A weeding machine and its automatic weeding method

Abstract

The present invention provides a weeding machine and an automatic weeding method thereof, which relates to the technical field of agricultural and forestry weeding and solves the technical problems of low efficiency and high cost of existing weeding means. The automatic weeding method includes collecting image information in front of the cutter; judging whether there are target crops in the collected images; pushing the cutter forward in the horizontal direction. When there are no target crops in the images, the cutter remains at the plowing position to plow weeds; when there are target crops in the images, the cutter is lifted to avoid the target crops; after the cutter passes over the target crops, it falls back to the plowing position to continue plowing weeds. Mechanical automation weeding can be realized by using simple mechanical equipment and an intelligent control system, with high weeding efficiency and effective savings in labor input, having outstanding advantages over existing weeding technologies.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural and forestry weeding, and in particular to a weeding machine and an automatic weeding method thereof. Background Art

[0002] In the seedling stage of crops, due to the short distance between weeds and crops, and the fact that weeds directly compete with crops for water, nutrients and sunlight, the growth of crops in the seedling stage is seriously affected. At present, weeds between crops in the seedling stage are mainly controlled by manual labor or herbicides. Manual weeding is inefficient and costly; although herbicides have high weeding efficiency, their spraying range is large, which will cause a large amount of herbicides to be sprayed on crops, posing a hazard to crops and resulting in a large amount of herbicides being wasted.

[0003] The applicant of the present invention has found that the prior art has at least the following technical problems:

[0004] Existing weeding means are inefficient and costly. Summary of the Invention

[0005] The purpose of the present invention is to provide a weeding machine and an automatic weeding method thereof to solve the technical problem of low efficiency and high cost of existing weeding means in the prior art. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A weeding machine provided by the present invention includes: a vehicle body, a traction device for driving the vehicle body to move forward, and a camera, a tool, a driving device and an intelligent controller provided on the vehicle body;

[0008] The tool is located below the vehicle body. Under normal conditions, the tool maintains a falling position state and plows weeds as the vehicle body moves forward;

[0009] The camera collects image information in front of the tool, and the camera is signal-connected to the intelligent controller;

[0010] The intelligent controller is signal-connected to the driving device, and the intelligent controller adjusts the position of the tool through the driving device;

[0011] A first chute is further provided on the vehicle body, and a matching first slider and a first limiting member are provided on the first chute; the first chute extends along the moving direction of the vehicle body, the first slider slides freely along the length direction of the first chute, the first limiting member is used to lock the first slider and the first chute to each other, and the camera is connected to the first slider; and / or,

[0012] A second sliding groove is provided on the vehicle body, and a matching second sliding block and a second limiting member are also provided on the second sliding groove; the second sliding groove extends along the traveling direction of the vehicle body, the second sliding block slides freely along the length direction of the second sliding groove, the second limiting member is used to lock the second sliding block and the second sliding groove to each other, and the cutting tool is connected to the second sliding block.

[0013] In an alternative embodiment, the driving device includes a retraction cylinder and a swing arm;

[0014] One end of the swing arm is hinged to the vehicle body, and the cutting tool is provided at the other end; both ends of the retraction cylinder are respectively hinged to the vehicle body and the swing arm.

[0015] In an alternative embodiment, the cutting tool is triangular, and the tip of the cutting tool is inclined downward by 20°-35°.

[0016] In an alternative embodiment, the number of the cutting tools is two, and the two cutting tools are symmetrically arranged left and right at the same horizontal position, and the two triangular cutting tools are closed;

[0017] Under normal conditions, the tail end edges of the two cutting tools are in contact with each other. When the camera captures the crop, the two cutting tools are respectively unfolded to the left and right under the traction of the driving device.

[0018] In an alternative embodiment, a storage box and an electric sprayer are further included;

[0019] The storage box is arranged on the vehicle body for storing fertilizers or pesticides; the electric sprayer is connected to the storage box through a pipeline, and the electric sprayer is signal-connected to the intelligent controller.

[0020] In an alternative embodiment, a third sliding groove is further provided on the vehicle body, and a matching third sliding block and a third limiting member are provided on the third sliding groove; the third sliding groove extends along the traveling direction of the vehicle body, the third sliding block slides freely along the length direction of the third sliding groove, the third limiting member is used to lock the third sliding block and the third sliding groove to each other, and the electric sprayer is connected to the third sliding block.

[0021] An automatic weeding method using the above weeding machine includes the following steps:

[0022] S100. Collect image information in front of the cutting tool;

[0023] S200. Determine whether there is a target crop in the collected image;

[0024] S300. Push the tool forward horizontally. When there is no target crop in the image, the tool stays in the plowing position to plow weeds; when there is a target crop in the image, lift the tool to avoid the target crop.

[0025] S400. After the tool passes the target crop, it drops back to the plowing position.

[0026] In an alternative embodiment, the step of the tool avoiding the crop further includes:

[0027] S301. Adjust the horizontal distance between the tool and the camera according to the forward speed of the tool. The slower the speed, the shorter the distance.

[0028] S302. According to the traveling speed of the tool and the horizontal distance between the tool and the camera, calculate the lifting and dropping time of the tool through the delay function intelligent controller.

[0029] In an alternative embodiment, the following steps are further included:

[0030] S500. According to the collected image information, perform crop target positioning and then quantitatively spray fertilizers or pesticides.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] During the weeding process of the present invention, the tool always keeps moving forward, that is, the weeding operation is always in progress, and the weeding efficiency is high. In addition, it is equipped with an image acquisition function to timely detect crop seedlings and lift the tool to avoid the crop seedlings and plow weeds, ensuring that the efficient weeding operation will not damage the target seedlings. Through the camera, intelligent controller and mechanical equipment, automatic weeding operation is realized, greatly reducing the labor cost and having low operating expenses. In summary, the technical solution provided by the present invention has obvious advantages over the existing weeding technologies. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is the front view of the weeding machine involved in the present invention;

[0035] Figure 2 It is the left view of the weeding machine involved in the present invention;

[0036] Figure 3 It is the flowchart of the automatic weeding method involved in the present invention.

[0037] In the figure, 1 is the vehicle body; 11 is the first slider; 12 is the second slider; 13 is the third slider; 2 is the traction device; 3 is the camera; 4 is the tool; 5 is the driving device; 51 is the retraction cylinder; 52 is the swing arm; 6 is the storage box; 7 is the electric sprayer; 8 is the power supply. Specific Embodiment

[0038] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other implementation manners obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope protected by the present invention.

[0039] As Figures 1 to 3 shown, the present invention provides a weeding machine, including: a vehicle body 1, a traction device 2 for driving the vehicle body 1 to travel, and a camera 3, a tool 4, a driving device 5 and an intelligent controller provided on the vehicle body 1;

[0040] The tool 4 is located below the vehicle body 1. Under normal conditions, the tool 4 plows the bottom surface and plows weeds as the vehicle body 1 travels;

[0041] The camera 3 collects image information in front of the tool 4, and the camera 3 is signal-connected to the intelligent controller;

[0042] The intelligent controller is signal-connected to the driving device 5, and the intelligent controller adjusts the position of the tool 4 through the driving device 5.

[0043] As an optional implementation manner of the present invention, the driving device 5 includes a retraction cylinder 51 and a swing arm 52;

[0044] One end of the swing arm 52 is hinged to the vehicle body 1, and the other end is provided with the tool 4; both ends of the retraction cylinder 51 are respectively hinged to the vehicle body 1 and the swing arm 52.

[0045] As an optional implementation manner of the present invention, the traction device 2 includes a hook, and the weeding machine is connected to a power trailer through the hook, and the trailer pulls the weeding machine forward.

[0046] As an alternative embodiment of the present invention, the cross-section of the vehicle body 1 in the vertical direction is in an A shape. The vehicle body 1 extends in the front-rear direction. The internal components of the weeding machine are arranged on the horizontal plate in the middle of the A-shaped vehicle body 1. The horizontal plate in the middle of the vehicle body 1 has two layers, upper and lower. Among them, the power supply 8 required for the intelligent controller and the driving device 5 is separately arranged on the upper layer to avoid damage to the power supply 8 due to bumps during use. The area of the lower horizontal plate is larger than that of the upper horizontal plate, which is convenient for placing the remaining weeding machine components other than the power supply 8. The inverted V-shaped outer shell of the A-shaped vehicle body 1 plays a protective role for the internal components. Wheels are provided on both sides of the vehicle body 1. The middle parts of the wheels located on the same axis in the acting direction are disconnected, and the two wheels used on the left and right are separately connected to the vehicle body 1. Among them, the height of the vertical horizontal plate is greater than the height of the axle of the wheel, which avoids damage to the crops by the axle of the wheel, so that the weeding machine provided by the present invention can be applicable to the weeding operation of higher crops.

[0047] As an alternative embodiment of the present invention, a first sliding groove is further provided on the vehicle body 1. A first sliding block 11 and a first limiting member that match each other are provided on the first sliding groove. The first sliding groove extends along the traveling direction of the vehicle body 1. The first sliding block 11 freely slides along the length direction of the first sliding groove. The first limiting member is used to lock the first sliding block 11 and the first sliding groove to each other. The camera 3 is connected to the first sliding block 11; and / or,

[0048] A second sliding groove is provided on the vehicle body 1. A second sliding block 12 and a second limiting member that match each other are further provided on the second sliding groove. The second sliding groove extends along the traveling direction of the vehicle body 1. The second sliding block 12 freely slides along the length direction of the second sliding groove. The second limiting member is used to lock the second sliding block 12 and the second sliding groove to each other. The tool 4 is connected to the second sliding block 12.

[0049] Specifically, the first limiting member can be selected as a bolt. The first limiting member penetrates through the first sliding block 11. A plurality of bolt holes that match the bolt are arranged at intervals in the length direction of the first sliding groove. After the bolt penetrates through the first sliding block 11 and is screwed into the bolt hole on the first sliding groove, the sliding block is fixed. Unscrewing and removing the bolt can release the limitation on the first sliding block 11. The second limiting member can be selected as a structure of the same type as the first limiting member.

[0050] As an alternative embodiment of the present invention, the tool 4 is triangular, and the tip of the tool 4 is inclined downward by 20°-35°, preferably 30°.

[0051] As an alternative embodiment of the present invention, the number of the cutting tools 4 is two, and the two cutting tools 4 are symmetrically arranged left and right at the same horizontal position. Each cutting tool 4 is triangular, and the contact points at the tails coincide after the two cutting tools 4 are closed;

[0052] Under normal conditions, the two cutting tools 4 are closed and the edges at the tails of the cutting tools 4 are in contact with each other to prevent weeds from being missed. When the camera 3 captures a crop, the two cutting tools 4 are pulled by the driving device 5 to expand to the left and right sides respectively. In the present invention, the two cutting tools 4 are triangular, where the apex angle of the triangle is the tip of the cutting tool 4 and the base is the tail end of the cutting tool 4. When separated, the two cutting tools 4 split from the contact point at the tails of the two cutting tools 4 in the horizontal direction perpendicular to the traveling direction and split to the left and right directions respectively, bypassing the crop and its root position to ensure that the weeds are removed without damaging the crop and its roots.

[0053] As an alternative embodiment of the present invention, it further includes a storage tank 6 and an electric sprayer 7;

[0054] The storage tank 6 is arranged on the vehicle body 1 for storing fertilizers, pesticides, etc.; the electric sprayer 7 is connected to the storage tank 6 through a pipeline, and the electric sprayer 7 is signal-connected to the intelligent controller.

[0055] As an alternative embodiment of the present invention, a third chute is further arranged on the vehicle body 1, and a matching third slider 13 and a third limiting member are arranged on the third chute; the third chute extends along the traveling direction of the vehicle body 1, the third slider 13 slides freely along the length direction of the third chute, the third limiting member is used to lock the third slider 13 and the third chute to each other, and the electric sprayer 7 is connected to the third slider 13. The third limiting member can be selected from the same type of structure as the first limiting member.

[0056] As an alternative embodiment of the present invention, a baffle is arranged on the front side edge of the lens of the camera 3. The width of the baffle is not less than the width of the lens, and the length of the baffle is 1 / 3 - 1 / 2 of the length of the lens. The baffle is hinged to the camera 3, and the delaying surface of the baffle always remains vertical under the action of its own gravity. When the camera 3 captures an image directly below the lens, the baffle does not block the lens; when the weeding machine travels at a high speed, the lens of the camera 3 swings forward, and at this time the baffle begins to block the front area of the lens, reducing the influence of crops in the distance on the judgment of the processor.

[0057] As an alternative embodiment of the present invention, the number of the cameras 3, the cutters 4 and the driving devices 5 is multiple groups. In the left-right direction of the weeding machine during travel, the various sets of implements are closely arranged. As the weeding machine travels, each of the cutters 4 plows the weeds within its corresponding area, and the areas of weeds plowed by each of the cutters 4 overlap with each other in the left-right direction, forming a wider weeding area. During a single travel of the weeding machine, a larger range of weeds can be cleared. In the front-back direction of the vehicle body 1 during travel, the various sets of implements are arranged in a staggered manner front and back, so as to prevent interference between the cutters 4 during the process of avoiding crops. Specifically, the various sets of implements are arranged in a wavy shape, a V shape or an inclined straight line shape (the inclination refers to being inclined with respect to the left-right direction of the travel of the weeding machine) on a horizontal plane.

[0058] As an alternative embodiment of the present invention, the driving device 5 includes a contraction cylinder 51 and an L-shaped contraction arm. Among them, the horizontal bar section of the L-shaped contraction arm is horizontally arranged and is located above the vertical bar section, the vertical bar section of the L-shaped contraction arm is vertically arranged, and the horizontal bar section of the L-shaped contraction arm is a retractable sleeve structure. The horizontal bar end of the L-shaped contraction arm is connected to the vehicle body 1, and the vertical bar end of the L-shaped contraction arm is connected to the cutter 4. The contraction cylinder 51 is horizontally arranged, one end is connected to the vehicle body 1, and the other end is connected to the L-shaped contraction arm. The intelligent controller controls the contraction / elongation of the horizontal bar section of the L-shaped contraction arm through the contraction cylinder 51, and the cutter 4 horizontally moves under the drive of the L-shaped arm. The weeding machine travels forward along the planting track of the crops. When encountering crops, the cutter 4 moves horizontally to the outside of the crops to clean the weeds around the crops. After the cutter 4 passes the crops, the cutter 4 moves horizontally back to the initial position to remove the weeds on the crop cultivation track. Embodiment

[0059] Three pairs of chutes are fixed at the middle position of the vehicle body 1. A slider is placed in each pair of chutes. Among them, the first slider 11 and the third slider 13 are each fixed with a pair of bidirectional screws, and a rectangular steel plate is fixedly arranged at the other end of the bidirectional screws. Among them, a camera is fixed on the rectangular steel plate below the first slider 11 for collecting image data; two swing arms 52 are symmetrically installed below the second slider 12; an electric spray head 7 is fixed on the rectangular steel plate below the third slider 13.

[0060] The weeding machine is placed in the field. When the tractor drives the weeding machine to move, the camera 8 will capture images and then send them to the microprocessor for crop recognition. A telescopic hydraulic cylinder is installed on the left side of the left swing arm 52, and a retracting hydraulic cylinder is installed on the right side of the right swing arm 52. When the microprocessor recognizes the crops in the image, it controls the relay according to the vehicle speed combined with the delay function, thereby controlling the actions of the two telescopic hydraulic cylinders. At the same time, it drives the two swing arms 52 to contract towards the upper left and upper right sides, bypassing the recognized crops. After the crops are completely bypassed, the telescopic hydraulic cylinders start to extend, and the two swing arms 52 return to the closed state. When there are no crops in the image, the two swing arms 52 maintain the closed state. The cutter 4 is fixed under the swing arm 52 using screws and nuts. The cutter 4 is divided into two parts. The upper part is a solid iron block, which is attached to and fixed under the swing arm 52. The lower part is a triangular blade, which is embedded 30° downward into the ground. When the weeding machine moves forward, the lower part of the cutter 4 will uproot the weeds along the way, achieving the effect of weeding. The storage tank 6 is made of rubber material. The storage tank 6 is fixed on the left side of the third chute, with a capacity of liters. Liquid fertilizer is stored in it. The liquid fertilizer flows through the plastic hose and stops at the electric spray head 7, waiting for the electric spray head 7 to act. One end of the plastic hose is connected to the storage tank 6, and the other end is connected to the electric spray head 7. When the spray head moves above the crops, the microprocessor controls the relay according to the vehicle speed combined with the delay function, and then controls the opening and closing of the spray head.

[0061] When the weeding machine is preparing for work, the slider can be slid to adjust the positions of the camera, the swing arm 52, and the spray head so that they are corresponding above the crops, which can improve the accuracy of crop recognition, the accuracy of weeding, and the accuracy of fertilizer spraying.

[0062] In this embodiment, by adjusting the slider, it is convenient to adjust according to the field crops, facilitating the camera to accurately correspond above the crops; by means of the telescopic hydraulic cylinder, it is convenient to drive the swing arm 52 to lift upwards on both sides, preventing the crops from being damaged, with relatively high flexibility; by means of the cutter 4, it is convenient to uproot the weeds around the crops, with strong pertinence and improved weeding efficiency.

[0063] The present invention also provides an automatic weeding method using the above weeding machine, including the following steps:

[0064] S100. Collect the image information in front of the cutter 4;

[0065] S200. Determine whether there are target crops in the collected images;

[0066] S300. Horizontally push the cutter 4 forward. When there are no target crops in the image, the cutter 4 remains in the plowing position to plow the weeds; when there are target crops in the image, lift the cutter 4 to avoid the target crops and prevent damage to the crops;

[0067] The S400 and the tool 4 return to the plowing position after passing through the target crop to prevent the phenomenon of weeds being missed.

[0068] In the present invention, the forward direction of the weeding machine is the front, the direction opposite to the front is the rear, and the two sides in the front-rear direction in the horizontal direction are the left-right direction.

[0069] During the weeding process, the tool 4 always maintains a forward state, that is, the weeding operation is always carried out, and the weeding efficiency is high. In addition, it is also equipped with an image acquisition function to timely detect crop seedlings and lift the tool 4 to avoid crop seedlings, ensuring that the efficient weeding operation will not damage the target seedlings. The automatic weeding method provided by the present invention can realize automatic weeding operation through the camera 3 and the controller mechanical equipment, greatly reducing the labor cost and having low operating costs. In summary, the technical solution provided by the present invention has obvious advantages over the existing weeding technologies.

[0070] As an optional implementation manner of the present invention, the step of lifting the tool 4 to avoid crops further includes:

[0071] S301. Adjust the horizontal distance between the tool 4 and the camera according to the forward speed of the tool 4. The slower the speed, the shorter the distance;

[0072] S302. Calculate the lifting time of the tool 4 through the delay function controller according to the traveling speed of the tool 4 and the horizontal distance between the tool 4 and the camera.

[0073] During the weeding process, it is necessary to well control the lifting time point of the tool 4. If the tool 4 is lifted too early, the weeds near the crops cannot be removed, and the weeding effect is not good; if the tool 4 is lifted too late, the tool 4 will damage the crops, causing serious economic losses. It is known that the information processing time of image acquisition and the controller is extremely short. The main factors affecting the best lifting time point of the tool 4 are: the traveling speed of the weeding machine, the horizontal distance between the image acquisition position of the camera 3 and the tool 4, and the delay control of the controller to delay the lifting of the tool 4. Through the traveling speed of the weeding machine, the horizontal distance between the tool 4 and the camera is initially adjusted to reduce the working intensity of the delay function controller; through the calculation of the delay function controller, the lifting time point of the tool 4 is accurately controlled to ensure an excellent weeding effect. Because this structure is all made of aluminum alloy with a chute, the distances between the camera and the tool 4 and between the tool 4 and the nozzle can be changed. The change is based on the distance between the crops in the actual field. When the vehicle speed is between 2.5 m / min and 3.8 m / min, the intelligent controller will calculate when the weeding knife separates according to the distances between the camera and the tool 4, between the tool 4 and the nozzle, and the vehicle speed. The weeding knife will separate 10 cm in front of the crop, and this 10 cm part will also be programmed and input into the intelligent controller.

[0074] In addition, the time point when the tool 4 returns is equally important. If the tool 4 returns too early, it will damage the crops. If the tool 4 returns too late, the weeds in front of the crops will not be thoroughly cleared. Before weeding according to the size of the crops, a set value is preferably input into the controller first. The controller calculates how long it takes for the tool 4 to return after it is lifted according to the actual traveling speed of the weeding machine. For example, when the vehicle speed A is 2.5 m / min and the diameter B of the crop on the horizontal plane is 10 cm, the closing time T of the tool 4 is 1 s, where T = B / A. The faster the weeding speed and the smaller the root range of the crop, the shorter the closing time of the tool 4.

[0075] As an optional implementation manner of the present invention, the step of separating the two tools 4 to avoid the crops further includes:

[0076] S201. When the weeding machine travels at a high speed, adjust the shooting angle of the image acquisition device to acquire image information farther ahead of the tool 4 than the original image acquisition position.

[0077] When the soil quality of the working site is relatively loose and the weeds are relatively sparse, weeding can be carried out at a higher speed. Limited by the length of the vehicle body 1 of the weeding machine itself, the shooting position of the camera can be changed, and the effect is equivalent to adjusting the horizontal distance between the camera 3 (with the shooting angle horizontally downward) and the tool 4.

[0078] As an optional implementation manner of the present invention, the following steps are further included:

[0079] S500. According to the acquired image information, after positioning the crop target, quantitatively spray fertilizers or pesticides. This image recognition intelligent positioning and quantitative spraying technology and fertilization technology can save the plant protection cost and improve the plant protection efficiency.

[0080] In the description of the present invention, it should be noted that the terms "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations. In addition, unless otherwise specified, the meaning of "multiple" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the Figure 1 orientation or positional relationship shown, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. The terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0081] In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0082] As mentioned above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A weeding machine, characterized in that, Comprising: A vehicle body (1), a traction device (2) for driving the vehicle body (1) to travel, and a camera (3), a tool (4), a driving device (5) and an intelligent controller provided on the vehicle body (1); The tool (4) is located below the vehicle body (1), and under normal conditions, the tool (4) maintains a falling position state and plows weeds as the vehicle body (1) travels; The camera (3) collects image information in front of the tool (4), and the camera (3) is signal-connected to the intelligent controller; The intelligent controller is signal-connected to the driving device (5), and the intelligent controller regulates the position of the tool (4) through the driving device (5); A first sliding groove is further provided on the vehicle body (1), and a matching first slider (11) and a first limiting member are provided on the first sliding groove; the first sliding groove extends along the traveling direction of the vehicle body (1), the first slider (11) freely slides along the length direction of the first sliding groove, the first limiting member is used to lock the first slider (11) and the first sliding groove to each other, and the camera (3) is connected to the first slider (11); and / or, A second sliding groove is provided on the vehicle body (1), and a matching second slider (12) and a second limiting member are further provided on the second sliding groove; the second sliding groove extends along the traveling direction of the vehicle body (1), the second slider (12) freely slides along the length direction of the second sliding groove, the second limiting member is used to lock the second slider (12) and the second sliding groove to each other, and the tool (4) is connected to the second slider (12).

2. The weeding machine according to claim 1, characterized in that, The driving device (5) includes a contraction cylinder (51) and a swing arm (52); One end of the swing arm (52) is hinged to the vehicle body (1), and the other end is provided with the tool (4); both ends of the contraction cylinder (51) are respectively hinged to the vehicle body (1) and the swing arm (52).

3. The weeding machine according to claim 1, characterized in that, The tool (4) is triangular, and two are provided and distributed in a closed manner, and the tip of the tool (4) is inclined downward by 20° - 35°.

4. The weeding machine according to claim 3, characterized in that, The number of the tools (4) is two, and the two tools (4) are symmetrically arranged left and right at the same horizontal position; Under normal conditions, the tail edges of the two tools (4) are in contact with each other. When the camera (3) captures crops, the two tools (4) are pulled by the driving device (5) and unfold to the left and right sides respectively.

5. The weeding machine according to claim 1, characterized in that, It further includes a storage tank (6) and an electric sprayer (7); The storage tank (6) is provided on the vehicle body (1) for storing fertilizers or pesticides; the electric sprayer (7) is connected to the storage tank (6) through a pipeline, and the electric sprayer (7) is signal-connected to the intelligent controller.

6. The weeding machine according to claim 5, characterized in that, A third chute is further provided on the vehicle body (1), and a matching third slider (13) and a third limiting member are provided on the third chute; the third chute extends along the traveling direction of the vehicle body (1), the third slider (13) slides freely along the length direction of the third chute, the third limiting member is used to lock the third slider (13) and the third chute to each other, and the electric spray head (7) is connected to the third slider (13).

7. An automatic weeding method using the weeding machine according to any one of claims 1-6, characterized in that, It includes the following steps: S100. Collect image information in front of the tool; S200. Judge whether there is a target crop in the collected image; S300. Push the tool forward horizontally. When there is no target crop in the image, the tool remains in the plowing position to plow weeds; when there is a target crop in the image, lift the tool to avoid the target crop; S400. After the tool passes the target crop, it falls back to the plowing position.

8. The automatic weeding method according to claim 7, characterized in that, The step of the tool avoiding crops further includes: S301. Adjust the horizontal distance between the tool and the camera according to the advancing speed of the tool. The slower the speed, the shorter the distance; S302. According to the traveling speed of the tool and the horizontal distance between the tool and the camera, calculate the lifting and falling time of the tool through the delay function intelligent controller.

9. The automatic weeding method according to claim 7, characterized in that It further includes the following steps: S500. According to the collected image information, perform crop target positioning and then quantitatively spray fertilizers or pesticides.

Images