Mechanical weeder with lateral offset adjustment and method of use

Abstract

The present application relates to the technical field of agricultural machinery, in particular to a mechanical weeding machine capable of lateral offset adjustment and a use method thereof. The mechanical weeding machine capable of lateral offset adjustment comprises a lateral offset adjustment device carried on a moving device; a weeding frame connected to the lateral offset adjustment device; an inter-row weeding device and an inter-plant weeding device installed on the weeding frame; an image acquisition assembly installed on the weeding frame, the image acquisition assembly being used to acquire relative position information of a working assembly and crop rows in a region to be weeded; and a control system electrically connected to the image acquisition assembly and used to control at least one of the lateral offset adjustment device, the inter-row weeding device and the inter-plant weeding device based on acquisition information of the image acquisition assembly. The mechanical weeding machine capable of lateral offset adjustment can simultaneously weed between and within crop rows, plays a role of loosening soil and weeding while protecting crops, and provides technical support for field weed management, reduction of pesticide use amount and development of green agriculture.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a mechanical weeder with adjustable lateral offset and its method of use. Background Technology

[0002] Weed management is a crucial aspect of agricultural production. Weeds not only stress crop growth and compete for growing space, but they also create a competitive advantage, leading to reduced yields and lower quality. Traditional weed management methods typically involve manual or chemical pesticide application. Manual weeding is not only labor-intensive and inefficient, but its instability can also damage soil structure and reduce soil fertility. Excessive use of herbicides can have a series of negative impacts on the ecological environment and even cause irreversible harm to workers. With the development of green agriculture, the need for mechanized weeding technology and equipment is becoming increasingly urgent.

[0003] Currently, most traditional mechanical weeders in China are fixed and lack lateral offset adjustment mechanisms. This often leads to the risk of lateral offset, and because the row spacing of rice seedlings is small, there is a risk of damaging seedlings due to untimely manual adjustment of the machine's direction. On the other hand, common offset adjustment mechanisms often involve an upper sliding bracket that uses a hydraulic device to drive the lower weeder body along a light axis. These mechanisms are bulky and structurally unstable, failing to meet the requirements of field operations.

[0004] Therefore, this study, by drawing on and improving traditional inter-row and inter-plant mechanical weeding devices, designed a suspension system with lateral offset adjustment. This system reduces the seedling damage rate of various agricultural implements, avoids the waste of human and material resources, and improves the speed of farmland operations, promoting crop growth. It has important practical value and scientific significance for improving the ability of large-scale agricultural machinery operations and precision operations. Summary of the Invention

[0005] This invention provides a mechanical weeder with adjustable lateral offset, which can simultaneously perform weeding and cultivation between and within crop rows, providing technical support for field weed management, reducing pesticide use, and developing green agriculture.

[0006] This invention also provides a method for using a mechanical weeder with adjustable lateral offset.

[0007] A first aspect of the present invention provides a mechanical weed cutter with lateral offset adjustment, comprising:

[0008] Lateral offset adjustment device, mounted on the moving device;

[0009] The weeding frame is connected to the lateral offset adjustment device;

[0010] Inter-row weeding device and inter-plant weeding device are installed on the weeding machine frame;

[0011] An image acquisition component is installed on the weeding frame, and the image acquisition component is used to acquire the relative position information of the working components and crop rows in the area to be weeded;

[0012] The control system is electrically connected to the image acquisition component and controls at least one of the lateral offset adjustment device, the inter-row weeding device, and the inter-plant weeding device based on the acquisition information of the image acquisition component.

[0013] According to one embodiment of the present invention, the weeding frame includes at least three rows of frame bodies in a direction away from the lateral offset adjustment device;

[0014] The inter-row weeding device is mounted on the frame away from the lateral offset adjustment device;

[0015] The image acquisition component is mounted on the frame near the lateral offset adjustment device;

[0016] The inter-row weeding device is mounted on the frame between the inter-row weeding device and the image acquisition component.

[0017] According to one embodiment of the present invention, the inter-row weeding device includes a quick-release device, an upper connector, a spring, an L-shaped shovel connecting plate, a shovel arm, a shovel, a lever, a lever fixing member, and a first guide shaft;

[0018] The quick assembly / disassembly device is connected to the frame.

[0019] The upper connector is connected to the quick-release device;

[0020] The first guide shaft and the lever are connected at intervals along the height direction between the lever fixing member and the L-shaped shovel connecting plate;

[0021] The spring is threaded through the first guide shaft, and the two ends of the spring abut against the L-shaped shovel connecting plate and the lever fixing member, respectively.

[0022] The shovel arm is connected to the end of the L-shaped shovel connecting plate opposite to the spring, and the shovel is connected to the shovel arm.

[0023] According to one embodiment of the present invention, it further includes a spring pressure block and a spring limiter;

[0024] The spring block is connected to the lever fixing member to prevent the spring from detaching from the lever fixing member;

[0025] The spring limiter is mounted on the first guide shaft, and one end of the spring abuts against the side of the spring limiter facing the spring pressure block.

[0026] According to one embodiment of the present invention, the inter-plant weeding device includes a quick-release device, a crescent blade connector, a drive motor, a motor bracket, a blade handle, a crescent-shaped end effector, a crescent blade fixing component, and a stop disc;

[0027] The quick assembly / disassembly device is connected to the frame.

[0028] The crescent blade connector is connected to the quick-release device;

[0029] The motor bracket is mounted on the crescent blade fixing component;

[0030] The drive motor is mounted on the motor bracket;

[0031] The free end of the stop disc is connected to the output shaft of the drive motor.

[0032] The tool holder is disposed on the stop disc;

[0033] The crescent-shaped end effector is fixed to the bottom free end of the tool holder.

[0034] According to one embodiment of the present invention, the center of the cutter head of the crescent-shaped end effector is formed with a notch for avoiding crop seedlings.

[0035] According to one embodiment of the present invention, the lateral offset adjustment device includes a hydraulic push beam, at least two second guide shafts, a bearing seat, and a guide shaft fixing beam;

[0036] The hydraulic push beam and the guide shaft fixing beam are arranged opposite to each other.

[0037] At least two second guide shafts are spaced apart along the height direction between the hydraulic push beam and the guide shaft fixing beam;

[0038] The bearing seats are located at both ends of the second guide shaft.

[0039] According to one embodiment of the present invention, it further includes a stand, a hydraulic cylinder, an upper ear plate, and a connecting ear seat;

[0040] The upper ear plate is disposed between the hydraulic push beam and the guide shaft fixing beam;

[0041] The connecting lug is disposed on the hydraulic push beam, and the hydraulic cylinder is connected to the connecting lug;

[0042] The guide shaft fixing beam has a groove suitable for avoiding the hydraulic cylinder.

[0043] According to one embodiment of the present invention, it further includes a contour wheel device, the contour wheel device including a quick-release device, a contour wheel connector, a contour wheel fixing component, a piston adjustment structure, a wheel bracket, and a wheel;

[0044] The contour wheel connector is connected to the quick-release device;

[0045] The contour wheel fixing component is connected to the contour wheel connecting component;

[0046] The wheel bracket is connected between the contour wheel fixing component and the wheel.

[0047] A second aspect of the present invention provides a method of using a mechanical weeder with lateral offset adjustment as described above, comprising:

[0048] The image acquisition component acquires multiple consecutive frames of images of the area to be weeded;

[0049] The image, spanning multiple consecutive frames, controls at least one of the following actions: the lateral offset adjustment device, the inter-row weeding device, and the inter-plant weeding device.

[0050] Compared with the prior art, the mechanical weed cutter with lateral offset adjustment provided by the present invention has at least the following beneficial effects:

[0051] This invention utilizes a lateral offset adjustment device, employing a rear suspension connected to a tractor to achieve traction. The main body is supported by a double-rail suspension mechanism, with a front and rear cleat-connected double-acting hydraulic cylinder driving the offset mechanism and the weeding frame, ensuring the weeding device aligns with the crop row. This innovative design reduces seedling damage caused by mechanism offset to a certain extent. The lateral frame uses a circular track sliding method for lateral movement, ensuring stability during offset and reducing the overall size while maintaining high support strength.

[0052] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0054] Figure 1 A three-dimensional structural diagram of a mechanical weeder with lateral offset adjustment provided in an embodiment of the present invention;

[0055] Figure 2 A schematic diagram of the overall assembly of the lateral offset adjustment device is provided for embodiments of the present invention;

[0056] Figure 3 A three-dimensional structural schematic diagram of a portion of the lateral offset adjustment device is provided for embodiments of the present invention, along with detailed views of the lateral shifting component;

[0057] Figure 4 A three-dimensional isometric structural diagram of the weeding machine frame is provided for embodiments of the present invention;

[0058] Figure 5 A schematic diagram of the inter-row weeding device is provided for embodiments of the present invention;

[0059] Figure 6 A schematic diagram of the inter-plant weeding device is provided for embodiments of the present invention;

[0060] Figure 7 A schematic diagram of the contour wheel device is provided for embodiments of the present invention;

[0061] Figure 8 A schematic diagram of the image acquisition component structure is provided for embodiments of the present invention;

[0062] Figure 9 A schematic diagram of the inter-plant weeding process is provided for embodiments of the present invention;

[0063] Figure 10 A schematic diagram for calculating the center coordinates of crop plants is provided for embodiments of the present invention;

[0064] Figure 11 A schematic diagram of the structure of a crop target detection model is provided for an embodiment of the present invention.

[0065] Figure label:

[0066] 1. Supporting legs; 2. Lateral offset adjustment device; 3. Weeding machine frame; 4. Inter-row weeding device; 5. Inter-plant weeding device; 6. Contouring wheel device; 7. Image acquisition component; 101. Leg accessories; 102. Adjusting beam; 103. Leg; 201. Guide rail suspension; 202. Hydraulic cylinder; 203. Shaft seat; 204. Second guide shaft; 205. Lateral movement frame; 206. Hanging bracket; 207 208. Hanging ear plate; 209. Upper crossbeam; 210. Guide shaft fixing plate; 211. Cover plate; 212. Lower crossbeam; 213. Support beam; 214. Hydraulic push beam; 215. Guide shaft fixing beam; 216. Upper ear plate; 217. Connecting ear seat; 301. Three-point suspension upper end; 302. Stabilizing beam; 303. A-type beam; 304. Suspension crossbeam; 401. Quick disassembly and assembly device; 402. Upper connection Components: 403, Spring; 404, L-shaped blade connecting plate; 405, Blade arm; 406, Blade; 407, Lever; 408, Lever fixing component; 409, Guide shaft; 410, Spring pressure block; 411, Spring limit; 501, Crescent blade connecting component; 502, Drive motor; 503, Motor bracket; 504, Blade handle; 505, Crescent-shaped end effector; 506, Crescent blade fixing component; 507, Stop disc; 601, Contouring wheel connecting component; 602, Contouring wheel fixing component; 603, Piston rod; 604, Air pressure pipe; 605, Wheel; 606, Wheel connecting flange; 607, Tire end cap; 608, Wheel bracket; 701, Camera; 702, Rotating structure; 703, Upper bracket; 704, Bottom bracket; 705, Front end of fixing block; 706, Rear end of fixing block. Detailed Implementation

[0067] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0068] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0069] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0070] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0071] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0072] The following is combined with Figures 1 to 11 This invention describes a mechanical weed cutter with adjustable lateral offset. For example... Figure 1 As shown, the lateral offset adjustable mechanical weeder includes: a lateral offset adjustment device 2, a weeder frame 3, multiple inter-row weeding devices 4, multiple inter-plant weeding devices 5, a contour wheel device 6, an image acquisition component 7, and a control system (not shown).

[0073] The lateral offset adjustment device 2 is mounted on the mobile device via a three-point suspension using a connecting ear plate. The mobile device mentioned here can be agricultural machinery such as a tractor, used to drive the weeding frame 3 to move laterally and thereby adjust the position of the weeding implement relative to the crop row in real time. The lateral offset adjustment device 2 includes a double guide rail suspension mechanism, a hydraulic drive component, a lateral shift mechanism, and support legs. The support legs are symmetrically arranged on the left and right sides of the double guide rail suspension mechanism to provide support. One end of the hydraulic drive component is connected to the lateral shift mechanism, and the other end is connected to the double guide rail suspension mechanism. The lateral shift mechanism is driven to move laterally by changing the position of the lateral shift mechanism through the piston extension. The hydraulic lateral shift mechanism is set on the double guide rail suspension mechanism and can be used to adjust the relative position of the offset frame to compensate for the deviation between the working implement and the center line of the planting strip in real time.

[0074] The weeding frame 3 has a symmetrical structure and is connected to the lateral offset adjustment device 2 through a three-point suspension device. It is used to attach various agricultural implements to achieve weeding between and within rows.

[0075] Multiple inter-row weeding devices 4 are equally spaced in the third row of the weeding frame 3. The inter-row weeding devices 4 are used for loosening soil and weeding crop rows.

[0076] Multiple inter-row weeding devices 5 are equally spaced in the second row of the weeding frame 3. The inter-row weeding devices 5 are driven by a motor to control the end effector to rotate and avoid the plants, thereby achieving weeding within the row.

[0077] The contour wheel device 6 is symmetrically arranged on the second row of the weeding frame 3. The contour wheel device 6 uses the reaction force of the tires to assist in adjusting the soil penetration depth of the shovel to achieve the best weeding effect. At the same time, the contour wheel device 6 uses the piston structure to buffer the impact of the ground on the implement, thereby reducing shock and improving the quality of operation. It can be understood that in this embodiment of the invention, there are multiple contour wheel devices 6.

[0078] The image acquisition component 7 is located above the first row of the weeding frame 3. The image acquisition component 7 is used to acquire the relative position information of the working components and crop rows in the area to be weeded in real time.

[0079] The control system is electrically connected to the image acquisition component 7, the hydraulic drive component, and the drive motor of the inter-row weeding device 5. Based on the image information acquired by the image acquisition component 7, the control mechanism controls the hydraulic drive component to perform lateral offset adjustment. Simultaneously, the control mechanism controls the rotation of the motor of the inter-row weeding device 5 to achieve weeding within the crop rows. The control unit includes a host computer (Jetson NX in specific implementations) containing a GPU graphics processing acceleration unit, a slave computer (STM32 microcontroller or PLC in specific real-time implementations), a solenoid valve (for controlling the hydraulic cylinder), and a motor driver (for driving the inter-row weeding motor).

[0080] Specifically, the lateral offset adjustment device 2 is mounted on the tractor via a three-point suspension using mounting ears. The devices on the weeding frame 3 are symmetrically distributed. The weeding frame 3 is connected to the lateral offset adjustment device 2 via a suspension bracket. The weeding frame 3 is used to mount various agricultural implements, enabling inter-row and in-row weeding. Multiple inter-row weeding devices 4 are equally spaced in the third row of the weeding frame 3. The inter-row weeding devices 4 are used for loosening the soil and weeding the crop rows.

[0081] Multiple inter-row weeding devices 5 are equally spaced in the second row of the weeding machine frame 3. The inter-row weeding devices 5 control the end effector to rotate and avoid the plants to achieve weeding within the row.

[0082] The contour wheel device 6 is symmetrically arranged on the second row of the weeder frame 3. The contour wheel device 6 uses the reaction force of the tires to assist in adjusting the soil penetration depth of the blade to achieve the best weeding effect. At the same time, the contour wheel device 6 uses the piston structure to buffer the impact of the ground on the machine and play a shock absorption role, thereby improving the quality of operation.

[0083] The image acquisition component 7 is located above the first row of the weeding machine frame 3. The image acquisition component 7 is used to acquire the relative position information of the working components and crop rows in the area to be weeded in real time.

[0084] The control system is electrically connected to the image acquisition component 7, the hydraulic drive component, and the drive motor of the inter-row weeding device 5. The control system controls the hydraulic drive component to make lateral offset adjustment based on the image information acquired by the image acquisition component 7. At the same time, the control mechanism controls the motor of the inter-row weeding device 5 to rotate to realize the inter-row weeding within the crop row.

[0085] This invention provides a horizontally adjustable inter-row / in-row mechanical weeder and its control method. It utilizes multiple inter-row weeding devices for inter-row cultivation and multiple inter-plant weeding devices for in-row cultivation. Simultaneously, during weeding operations, an image acquisition component acquires real-time image information of the area to be weeded. The image processing results characterize the relative position of crop plants with respect to the inter-plant weeding devices along the forward direction and the relative position of crop rows with respect to the weeder along the vertical direction of forward movement. The control mechanism controls the hydraulic drive components to move the weeder frame laterally based on the acquired image detection information, aligning the inter-plant weeding devices with the crop rows. The control system can also control the drive motor of the inter-plant weeding devices based on the image detection information, ensuring the crescent blades avoid crop plants and reduce crop loss.

[0086] In one embodiment, the dual-rail suspension mechanism includes a rail suspension 201, a second guide shaft 204, and a bearing seat 203. Two parallel second guide shafts 204 are installed inside the rail suspension 201. The second guide shafts 204 are fixed between the two bearing seats 203. The guide shafts are assembled by bolts on the bearing seats 203. The four bearing seats 203 are symmetrically arranged on the left and right fixing plates of the rail suspension 201.

[0087] Specifically, such as Figure 2As shown, the dual-rail suspension mechanism includes a rail suspension 201, second guide shafts 204, and axle seats 203. Two parallel second guide shafts 204 are installed inside the rail suspension 201. The second guide shafts 204 are fixed between two axle seats 203, and the guide shafts are assembled using bolts on the axle seats 203. Guide shaft fixing plates 209 are distributed on both sides of the cover plate 210, and four axle seats 203 are symmetrically arranged on the left and right fixing plates of the rail suspension 201. The left fixing plate is welded to the cover plate 210 shell, and the right fixing plate is fixed to the upper and lower crossbeams of the cover plate 210 by bolts, thus facilitating the assembly of shaft parts and hydraulic drive components. The cover plate 210 has symmetrically distributed threaded holes of the same size at equal intervals, which can be bolted to two brackets. The left and right constraint distances of the brackets can be adjusted by referring to the dimensions of three-point suspension devices for different types of tractors. Two side-by-side mounting lugs 207 are welded to the center of the top outer side of the cover plate 210. These lugs have holes drilled at fixed intervals and contain connecting pins. The pin positions can be adjusted according to actual conditions. They are hinged to the tractor's traction components via the lower connecting pin of the mounting bracket, allowing for a three-point suspension on the tractor. The upper crossbeam 208 and lower crossbeam 211 are made of hollow rectangular cross-section tubing with side dimensions of 110mm × 50mm × 5mm and a length of 1560mm. The left and right guide shaft fixing plates 209 are 140mm × 660mm in size, 20mm thick, and made of 45# steel. A 50mm × 100mm rectangular hole is cut on the right side of the cover plate 210, near the hydraulic cylinder, for the hydraulic cylinder 202 piping to pass through. The specific location of this hole depends on the installation position and is not specifically limited here. The support beam 212 is welded to the cover plate 210. Two axial sleeves are embedded in the support beam 212. The ends of the sleeves are welded and fixed to the plate. Two parallel second guide shafts 204 are slidably connected to the sleeves.

[0088] In one embodiment, the lateral movement mechanism includes a transverse frame 205 and a bracket 206; the two brackets 206 are fixedly connected to the transverse frame 205 by bolts.

[0089] Specifically, such as Figure 4 As shown, the lateral movement frame 205 includes a hydraulic push beam 213, a guide shaft fixing beam 214, an upper ear plate 215, and a connecting ear seat 216. Shaft holes with a center distance of 260mm are drilled on both sides of the lateral movement frame 205, and four connecting sleeves are welded onto each hole. These sleeves cooperate with the second guide shafts 204, allowing the lateral movement frame 205 to be suspended on the two second guide shafts 204. Lateral movement is achieved through a circular track sliding method, and the lateral movement of the weeding implement is independent of the tractor, achieved through hydraulic drive components. The device has high support strength.

[0090] In one embodiment, the hydraulic cylinder 202 is a double-acting hydraulic cylinder with front and rear lugs. The cylinder end of the hydraulic cylinder 202 is hinged to the lug on the guide rail suspension guide shaft fixing plate 209 by a pin, and the piston rod end is fixed to the transverse frame connecting lug 216 by a connecting pin.

[0091] Specifically, such as Figure 2 As shown, the hydraulic cylinder 202 uses the pin of the earring as the fulcrum and the swing center. Under the fixation of the sleeve of the guide rail suspension 201, it performs reciprocating linear motion, which is easy to install and disassemble. The hydraulic cylinder 202 is installed between the two second guide shafts 204 and is arranged parallel to the axial direction of the second guide shafts 204.

[0092] During operation, the weeding frame 3 moves along the center line of the crop row planting strip under the traction of the tractor. The image acquisition component 7 acquires the image position information of the weeding component relative to the crop plants in real time. When a deviation occurs, the control system controls the hydraulic cylinder oil flow through the drive solenoid valve to adjust the piston rod extension and retraction, thereby adjusting the relative position of the traverse frame to compensate for the deviation between the working implement and the center line of the planting strip in real time.

[0093] In one embodiment, the support frame 1 includes a frame accessory 101, an adjusting beam 102, and a frame 103; the frame accessory 101 is fixedly connected to the two side plates of the guide rail suspension 201 by bolts, and the adjusting beam 102 can adjust the height position of the frame 103 by a pin.

[0094] Specifically, such as Figure 2 As shown, the support frame 1 consists of a frame accessory 101, an adjusting beam 102, and a frame 103. In the non-working state, this structure facilitates the placement and maintenance of the device. The adjusting beam 102 has equally spaced pin holes and is fixed to the frame accessory 101 via pins to adjust the height of the lateral movement device off the ground. The frame 103 is fixedly connected to the adjusting beam 102.

[0095] In one embodiment, the weeding frame 3 includes a stabilizing beam 302, an A-beam 303, a suspension crossbeam 304, and a suspension bracket. The suspension bracket is formed by bolts fixing the upper end 301 of the three-point suspension, the front end 705 of the fixing block, and the rear end 706 of the fixing block. The suspension bracket is located directly above the first row of the suspension crossbeam 304. One free end of the A-beam 303 is fixed to the upper end of the suspension bracket, and the other two ends of the A-beam 303 are located on the suspension crossbeam 304. One free end of the stabilizing beam 302 is fixed to the upper end of the suspension bracket, and the other end is connected to the suspension crossbeam 304.

[0096] Specifically, such as Figure 4As shown, the weeding frame 3 includes a stabilizing beam 302, an A-type beam 303, a suspension crossbeam 304, and a suspension bracket structure. The suspension bracket, formed by bolts securing the upper three-point suspension (301), the front end of the fixing block (705), and the rear end of the fixing block (706), allows the weeding frame to be attached to the lateral offset adjustment device via a pin. Two stabilizing beams 302 are symmetrically arranged and connected by bolts, increasing the overall stability of the mechanism. The weeding frame 3 is symmetrically distributed. The suspension crossbeam 304 is a multi-bar welded frame structure, using 100mm×100mm square steel as the connecting beam for the row and plant weeding devices and the contour wheel device, enabling weeding between and within rows. The suspension bracket dimensions are: lower connection point height from the ground 490mm~550mm, vertical distance between upper and lower connection points 415mm~455mm, horizontal distance between upper and lower connection points 200mm~250mm, and distance between lower suspension points 870mm.

[0097] In one embodiment, the inter-row weeding device 4 comprises a quick-release device 401, an upper connector 402, a spring 403, an L-shaped shovel connecting plate 404, a shovel arm 405, a shovel 406, a lever 407, and a lever fixing member 408.

[0098] The upper end of the quick-release device 401 is fixedly connected to the upper connecting member 402 by bolts, and the lower end is fixed to the lever fixing member 408. This assembly relationship enables the quick disassembly or repositioning of the inter-row weeding device 4 and the suspension beam 304. The principle of the quick-release device 401 is based on a latch lock, utilizing the relative movement of the upper and lower components to generate pulling or pushing forces. The force causes the working component to move to its limit position, generating a fixed locking force, thereby achieving operation. One end of the first guide shaft 409 is located on the spring pressure block and fixed to the lever fixing member 408 by bolts and nuts. The other end of the first guide shaft 409 is equipped with a nut adjusting spring. The extension and retraction amount; the upper free end of the L-shaped shovel connecting plate 404 is set on the spring pressure block, and can rotate around the guide shaft according to the extension and retraction amount of the spring 403. The lower free end of the L-shaped shovel connecting plate 404 is rotatably connected to the lever 407. The L-shaped shovel connecting plate 404 is fixedly connected to the shovel arm 405. By adjusting the nut, the extension and retraction amount of the spring 403 is changed, thereby changing the soil entry angle and soil entry depth of the shovel 406 to achieve the best weeding effect. The upper end of the shovel arm 405 is fastened to the L-shaped shovel connecting plate 404, and the lower end is bolted to the shovel 406. The shovel arm 405 is clamped and fixed by the connecting plate, and the stress concentration problem is relieved by the bolt connection.

[0099] Specifically, such as Figure 5As shown, the inter-row weeding device 4 includes a quick-release device 401, an upper connector 402, a spring 403, an L-shaped shovel connecting plate 404, a shovel arm 405, a shovel 406, a lever 407, and a lever fixing member 408. The quick-release device 401 utilizes the pulling or pushing force generated by the upper and lower components to move the working parts to their extreme positions of separation or merging, thereby realizing the quick connection and disassembly of the inter-row weeding device 4 and the suspension beam 304. The horizontal spacing of the installation position of the inter-row weeding device 4 can be adjusted according to the row width of the crop row. The first guide shaft 409 is equipped with a spring pressure block 410, a spring 403, a spring limit 411, and an adjusting nut. One end of the first guide shaft 409 is provided with a spring pressure block 410, which is connected to the lever fixing member 408 by a bolt and nut. The other end is adjusted by the adjusting nut to change the position of the spring limit 411 on the first guide shaft 409, thereby changing the spring extension amount. The upper free end of the L-shaped shovel connecting plate 404 is positioned between the spring limit 411 and the adjusting nut, while the left free end of the L-shaped shovel connecting plate 404 is rotatably connected to the lever 407. The inter-row weeding device 4 uses a double-wing shovel as the weeding blade. The front end of the soil-contacting part is designed as a pointed rhombus shape, and the shovel wings are made of 35# steel with a thickness of 5mm, and the blade is heat-treated. The shovel arm 405 is clamped and fixed by the L-shaped shovel connecting plate 404, and the other end is connected to the shovel 406 by bolts. By coordinating with the spring limit to change the relative position of the L-shaped shovel connecting plate 404 and the first guide shaft 409, the soil entry angle of the shovel 406 can be adjusted to achieve the best weeding effect.

[0100] In one embodiment, the inter-plant weeding device 5 includes a quick-release device 401, a crescent blade connector 501, a drive motor 502, a motor bracket 503, a blade handle 504, a crescent-shaped end effector 505, a crescent blade fixing component 506, and a stop disc 507.

[0101] The upper end of the quick-release device 401 is bolted to the crescent blade connector 501, and the lower end is connected to the crescent blade fixing member 506. This assembly relationship enables the quick release or repositioning of the inter-plant weeding device 5 and the suspension beam 304. The drive motor is bolted to the motor bracket 503, and the motor bracket 503 is bolted to the side plate of the crescent blade fixing member 506. The crescent-shaped end effector 505 is fixed to the bottom free end of the handle 504. The handle 504 is mounted on the stop disc 507, and the free end of the stop disc 507 can be rotatably connected to the motor shaft of the drive motor 502 through a gear structure.

[0102] Specifically, such as Figure 6As shown, the inter-plant weeding device 5 includes a quick-release device 401, a crescent blade connector 501, a drive motor 502, a motor bracket 503, a blade handle 504, a crescent-shaped end effector 505, a crescent blade fixing component 506, and a stop disc 507. The motor shaft of the drive motor 502 is fixedly connected to a gear structure, driving the stop disc 507, which is also fixedly connected to the gear structure, to rotate. The crescent-shaped end effector 505 is the direct actuating component of the inter-plant weeding device 5 and needs to operate in the soil for a relatively long time. Therefore, it must ensure good strength, wear resistance, and corrosion resistance, using 45# steel with a blade thickness of 2 to 6 mm. The crescent-shaped end effector 505 has a notch in the center of its blade disc to avoid crop seedlings and reduce crop loss.

[0103] During operation, the image processing-based weeding control unit controls the drive mechanism, specifically controlling the power supply, de-energization, and speed of the drive motor 502, so that the crescent-shaped end effector 505 avoids crop plants.

[0104] In one embodiment, the contour wheel device 6 includes a quick-release device 401, a contour wheel connector 601, a contour wheel fixing component 602, a piston adjustment structure, a wheel bracket 608, and a wheel 605. The upper end of the quick-release device 401 is bolted to the contour wheel connector 601, and the lower end is connected to the contour wheel fixing component 602. This assembly relationship enables quick disassembly or repositioning of the contour wheel device from the suspension beam. The first free end of the piston adjustment structure is rotatably connected to the contour wheel fixing component 602, and the second free end of the piston adjustment structure is fixedly connected to one end of the wheel bracket 608. The wheel 605 is bolted to the wheel connecting flange 606, and both are rotatably connected to the lower end of the wheel bracket 608.

[0105] Specifically, such as Figure 7 As shown, the contour wheel device 6 includes a quick-release device 401, a contour wheel connector 601, a contour wheel fixing component 602, a piston adjustment structure, a wheel bracket 608, and a wheel 605. The piston adjustment structure consists of a piston rod 603 and a pneumatic pipe 604. The contour wheel device 6 is located on the lower surface of the second row of the suspension beam 304. A hollow bushing is provided at one end of the wheel bracket 608 that connects to the wheel 605. Tire end caps 607 are fixed at both ends of the hollow bushing. The tire end caps 607 are rotatably connected to the wheel connecting flange 606, thereby connecting the wheel 605 to the bracket part and rotatably connecting the wheel 605 to one end of the wheel bracket 608.

[0106] During weeding, the piston adjustment structure is equipped with a pneumatic piston. When the machine moves to a high point on the ground, the pneumatic piston retracts, reducing the contact area between the wheels and the ground. When the machine moves to a low point on the ground, the pneumatic piston extends, increasing the contact area between the wheels and the ground. This provides a buffering and shock-absorbing effect when the weeding device moves between rows and plants.

[0107] In one embodiment, the image acquisition component 7 comprises a camera 701, a rotating structure 702, an upper support 703, a front end 705 of a fixing block, and a rear end 706 of a fixing block. The image acquisition component 7 is positioned above the first row of the suspension beam 304, with two image acquisition components 7 symmetrically distributed. The front end 705 and the rear end 706 of the fixing block are fixed together by bolts and nuts to form a fixing block device. The position of the fixing block device on the suspension beam 304 can be adjusted according to the crop area to be measured. The two free ends of the bottom support 704 are respectively fixed to the slots above the fixing block with bolts. The rotating structure 702 is located at the top free end of the upper support 703.

[0108] Specifically, such as Figure 8 As shown, the image acquisition component 7 consists of a camera 701, a rotating structure 702, an upper support 703, a front end 705 of the fixing block, and a rear end 706 of the fixing block. The rotating structure 702 is located at the free end of the top of the upper support, and the camera 701 is located inside the rotating structure. It can be disassembled and installed during use to adjust the angle and control the shooting area before operation. The bottom support is bolted into the slots above the fixing device to acquire the relative position information of the weeding component along the forward direction in real time.

[0109] When performing field weeding operations, the shooting angle of the depth camera 701 can be adjusted according to the image data requirements. The shooting field of the depth camera 701 can also be changed by adjusting the relative position of the fixed block on the suspension beam 304, thereby improving the practicality of the image dataset.

[0110] The present invention also provides a control method for a mechanical weeder with lateral offset adjustment, the method being applied to an inter-row / intra-row mechanical weeder as described above, the method comprising:

[0111] During operation, the mechanical weeder with adjustable lateral offset performs inter-row cultivation and weeding through the inter-row weeding component.

[0112] The image acquisition component acquires multiple consecutive frames of images of the area to be weeded in real time. Each frame of the image is then input into the crop row detection model and the crop plant recognition model to obtain the image processing results. The image processing results characterize the relative position information of the crop plants relative to the inter-plant weeding component along the forward direction and the relative position information of the crop rows relative to the weeder along the forward vertical direction.

[0113] Based on the relative position information of the crop plants with respect to the inter-row weeding component in the image processing results along the forward direction, when the edge of the crescent blade reaches the set crop plant safety line, the control unit controls the motor of the inter-row weeding component to rotate 360° so that the crescent blade avoids the crop, thereby realizing the cultivation and weeding between crop plants in the crop row.

[0114] Based on the relative position information of the crop row with respect to the weeder along the forward vertical direction in the image processing results, the controller controls the solenoid valve and then controls the hydraulic cylinder of the lateral offset adjustment device, driving the lateral shift frame of the lateral offset adjustment device to move laterally, so that the inter-row weeding component is aligned with the crop row.

[0115] The crop plant safety line is a circle with the center of the crop plant as the center and a radius of 8-20mm (this number may be adjusted according to different crops and actual operating conditions);

[0116] The relationship between the motor speed of the inter-plant weeding component and the forward speed of the unit, and the radius of the crop plant safety circle, is as follows:

[0117] n = 30V / R

[0118] In the formula, n is the motor speed (revolutions per minute), R is the radius of the plant safety line circle (meters), and v is the forward speed of the unit (meters per second).

[0119] The crop plant recognition model is trained on a target detection model using sample images labeled with crop tags. This target detection model is based on the YOLOv5 model, with a Transformer encoder added to the YOLOv5 backbone, an involution feature fusion module added to the neck, and an ASFF (Adaptively Spatial Feature Fusion) module introduced to the head. This plant recognition model can obtain the coordinates of the crop plant's location bounding box in the image in real time. Based on these coordinates, the center coordinates of the crop plant are determined as the average of the two diagonal coordinates of the crop plant's location bounding box.

[0120] In some embodiments, the crop plant identification model includes a backbone network, a neck network, and a head network. The backbone network includes multiple cascaded first neural network units, the neck network includes multiple cascaded second neural network units, and the head network includes an ASFF (Adaptively Spatial Feature Fusion) module.

[0121] The first neural network unit includes any one of the following: residual feature learning C3 unit, convolution Conv unit, Transformer encoder unit, and feature fusion SPPF unit;

[0122] The second neural network unit includes any one of the following: Convolution (Conv) unit, Involution unit, Residual Feature Learning (C3) unit, Image Stitching (Concat) unit, and Image Upsampling (Upsample) unit.

[0123] In this embodiment, reference Figure 11 The crop plant identification model includes the Backbone module, Neck module, and Head module.

[0124] The Backbone module includes multiple cascaded first neural network units; the Neck module is built based on the PANet network and includes multiple cascaded second neural network units, and the input of the current neural network unit is the output of the previous neural network unit, or the output of the previous neural network unit and the previous N neural network units, where N is a positive integer greater than 1; the Head module includes an ASFF (Adaptively Spatial Feature Fusion) feature fusion module.

[0125] The residual feature learning C3 unit is used to learn residual features; the convolution Conv unit is used to perform convolution, normalization and activation function calculation on the input image; the feature fusion SPPF unit is used to fuse features of input images of different sizes; the image upsampling Upsample unit is used to upsample the input image; and the image stitching Concat unit is used to calculate the Concat function on the input image.

[0126] In this embodiment, to improve the crop identification accuracy of the crop plant recognition model, a Transformer encoder unit is added to the Backbone module, enhancing the model's sensitivity to crops. The Transformer encoder, through its self-attention mechanism, can better capture small target information from global data, resulting in better detection performance in high-density crop images. An Involution unit is added to the Neck module to perform channel feature fusion while reducing information loss. Adaptive Spatial Feature Fusion (ASFF) is added to the Head module to perform feature fusion at different scales for the prediction head.

[0127] Optionally, in this embodiment, the Backbone module may be composed of at least five Conv units, at least seven C3 units, one Transformer encoder unit and at least one SPFF unit cascaded together, and any two C3 units are not adjacent, the Transformer encoder unit is the second to last unit in the Backbone module, and the SPFF unit is the last unit in the Backbone module.

[0128] It should be noted that the number and cascading method of Conv units, C3 units and SPFF units in the Backbone module in this embodiment of the invention can be determined based on prior knowledge. This embodiment of the invention does not impose specific limitations on the number and cascading method of Conv units, C3 units and SPFF units in the Backbone module.

[0129] Optionally, the Neck module can be composed of at least five Conv units, at least four C3 units, one Involution unit, multiple Concat units and Upsample units cascaded together, and no two C3 units are adjacent.

[0130] It should be noted that, in this embodiment of the invention, the number and concatenation method of Conv units, C3 units, Concat units, and Upsample units in the Neck module can be determined based on prior knowledge. This embodiment of the invention does not impose specific limitations on the number and concatenation method of Conv units, C3 units, Concat units, and Upsample units in the Neck module. The involution unit is placed after the first Conv unit in the Neck module and connected to the concat unit.

[0131] To facilitate understanding of the crop plant recognition model in this embodiment of the invention, an example is provided below to illustrate the model. The connection relationships of each neural network unit in the crop plant recognition model are shown in Table 1 and... Figure 4 As shown in Table 1, the model parameters of the crop plant identification model are shown in Table 1.

[0132] In Table 1, the note "n=2" for unit C3 indicates that unit C3 is repeated twice in the crop plant identification model. The note "n=3" for unit C3 indicates that unit C3 is repeated three times in the crop plant identification model.

[0133]

[0134]

[0135] Table 1. Structural relationships and model parameters of the crop plant identification model.

[0136] The notes “217, 218” for Concat unit 219 in Table 1 indicate that the input of Concat unit 219 is the output of Conv unit 217 and Involution unit 218; the notes “227, 230, 233” for ASFF unit 234 in Table 1 indicate that the input of ASFF unit 234 is the output of C3 unit 227, C3 unit 230, and C3 unit 233.

[0137] The crop row detection model first converts the image from the RGB color space to the Lab color space, and then selects the optimal threshold for binarization segmentation using the maximum entropy method of the a and b dual color components in the Lab color space. Next, it obtains the clustering window bandwidth with mean shift through vertical projection. During mean shift, it uses the center of the crop plant detected by the crop plant recognition model as the seed point to perform region growth to classify and label each row of crops. Then, it traverses all crop rows to obtain the cluster center points. Finally, it uses the least squares method to fit the cluster centers to obtain the crop row straight line.

[0138] According to the present invention, a mechanical weeder control method with lateral offset adjustment is provided, wherein the sample image is obtained by taking on-site photos in the field using an image acquisition device to obtain the original sample image of the crop in the field.

[0139] The specific working principle and usage process of this invention are as follows:

[0140] In this invention, when the weeding frame 3 moves with the tractor, the inter-row weeding device 4 performs inter-row weeding, and the inter-plant weeding device 5 begins to rotate 360 ​​degrees around the axis to perform in-row weeding. The rotating structure 702 in the image acquisition component 7 adjusts the shooting angle to acquire crop image datasets in real time. The traverse frame 205 is connected to the two second guide shafts 204 by circular sliding sleeves on the rectangular beams on the left and right sides, and is suspended on the guide rail suspension 201 by sliding along a circular track; the cylinder end of the hydraulic cylinder 202 is hinged to the ear plate of the left guide shaft fixing plate 209 by a pin, and the piston rod end is hinged to the hydraulic push beam 213 of the traverse frame 205 by a connecting pin. The entire system uses the image acquisition component 7 to acquire crop row visual information in real time, and processes it through data preparation, model building, training and optimization techniques to obtain the relative position information of the crop plants relative to the inter-plant weeding components along the forward direction and the relative position information of the crop rows relative to the weeder along the forward vertical direction. The control unit includes a host computer with a GPU graphics processing acceleration unit, a slave computer, solenoid valves for controlling the hydraulic cylinders, and a motor driver for driving the inter-row weeding motor. The control system sends image data information to the slave computer. When the image path monitoring data deviates from the target path, the weeding implement needs to correct itself in time. The hydraulic cylinder 202 adjusts the extension and retraction of the piston rod by changing the oil flow, which in turn drives the hydraulic push beam 213 and the transverse frame 205 to slide relative to each other along the second guide axis 204 to compensate for the horizontal deviation generated by the working group during operation. Based on the relative position information of the crop plants relative to the inter-row weeding component along the forward direction in the image processing results, when the edge of the crescent blade reaches the set crop plant safety line, the control unit controls the drive motor of the inter-row weeding device to rotate 360° so that the crescent blade avoids the crop, realizing the inter-row weeding within the crop row.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mechanical weed cutter with adjustable lateral offset, characterized in that, include: Lateral offset adjustment device, mounted on the moving device; The weeding frame is connected to the lateral offset adjustment device; Inter-row weeding device and inter-plant weeding device are installed on the weeding machine frame; An image acquisition component is installed on the weeding frame, and the image acquisition component is used to acquire the relative position information of the working components and crop rows in the area to be weeded; The control system is electrically connected to the image acquisition component and controls at least one of the lateral offset adjustment device, the inter-row weeding device, and the inter-plant weeding device based on the acquisition information of the image acquisition component. The weeding frame includes a stabilizing beam, an A-beam, a suspension crossbeam, and a suspension bracket. The suspension bracket is formed by bolts fixing the upper end of the three-point suspension, the front end of the fixing block, and the rear end of the fixing block. The suspension bracket is located directly above the first row of the suspension crossbeam. One free end of the A-beam is fixed to the upper end of the suspension bracket, and the other two ends of the A-beam are set on the suspension crossbeam. One free end of the stabilizing beam is fixed to the upper end of the suspension bracket, and the other end is connected to the suspension crossbeam. The weeding frame includes at least three rows of frames, extending from the lateral offset adjustment device away from it. The inter-row weeding device is located on the frame away from the lateral offset adjustment device. The image acquisition component is located on the frame close to the lateral offset adjustment device. The inter-plant weeding device is located on the frame between the inter-row weeding device and the image acquisition component. The lateral offset adjustment device includes a hydraulic push beam, at least two second guide shafts, a bearing seat, and a guide shaft fixing beam; wherein the hydraulic push beam and the guide shaft fixing beam are arranged opposite to each other; at least two second guide shafts are spaced apart along the height direction between the hydraulic push beam and the guide shaft fixing beam; the bearing seat is disposed at both ends of the second guide shaft; It also includes a tripod, a hydraulic cylinder, an upper ear plate, and a connecting ear seat; wherein, the upper ear plate is disposed between the hydraulic push beam and the guide shaft fixing beam; the connecting ear seat is disposed on the hydraulic push beam, and the hydraulic cylinder is connected to the connecting ear seat; the guide shaft fixing beam has a groove suitable for avoiding the hydraulic cylinder.

2. The mechanical weeder with lateral offset adjustment according to claim 1, characterized in that, The inter-row weeding device includes a quick-release device, an upper connector, a spring, an L-shaped shovel connecting plate, a shovel arm, a shovel, a lever, a lever fixing component, and a first guide shaft; The quick assembly / disassembly device is connected to the frame. The upper connector is connected to the quick-release device; The first guide shaft and the lever are connected at intervals along the height direction between the lever fixing member and the L-shaped shovel connecting plate; The spring is threaded through the first guide shaft, and the two ends of the spring abut against the L-shaped shovel connecting plate and the lever fixing member, respectively. The shovel arm is connected to the end of the L-shaped shovel connecting plate away from the spring, and the shovel is connected to the shovel arm.

3. The mechanical weeder with lateral offset adjustment according to claim 2, characterized in that, It also includes a spring block and a spring limiter; The spring block is connected to the lever fixing member to prevent the spring from detaching from the lever fixing member; The spring limiter is mounted on the first guide shaft, and one end of the spring abuts against the side of the spring limiter facing the spring pressure block.

4. The mechanical weeder with lateral offset adjustment according to claim 1, characterized in that, The inter-plant weeding device includes a quick-assembly and disassembly device, a crescent blade connector, a drive motor, a motor bracket, a blade handle, a crescent-shaped end effector, a crescent blade fixing component, and a stop disc; The quick assembly / disassembly device is connected to the frame. The crescent blade connector is connected to the quick-release device; The motor bracket is mounted on the crescent blade fixing component; The drive motor is mounted on the motor bracket; The free end of the stop disc is connected to the output shaft of the drive motor. The tool holder is disposed on the stop disc; The crescent-shaped end effector is fixed to the bottom free end of the tool holder.

5. The mechanical weeder with lateral offset adjustment according to claim 4, characterized in that, The center of the cutter head of the crescent-shaped end effector has a notch for avoiding crop seedlings.

6. The mechanical weeder with lateral offset adjustment according to any one of claims 1 to 5, characterized in that, It also includes a contour wheel device, which includes a quick-release device, a contour wheel connector, a contour wheel fixing component, a piston adjustment structure, a wheel bracket, and a wheel; The contour wheel connector is connected to the quick-release device; The contour wheel fixing component is connected to the contour wheel connecting component; The wheel bracket is connected between the contour wheel fixing component and the wheel.

7. A method of using a mechanical weed cutter with lateral offset adjustment as described in any one of claims 1 to 5, characterized in that, include: The image acquisition component acquires multiple consecutive frames of images of the area to be weeded; Based on the images of multiple consecutive frames, control at least one of the lateral offset adjustment device, the inter-row weeding device, and the inter-plant weeding device to perform an action.

Images