A rice field weeder based on intelligent conversion of active and passive touch of weeding wheels

Abstract

A rice field weeder based on intelligent conversion of active and passive tactile senses of weeding wheels includes an elastic weeding device, a rice seedling tactile sensor, a universal hydraulic conveying device, a frame assembly, and a driving steering wheel; the elastic weeding device is installed at the rear section of the frame assembly, the universal hydraulic conveying device is installed on the left and right sides of the rear section of the frame assembly, the rice seedling tactile sensor is installed at the lower middle part of the frame assembly, and the driving steering wheel is installed at the front end of the frame assembly. The rice seedling tactile sensor can evaluate the health of the rice plant and obtain the position of the seedling strip. The elastic weeding device can convert the weeding wheel at the corresponding position into active and passive according to the health of the rice plant, and can also adjust the rotation speed of the elastic weeding device to achieve dual adaptive weeding of the elastic weeding device. The driving steering wheel automatically corrects the deviation according to the position of the rice plant seedling strip. The present invention combines the elastic weeding device and the driving steering wheel to achieve high-quality mechanical weed control in rice fields, belonging to the field of mechanical weeding.

Description

Technical Field

[0001] The present invention relates to the field of mechanical weeding in rice fields, and in particular to a rice field weeder based on intelligent conversion of active and passive touch of a weeding wheel. Background Art

[0002] Weed damage is a major cause of reduced rice yield and quality. Widely used chemical weed control can effectively suppress weed damage, but long-term application can lead to weed resistance, rice damage, and environmental pollution. Therefore, research and promotion of mechanical weed control in rice fields is essential.

[0003] At present, most rice field weeding components need to be strictly aligned with the rows. In actual production, transplanted rice seedlings are not ideally straight, and damage to the rice seedlings is inevitable during operation. The finger-wheel weeding component mainly realizes mechanical weed control without damaging the rice seedlings based on the difference in the soil-fixing ability of the roots of rice and weeds in transplanted rice fields. It does not require strict row alignment during operation and is a new type of rice field weeding component with great potential. However, different transplanted seedling quantities, different tillering numbers, and different growth conditions lead to differences in the soil-fixing ability of rice roots. When the seedlings are weak and the number of seedlings is small, the active finger-wheel weeding component is prone to damage the seedlings. Therefore, the high seedling injury rate is a problem that needs to be urgently solved by the current active finger-wheel weeding components.

[0004] The present invention takes into account the individual differences of rice plants and evaluates the health of rice seedlings based on a tactile perception method. It cuts off the operating power in the rice seedling area where the seedlings are weak and the number of seedlings is small, so that the weeding components are transformed from active operation to passive operation, realizing the active and passive intelligent conversion of the weeding components based on the growth status of the rice seedlings, and providing a practical method for reducing the seedling injury rate of the wheel-type weeding components. Summary of the Invention

[0005] In response to the technical problems existing in the prior art, the purpose of the present invention is to provide a rice field weeder based on the intelligent conversion of active and passive touch of the weeding wheel. By sensing the information of rice seedlings through tactile sensation, the driving wheel is intelligently controlled to correct deviation and the weeding wheel is controlled to weed in an active or passive manner, thereby realizing adaptive mechanical control of weeds in rice fields.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A rice field weeder based on intelligent conversion of active and passive tactile senses of a weeding wheel, comprising an elastic weeding device, a rice seedling tactile sensor, a universal hydraulic conveying device, a frame assembly, and a driving steering wheel; the elastic weeding device is installed at the rear section of the frame assembly, the universal hydraulic conveying device is installed on the left and right sides of the rear section of the frame assembly, the rice seedling tactile sensor is installed at the lower middle part of the frame assembly, and the driving steering wheel is installed at the front end of the frame assembly; the elastic weeding device is used for weeding operations between rows and driving travel, comprising a weeding wheel and an active and passive wheel converter, the axial direction of the active and passive wheel converter is arranged along the left and right directions, and four weeding wheels are installed on the active and passive wheel converter; the weeding wheel comprises a plum blossom roller and elastic roller fingers, and multiple rows of elastic roller fingers are arranged on the surface of the plum blossom roller in a circumferential direction; the active and passive wheel converter is radially expanded or recovered by the hydraulic pressure provided by the universal hydraulic conveying device to achieve engagement or separation with the weeding wheel, thereby completing the state conversion of the active wheel or passive wheel of the weeding wheel. After adopting this structure, the elastic weeding device can realize driven movement and elastic weeding of rice fields by rotating the weeding wheel. The rice seedling tactile sensor can evaluate the health of rice plants and obtain the position of seedling belts. The elastic weeding device can convert the weeding wheels at the corresponding positions into active and passive ones according to the health of rice plants. At the same time, the rotation speed of the elastic weeding device can be adjusted to realize dual adaptive weeding of the elastic weeding device.

[0008] As a preferred embodiment, the plum blossom roller in the weeding wheel has a "six-leaf flower" structure, with two circular ring grooves and a circular stepped hole with larger ends and a smaller center. A dovetail groove, narrow inside and wide outside, is provided on the wall of the stepped hole. The dovetail groove intersects the circular ring groove perpendicularly and is distributed at regular intervals along the circumference. The elastic roller fingers are arranged at regular intervals and installed on the plum blossom roller. The elastic roller fingers are perpendicular to the tangent surface of the plum blossom roller's arc surface, and all elastic roller fingers are the same length. With this structure, the circular stepped hole design facilitates the installation of bearings and active and passive wheel converters, and the two circular ring grooves facilitate the storage of lubricating oil, which can reduce wear and extend the service life of the roller. The special design of the elastic roller fingers ensures greater density and flexibility at the intersection of the "petals" of the plum blossom roller, resulting in stronger weeding and better weeding results. The elastic roller fingers in the middle of the "petals" have lower density and weaker weeding results. Furthermore, the elastic roller fingers are perpendicular to the tangent plane of the "petals," creating a certain angle between the fingers and the axis of the roller. This allows the elastic roller fingers to simultaneously perform both the "raking" and "picking" weeding steps while in contact with the soil or weeds, while also increasing the penetration depth of the roller fingers and enhancing weeding intensity. This alternating weeding pattern of the weeding wheel, combined with the simultaneous weed destruction of "raking" and "picking," significantly improves the efficiency of mechanical weeding.

[0009] As a preferred embodiment, the active and passive wheel converter includes a converter, a transmission shaft, a locking component, and a limiting ring; the locking component secures the two ends of the converter, which is mounted on the transmission shaft, to the transmission shaft, and a limiting ring is provided between adjacent locking components of corresponding adjacent converters, which is sleeved on the transmission shaft; the transmission shaft is divided into four sections, each section having a circular oil storage tank in the middle, the oil storage tank having an oil inlet and an oil outlet, and each section of the transmission shaft has a plurality of long semicircular grooves at both ends, the semicircular grooves being evenly distributed circumferentially on the arc surface of the transmission shaft; the center of the transmission shaft is provided with a through hole, and a "cross" rib plate divides the through hole into four oil pipes, which are connected to the oil storage tanks in a one-to-one manner. Each oil pipe is provided with a partition layer, which is located between the oil inlet and the oil outlet of the corresponding oil storage tank. With this structure, the transmission shaft has a supporting transmission function and also a hydraulic transmission function. A closed space is formed between the converter and the oil storage tank of the transmission shaft, and the active and passive conversion of the weeding wheel is achieved by controlling the input and output of hydraulic oil.

[0010] As a preferred embodiment, the converter includes meshing teeth and an elastic tube; a plurality of meshing teeth are inlaid on the circumference of the elastic tube at a certain interval, the meshing teeth are made of a metal with a certain strength and toughness, the middle structure is configured as a dovetail tooth with a wide outside and a narrow inside, the two ends are metal sheets, and the inner side of the metal sheet is provided with a semicircular boss; the dovetail teeth cooperate with the dovetail groove of the weeding wheel, and the semicircular boss cooperates with the semicircular groove of the transmission shaft. After adopting this structure, when the meshing teeth of the converter engage with the dovetail groove of the weeding wheel, the converter can transmit the power of the transmission shaft to the weeding wheel; when the meshing teeth of the converter separate from the dovetail groove of the weeding wheel, the converter is concave toward the axis of the transmission shaft, and the transmission shaft is disconnected from the power of the weeding wheel. The design of the meshing teeth can realize power transmission or disconnection, while preventing the converter from twisting and relative rotation with the transmission shaft.

[0011] As a preferred embodiment, when the oil storage tank is filled with oil, the elastic tube expands radially, the dovetail teeth cooperate with the dovetail groove of the weeding wheel, and the converter engages with the transmission shaft for transmission; when the oil storage tank is drained, the elastic tube contracts radially, and the dovetail teeth separate from the dovetail groove of the weeding wheel.

[0012] As a preferred embodiment, the universal hydraulic conveying device includes an oil supply tank, four hydraulic solenoid valves, four connecting oil pipes, a universal hydraulic conveyor, a sealing ring, a straight oil pipe, and an oil pipe end cover; the universal hydraulic conveyor has a cylindrical structure, and three circular ring partitions are provided in the middle of the cylinder to divide the cylinder into four spaces of equal width, each space is provided with a through hole at the bottom of the cylinder, and an external oil pipe interface is provided at the outer end of the through hole; the sealing ring includes an axial sealing ring, a small sealing ring, a medium sealing ring, and a large sealing ring, and the sealing ring is provided with a through hole connected to the straight oil pipe, and the four sealing rings are respectively installed on the four spaces of the cylinder; fixed ribs are provided on both sides of the cylinder for connecting to the frame assembly, and rectangular grooves are provided on the ribs; the oil supply tank is divided into four routes, each of which is connected to a space of the universal hydraulic conveyor through a connecting oil pipe and a hydraulic solenoid valve, the universal hydraulic conveyor is connected to the oil pipe end cover through a straight oil pipe, and the oil pipe end cover is fixed at both ends of the drive shaft, and the four spaces of the universal hydraulic conveyor are respectively connected to the four oil pipes in the center of the drive shaft. With this structure, the universal hydraulic delivery device can deliver or extract hydraulic oil to the four oil pipes at the center of the drive shaft while the drive shaft rotates, and realize separate control of the four oil pipes in the drive shaft under the action of the hydraulic solenoid valve.

[0013] As a preferred embodiment, the frame assembly includes a frame and a weed rake; the overall structure of the frame is in the shape of an "I" character, with the front end configured as an inward "ox horn" shape, a cantilever beam provided at the rear end, rectangular through holes provided on both sides of the cantilever beam, and a straight slotted through hole provided on the bottom end; the weed rake includes a rake seat and rake teeth, the rake teeth are in the shape of the letter "r" with the straight portion longer than the arc portion, and the rake teeth are evenly distributed on the rake seat along the left and right directions; the weed rake is mounted on the cantilever beam at the rear end of the frame by bolts, and the mounting position can be adjusted according to usage requirements. With this structure, the frame has strong reliability and is also convenient for transporting and installing various components. The weed rake can adjust the distance between the weed rake and the weeding wheel according to the amount of weeds or dirt adhering to the weeding wheel, thereby adjusting the operating intensity of the weed rake, which is beneficial for removing weeds or dirt adhering to the weeding wheel and ensuring the weeding effect of the weeding wheel.

[0014] As a preferred embodiment, a rice seedling tactile sensor includes a bracket, a wireless angle sensor, a measuring rod, and a flexible connecting belt. The bracket is provided with a row of semi-open limiting grooves on the side, and the limiting groove walls are provided with trapezoidal buffer blocks. The measuring rod and the bracket are hinged in a swinging manner at the limiting grooves. The wireless angle sensor is installed on the measuring rod, and the flexible connecting belt connects all the measuring rods in a row. The measuring rod includes a base and a round rod, the base is made of plastic, and the round rod is an internally hollow gas rod. After adopting this structure, the limiting groove on the bracket allows the measuring rod to rotate within a certain angle, and the trapezoidal buffer block at the bottom can reduce the measurement error caused by the collision between the measuring rod and the bracket. The measuring rod is composed of a plastic base and a hollow gas rod, which is beneficial for reducing the measurement error caused by the deadweight of the sensor and avoiding damage to the rice seedlings during the measurement process. The rice seedling tactile sensor can collect the measuring rod angle change data in real time when it contacts the rice plant, and each measuring rod is linked to form a linkage. The processed measurement data can be used to form a mathematical model to obtain the health of the rice and the position information of the seedling belt.

[0015] As a preferred embodiment, the driving steering wheel is installed on the left side of the front end of the frame; the driving steering wheel includes a driving wheel, a front axle, a front axle cross bar, a front motor, a motor bracket, a gear, and a hydraulic steering device; the hydraulic steering device includes a steering rail, a steering piston rod, a connecting long rod, a connecting short rod, and an auxiliary return spring; the steering rail is a 120-degree hollow ring, and an input port and an output port are provided on the surfaces of both ends of the ring, a boss is provided on the outside of the center line of the ring, and a straight groove circular hole is provided on the side of the boss for connecting to the frame assembly; the steering piston rod is semicircular, with a piston in the middle and mounting holes at both ends; the connecting long rod is fixed at both ends of the steering piston rod, and the steering piston rod and the steering rail cooperate to drive the connecting long rod to swing; the driving wheel is installed on the front axle, one end of the front axle is hinged to the frame assembly, and the other end is clamped to the front axle cross bar. The front motor is installed on the right side of the driving wheel through the motor bracket, and the front motor drives the driving wheel to rotate through the gear; the front axle cross bar, the connecting short rod, the connecting long rod, and the auxiliary return spring constitute a quadrilateral mechanism. After adopting this structure, the hydraulic steering device can adjust the direction of the driving wheel in time according to the position of the rice seedling belt to achieve direction correction, avoiding a significant increase in the seedling injury rate due to the driving wheel pressing the seedlings.

[0016] As a preferred embodiment, the drive wheel includes a hub and a tire, with rigid bidirectional running gear teeth disposed along the tire surface. The gear teeth form a mirrored, intersecting "V" structure, forming a "mouth" shape at the center intersection. Elliptical holes are disposed on the four sides of the "mouth" position of the gear teeth. With this structure, the drive wheel can achieve both driving and weeding functions. At the same time, the bidirectional running gear teeth ensure sufficient friction for both forward and reverse rotation of the front wheel, thereby meeting the requirements of the weeder for both forward weeding and reverse blind weeding, and facilitating adjustment of the weeding wheel's weeding intensity.

[0017] The present invention has the following advantages:

[0018] Achieve high-quality mechanical weed control in rice fields and reduce the seedling damage rate caused by rotary finger weeding components. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention is a schematic diagram of the structure of a rice field weeder based on the intelligent conversion of active and passive touch of the weeding wheel.

[0020] Figure 2 It is a schematic diagram of the structure of the elastic weeding device.

[0021] Figure 3 It is a schematic diagram of the weeding wheel structure.

[0022] Figure 4a This is a detailed view of the active and passive wheel converter, which hides a converter and a pair of locking components.

[0023] Figure 4b This is a partial detail diagram of the passive state of the active and passive wheel converter.

[0024] Figure 5 This is a schematic diagram of the converter structure.

[0025] Figure 6 This is a schematic diagram of the structure of the rice seedling tactile sensor.

[0026] Figure 7 It is a structural diagram of a universal hydraulic conveying device.

[0027] Figure 8a It is a top view of the driving steering wheel structure.

[0028] Figure 8b It is a side view of the driving steering wheel structure. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below with reference to specific implementation methods.

[0030] In the drawings of the present invention: 1. elastic weeding device; 2. grass rake; 3. universal hydraulic conveying device; 4. frame; 5. drive motor; 6. electronic control system; 7. rice seedling tactile sensor; 8. oil supply device; 9. drive steering wheel; 10. weeding wheel; 11. active and passive wheel converter; 12. transmission gear; 13. bearing; 14. transmission shaft; 15. locking component; 16. converter; 17. limiting ring; 18. bracket; 19. wireless angle sensor; 20. flexible connecting belt; 21. measuring rod; 2 2. Trapezoidal buffer block; 23. Fuel supply tank; 24. Hydraulic solenoid valve; 25. Connecting oil pipe; 26. Universal hydraulic conveyor; 27. Axial sealing ring; 28. Small sealing ring; 29. Medium sealing ring; 30. Large sealing ring; 31. Auxiliary return spring; 32. Steering rail; 33. Connecting long rod; 34. Steering piston rod; 35. Front axle cross bar; 36. Connecting short rod; 37. Front motor; 38. Motor bracket; 39. Gear; 40. Drive wheel; 41. Front axle; 42. Oil pipe end cover; 43. Straight oil pipe.

[0031] A rice field weeder with intelligently switched active and passive weeding wheel tactile sensors primarily includes an elastic weeding mechanism, a rice seedling tactile sensor, a universal hydraulic conveyor, a frame assembly, a drive steering wheel, an oil supply, and an electronic control system. The elastic weeding mechanism is mounted on the rear end of the frame, while the universal hydraulic conveyor is mounted on both sides of the rear end. The rice seedling tactile sensor is mounted below the center of the frame. The oil supply and electronic control system are mounted on both sides of the upper center of the frame. The drive steering wheel is mounted on the left side of the front end of the frame.

[0032] The elastic weeding device consists of a weeding wheel, bearings, a drive motor, transmission gears, and an active-passive wheel converter. The converter's axial direction runs left and right, and four weeding wheels are mounted on the converter. The weeding wheel consists of a plum blossom drum and elastic roller fingers. Multiple rows of elastic roller fingers are arranged circumferentially on the drum's surface. The elastic weeding device is used for weeding between rows and for driving the plant. The plum blossom drum has a "six-leaf flower" structure, with a circular stepped hole at its axis, larger at the ends and smaller in the middle, and two annular grooves. The stepped hole has a dovetail groove that is narrower inside and wider outside, intersecting the annular grooves at right angles and spaced regularly around the circumference. The elastic roller fingers are mounted on the drum at regular intervals, perpendicular to the tangent plane of the drum's circular arc surface, and all fingers are of the same length. The drive motor drives the active-passive wheel converter via the transmission gears.

[0033] The active and passive gear converter consists of a converter, a drive shaft, a locking component, and a retaining ring. The locking component secures the converter's ends to the drive shaft, with retaining rings installed between each converter. The drive shaft is divided into four sections, each with a circular oil reservoir in the center, equipped with an oil inlet and outlet. Each section has multiple semicircular grooves of a predetermined length along its circumference. The center of the drive shaft is a through hole, and a cross-shaped rib divides the through hole into four oil pipelines. Each pipeline has a barrier layer located between the oil inlet and outlet of the oil reservoir, dividing the pipeline into an input and output end. The converter consists of meshing teeth and an elastic tube. The meshing teeth are embedded in the circumference of the elastic tube at regular intervals. The meshing teeth are made of a metal with a certain strength and toughness. The central structure is a dovetail gear with a wide outer edge and a narrow inner edge. The ends are made of thin metal sheets with semicircular bosses on the inner side of the metal sheets. The semicircular bosses mate with the semicircular grooves on the drive shaft.

[0034] The overall frame is shaped like an "I" (Chinese character), with an inward-facing "ox horn" front end and a pair of handlebars on either side of the middle. The rear end of the frame features a drive shaft mounting hole and external mounting plates. The rear end features a cantilever beam with rectangular through-holes on both sides and straight slots on the bottom. The rake consists of a rectangular base and tines. The base is fixed with bolts at both ends. The tines are shaped like the letter "R," with the straight portion longer than the circular portion, and are evenly distributed on the base. The rake is bolted to the cantilever beam at the rear end of the frame, and its mounting position can be adjusted flexibly based on the amount of weeds or dirt clinging to the weeding wheel.

[0035] The rice seedling tactile sensor includes a bracket, a wireless angle sensor, a measuring rod, and a flexible connecting belt; the wireless angle sensor is installed on the measuring rod, the flexible connecting belt connects the measuring rods into a row, and is installed on the bracket by a hinged manner; the bracket is a rectangular parallelepiped, with a circular through hole in the cross section, a row of semi-open limit grooves on the side, and trapezoidal buffer blocks on the walls of the limit grooves. The measuring rod and the bracket are hinged in a forward and backward swinging manner at the limit grooves; the measuring rod includes a base and a round rod, the base is set as a rectangular parallelepiped with rounded corners and is made of plastic; the round rod is set as a hollow gas rod, filled with gas inside, and has a small degree of bending.

[0036] The universal hydraulic conveying device includes an oil supply tank, a hydraulic solenoid valve, a connecting oil pipe, a universal hydraulic conveyor, a sealing ring, a straight oil pipe, and an oil pipe end cover; the oil supply tank is connected to one end of the universal hydraulic conveyor through the connecting oil pipe and the hydraulic solenoid valve, the universal hydraulic conveyor is connected to the oil pipe end cover through the straight oil pipe, the oil pipe end cover is fixed at both ends of the drive shaft, and the four spaces of the universal hydraulic conveyor are respectively connected to the four oil pipes in the center of the drive shaft.

[0037] The universal hydraulic conveyor is cylindrical in structure, with three circular interlayers in the center, dividing it into four equal-width compartments. Each compartment has a through-hole at the bottom of the cylinder, with an external oil pipe connection at the outer end for connecting to the connecting oil pipe 25. Fixed ribs with rectangular grooves are located on both sides of the cylinder to facilitate fixing to the machine frame. The sealing rings include an axial sealing ring, a small sealing ring, a medium sealing ring, and a large sealing ring. Each sealing ring has a through-hole connected to a straight oil pipe. Each sealing ring is installed in one of the four compartments of the cylinder and can rotate freely.

[0038] The steering wheel drive system consists of a drive wheel, front axle, front axle crossbar, front motor, motor bracket, gears, and a hydraulic steering mechanism. The hydraulic steering mechanism includes a steering rail, steering piston rod, long connecting rod, short connecting rod, and auxiliary return spring. The steering rail is a 120-degree hollow ring with input and output ports on each end. A boss is located outside the centerline of the ring, and the sides of the boss have straight slotted holes for easy mounting to the frame. The steering piston rod is semicircular, with a piston in the middle and mounting holes at each end. The long connecting rod is fixed to each end of the steering piston rod. The steering piston rod and steering rail form the hydraulic steering mechanism. The drive wheel is mounted on the front axle, and the front motor is mounted to the right side of the drive wheel via the motor bracket. The front axle crossbar is fixed to the right end of the front axle. The hydraulic steering mechanism is connected to the front axle crossbar via a short connecting rod and an auxiliary return spring. The driving wheel includes a hub and a tire. Rigid bidirectional running gear teeth are provided along the surface of the tire. The gear teeth are in a mirror-crossed "V"-shaped structure, and the center cross forms a "mouth" shape. The four sides of the "mouth"-shaped position of the gear teeth are provided with elliptical holes. The bidirectional running gear teeth can enhance the weeding effect while meeting the use requirements of the lawn mower for forward weeding and reverse blind weeding. The elliptical holes on the gear teeth can prevent soil or weeds from sticking, thereby improving the passability of the driving wheel.

[0039] The working process of the present invention is as follows:

[0040] In this embodiment, the weeder has an overall length of 930 mm and a width of 820 mm. The weeding wheel's quincunx roller is formed by the intersection of three ellipses, with a major axis of 100 mm and a minor axis of 70 mm. Each arc-shaped surface of the quincunx roller is equipped with five rows of elastic roller fingers. The line connecting the center elastic roller fingers passes through the center of the quincunx roller, while the lines connecting the other two rows of elastic roller fingers on one side are symmetrical about the center row of elastic roller fingers at angles of 6.5 degrees and 9.63 degrees, respectively. The two rows of elastic roller fingers on the other side are symmetrical about the center row. The steering wheel has a diameter of 200 mm, and the two-way driving teeth on the drive wheel are 11 mm long. The hydraulic steering system has a left-right steering angle of 60 degrees.

[0041] Before weeding, wireless angle sensors are used to output different angle data based on the different contact positions with the rice plants. The flexible connecting belt of the rice seedling tactile sensor forms an associated mathematical model between the data of each wireless angle sensor, and the health of the rice seedlings and the position of the seedling belt are calculated.

[0042] When the weeder enters a rice field, the drive motor rotates the weeding wheel via a transmission gear, completing the driving and weeding operation. Adjusting the distance between the weeding rake and the weeding wheel adjusts the weeding intensity and ensures the weeding effect of the weeding wheel. The front motor drives the drive wheel to achieve both driving and weeding. The universal hydraulic transmission device controls the hydraulic pressure supplied to or removed from the active and passive wheel converters based on the strength of the rice seedlings, thereby supplying or disconnecting power to the weeding wheel. The hydraulic oil supply direction of the hydraulic steering device driving the steering wheel is adjusted based on the position of the rice seedling strips, thereby adjusting the direction of the drive wheel. During weeding, the weeding wheel can be divided into two working zones: the front zone is the elastic roller finger area at the intersection of the two "petals" of the weeding wheel's plum blossom roller, and the rear zone is the elastic roller finger area at the apex of the plum blossom roller's arc. The elastic roller fingers intersect in the front working area. The elastic roller fingers have a high density and a high weeding intensity, including three weed destruction methods. The elastic roller fingers destroy the weeds mainly by "pressing" when they just touch the weeds and have not yet entered the soil; the elastic roller fingers destroy the weeds by "raking" when they are entered into the soil and have not yet emerged from the soil. The elastic roller fingers tilted forward at this time destroy the weeds by "raking", and the elastic roller fingers tilted backward destroy the weeds by "picking". At this time, the weeding wheel destroys the weeds by "raking" and "picking" simultaneously; the elastic roller fingers destroy the weeds mainly by "picking" when they are emerging from the soil. The rear working area has a low density of elastic roller fingers, resulting in relatively weak weeding. The weeding wheel primarily destroys weeds by "pressing" the fingers from contact with weeds or soil until they are buried and perpendicular to the ground. From their burrowing position to their vertical position, the weeding wheel primarily destroys weeds by "raking." And from their vertical position to their emergence, the weeding wheel primarily destroys weeds by "picking." This combination of multiple weed-destroying methods—pressing, raking, and picking—along with alternating weeding strengths in the front and rear working areas, enhances the weed destruction capability, reduces weed resurgence, and ensures more comprehensive and efficient weeding. In order to further improve the quality of weeding, the weeder will use the rice seedling health information provided by the rice seedling tactile sensor. When the rice seedlings are strong, it will reduce the speed of the driving wheel or reverse the driving wheel to form forward resistance, and increase the speed of the weeding wheel to enhance the weeding effect without damaging the rice seedlings. When the rice seedlings are weak, the active and passive wheel converter will cut off the power of the weeding wheel corresponding to the weaker position of the rice seedlings, so that the weeding wheel at this position will be converted from active movement to passive movement, thereby greatly reducing the seedling injury rate.

[0043] When the weeder is moving, the driving steering wheel will obtain the position of the seedling belt and the strength of the rice seedlings based on the rice seedling tactile sensor, and control the hydraulic steering device to adjust the direction and speed of the driving wheel, thereby realizing intelligent correction and weeding intensity adjustment.

[0044] The driving steering wheel at the front end of the weeder is installed in an offset manner, which allows the travel path of the driving wheel to coincide with the weeding path of the weeding wheel, allowing the driving wheel to always travel between rows and further enhance the weeding effect.

[0045] The teeth of the weed rake at the rear end of the weeder are in the shape of the letter "r" and the straight part is longer than the arc part. The purpose is that the arc part can clean most of the weeds or soil residues wrapped around the elastic roller fingers of the weeding wheel by a "hook", and the straight part can further clean the weeds or soil residues on the weeding wheel, ensuring the weeding effect of the weeding wheel.

[0046] In addition to the above embodiments, the number of weeding wheels of the elastic weeding device, the size of the weeding wheels, the size of the frame, and the size or parameters of the components driving the steering wheel can be changed according to actual needs, and the angle between the elastic roller fingers and the plum blossom roller in the weeding wheel can be set according to actual needs.

[0047] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A rice field weeder based on intelligent conversion of active and passive touch of weeding wheels, characterized by: The machine comprises an elastic weeding device, a rice seedling tactile sensor, a universal hydraulic conveying device, a frame assembly, and a driving steering wheel; the elastic weeding device is installed at the rear section of the frame assembly, the universal hydraulic conveying device is installed on the left and right sides of the rear section of the frame assembly, the rice seedling tactile sensor is installed at the lower middle section of the frame assembly, and the driving steering wheel is installed at the front end of the frame assembly; The elastic weeding device is used for weeding between rows and driving the weeder. It includes a weeding wheel and an active and passive wheel converter. The active and passive wheel converter is arranged axially in the left-right direction, and four weeding wheels are mounted on the active and passive wheel converter. The weeding wheel includes a plum blossom drum and elastic roller fingers. Multiple rows of elastic roller fingers are arranged along the circumference of the plum blossom drum surface. The active and passive wheel converter radially expands or recovers through the hydraulic pressure provided by the universal hydraulic transmission device to achieve engagement or disengagement with the weeding wheel, completing the state conversion of the weeding wheel from active wheel to passive wheel. The rice seedling tactile sensor includes a bracket, a wireless angle sensor, a measuring rod, and a flexible connecting belt; a row of semi-open limit grooves is provided on the side of the bracket, and a trapezoidal buffer block is provided on the wall of the limit groove. The measuring rod and the bracket are hinged in a forward and backward swinging manner at the limit groove; the wireless angle sensor is installed on the measuring rod, and the flexible connecting belt connects all the measuring rods in a row; the measuring rod includes a base and a round rod, the base is made of plastic, and the round rod is a hollow gas rod inside.

2. A rice field weeder based on intelligent conversion of active and passive touch of weeding wheels according to claim 1, characterized in that: In the weeding wheel, the plum blossom roller has a "six-leaf flower" structure, with two circular grooves and a circular stepped hole with larger ends and a smaller middle on the axis. A dovetail groove with a narrow inside and a wide outside is provided on the wall of the stepped hole. The dovetail groove intersects the circular groove vertically and is distributed at a certain distance along the circumferential direction; the elastic roller fingers are arranged and installed on the plum blossom roller at a certain distance, and the elastic roller fingers are perpendicular to the tangent surface of the arc surface of the plum blossom roller, and all elastic roller fingers have the same length.

3. A rice field weeder based on intelligent conversion of active and passive touch of weeding wheels according to claim 2, characterized in that: The active and passive wheel converter includes a converter, a transmission shaft, a locking component, and a limit ring; the locking component fixes the two ends of the converter mounted on the transmission shaft on the transmission shaft, and a limit ring sleeved on the transmission shaft is provided between adjacent locking components of corresponding adjacent converters; the transmission shaft is divided into 4 sections, and a circular oil storage tank is provided in the middle of each section, and the oil storage tank is provided with an oil inlet and an oil outlet. A plurality of long semicircular grooves are provided at both ends of each transmission shaft, and the semicircular grooves are evenly distributed on the arc surface of the transmission shaft in the circumference; the center of the transmission shaft is set as a through hole, and the "cross" rib plate divides the through hole into 4 oil pipes, and the oil pipes are connected to the oil storage tanks one by one. A partition layer is provided inside each oil pipe, and the partition layer is located between the oil inlet and the oil outlet of the corresponding oil storage tank.

4. A rice field weeder based on intelligent conversion of active and passive touch of weeding wheels according to claim 3, characterized in that: The converter includes meshing teeth and an elastic tube; multiple meshing teeth are inlaid on the circumference of the elastic tube at a certain interval. The meshing teeth are made of metal with a certain strength and toughness. The middle structure is set as a dovetail tooth with a wide outside and a narrow inside. The two ends are metal sheets and the inner side of the metal sheet is provided with a semicircular boss; the dovetail tooth cooperates with the dovetail groove of the weeding wheel, and the semicircular boss cooperates with the semicircular groove of the drive shaft.

5. The rice field weeder based on the intelligent conversion of active and passive touch of the weeding wheel according to claim 4, characterized in that: When the oil storage tank is filled with oil, the elastic tube expands radially, the dovetail teeth cooperate with the dovetail groove of the weeding wheel, and the converter engages with the drive shaft for transmission; when the oil storage tank is drained, the elastic tube contracts radially, and the dovetail teeth separate from the dovetail groove of the weeding wheel.

6. The rice field weeder based on intelligent conversion of active and passive touch of weeding wheels according to claim 3, characterized in that: The universal hydraulic conveying device includes an oil supply tank, four hydraulic solenoid valves, four connecting oil pipes, a universal hydraulic conveyor, a sealing ring, a straight oil pipe, and an oil pipe end cover; The universal hydraulic conveyor is a cylindrical structure with three circular interlayers in the middle, dividing it into four equal-width compartments. Each compartment has a through-hole at the bottom, with an external oil pipe interface at the outer end. The sealing rings include an axial sealing ring, a small sealing ring, a medium sealing ring, and a large sealing ring. Each sealing ring has a through-hole connected to a straight oil pipe, and the four sealing rings are installed in the four compartments of the cylinder. Fixed ribs are provided on both sides of the cylinder for connection to the frame assembly, and the ribs have rectangular grooves. The oil supply tank is divided into four routes, each of which is connected to a space of the universal hydraulic conveyor through a connecting oil pipe and a hydraulic solenoid valve. The universal hydraulic conveyor is connected to the oil pipe end cover through a straight oil pipe. The oil pipe end cover is fixed at both ends of the drive shaft. The four spaces of the universal hydraulic conveyor are respectively connected to the four oil pipes in the center of the drive shaft.

7. The rice field weeder based on the intelligent conversion of active and passive touch of the weeding wheel according to claim 1, characterized in that: The frame assembly includes a frame and a grass rake; the overall structure of the frame is in the shape of an "I" character, the front end is in the shape of an inward "ox horn", the tail is provided with a cantilever beam, the two side surfaces of the cantilever beam are provided with rectangular through holes, and the bottom surface is provided with straight slot through holes; the grass rake includes a rake seat and rake teeth, the rake teeth are in the shape of the letter "r" and the straight part is longer than the arc part, and the rake teeth are evenly distributed on the rake seat in the left and right directions; the grass rake is installed on the cantilever beam at the tail of the frame by bolts, and the installation position can be adjusted according to usage requirements.

8. The rice field weeder based on intelligent conversion of active and passive touch of weeding wheels according to claim 1, characterized in that: The driving steering wheel is installed on the left side of the front end of the frame; the driving steering wheel includes a driving wheel, a front axle, a front axle cross bar, a front motor, a motor bracket, a gear, and a hydraulic steering device; The hydraulic steering device includes a steering rail, a steering piston rod, a long connecting rod, a short connecting rod, and an auxiliary return spring. The steering rail is a 120-degree hollow ring with an input port and an output port on each end. A boss is located outside the centerline of the ring, and a straight grooved circular hole is provided on the side of the boss for connection to the frame assembly. The steering piston rod is semicircular, with a piston in the middle and mounting holes at both ends. The long connecting rod is fixed to both ends of the steering piston rod. The steering piston rod and the steering rail cooperate to drive the long connecting rod to swing. The driving wheel is installed on the front axle. One end of the front axle is hinged to the frame assembly, and the other end is clamped to the front axle cross bar. The front motor is installed on the right side of the driving wheel through the motor bracket. The front motor drives the driving wheel to rotate through gears; the front axle cross bar, connecting short rod, connecting long rod, and auxiliary return spring constitute a quadrilateral mechanism.

9. The rice field weeder based on the intelligent conversion of active and passive touch of the weeding wheel according to claim 8, characterized in that: The driving wheel includes a hub and a tire. Rigid bidirectional running gear teeth are provided along the surface of the tire. The gear teeth are in a mirror-crossed "V"-shaped structure, with a "mouth" shape formed by the center intersection. Elliptical holes are provided on the four sides of the "mouth"-shaped position of the gear teeth.

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