing plate; 73. Limiting guide rail; 74. Lifting plate; 75. Supporting recess; 76. Drive rod; 77. Transmission screw; 78. Rangefinder; 79. Position sensor; 710. Tightening handle; 711. Screw sleeve; 712. Connecting bar;

[0049] 8. Vibration damping mechanism; 81. Support sleeve; 82. Guide column; 83. Support spring;

[0050] 9. Drive base; 10. Connecting hole;

[0051] 11. Servo motor; 12. Transmission universal joint; 13. Weeding blade; 131. Drive shaft; 132. Mounting disc; 133. Blade bearing; 134. Weeding blade; 1341. Blade handle; 1342. First cutting edge; 1343. Second cutting edge; 1344. Loosening groove;

[0052] 14. Limiting bracket; 141. Limiting ring;

[0053] 15. Connecting rod; 16. Limiting block. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will be described in conjunction with the accompanying drawings of the embodiments of the present invention. Figure 1-10 The technical solutions of the embodiments of the present invention will be clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

[0055] like Figure 1 and Figure 10As shown, an agricultural machinery weeding device of the present invention includes a weeding device 100 comprising a frame 1, a control box 2 fixedly disposed at the top center of the frame 1, and a lateral fine-tuning mechanism 6 fixedly disposed at the lower side of the frame 1 along the length of the frame. The top of the control box 2 is provided with at least two sets of binocular cameras 4, the number of which is set according to requirements. The control box 2 is provided with a control system and a power supply system. The power supply system includes a battery pack (not shown in the figure) that provides power to the weeding device 100. The battery pack can be a mature battery pack from the prior art. Cooling fans 21 are provided at both ends of the control box 2. As the "heart" of the power supply for the weeding device 100, it is necessary to use a control box with good heat dissipation. The control system includes a vision processing system, which is communicatively connected to the binocular camera 4. The vision processing system employs a deep learning-based CNN model to build a convolutional neural network for small-sample data acquisition. Specifically, it takes video signals from the binocular camera 4 as input, extracts feature parameters through the CNN, performs weight percentage recalibration using the SENet attention mechanism, selects data through a classifier, and finally uses a recognition and classification method to optimize the machine vision-based weed recognition technology. It comprehensively analyzes weed recognition models built using both YOLOv4 and YOLOv5 methods. The weed recognition model established by this vision processing system is based on the color and shape features of weeds, and identifies different weed species through analysis and comparison. The shape features include roundness, elongation, and concavity / convexity.

[0056] (1) The formula for calculating the roundness (form factor) is:

[0057]

[0058] In the formula: area is the target area of ​​the weeds, that is, the total number of pixels of the target; perimeter is the target perimeter, that is, the length of the outermost outline of the target;

[0059] (2) The formula for calculating the elongation ratio is:

[0060]

[0061] In the formula: area is the target area of ​​weeds, that is, the total number of pixels of the target; thiclcness is the width of the minimum bounding moment of the target;

[0062] (3) The formula for calculating convexity is:

[0063]

[0064] In the formula: convex_perimeter is the perimeter of the smallest convex polygon of the target; perimeter is the perimeter of the target, that is, the length of the outermost contour of the target;

[0065] Taking rice paddy planting as an example, six types of associated weeds (alternating lotus, clove knotweed, angelica sinensis, arrowhead, barnyard grass, and sedge) were selected as research objects through feature extraction network. The visual processing system identified the weeds, determined the plant protection area and the weeding area, and the control system controlled the various actuators of the weeding device to work together to achieve weeding operations within the weeding area.

[0066] like Figure 1-2 As shown, depth-limiting wheel assemblies 3 are respectively provided at both ends of the rear side of the frame 1. The depth-limiting wheel assembly 3 includes a depth-limiting wheel bracket 31 fixedly connected to the frame and a depth-limiting wheel 32 located at the bottom of the depth-limiting wheel bracket. The depth-limiting wheel 32 can be used to limit the depth of the weeding device 100 sinking into the soil. In addition, a counting sensor (not shown in the figure) can be set in conjunction with the depth-limiting wheel. The counting sensor can measure the number of revolutions of the depth-limiting wheel. The travel distance of the weeding device 100 can be obtained by the number of revolutions and the circumference of the depth-limiting wheel. Between the two sets of depth-limiting wheel assemblies, the frame 1 is provided with a suspension frame 5 connected to the tractor. The suspension frame 5 is a hydraulic lifting three-point suspension frame connected to the tractor. It has multiple hydraulic pumps that work together to control the overall lifting and lowering of the weeding device according to the start and end of the weeding operation.

[0067] like Figure 3 As shown, the lateral fine-tuning mechanism 6 includes a mounting groove 61 arranged along the length of the frame 1. Two drive shafts 63 are arranged in parallel within the mounting groove 61. One end of the mounting groove 61 is provided with a reciprocating drive motor 62 that is connected to the drive shafts 63 via a worm gear assembly. The ends of the two sets of drive shafts 63 are respectively provided with worm gears. The shaft end of the reciprocating drive motor 62 is provided with a worm gear. By controlling the forward and reverse rotation of the reciprocating drive motor 62, the drive shafts 63 can be driven to reciprocate laterally via the worm gear assembly. Multiple connecting seats 64 are fixedly arranged at equal intervals on the drive shafts 63. The bottom end of each connecting seat 64 is connected to a lifting drive mechanism 7. The horizontal swing of the drive shaft 63 drives the connecting seat and the lifting drive mechanism 7 connected to it to swing horizontally. Under the drive of the lateral fine-tuning mechanism 6, the lifting drive mechanism 7 can reciprocate horizontally, which satisfies the lateral movement of the weeding blade 13 in the horizontal plane, making it easier to remove weed roots.

[0068] like Figure 4 and Figure 8-9As shown, the lower end of the lifting drive mechanism 7 is fixedly connected to one end of the drive seat 9, and the other end of the drive seat 9 is pressed and connected to the frame 1 by a shock-absorbing mechanism 8. The lifting drive mechanism 7 controls the vertical lifting of the drive seat 9. The lifting drive mechanism 7 includes a fixed plate 72 and a lifting plate 74 arranged vertically opposite each other. A lifting drive motor 71 is provided at the center of the top of the fixed plate 72, and the top of the lifting drive motor 71 is fixedly connected to the connecting seat 64. A transmission screw 77 is connected to the lower end of the lifting drive motor 71. A screw sleeve 711 is provided on the lifting plate 74 to cooperate with the transmission screw 77. The lifting drive motor 71 drives the transmission screw 77 to rotate in the forward or reverse direction, and the lifting plate 74 can move up and down along the transmission screw 77 through the screw sleeve 711. A drive rod 76 is provided at the four corners of the bottom end of the lifting plate 74. The bottom end of the drive rod 76 is fixedly connected to the drive seat 9. The lifting plate can move up and down along the transmission screw 77 and push the drive seat 9 to move up and down through the drive rod 76. A position sensor 79 is provided at one end of the lifting plate 74, corresponding to the fixed plate 72. The position sensor 79 is located on the bottom surface of the lifting plate and connected to one end of the connecting strip 712. The other end of the connecting strip 712 is connected to the tightening handle 710 on the lifting plate. The lifting plate, the tightening handle 710, and the position sensor 79 are provided with elongated holes to facilitate the adjustment of the relative position of the position sensor and the fixed plate 72 by tightening the handle. One end of the fixed plate 72 is provided with a slot corresponding to the position sensor. The position sensor is connected to the control system. When the position sensor rises with the lifting plate to the fixed plate 72, it feeds back the positioning signal to the control system, and the control system controls the lifting drive motor 71 to stop running. To further prevent the distance between the lifting plate and the fixed plate from being too close, two sets of limiting guide rails 73 are provided parallel to each other at the bottom of the fixed plate 72. The lifting plate 74 is equipped with a support recess 75 to support the limiting guide rails 73. When the lifting plate rises to the preset position, the limiting guide rails 73 are correspondingly engaged in the support recess 75 to form a limit. A rangefinder 78 is connected to the lower part of the transmission screw 77. The rangefinder 78 is communicatively connected to the control system. The rangefinder 78 moves up and down with the rotation of the transmission screw 77. Since the movement of the rangefinder and the lifting plate is synchronized, the lifting height of the lifting plate can be measured through the rangefinder 78. The lifting drive mechanism 7 can adjust the distance between the lower end of the weeding blade 13 and the soil, and adjust the penetration depth of the weeding blade 13.

[0069] like Figure 4As shown, the shock absorption mechanism 8 includes a support sleeve 81, a guide column 82 slidably disposed within the support sleeve, and a support spring 83 fitted over the support sleeve and the guide column. The outer ends of the support sleeve 81 and the guide column 82 are fixedly connected to the frame 1 and the drive seat 9, respectively. The two ends of the support spring 83 are pressed between the frame 1 and the drive seat 9, respectively. The shock absorption mechanism connects the frame 1 and the drive seat 9. When the lifting drive mechanism 7 pushes the drive seat 9 to move vertically, the shock absorption mechanism 8 can reduce the vibration of the drive seat 9, thereby improving the stability of the drive seat 9 and its bottom weeding execution component. In addition, the shock absorption mechanism 8 acts as a connector with a certain degree of freedom, realizing a flexible connection between the frame 1 and the drive seat 9.

[0070] like Figure 4-5 As shown, the bottom of the drive base 9 is equipped with a longitudinally mounted servo motor 11 and a transmission universal joint 12 connected to the servo motor shaft. The bottom of the transmission universal joint 12 is connected to the weeding blade 13. A limit frame 14 is provided around the servo motor 11 and the transmission universal joint 12. A limit ring is provided at the lower end of the limit frame 14 and fitted outside the transmission universal joint 12. The limit ring restricts the swing freedom of the weeding blade 13 in the horizontal plane. A sensor is connected to the servo motor 11 to sense the number of rotations of the servo motor. The servo motor 11 is electrically connected to the control system, and the servo motor 11 is controlled by the servo motor. The rotation of the motor drives the weeding blade 13 to rotate at high speed in the horizontal plane, thereby cutting the roots of weeds. Due to the differences in terrain and flatness in the field, the servo motor 11 and the weeding blade 13 are connected by a transmission universal joint 12. The transmission universal joint 12 allows the weeding blade 13 to have a certain degree of freedom in the vertical axis. The limiting ring 141 at the lower end of the limiting frame 14 restricts the swing range of the weeding blade 13 in the vertical axis. When working, the weeding blade 13 forms a pendulum-like motion under the drive of the servo motor, which facilitates the cutting of the roots of weeds.

[0071] like Figure 8-9As shown, the weeding blade 13 includes a mounting disc 132, several blade bearings 133 distributed circumferentially on the bottom surface of the mounting disc, and weeding blades 134 inserted into the lower end of the blade bearings; a drive shaft 131 is detachably provided at the top center of the mounting disc 132; specifically, there are three sets of blade bearings 133, and correspondingly three sets of weeding blades; after the vision processing system identifies the type of weeds, the control system can control the servo motor 11 to rotate intermittently, and the weeding blade 13 completes intermittent weeding, avoiding rice paddies during weeding operations. The weeding blade 134 includes a handle 1341 and a first cutting edge 1342 formed by inward inclination at the lower end of the handle; a second cutting edge 1343 is provided on the inner side of the first cutting edge 1342, and a loosening groove 1344 is formed between the first cutting edge 1342 and the second cutting edge 1343; the first cutting edge 1342 and the second cutting edge 1343 form a "Z" shaped structure, and the inner radius of the second cutting edge is smaller, so that the second cutting edge can cut the roots of weeds during the rotation and swinging process of the weeding blade; the inner radius of the first cutting edge 1342 is larger than the inner radius of the second cutting edge 1343, so that the first cutting edge 1342 and its inner loosening groove 1344 can loosen the soil during the weeding process, thereby increasing the oxygen content and looseness of the roots of the seedlings.

[0072] like Figure 2 As shown, the drive seat 9 has a through connecting hole 10 in the width direction, and multiple drive seats 9 are connected into one unit by connecting rods 15 passing through the connecting hole 10; a limit block 16 is fixedly installed on the connecting rod 15 between two adjacent drive seats 9; the integrity of the drive seat and its bottom weeding execution component in this configuration satisfies the consistency, stability and coordination of the weeding blade in the horizontal and vertical movements.

[0073] The working principle or method of this invention:

[0074] During operation, the binocular camera 4 transmits video signals to the vision processing system. The vision processing system identifies weeds and determines the protected area and weeding area of ​​the rice seedlings by comparing and processing the video signals. The control system controls the coordinated operation of various actuators of the weeding device. The weeding blade 13 adopts a "Z"-shaped blade. During operation, the horizontal reciprocating movement of the horizontal fine-tuning device 6 drives the horizontal movement of the weeding blade, and the vertical movement of the weeding blade can be driven by the lifting drive mechanism 7. The servo motor 11 controls the intermittent rotation of the weeding blade 13 along its axis, which can remove weeds around the rice circumference from all directions and remove weeds from the roots. At the same time, the loosening groove of the weeding blade 134 helps to loosen the soil during the weeding process, refine soil particles, maintain soil oxygen content and looseness, and improve soil fertility.

[0075] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An agricultural machinery weeding device, characterized in that, It includes a frame (1), a control box (2) fixedly installed at the top center of the frame (1), and a horizontal fine-tuning mechanism (6) fixedly installed on the lower side of the frame (1) along the length of the frame; the top of the control box (2) is provided with at least two sets of binocular cameras (4). The lateral fine-tuning mechanism (6) includes two parallel drive shafts (63) and a reciprocating drive motor (62) connected to the drive shafts. Several connecting seats (64) are fixed at equal intervals on the drive shafts (63). Each connecting seat (64) is connected to a lifting drive mechanism (7) at its bottom end. The lateral fine-tuning mechanism (6) controls the lifting drive mechanism (7) to swing in the horizontal direction. The lower end of the lifting drive mechanism (7) is fixedly connected to one end of the drive seat (9), and the other end of the drive seat (9) is pressed and connected to the frame (1) by a shock-absorbing mechanism (8). The lifting drive mechanism (7) controls the vertical lifting of the drive seat (9). The drive base (9) has a longitudinally mounted servo motor (11) and a transmission universal joint (12) connected to the servo motor shaft at its bottom end. The bottom end of the transmission universal joint (12) is connected to the weeding blade (13). A limiting frame (14) is provided around the servo motor (11) and the transmission universal joint (12). A limiting ring (141) is provided at the lower end of the limiting frame (14) and is fitted outside the transmission universal joint (12). The limiting ring restricts the swing freedom of the weeding blade (13) in the horizontal plane. The weeding blade (13) includes a mounting disc (1... 32) A plurality of tool shaft seats (133) distributed circumferentially on the bottom surface of the mounting disc and weeding blades (134) inserted into the lower end of the tool shaft seats; a drive shaft (131) is detachably provided at the center of the top of the mounting disc (132); the weeding blade (134) includes a handle (1341) and a first cutting edge (1342) formed by the inward inclination of the lower end of the handle; a second cutting edge (1343) is provided inwardly on the inner side of the first cutting edge (1342), and a loose groove (1344) is formed between the first cutting edge (1342) and the second cutting edge (1343); The control box (2) is electrically connected to the binocular camera (4), the reciprocating drive motor (62), the lifting drive mechanism (7), and the servo motor (11) and transmits control signals. The control box (2) is equipped with a control system and a power supply system and a vision processing system connected to the control system. The power supply system includes a battery pack that provides power to the weeding device (100). The vision processing system is communicatively connected to the binocular camera (4). The vision processing system establishes a weed identification model based on the color and shape characteristics of the weeds and identifies different weed species through analysis and comparison. The shape characteristics include roundness, elongation, and concavity / convexity.

2. The agricultural machinery weeding device according to claim 1, characterized in that, The lateral fine-tuning mechanism (6) includes a mounting groove (61) arranged along the length of the frame (1), the drive shaft (63) is rotatably disposed in the mounting groove (61), and the reciprocating drive motor (62) is disposed at one end of the mounting groove (61) and is connected to the drive shaft (63) through a worm gear assembly.

3. The agricultural machinery weeding device according to claim 1, characterized in that, The lifting drive mechanism (7) includes a fixed plate (72) and a lifting plate (74) arranged opposite each other. A lifting drive motor (71) is provided at the center of the top of the fixed plate (72). A transmission screw (77) is connected to the lower end of the lifting drive motor (71). A screw sleeve (711) is provided on the lifting plate (74) to cooperate with the transmission screw (77). The lifting plate (74) moves up and down along the transmission screw (77) through the screw sleeve (711). The lifting plate (74) has four driving rods (76) at the bottom corners, and the bottom of the driving rods (76) is fixedly connected to the driving seat (9).

4. The agricultural machinery weeding device according to claim 3, characterized in that, One end of the lifting plate (74) is provided with a position sensor (79) corresponding to the fixed plate (72). The position sensor (79) is located on the bottom surface of the lifting plate and connected to one end of the connecting strip (712). The other end of the connecting strip (712) is connected to the tightening handle (710) located on the lifting plate. A rangefinder (78) is connected to the lower part of the transmission screw (77).

5. The agricultural machinery weeding device according to claim 1, characterized in that, The drive seat (9) has a through connection hole (10) in the width direction. Multiple drive seats (9) are connected into one unit through the connection hole (10) by a connecting rod (15). A limit block (16) is fixedly installed on the connecting rod (15) between two adjacent drive seats (9).

6. The agricultural machinery weeding device according to claim 1, characterized in that, The shock absorption mechanism (8) includes a support sleeve (81), a guide column (82) slidably disposed in the support sleeve, and a support spring (83) fitted on the support sleeve and the guide column. The outer ends of the support sleeve (81) and the guide column (82) are fixedly connected to the frame (1) and the drive seat (9) respectively, and the two ends of the support spring (83) are pressed between the frame (1) and the drive seat (9) respectively.

7. The agricultural machinery weeding device according to claim 1, characterized in that, The frame (1) has depth limiting wheel assemblies (3) at both ends of the rear side. The depth limiting wheel assembly (3) includes a depth limiting wheel bracket (31) fixedly connected to the frame and a depth limiting wheel (32) located at the bottom of the depth limiting wheel bracket. The frame (1) is provided with a suspension frame (5) connected to the tractor between the two sets of depth limiting wheel assemblies.

8. The agricultural machinery weeding device according to claim 1, characterized in that, (1) The formula for calculating the roundness (form factor) is: ； In the formula: area is the target area of ​​weeds, that is, the total number of pixels of the target; perimeter is the target perimeter, that is, the length of the outermost outline of the target; (2) The formula for calculating the elongation ratio is: ； In the formula: area is the target area of ​​weeds, that is, the total number of pixels of the target; thickness is the width of the minimum bounding moment of the target; (3) The formula for calculating convexity is: ； In the formula: convex_perimeter is the perimeter of the smallest convex polygon of the target; perimeter is the perimeter of the target, that is, the length of the outermost contour of the target.

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