A laser-guided weeding system for rice fields

Abstract

The application discloses a laser-guided rice field weeding system, which comprises a weeding machine body, a main driving motor, a protection assembly, an auxiliary assembly, an inter-row weeding mechanism, an adjusting device, an inter-plant weeding mechanism and a laser sensor, wherein the weeding machine body is provided with a control system and the main driving motor; the protection assembly and the auxiliary assembly are fixed to the front part of the machine body; the inter-row weeding mechanism is linearly distributed with a plurality of inter-row weeding mechanisms, is connected with the main driving motor, and is provided with the adjusting device on both sides; the inter-plant weeding mechanism is fixed to the side part of the adjusting device; and the laser sensor is arranged correspondingly to the inter-row weeding mechanism. Compared with the prior art, the laser sensor is used for positioning the rice plants and the inter-plant weeds, the running angle is adjusted, the target interval is set, the weeding cutter is controlled to enter the inter-plant weeds for weeding, and is timely retracted, so that the weeding range is covered without damaging the plants, and the weeding efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery, more particularly, to a laser-guided rice field weeding system. BACKGROUND

[0002] Rice is one of the main food crops in China, and the planting area accounts for about 1 / 5 of the world. Water weeds compete with rice for growth space, air, sunlight and nutrients, which is one of the main factors affecting rice yield, and weed control is of great significance to improve rice yield. At present, the commonly used weeding method in China is chemical weeding, which is time-saving, low-cost, labor-saving and easy to implement, but the utilization rate of pesticide is low, the environment is seriously polluted, it is harmful to the human body, and it will also enhance the resistance of weeds. With the improvement of people's living standards, organic rice has received more and more attention, and the planting area of organic rice in China has increased year by year. Organic rice fields usually use mechanical weeding to ensure their quality and food safety, but mechanical weeding usually uses weeding machines for comprehensive and continuous weeding in rice fields. For inter-row weeding, it can effectively avoid damage to rice plants, but continuous inter-row weeding requires the side of the weeding cutter to be close to the rice plant, which is easy to cause damage to the rice plant during weeding and affect the normal development of the rice plant. In the process of comprehensive weeding, each rice plant will be affected. Therefore, it is necessary to provide a laser-guided rice field weeding system to solve the problems raised in the background art. SUMMARY

[0003] To achieve the above object, the present application provides the following technical scheme: a laser-guided rice field weeding system, comprising:

[0004] A weeding machine body carries the whole weeding equipment to travel in the rice field, and is provided with a control system;

[0005] A main drive motor is provided on the weeding machine body to provide power source;

[0006] A protection assembly is located at the front of the weeding machine and is fixed on the weeding machine body;

[0007] An auxiliary assembly is fixedly connected with the protection assembly;

[0008] A row weeding mechanism is linearly distributed and provided with a plurality of row weeding mechanisms, which are arranged between the protection assembly and the auxiliary assembly and connected with the main drive motor;

[0009] Adjusting devices are symmetrically distributed and provided with two groups, which are respectively fixed on both sides of the row weeding mechanism;

[0010] A plant weeding mechanism is fixed on the side of the adjusting device;

[0011] The laser sensor is linearly distributed and fixed to the front of the protection assembly.

[0012] Further, as a preferred, the protection assembly comprises:

[0013] The driving top cover is arranged on the top of the inter-row weeding mechanism and internally provided with a linkage mechanism.

[0014] The protection arc is arranged in the front of the inter-row weeding mechanism and fixedly connected with the driving top cover and the laser sensor.

[0015] Further, as a preferred, the auxiliary assembly comprises:

[0016] The grass collecting panel is arranged corresponding to the protection arc and fixed to the rear side of the driving top cover.

[0017] The leveling inclined surface is arranged in an inclined manner, one end of which is fixed to the grass collecting panel and the other end is sawtooth-shaped.

[0018] Further, as a preferred, the inter-row weeding mechanism comprises:

[0019] The transmission shaft is connected with all the inter-row weeding mechanisms and connected with the main driving motor.

[0020] The weeding wheel is fixed to the center of the transmission shaft and provided with annularly distributed weeding blades on the outer ring.

[0021] The limiting ring is coaxially arranged with the weeding wheel and is fixed to the side of the weeding wheel, and the diameter is smaller than that of the weeding wheel. Specifically, under the driving of the main driving motor, the transmission shaft drives the multiple weeding wheels to rotate while driving the weeding machine body to move, and the annularly distributed weeding blades remove weeds in the row of rice, and the two limiting rings rotate with the weeding wheel in the process.

[0022] Further, as a preferred, the adjusting device comprises:

[0023] The driving roller is slidably arranged on the transmission shaft and rotates synchronously with the transmission shaft, and the two sides are provided with connecting plates.

[0024] The fixed ring is symmetrically arranged with two, and the top is respectively fixedly connected with the bottom of the connecting plate on both sides of the driving roller.

[0025] The transmission ring is coaxially arranged with the fixed ring and is rotatably connected with the driving roller.

[0026] The limiting roller is fixed to one side of the lower part of the fixed ring through the connecting plate and is rotatably connected with the transmission ring.

[0027] The weeding roller is symmetrically arranged with the limiting roller, and the limiting rollers and the weeding rollers of the adjusting devices on both sides of the inter-plant weeding mechanism are at different positions, and the connecting plate outside the weeding roller is fixedly connected with the inter-plant weeding mechanism.

[0028] The positioning roller is symmetrically arranged with two and is slidably connected with the limiting ring, and is rotatably connected with the limiting roller and the weeding roller through the telescopic shaft.

[0029] The pusher is fixed to the inner connecting plate of the weeding roller and is fixedly connected with the extension end of the telescopic shaft.

[0030] The adjusting assembly is rotatably connected with the transmission shaft and is arranged on the adjacent adjusting devices between the inter-plant weeding mechanisms. That is, under the action of the adjusting assembly, the adjusting devices on both sides are moved and adjusted, and the inter-plant weeding mechanism is moved, so that the weeding wheel and the inter-plant weeding mechanism cover the range of the row without damaging the plants, effectively improving the weeding efficiency.

[0031] Further, as a preferred, when the laser sensor does not detect the presence of weeds between the front rice plants, the inter-plant weeding mechanism is the side auxiliary weeding device of the inter-row weeding mechanism, when the transmission shaft drives the weeding wheel to rotate, the driving roller is also driven to rotate between the connecting plates, and then under the limitation of the fixed ring, the limiting roller and the weeding roller are driven to rotate by the transmission ring, under the driving of the weeding roller, the inter-plant weeding mechanism keeps running continuously, and the gap between the inter-row weeding mechanism and the rice plants is assisted in weeding work. It should be noted that when the weeding wheel rotates, the positioning roller is also driven to rotate by the limiting ring, and the positioning roller is coaxially arranged with the limiting roller and the weeding roller, and the limiting ring is arranged in a staggered manner with the transmission ring, that is, the limiting ring limits the positioning roller to prevent the fixed ring from being deflected during the rotation of the driving roller, so that the inter-plant weeding mechanism is in a relatively fixed state; when the laser sensor detects the presence of weeds between the front rice plants, the control system sets the target distance, at the starting point of the target distance, the pusher actively pushes the extending end of the telescopic shaft body at the weeding roller out, so that the inter-plant weeding mechanism moves outward and moves between the rice plants for weeding work, at the end point of the target distance, the pusher actively pulls the extending end of the telescopic shaft body at the weeding roller back, so that the inter-plant weeding mechanism is recycled and reset, the precise treatment of weeds between the rice plants is completed, the weeding efficiency is improved, and the damage to the plants is effectively reduced.

[0032] Further, as a preferred, the adjusting assembly comprises:

[0033] The positioning plate is arc-shaped, and the side edges at both ends are slidably connected with the fixed ring.

[0034] The moving adjusting block is coaxially arranged with the transmission shaft, and two symmetrically distributed moving adjusting blocks are fixedly connected with the side connecting plates of the two driving rollers, respectively.

[0035] The transmission screw is symmetrically arranged and provided with two transmission screws corresponding to the moving adjusting blocks, and is rotatably arranged on the transmission shaft and threadedly connected with the moving adjusting blocks.

[0036] The transmission bevel gear set is fixed in the positioning plate, and both ends are fixedly connected with the transmission screw rod, and the top is connected with the driving top cover through the shaft body. That is to say, when the spacing between the rice plants is greater than the initial spacing of the weeding mechanism, at this time, the transmission bevel gear set is driven to rotate through the linkage mechanism in the driving top cover, and the two side transmission screw rods are also driven to rotate, and then the two side moving adjusting blocks drive the adjusting device as a whole to move to the center, that is, the inter-plant weeding mechanism is driven to move to the outside, so as to compensate the spacing between the weeding mechanism and the rice plants. It should be noted that the movement of the top driving roller drives the movement of the adjusting device as a whole, and the telescopic shaft body at the bottom of the two positioning rollers needs to be matched; on the contrary, when the spacing between the rice plants is less than the initial spacing of the weeding mechanism, at this time, the transmission bevel gear set is driven to rotate in the opposite direction through the linkage mechanism in the driving top cover, and the two side transmission screw rods are also driven to rotate, and then the two side moving adjusting blocks drive the adjusting device as a whole to move to the two sides, that is, the inter-plant weeding mechanism is driven to move to the inter-row weeding mechanism, so as to adapt to the spacing between the rice plants.

[0037] Further, as a preferred, the inter-plant weeding mechanism comprises:

[0038] The moving plate is fixed on the connecting plate on the side of the weeding roller;

[0039] The transmission assembly is movably arranged at the bottom of the moving plate;

[0040] The weeding cutter head is fixed at the bottom of the transmission assembly. That is, the weeding cutter head is driven to move on the moving plate by the transmission assembly to control the weeding cutter head to shuttle between the rice plants for weeding work.

[0041] Further, as a preferred, the transmission assembly comprises:

[0042] The transmission worm is movably arranged at the bottom of the moving plate, the rod body part is rotatably connected with the extension end of the internal telescopic shaft body of the pusher through the weeding roller, and the transmission worm rotates synchronously with the weeding roller;

[0043] The transmission worm wheel is engaged with the transmission worm;

[0044] The fixed bevel gear is fixed on the side of the transmission worm wheel;

[0045] The limiting bevel gear is rotatably arranged on the side of the transmission worm wheel and corresponds to the fixed bevel gear;

[0046] The fixed frame is slidably arranged at the bottom of the moving plate, and both sides are rotatably connected with the fixed bevel gear and the limiting bevel gear;

[0047] The transmission bevel gear is meshed between the fixed bevel gear and the limiting bevel gear, and is fixedly connected with the top center of the weeding cutter. Specifically, when the laser sensor detects that there are weeds between the rice plants in front, the control system sets a target distance, at the starting point of the target distance, the pusher actively pushes out the extending end of the telescopic shaft body at the weeding roller, and then pushes out the transmission worm, drives the weeding cutter to move to the rice plants through the fixed frame, and at this time, the transmission worm continuously rotates under the driving of the weeding roller, and then the fixed bevel gear synchronously rotates under the action of the transmission worm gear, and the transmission bevel gear is driven to rotate, and the limiting bevel gear rotates to make the weeding cutter keep rotating to weed, at the end point of the target distance, the pusher actively pulls back the extending end of the telescopic shaft body at the weeding roller, and then pulls back the transmission worm, drives the weeding cutter to retract and reset through the fixed frame, and the precise treatment of weeds between the rice plants is completed, and in the switching process, the weeding cutter keeps rotating to continuously weed.

[0048] Compared with the prior art, the beneficial effects of the present application are:

[0049] In the present application, the rice plants are positioned by the laser sensor, the running angle of the weeding mechanism is adjusted in real time by detecting the distance between the rice plants on both sides and the weeding mechanism, the damage of the weeding mechanism to the plants is prevented, and under the action of the laser sensor, the weeds between the rice plants are positioned, the target distance is set, the weeding cutter is controlled to enter the plants to weed, and is retracted in time, the weeds between the rice plants are weeded, and the damage of the weeding cutter to the plants is reduced; according to the row spacing, the positions of the weeding cutters on both sides of the weeding wheel are adjusted by the adjusting assembly, the row spacing range is covered without damaging the plants, and the weeding efficiency is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0050] Fig. 1 It is a whole structure schematic diagram of a laser-guided rice field weeding system;

[0051] Fig. 2 It is a protection and auxiliary assembly schematic diagram in a laser-guided rice field weeding system;

[0052] Fig. 3 It is a regulating device structure schematic diagram in a laser-guided rice field weeding system;

[0053] Fig. 4 It is a regulating assembly structure schematic diagram in a laser-guided rice field weeding system;

[0054] Fig. 5 It is a plant-to-plant weeding mechanism structure schematic diagram in a laser-guided rice field weeding system;

[0055] Fig. 6It is a kind of laser-guided rice field weeding system transmission assembly structure schematic diagram;

[0056] Fig. 7 It is a kind of laser-guided rice field weeding system transmission assembly detail schematic diagram;

[0057] In the figure: 1, weeding machine body; 2, main drive motor; 3, protection assembly; 4, auxiliary assembly; 5, inter-row weeding mechanism; 6, adjusting device; 7, inter-plant weeding mechanism; 8, laser sensor; 31, drive top cover; 32, protection camber; 41, grass collecting panel; 42, smoothing slope; 51, transmission shaft; 52, weeding wheel; 53, limiting ring; 61, drive roller; 62, fixed ring; 63, transmission ring; 64, limiting roller; 65, weeding roller; 66, positioning roller; 67, pusher; 68, adjusting assembly; 71, moving plate; 72, transmission assembly; 73, weeding cutter head; 681, positioning plate; 682, moving adjusting block; 683, transmission screw; 684, transmission bevel gear set; 721, transmission worm; 722, transmission worm gear; 723, fixed bevel gear; 724, limiting bevel gear; 725, fixed frame; 726, transmission bevel gear. DETAILED DESCRIPTION

[0058] Please refer to Figs. 1-7 , the embodiment of the application, a kind of laser-guided rice field weeding system, comprising:

[0059] Weeding machine body 1, the whole weeding equipment is carried in rice field and is provided with control system and travels;

[0060] Main drive motor 2 is arranged on weeding machine body 1, provides power source;

[0061] Protection assembly 3 is located at the front of weeding machine, is fixed on weeding machine body 1;

[0062] Auxiliary assembly 4 is fixedly connected with protection assembly 3;

[0063] Inter-row weeding mechanism 5 is linearly distributed with multiple, is arranged between protection assembly 3 and auxiliary assembly 4, is connected with main drive motor 2;

[0064] Adjusting device 6 is symmetrically distributed with two groups, is respectively fixed at the two sides of inter-row weeding mechanism 5;

[0065] Inter-plant weeding mechanism 7 is fixed at the side of adjusting device 6;

[0066] Laser sensor 8 is linearly distributed with multiple, corresponds to inter-row weeding mechanism 5, is fixed at the front of protection assembly 3.

[0067] In the embodiment, the protection assembly 3 includes:

[0068] The driving top cover 31 is arranged at the top of the row-weeding mechanism 5 and internally provided with a linkage mechanism;

[0069] The protective arc surface 32 is arranged at the front of the row-weeding mechanism 5 and fixedly connected with the driving top cover 31, and the bottom is fixedly connected with the laser sensor 8. Specifically, under the action of the linkage mechanism in the driving top cover 31, the positions of the inter-plant-weeding mechanisms 7 adjacent to the sides of the row-weeding mechanism 5 are adjusted at the same time, so that the row-weeding mechanism 5 and the inter-plant-weeding mechanism 7 completely cover the row of rice plants and process the weeds in the row while keeping a safe distance from the sides of the rice plants. Under the action of the protective arc surface 32, the mud and water splashed by the row-weeding mechanism 5 during the movement is effectively prevented. The laser sensor 8 located in front of the protective arc surface 32 accurately positions the rice plants and weeds in front of the row-weeding mechanism and feeds back to the control system and issues corresponding instructions. For example, the laser sensor 8 detects the distance between the rice plants on both sides and the row-weeding mechanism, and adjusts the running angle of the row-weeding mechanism in real time to prevent the row-weeding mechanism from damaging the plants. The weeds between the rice plants are positioned, a target distance is set, the inter-plant-weeding mechanism 7 is controlled to enter the inter-plant to weed, and is timely retracted.

[0070] In this embodiment, the auxiliary assembly 4 comprises:

[0071] The grass collecting panel 41 is arranged corresponding to the protective arc surface 32 and fixed to the rear side of the driving top cover 31.

[0072] The leveling inclined surface 42 is arranged in an inclined manner, one end of which is fixed to the grass collecting panel 41 and the other end is serrated. That is, after the movement of the weeding mechanism, the grass collecting panel 41 behind collects the chopped weeds and confirms whether the roots of the residual weeds are adhered to the soil, then the rice row is leveled by the leveling inclined surface 42 and the residual weeds are removed, effectively improving the weeding effect and reducing the probability of the weeds coming back to life.

[0073] In this embodiment, the row-weeding mechanism 5 comprises:

[0074] The transmission shaft 51 is connected with all the row-weeding mechanisms 5 and connected with the main driving motor 2.

[0075] The weeding wheel 52 is fixed at the center of the transmission shaft 51 and provided with a plurality of weeding blades arranged in a ring shape at the outer circle.

[0076] The limiting ring 53 is coaxial with the weeding wheel 52 and is fixed to the side of the weeding wheel 52, and the diameter is smaller than that of the weeding wheel 52. Specifically, under the driving of the main driving motor 2, the weeding machine body 1 is driven to move, the transmission shaft 51 drives the plurality of weeding wheels 52 to rotate, and the weeds between the rice rows are removed by the annularly distributed weeding blades. In this process, the two limiting rings 53 rotate with the weeding wheel 52.

[0077] In the embodiment, the adjusting device 6 comprises:

[0078] The driving roller 61 is slidably arranged on the transmission shaft 51 and rotates synchronously with the transmission shaft 51, and the two sides are provided with connecting plates.

[0079] The fixed ring 62 is symmetrically arranged on both sides, and the top is fixedly connected with the bottom of the connecting plate on both sides of the driving roller 61.

[0080] The transmission ring 63 is coaxial with the fixed ring 62 and is rotatably connected with the driving roller 61.

[0081] The limiting roller 64 is fixed to one side of the lower part of the fixed ring 62 through the connecting plate and is rotatably connected with the transmission ring 63.

[0082] The weeding roller 65 is symmetrically arranged with the limiting roller 64, and the limiting roller 64 and the weeding roller 65 of the adjusting device 6 on both sides of the inter-row weeding mechanism 5 are in different positions. The connecting plate on the outside of the weeding roller 65 is fixedly connected with the inter-plant weeding mechanism 7.

[0083] The positioning roller 66 is symmetrically arranged on both sides and is slidably connected with the limiting ring 53, and is rotatably connected with the limiting roller 64 and the weeding roller 65 through the telescopic shaft.

[0084] The pusher 67 is fixed to the inner connecting plate of the weeding roller 65 and is fixedly connected with the extension end of the telescopic shaft.

[0085] The adjusting assembly 68 is rotatably connected with the transmission shaft 51 and is arranged on the adjacent adjusting device 6 between the inter-row weeding mechanism 5. That is, under the action of the adjusting assembly 68, the adjusting device 6 on both sides is moved and adjusted, and the inter-plant weeding mechanism 7 is also moved, so that the weeding wheel 52 and the inter-plant weeding mechanism 7 cover the range between the rows without damaging the plants, effectively improving the weeding efficiency.

[0086] As a preferred embodiment, when the laser sensor 8 does not detect weeds between the rice plants in front, the inter-plant weeding mechanism 7 serves as a side auxiliary weeding device of the inter-row weeding mechanism 5, and when the transmission shaft 51 drives the weeding wheel 52 to rotate, the drive roller 61 is also driven to rotate between the connecting plates, and then under the limitation of the fixed ring 62, the limiting roller 64 and the weeding roller 65 are driven to rotate through the transmission ring 63, and under the driving of the weeding roller 65, the inter-plant weeding mechanism 7 keeps running continuously, and the inter-row weeding mechanism 5 and the gap between the rice plants are assisted in weeding work. It should be noted that when the weeding wheel 52 rotates, the positioning roller 66 is also driven to rotate through the limiting ring 53, and the positioning roller 66 is coaxially arranged with the limiting roller 64 and the weeding roller 65, and the limiting ring 53 is arranged in a staggered manner with the transmission ring 63, that is, the limiting ring 53 limits the positioning roller 66 to prevent the fixed ring 62 from being deflected during the rotation of the drive roller 61, so that the inter-plant weeding mechanism 7 is in a relatively fixed state; when the laser sensor 8 detects weeds between the rice plants in front, the control system sets a target distance, at the starting point of the target distance, the pusher 67 actively pushes the extension end of the telescopic shaft body at the weeding roller 65 out, so that the inter-plant weeding mechanism 7 moves outward and moves between the rice plants for weeding work, at the end point of the target distance, the pusher 67 actively pulls the extension end of the telescopic shaft body at the weeding roller 65 back, so that the inter-plant weeding mechanism 7 is recycled and reset, and the precise treatment of weeds between the rice plants is completed, which improves the weeding efficiency and effectively reduces the damage to the plants.

[0087] In this embodiment, the adjusting assembly 68 comprises:

[0088] The positioning plate 681 is arc-shaped, and the side edges at both ends are slidably connected with the fixed ring 62;

[0089] The movement adjusting block 682 is coaxially arranged with the transmission shaft 51, and two symmetrically distributed movement adjusting blocks are fixedly connected with the side connecting plates of the two drive rollers 61;

[0090] The transmission screw 683 is provided in a symmetrical manner and corresponds to the movement adjusting block 682, and is rotatably arranged on the transmission shaft 51 and threadedly connected with the movement adjusting block 682;

[0091] The transmission bevel gear set 684 is fixed in the positioning plate 681, and the two ends are fixedly connected with the transmission screw rod 683, and the top is connected with the driving top cover 31 through the shaft body. That is to say, when the spacing between the rice plants is greater than the initial spacing of the weeding mechanism, at this time, the transmission bevel gear set 684 is driven to rotate through the linkage mechanism in the driving top cover 31, and the two sides transmission screw rod 683 is driven to rotate, and then the two sides moving adjusting block 682 drives the adjusting device 6 to move to the center as a whole, that is, the inter-plant weeding mechanism 7 is driven to move to the outside, and the spacing between the weeding mechanism and the rice plants is compensated. It should be noted that the movement of the top driving roller 61 drives the movement of the adjusting device 6 as a whole, and the telescopic shaft body at the two sides of the bottom positioning roller 66 needs to be matched; on the contrary, when the spacing between the rice plants is less than the initial spacing of the weeding mechanism, at this time, the transmission bevel gear set 684 is driven to rotate in the opposite direction through the linkage mechanism in the driving top cover 31, and the two sides transmission screw rod 683 is driven to rotate, and then the two sides moving adjusting block 682 drives the adjusting device 6 to move to the two sides as a whole, that is, the inter-plant weeding mechanism 7 is driven to move to the inter-row weeding mechanism 5, so as to adapt to the spacing between the rice plants.

[0092] In the embodiment, the inter-plant weeding mechanism 7 comprises:

[0093] The moving plate 71 is fixed on the connecting plate on the side of the weeding roller 65;

[0094] The transmission assembly 72 is movably arranged at the bottom of the moving plate 71;

[0095] The weeding cutter head 73 is fixed at the bottom of the transmission assembly 72. That is, the weeding cutter head 73 is driven to move on the moving plate 71 by the transmission assembly 72, so as to control the weeding cutter head 73 to shuttle between the rice plants for weeding work.

[0096] In the embodiment, the transmission assembly 72 comprises:

[0097] The transmission worm 721 is movably arranged at the bottom of the moving plate 71, and the rod body part is rotatably connected with the extension end of the telescopic shaft body in the pusher 67 through the weeding roller 65, and the transmission worm 721 rotates synchronously with the weeding roller 65;

[0098] The transmission worm wheel 722 is engaged with the transmission worm 721;

[0099] The fixed bevel gear 723 is fixed on the side of the transmission worm wheel 722;

[0100] The limiting bevel gear 724 is rotatably arranged on the side of the transmission worm wheel 722 and corresponds to the fixed bevel gear 723;

[0101] The fixed frame 725 is slidingly arranged at the bottom of the moving plate 71 and is rotatably connected with the fixed bevel gear 723 and the limiting bevel gear 724 at two sides respectively.

[0102] The transmission bevel gear 726 is engaged between the fixed bevel gear 723 and the limiting bevel gear 724 and is fixedly connected with the top center of the weeding cutter 73. Specifically, when the laser sensor 8 detects that there are weeds between the rice plants in front, the control system sets a target distance. At the starting point of the target distance, the pusher 67 actively pushes out the extending end of the telescopic shaft body at the weeding roller 65, thereby pushing out the transmission worm 721. The weeding cutter 73 is driven by the fixed frame 725 to move towards the rice plants, and at this time, the transmission worm 721 is continuously rotated under the driving of the weeding roller 65, thereby synchronously rotating the fixed bevel gear 723 under the action of the transmission worm gear 722, thereby driving the transmission bevel gear 726 to rotate, and the limiting bevel gear 724 is rotated synchronously, so that the weeding cutter 73 is continuously rotated to perform weeding work. At the end point of the target distance, the pusher 67 actively pulls back the extending end of the telescopic shaft body at the weeding roller 65, thereby pulling back the transmission worm 721. The weeding cutter 73 is driven by the fixed frame 725 to be retracted and reset, thereby completing the accurate treatment of weeds between the rice plants. During the switching process, the weeding cutter 73 is kept in a rotating state to continuously perform weeding work.

[0103] In specific implementation, first, the position of the weeding cutter 73 is adjusted according to the spacing between the rice rows, so that the inter-row weeding mechanism 5 and the inter-plant weeding mechanism 7 cover the inter-row range without damaging the plants, and then the laser sensor 8 is started, and the weeding machine is driven to travel in the rice field by the main drive motor 2. In the process of traveling, the laser sensor 8 detects the spacing between the rice plants on both sides and the weeding mechanism, and adjusts the running angle of the weeding machine in real time to prevent the weeding machine from deviating in the traveling direction and damaging the plants. At the same time, the laser sensor 8 detects and locates the weeds between the rice plants. When the laser sensor 8 detects weeds between the front rice plants, the control system sets a target spacing so that the weeds are within the target spacing. At the starting point of the target spacing, the pusher 67 actively pushes the extended end of the telescopic shaft of the weeding roller 65 out, and then drives the transmission assembly 72 to move outward on the moving plate 71 by the transmission worm 721, drives the weeding cutter 73 to move between the rice plants, and at this time the transmission worm 721 continues to rotate under the drive of the weeding roller 65, and then the weeding cutter 73 continues to rotate under the drive of the transmission worm 722 and bevel gear, and performs weeding work. At the end point of the target spacing, the pusher 67 actively pulls the extended end of the telescopic shaft of the weeding roller 65 back, and then drives the transmission assembly 72 to move inward on the moving plate 71 by the transmission worm 721, drives the weeding cutter 73 to retract and reset, and completes the accurate treatment of weeds between the rice plants. In the switching process, the weeding cutter 73 remains in a rotating state and continuously performs weeding work. Under the cooperation of the laser sensor 8 and the control system, the weeding machine not only reduces the damage to the rice plants, but also improves the weeding efficiency while performing comprehensive weeding.

[0104] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can make equivalent replacements or changes to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A laser-guided water rice field weeding system characterized by: Include: The body of the weeding machine (1) carries the whole weeding device to travel in the rice field, and is provided with a control system; The main drive motor (2) is arranged on the weeding machine body (1) to provide power source; The protection assembly (3) is located at the front of the weeding machine and is fixed on the weeding machine body (1); The auxiliary assembly (4) is fixedly connected with the protection assembly (3); The inter-row weeding mechanism (5) is linearly distributed and provided with a plurality of inter-row weeding mechanisms, which are arranged between the protection assembly (3) and the auxiliary assembly (4) and connected with the main drive motor (2); The adjusting device (6) is symmetrically distributed and provided with two groups, which are respectively fixed on both sides of the inter-row weeding mechanism (5); The inter-plant weeding mechanism (7) is fixed on the side of the adjusting device (6); The laser sensor (8) is linearly distributed and provided with a plurality of laser sensors corresponding to the inter-row weeding mechanism (5), which are fixed on the front of the protection assembly (3); The inter-row weeding mechanism (5) comprises: The transmission shaft (51) is connected with all the inter-row weeding mechanisms (5) and connected with the main drive motor (2); The weeding wheel (52) is fixed at the center of the transmission shaft (51), and the outer ring is provided with annularly distributed weeding blades; The limiting ring (53) is symmetrically distributed and provided with two limiting rings coaxially arranged with the weeding wheel (52), which are fixed on the side of the weeding wheel (52) and have a smaller diameter than the weeding wheel (52); The adjusting device (6) comprises: The drive roller (61) is slidably arranged on the transmission shaft (51) and rotates synchronously with the transmission shaft (51), and the two sides are provided with connecting plates; The fixed ring (62) is symmetrically distributed and provided with two fixed rings, the top of which is respectively fixedly connected with the bottom of the connecting plate on both sides of the drive roller (61); The transmission ring (63) is coaxially arranged with the fixed ring (62) and rotationally connected with the drive roller (61); The limiting roller (64) is fixed on one side of the lower part of the fixed ring (62) through the connecting plate and rotationally connected with the transmission ring (63); The weeding roller (65) is symmetrically arranged with the limiting roller (64), and the limiting roller (64) and the weeding roller (65) of the adjusting device (6) on both sides of the same inter-row weeding mechanism (5) are at different positions, and the connecting plate on the inner side of the weeding roller (65) is fixedly connected with the inter-plant weeding mechanism (7); The positioning roller (66) is symmetrically distributed and provided with two positioning rollers, which are slidably connected with the limiting ring (53) and rotationally connected with the limiting roller (64) and the weeding roller (65) through the telescopic shaft body respectively; The pusher (67) is fixed on the inner side connecting plate of the weeding roller (65) and fixedly connected with the extension end of the telescopic shaft body; The adjusting assembly (68) is arranged on the adjacent adjusting device (6) between the inter-row weeding mechanisms (5) and rotationally connected with the transmission shaft (51); The inter-plant weeding mechanism (7) comprises: The moving plate (71) is fixed on the connecting plate on the side of the weeding roller (65); The transmission assembly (72) is movably arranged on the bottom of the moving plate (71); The weeding cutter (73) is fixed on the bottom of the transmission assembly (72).

2. The laser-guided paddy field weeding system according to claim 1, characterized in that: The protection assembly (3) comprises: The drive top cover (31) is arranged on the top of the inter-row weeding mechanism (5), and the inside is provided with a linkage mechanism; The protective arc surface (32) is arranged between the rows of the row-arranged weeding mechanism (5), is fixedly connected with the driving top cover (31), and is fixedly connected with the laser sensor (8).

3. The laser-guided paddy field weeding system of claim 2, wherein: The auxiliary assembly (4) comprises: The grass collecting panel (41) is arranged corresponding to the protective arc surface (32) and is fixed to the rear side of the driving top cover (31). The trowel inclined surface (42) is arranged in an inclined manner, one end of which is fixed to the grass collecting panel (41), and the other end is serrated.

4. The laser-guided paddy field weeding system of claim 2, wherein: The adjusting assembly (68) comprises: The positioning plate (681) is in an arc shape, and the side edges at both ends are slidably connected with the fixed ring (62); The movable adjusting block (682) is coaxially arranged with the transmission shaft (51), and two movable adjusting blocks are symmetrically arranged and fixedly connected with the side connecting plates of the two driving rollers (61); The transmission screw rod (683) is arranged in a symmetrical manner, and two transmission screw rods are arranged corresponding to the movable adjusting blocks (682) and are rotatably arranged on the transmission shaft (51) and are threadedly connected with the movable adjusting blocks (682); The transmission bevel gear set (684) is fixed to the middle of the positioning plate (681), and both ends are fixedly connected with the transmission screw rod (683), and the top is connected with the driving top cover (31) through the shaft body.

5. The laser-guided paddy field weeding system according to claim 1, characterized in that: The transmission assembly (72) comprises: The transmission worm (721) is movably arranged at the bottom of the movable plate (71), the rod body part is rotatably connected with the extension end of the extension shaft body inside the pusher (67) through the weeding roller (65), and the transmission worm (721) is rotatable with the weeding roller (65); The transmission worm wheel (722) is engaged with the transmission worm (721); The fixed bevel gear (723) is fixed to the side of the transmission worm wheel (722); The limiting bevel gear (724) is rotatably arranged on the side of the transmission worm wheel (722) and corresponds to the fixed bevel gear (723); The fixed frame (725) is slidably arranged at the bottom of the movable plate (71), and the two sides are rotatably connected with the fixed bevel gear (723) and the limiting bevel gear (724), respectively; The transmission bevel gear (726) is engaged between the fixed bevel gear (723) and the limiting bevel gear (724) and is fixedly connected with the top center of the weeding cutter (73).

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