A real-time identification method for lettuce and an automatic weeding device between plants

Abstract

The present invention discloses a real-time identification method of lettuce and an automatic weeding device between plants. The automatic weeding device between plants includes a whole machine frame and a row width adjustment mechanism, a walking mechanism and a control system arranged thereon. The bottom end of the row width adjustment mechanism is symmetrically provided with a weeding mechanism. The row width adjustment mechanism can adjust the operating width between the symmetrically arranged weeding mechanisms according to different growth cycles and different planting specifications of lettuce to meet its weeding requirements so as to achieve the purpose of weeding without damaging seedlings. The weeding mechanism can remove weeds between lettuce plants, the walking mechanism can provide traveling power support, and the control system can identify lettuce through real-time collected video images so as to control the start and stop, walking and weeding operations of the automatic weeding device between plants. The present invention has the characteristics of reasonable structural design, high weeding efficiency, good weeding effect, low seedling injury rate, strong adaptability, etc.

Description

Technical Field

[0001] The invention relates to the field of electromechanical control and machine vision recognition, and in particular to a lettuce real-time recognition method and an automatic weeding device between plants. Background Art

[0002] Although the development of the lettuce industry in my country started late, it has developed rapidly. Today, lettuce has become an important part of the catering industry. However, due to the small amount of land per capita, the development of agricultural robots has lagged behind. At present, my country mainly uses manual and chemical methods to weed. The characteristics of manual weeding are high labor intensity, time-consuming and labor-intensive, low efficiency, and poor effect. After the weeding work is completed, the lettuce is still threatened by weeds to varying degrees; in the chemical weeding method, the abuse of pesticides has caused farmers direct or indirect economic losses to a large extent, such as personal poisoning, excessive pesticide residues in agricultural products, environmental pollution, pesticide damage, food chain destruction, and pesticide waste. Therefore, in order to solve the problems of high yield, high efficiency and green sustainable development, as well as to meet people's demand for high-quality lettuce products, the invention of the automatic weeding device is of great significance.

[0003] However, due to the discontinuity between lettuce plants and the proximity of weeds to crops, weeding operations can easily damage crops, making automated weeding more difficult. As far as current automated weeding equipment is concerned, the biggest difficulty in automated weeding equipment is to identify lettuce and weeds in real time in complex scenarios in lettuce fields and avoid crops to remove weeds between plants. Moreover, most automated weeding equipment cannot accurately measure and adjust the operating width of the weeding mechanism between plants in real time, resulting in poor field weeding results and a high rate of seedling injury.

[0004] Compared with manual and chemical weeding, the automatic mechanical weeding device for lettuce fields can complete large-scale weeding tasks more quickly, efficiently and with less harm, thus improving work efficiency and reducing labor costs. At the same time, compared with other weeding devices, this mechanical device can be adjusted according to actual conditions and is suitable for lettuce fields of different growth periods and planting specifications. Combined with machine identification, it has the advantages of high adaptability, high weeding rate and low seedling injury rate. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a real-time identification method for lettuce and an automatic weeding device between plants, which can identify and mark the position of lettuce in real-time video image information in complex scenes in lettuce fields, and then judge the distance between the lettuce and the weeding component so that the control system controls the weeding mechanism to open and close within a suitable distance range between the lettuce and the weeding component, thereby achieving the purpose of weeding without damaging the seedlings. At the same time, the operating width of the weeding mechanism can be accurately calculated and adjusted in real time according to the row spacing parameter data of the lettuce obtained by field measurement, so as to adapt to lettuce fields with different growth cycles and different planting specifications.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A method for real-time identification of lettuce, the method comprising:

[0008] Collect image information of lettuce and weeds in the target vegetable shed in advance;

[0009] Blurring, increasing brightness and decreasing brightness of collected image information of lettuce and weeds are performed to expand the data volume of image information;

[0010] The lettuce and weeds in the expanded image information are respectively annotated to form an annotation box, so as to obtain the annotation box width, the annotation box height and the coordinate information of the center point of the lettuce and the weed target, and then the target position, the pixel-level segmentation boundary and the image classification in the image information are further annotated and the corresponding category label is obtained. The category label specifically includes: first, by using the annotation tool, the target position in the image is annotated with a boundary box to generate an annotation box, and a corresponding category label is assigned to each annotation box. Such annotation data can be used to train the target detection model so that the model can detect and locate the target object in the input image; second, by using the annotation tool, the segmentation boundary of each pixel in the image is annotated, that is, a label is assigned to each pixel to indicate which object or region the pixel belongs to. Such annotation data can be used to train the image segmentation model so that it can achieve pixel-level target segmentation; third, by also using the annotation tool, the image is classified and annotated at the image level, and a category label is assigned to each image. Such annotation data can be used to train the image classification model so that it can classify the input image and identify different categories in the image;

[0011] Use the labeled image information to create a corresponding data set, and then pass it into the convolutional neural network model to obtain the optimal model;

[0012] The camera of the automatic weeding device used in conjunction with the same is used to shoot the lettuces in the current vegetable shed to obtain real-time video information, which is read frame by frame and converted into a video stream format, and the converted video stream format information is used as input to load and run the optimal model on each frame;

[0013] Detect and mark the identification rectangular frame of the lettuce predicted by the optimal model in the video stream format information by drawing a boundary box, and obtain the coordinate information of the center point of the lettuce according to the calculation processing of the identification rectangular frame. The specific formula is as follows:

[0014] ,

[0015] ,

[0016] in, , are the horizontal and vertical coordinates of the center point of the lettuce, , They are the horizontal and vertical coordinates of the upper left vertex of the lettuce recognition rectangle. , Identify the width and height of the rectangular box for the lettuce respectively;

[0017] Finally, the video stream format information with annotations is displayed on the visualization panel, and at the same time, the signal is transmitted to the single-chip microcomputer controller in the control system of the automatic weeding device between rows through the serial port USART protocol to control the action of the automatic weeding device between rows.

[0018] Further, according to the image information of the lettuce and weeds in the target vegetable shed, the method specifically includes:

[0019] Image information of lettuce and weeds under different lighting conditions, shooting angles, and shooting distances is collected, wherein the image information includes a single lettuce image, images of multiple lettuces, a mixed image of lettuce and weeds, a single weed image, and images of multiple weeds.

[0020] Furthermore, the method further comprises:

[0021] The camera position is adjusted so that the symmetrically arranged weeding shovel mouth of the automatic weeding device between plants is placed in the middle position directly behind the video image screen obtained by the camera, in order to reduce the parameters of the subsequent distance calculation and avoid the influence of the weeding shovel mouth position on the image acquisition, and then the distance between the center point position of the lettuce and the corresponding weeding shovel mouth position is judged. When the distance between the center point position of the lettuce and the corresponding weeding shovel mouth position is less than a certain set value, the signal transmitted through the serial port is 1, and the symmetrically arranged weeding shovel mouth is opened to bypass the lettuce. When the distance between the center point position of the lettuce and the corresponding weeding shovel mouth position is greater than a certain set value, the signal transmitted through the serial port is 0, and the symmetrically arranged weeding shovel mouth is closed to remove the weeds along the way.

[0022] , the transmission signal is 1

[0023] , the transmission signal is 0

[0024] in, is the coordinate information of the center point of the lettuce, which is determined by the recognition result. The coordinate information of the position of the weeding shovel is determined by the parameters of the camera itself. For a certain set value, a suitable value needs to be selected in field tests.

[0025] In order to achieve the purpose of the invention, the present invention also provides the following scheme:

[0026] An automatic weeding device between lettuce plants, comprising a whole machine frame and a row width adjustment mechanism, a walking mechanism and a control system arranged thereon, wherein a weeding mechanism is symmetrically arranged at the bottom end of the row width adjustment mechanism;

[0027] The whole machine frame can integrate the row width adjustment mechanism, weeding mechanism, walking mechanism and control system together. The whole machine frame includes a support frame and support frames symmetrically arranged at the left and right ends thereof. The row width adjustment mechanism is symmetrically arranged on the front end surface of the support frame, the walking mechanism is arranged at the bottom end of the support frame, and the control system is placed on the rear end surface of the support frame.

[0028] The row width adjustment mechanism can adjust the working width between the symmetrically arranged weeding mechanisms according to different growth cycles and different planting specifications of lettuces, so as to adapt to the weeding requirements and achieve the purpose of weeding without damaging the seedlings. The row width adjustment mechanism includes a guide rail assembly and a slide assembly symmetrically arranged at the left and right ends thereof and slidably matched therewith. The guide rail assembly can provide a sliding support for the slide assembly. The guide rail assembly is provided with an electric push rod assembly penetrating its surface. The electric push rod assembly is movably connected to the slide assembly, which is used to control the position where the slide assembly can slide on the surface of the guide rail assembly, thereby adjusting the working width between the symmetrically arranged weeding mechanisms. The bottom end of the slide assembly is connected to the weeding mechanism.

[0029] The weeding mechanism can remove weeds between lettuce plants. The weeding mechanism includes a pneumatic component and an adjusting component and a weeding component connected thereto in sequence. The pneumatic component controls the symmetrically arranged weeding components to open and close by repeatedly pushing or retracting the adjusting component, so as to achieve the purpose of opening the weeding component to pass over the lettuce and closing the weeding component to weed. The weeding component can be adjusted forward and backward in the extension direction of the adjusting component to accurately adjust the working width between the symmetrically arranged weeding components.

[0030] The walking mechanism can not only provide support for the component mechanisms thereon, but also provide power support for the movement of the automatic weeding device between rows. The walking mechanism includes a driving wheel assembly located at the front end of the bottom of the support frame and a universal wheel assembly located at the rear end of the bottom of the support frame. The driving wheel assembly can drive the entire machine components forward under the driving force provided by it. The cooperation between the universal wheel assembly and the driving wheel assembly can adapt to more complex working scenarios.

[0031] The control system can identify lettuce through real-time collected video images to control the start, stop, travel and weeding operations of the automatic inter-plant weeding device throughout the entire process. The control system includes a video monitoring system, an information processing system and a control system. The video monitoring system can monitor the lettuce within its field of view in real time and collect its video image information. The information processing system can read the video image information transmitted in real time by the video monitoring system frame by frame, and identify and mark the position of the lettuce to obtain the corresponding center point coordinate information, and then determine the distance between the lettuce and the weeding component to transmit the determination result to the control system. The control system can control the row width adjustment mechanism to adjust the operating width of the weeding mechanism according to the signal transmitted by the information processing system, control the weeding mechanism to open and close within a suitable distance range between the lettuce and the weeding component, and control the walking mechanism to move forward steadily. The control system is connected to a power supply.

[0032] Furthermore, the support frame and the supporting frame are both made of aluminum profiles connected by frame connecting angles and T-shaped nuts. The row width adjustment mechanism, weeding mechanism and walking mechanism are all connected and fastened to the whole machine frame through non-standard connectors. The control system is firmly placed on the surface of the support frame through non-standard structural parts.

[0033] Furthermore, the line width adjustment mechanism and the control system are both provided with a shell wrapping the outside thereof, and the shell is made of organic glass.

[0034] Furthermore, the guide rail assembly includes a guide rail bracket fixedly connected to the supporting bracket, and transverse guide rails are symmetrically arranged on the upper surfaces of the left and right ends of the guide rail bracket. The slide assembly includes a transverse slider that slides with the transverse guide rail, and the transverse slider is connected to a slide that is sleeved on the outside of the guide rail bracket. The transverse slider can slide left and right relative to the transverse guide rail so that the slide can move left and right relative to the guide rail bracket. The electric push rod assembly includes an electric push rod that passes through the center position of the guide rail bracket, and the electric push rod is provided with a push rod end and a driving end. The push rod end of the electric push rod is connected to the inner edge position of the upper surface of the slide through a movable connecting rod, and the driving end of the electric push rod is connected to the bottom end surface of the guide rail bracket through a push rod connecting piece.

[0035] Furthermore, the pneumatic assembly includes a cylinder fixedly connected to the front end bottom surface of the slide assembly through a pneumatic connector, the cylinder is provided with a cylinder body end and a piston end, the cylinder body end of the cylinder is connected to an air compressor, the air compressor can supply air to the cylinder, the air compressor is electrically connected to a solenoid valve, the adjustment assembly includes an adjustment rod movably connected to the rear end bottom surface of the slide assembly through a flange bearing, the middle part of the adjustment rod is provided with an active groove penetrating the upper and lower side surfaces of the adjustment rod, the interior of the active groove is penetrated by a movable rod, and the adjustment rod is connected to the slide assembly through the movable rod. The piston end of the cylinder is movably connected, and an adjusting track groove penetrating the left and right side surfaces of the adjusting rod is provided at the front end of the adjusting rod. The adjusting rod can be connected to the weeding assembly through an adjusting piece that cooperates with the adjusting track groove. The adjusting piece can move arbitrarily in the extension direction of the adjusting track groove, and the adjusting piece is fastened to the adjusting track groove by a fastening bolt. The weeding assembly includes a weeding rod connected to the lower end of the adjusting piece, and a weeding shovel is provided at the bottom end of the weeding rod. The symmetrical arrangement of the weeding assembly makes the weeding shovel also symmetrically arranged, so that the shovel heads of the weeding shovel are relatively arranged.

[0036] Furthermore, the driving wheel assembly includes a front drive wheel located at the front end of the bottom of the support frame, the front drive wheel is provided with a hub motor, the hub motor can drive the front drive wheel to rotate, and the universal wheel assembly includes a universal wheel located at the rear end of the bottom of the support frame.

[0037] Furthermore, the video monitoring system includes a camera mounted on the front end of the support bracket via an extension piece.

[0038] Furthermore, the information processing system includes a host computer, and the control system includes a single-chip microcomputer controller and a servo motor drive module and a communication module connected to the single-chip microcomputer controller for communication. The single-chip microcomputer controller adopts a development board with model STM32F103, and the communication module is a WIFI module.

[0039] Furthermore, the solenoid valve is a two-position five-way solenoid valve, and the solenoid valve is communicatively connected to the single-chip microcomputer controller.

[0040] Furthermore, the electric push rod is communicatively connected with the single chip microcomputer controller.

[0041] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0042] 1. The real-time identification method of lettuce of the present invention can identify and mark the position of lettuce in the video image information taken in real time in the complex scene of the lettuce field, and then by judging the distance between the lettuce and the weeding component, the control system controls the weeding mechanism to open and close within a suitable distance range between the lettuce and the weeding component, so as to achieve the purpose of weeding without damaging the seedlings. This method is effective and efficient, has extremely high detection accuracy, and can achieve a faster data processing speed while maintaining a high lettuce identification accuracy rate;

[0043] 2. The present invention has the characteristics of reasonable structural design, high weeding efficiency, good weeding effect, low seedling injury rate, strong adaptability, etc. By setting a row width adjustment mechanism, the operating width between the symmetrically arranged weeding mechanisms can be adjusted according to different growth cycles and different planting specifications of lettuce to meet its weeding requirements, thereby achieving the purpose of weeding without damaging the seedlings; the cooperation of the drive component and the universal wheel component can cross simple obstacles in the process of the present invention, ensuring that the video monitoring system can smoothly collect image information and improve the success rate of lettuce recognition. The steering and line change work created by the present invention can be achieved through the differential control of the hub motor; the pneumatic component can control the symmetrically arranged weeding components to open and close by repeatedly pushing or retracting the adjustment component, so as to achieve the purpose of opening the weeding component to cross the lettuce and closing the weeding component to weed;

[0044] 3. The present invention can accurately calculate and adjust the operating width of the weeding mechanism in real time according to the row spacing parameter data of lettuce obtained by field measurement, so that the invention can not only adapt to lettuce fields with different growth cycles and different planting specifications, but also be applicable to weeding operations of other vegetable varieties with similar agronomic requirements or the same characteristics;

[0045] Other beneficial effects of the present invention will be further described in the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0047] Figure 1 It is a schematic diagram of the overall structure of the complete machine with the housing of the automatic weeding device between plants of the present invention;

[0048] Figure 2 It is a schematic diagram of the overall structure of the automatic weeding device between plants of the present invention without the outer shell;

[0049] Figure 3 A is a structural schematic diagram of a row width adjustment mechanism of the automatic weeding device between rows of the present invention;

[0050] Figure 4 A schematic diagram B of the structure of the row width adjustment mechanism of the automatic weeding device between rows of the present invention;

[0051] Figure 5 Schematic diagram C of the structure of the row width adjustment mechanism of the automatic weeding device between rows of the present invention;

[0052] Figure 6 It is a structural schematic diagram of the weeding mechanism of the automatic weeding device between plants of the present invention;

[0053] Figure 7It is a schematic diagram of the structure of the walking mechanism of the automatic weeding device between rows of the present invention;

[0054] Figure 8 It is a schematic structural diagram of a driving wheel assembly of the automatic weeding device between rows of the present invention;

[0055] Fig. 9 It is a working technical roadmap of the real-time identification method of lettuce of the present invention;

[0056] Fig.10 It is a weeding operation flow chart of the present invention;

[0057] Fig.11 It is a working schematic diagram of the automatic weeding device between plants in the real-time identification method of lettuce of the present invention;

[0058] Among them: 1. Shell; 2. Whole machine frame; 201. Support frame; 202. Support frame; 3. Row width adjustment mechanism; 301. Guide rail bracket; 302. Horizontal guide rail; 303. Horizontal slider; 304. Slide; 305. Electric push rod; 306. Active connecting rod; 4. Weeding mechanism; 401. Pneumatic connector; 402. Cylinder; 403. Flange bearing; 404. Adjustment rod; 405. Active groove; 406. Active rod; 407. Adjustment track groove; 408. Adjustment part; 409. Weeding rod; 410. Weeding shovel; 5. Traveling mechanism; 501. Front drive wheel; 502. Hub motor; 503. Universal wheel; 6. Camera. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] It should be noted that, for ease of description, the present invention uses lettuce to illustrate the technical solution in detail. It is obvious to those skilled in the art that other vegetable varieties with similar agronomic requirements or the same characteristics should also be applicable to the real-time identification method and the automatic weeding device between plants.

[0061] Example 1

[0062] like Figures 1 to 8 As shown, the present invention provides an automatic weeding device between lettuce plants.

[0063] It includes a whole machine frame 2 and a row width adjustment mechanism 3, a walking mechanism 5 and a control system arranged thereon, and a weeding mechanism 4 is symmetrically arranged at the bottom end of the row width adjustment mechanism 3;

[0064] The whole machine frame 2 can integrate the row width adjustment mechanism 3, the weeding mechanism 4, the walking mechanism 5 and the control system together. The whole machine frame 2 includes a support frame 201 and support frames 202 symmetrically arranged at the left and right ends thereof. The row width adjustment mechanism 3 is symmetrically arranged on the front end surface of the support frame 201, the walking mechanism 5 is arranged at the bottom end of the support frame 202, and the control system is placed on the rear end surface of the support frame 201;

[0065] The row width adjustment mechanism 3 can adjust the working width between the symmetrically arranged weeding mechanisms 4 according to different growth cycles and different planting specifications of lettuces to meet their weeding requirements and achieve the purpose of weeding without damaging seedlings. The row width adjustment mechanism 3 includes a guide rail assembly and a slide assembly symmetrically arranged at its left and right ends and slidably matched therewith. The guide rail assembly can provide a sliding support for the slide assembly. The guide rail assembly is provided with an electric push rod 305 assembly penetrating its surface. The electric push rod 305 assembly is movably connected to the slide assembly, which is used to control the position where the slide assembly can slide on the surface of the guide rail assembly, thereby adjusting the working width between the symmetrically arranged weeding mechanisms 4. The bottom end of the slide assembly is connected to the weeding mechanism 4;

[0066] The weeding mechanism 4 can remove weeds between lettuce plants. The weeding mechanism 4 includes a pneumatic component and an adjusting component and a weeding component connected thereto in sequence. The pneumatic component controls the symmetrically arranged weeding components to open and close by repeatedly pushing or retracting the adjusting component, so as to achieve the purpose of opening the weeding component to pass over the lettuce and closing the weeding component to weed. The weeding component can be adjusted forward and backward in the extension direction of the adjusting component to accurately adjust the working width between the symmetrically arranged weeding components.

[0067] The walking mechanism 5 can not only provide support for the component mechanisms thereon, but also provide power support for the movement of the automatic weeding device between rows. The walking mechanism 5 includes a driving wheel assembly located at the front end of the bottom of the support frame 202 and a universal wheel assembly located at the rear end of the bottom of the support frame 202. The driving wheel assembly can drive the entire machine components forward under the driving force provided by it. The cooperation between the universal wheel assembly and the driving wheel assembly can adapt to more complex working scenarios.

[0068] The control system can identify lettuce through real-time collected video images to control the start, stop, movement and weeding operations of the automatic inter-plant weeding device throughout the entire process. The control system includes a video monitoring system, an information processing system and a control system. The video monitoring system can monitor the lettuce within its field of view in real time and collect its video image information. The information processing system can read the video image information transmitted in real time by the video monitoring system frame by frame, and identify and mark the position of the lettuce to obtain the corresponding center point coordinate information, and then determine the distance between the lettuce and the weeding component to transmit the determination result to the control system. The control system can control the row width adjustment mechanism 3 to adjust the operating width of the weeding mechanism 4 according to the signal transmitted by the information processing system, control the weeding mechanism 4 to open and close within a suitable distance range between the lettuce and the weeding component, and control the walking mechanism 5 to move forward steadily. The control system is connected to a power supply.

[0069] In Example 1 described in the present invention, the support frame 201 and the support frame 202 are both made of aluminum profiles connected by frame connecting angle pieces and T-shaped nuts, the row width adjustment mechanism 3, the weeding mechanism 4 and the walking mechanism 5 are all connected and fastened to the whole machine frame 2 through non-standard connecting parts, and the control system is firmly placed on the surface of the support frame 201 through non-standard structural parts.

[0070] It should be noted that the use of non-standard connecting parts and non-standard structural parts is to make the structure of the automatic weeding device between rows more compact, stable and durable. The non-standard connecting parts and non-standard structural parts that can enable the structure of the automatic weeding device between rows to achieve this effect all fall within the scope of protection of the present invention.

[0071] In the embodiment 1 described in the present invention, the line width adjustment mechanism 3 and the control system are both provided with a shell 1 wrapping the outside thereof. The setting of the shell 1 can prevent the corrosion of the internal component structure by dust, moisture, chemicals, etc., and reduce the influence of the external environment on the mechanical and electronic equipment. The shell 1 is made of plexiglass.

[0072] In the embodiment 1 of the present invention, the guide rail assembly includes a guide rail bracket 301 fixedly connected to the support bracket 201, and the upper surfaces of the left and right ends of the guide rail bracket 301 are symmetrically provided with transverse guide rails 302. The slide assembly includes a transverse slider 303 that slides with the transverse guide rail 302. The transverse slider 303 is connected to a slide 304 that is sleeved on the outside of the guide rail bracket 301. The transverse slider 303 can slide left and right relative to the transverse guide rail 302 to make the slide 304 slide. 4 can move left and right relative to the guide rail bracket 301, the electric push rod 305 assembly includes an electric push rod 305 penetrating the center position of the guide rail bracket 301, the electric push rod 305 is provided with a push rod end and a driving end, the push rod end of the electric push rod 305 is connected to the inner edge position of the upper surface of the slide 304 through a movable connecting rod 306, and the driving end of the electric push rod 305 is connected to the bottom end surface of the guide rail bracket 301 through a push rod connector; when the push rod end of the electric push rod 305 is in the driving position, the push rod end of the electric push rod 305 is connected to the inner edge position of the upper surface of the slide 304 through a movable connecting rod 306, and the driving end of the electric push rod 305 is connected to the bottom end surface of the guide rail bracket 301 through a push rod connector; When the push rod end of the electric push rod 305 extends upward under the driving action of the driving end, it can push the top end of the movable link 306 upward to make the bottom end of the movable link 306 move in the direction close to the electric push rod 305, and then under the sliding cooperation of the transverse guide rail 302 and the transverse slider 303, the slide 304 is moved along with the movable link 306 in the direction close to the electric push rod 305, thereby narrowing the working width between the weeding mechanisms 4 symmetrically arranged at the bottom end of the row width adjustment mechanism 3; when the push rod end of the electric push rod 305 retracts downward under the driving action of the driving end, it can pull the top end of the movable link 306 downward to make the bottom end of the movable link 306 move in the direction away from the electric push rod 305, and then under the sliding cooperation of the transverse guide rail 302 and the transverse slider 303, the slide 304 is moved along with the movable link 306 in the direction away from the electric push rod 305, thereby increasing the working width between the weeding mechanisms 4 symmetrically arranged at the bottom end of the row width adjustment mechanism 3.

[0073] In the embodiment 1 described in the present invention, the pneumatic component includes a cylinder 402 fixedly connected to the front end bottom surface of the slide assembly through a pneumatic connector 401, the cylinder 402 is provided with a cylinder end and a piston end, the cylinder end of the cylinder 402 is connected to an air compressor, the air compressor can supply air to the cylinder 402, the air compressor is electrically connected to a solenoid valve, the solenoid valve can control the extension and retraction of the piston end of the cylinder 402 by controlling the air compressor to supply and cut off air to the cylinder 402, and then control the adjustment component to move in the direction away from or close to the cylinder 402, the adjustment component includes a through The adjusting rod 404 is movably connected to the bottom surface of the rear end of the slide assembly through the flange bearing 403. The adjusting rod 404 can rotate relative to the flange bearing 403 with the flange bearing 403 as the center. The middle part of the adjusting rod 404 is provided with a movable groove 405 that passes through the upper and lower side surfaces of the adjusting rod 404. The movable rod 406 is penetrated in the movable groove 405. The adjusting rod 404 is movably connected to the piston end of the cylinder 402 through the movable rod 406. In the process of the piston end of the cylinder 402 pushing or pulling the adjusting rod 404 through the movable rod 406, the movable rod 406 can move The adjusting rod 404 moves in the extension direction of the groove 405 to ensure smooth movement of the adjusting rod 404. The front end of the adjusting rod 404 is provided with an adjusting track groove 407 that passes through the left and right surfaces of the adjusting rod 404. The adjusting rod 404 can be connected to the weeding component through an adjusting member 408 that cooperates with the adjusting track groove 407. The adjusting member 408 can move arbitrarily in the extension direction of the adjusting track groove 407, and the adjusting member 408 is fastened to the adjusting track groove 407 by a fastening bolt to achieve the purpose of accurately adjusting the working width between the symmetrically arranged weeding components. The weeding component includes an adjusting member connected to the adjusting member The weeding rod 409 at the lower end of 408 has a weeding shovel 410 at the bottom end. The symmetrical arrangement of the weeding assembly makes the weeding shovel 410 also symmetrically arranged, so that the shovel heads of the weeding shovel 410 are relatively arranged. This arrangement can improve the success rate of weeding and effectively improve the weeding effect. When the piston end of the cylinder 402 drives the adjusting rod 404 to move toward or away from the cylinder 402 with the flange bearing 403 as the center, the symmetrically arranged weeding shovel 410 connected to the adjusting rod 404 through the adjusting member 408 and the weeding rod 409 can open and close.

[0074] Specifically, the symmetrically arranged row width adjustment mechanism 3 and the weeding mechanism 4 at the bottom thereof can simultaneously remove the weeds between the two rows of lettuce plants to improve the weeding efficiency; when the automatic weeding device between the lettuce plants moves on the lettuce ridge, the symmetrically arranged weeding shovel 410 needs to be inserted into the soil. At this time, the symmetrically arranged weeding shovel 410 is in a closed state, and the piston end of the cylinder 402 is in an extended state. When the front of the symmetrically arranged weeding shovel 410 encounters lettuce, the symmetrically arranged weeding shovel 410 opens to turn the soil around the lettuce while passing over the lettuce. Subsequently, when the front of the symmetrically arranged weeding shovel 410 encounters weeds, the symmetrically arranged weeding shovel 410 closes to break the roots of the weeds to improve the weeding effect. Under the reciprocating operation of the symmetrically arranged weeding shovel 410, the weeds in the lettuce ridge are removed.

[0075] In Example 1 described in the present invention, the driving wheel assembly includes a front-drive wheel 501 located at the front end of the bottom of the support frame 202, and the front-drive wheel 501 is provided with a hub motor 502. The hub motor 502 can drive the front-drive wheel 501 to rotate, and the universal wheel assembly includes a universal wheel 503 located at the rear end of the bottom of the support frame. The cooperation of the driving assembly and the universal wheel assembly can overcome simple obstacles during the advancement of the automatic weeding device between plants, ensuring that the video monitoring system can smoothly collect image information and improve the success rate of lettuce recognition. The steering and row changing work of the automatic weeding device between plants can be achieved by differential control of the hub motor 502.

[0076] In embodiment 1 of the present invention, the video monitoring system includes a camera 6 installed at the front end of the support frame 201 through an extension piece. The camera 6 can monitor the lettuce within its field of view in real time and capture corresponding real-time video information for transmission to the information processing system. The lens of the camera 6 is directed toward the weeding shovel 410, and the shovel mouth of the weeding shovel 410 is placed just in the middle position behind the video image obtained by the camera 6.

[0077] In the embodiment 1 described in the present invention, the information processing system includes a host computer, which is a computer device with data processing, control and monitoring functions. The video monitoring system and the control system are respectively communicated with the information processing system. The control system includes a single-chip microcomputer controller and a servo motor drive module and a communication module communicated with it. The single-chip microcomputer controller adopts a development board with model STM32F103. The single-chip microcomputer controller can control the servo motor drive module through a PWM signal to change the duty cycle to accurately control the rotation direction and speed of the hub motor 502, thereby achieving the function of braking the hub motor 502 and changing the rotation direction of the hub motor 502, and realizing the control of the running route of the weeding device. The communication module is a WIFI module, and the single-chip microcomputer controller can perform wireless remote control on the weeding mechanism 4 through the communication module.

[0078] In the embodiment 1 described in the present invention, the solenoid valve adopts a two-position five-way solenoid valve, which is communicatively connected with the single-chip microcomputer controller. The single-chip microcomputer controller can control the extension and retraction action of the pneumatic component through the solenoid valve, thereby controlling the opening and closing action of the weeding mechanism 4.

[0079] In the embodiment 1 described in the present invention, the electric push rod 305 is connected to the single-chip microcomputer controller for communication, and the row spacing parameter data of the lettuce obtained by field measurement is input into the host computer. The host computer can calculate the telescopic distance of the electric push rod 305 according to the row spacing of the lettuce, and convert the measurement result into an electrical signal and transmit it to the single-chip microcomputer controller. The single-chip microcomputer controller controls the electric push rod 305 through the received signal to drive the slide assembly to slide on the surface of the guide rail assembly to the specific position required by the parameters, thereby achieving the purpose of adjusting the operating width between the symmetrically arranged weeding mechanisms 4, and improving the adaptability of the weeding mechanisms 4 to lettuce fields of different planting specifications. The specific measurement formula is as follows:

[0080] ,

[0081] In the formula is the movement distance of the electric push rod 305, d is the row spacing of lettuce, a, b, c are device parameters, and the specific values ​​are 86mm, 143mm, and 114mm respectively.

[0082] Example 2

[0083] according to Fig. 9 As shown, Embodiment 2 of the present invention further provides a method for real-time identification of lettuce, which is applied to the automatic weeding device between lettuce plants described above, and the method comprises:

[0084] Step S1: pre-collecting image information of lettuce and weeds in the target vegetable shed;

[0085] According to the image information of lettuce and weeds in the target vegetable shed, the method specifically includes:

[0086] Collect image information of lettuce and weeds under different lighting conditions, shooting angles, and shooting distances to further increase the diversity of target data and the generalization ability of the model. The image information includes single lettuce images, multiple lettuce images, mixed images of lettuce and weeds, single weed images, and multiple weed images.

[0087] The size of the acquired images is 2200×2200, and the resolution is 2400×1080;

[0088] Step S2: blurring, increasing brightness and decreasing brightness of the collected image information of lettuce and weeds to expand the data volume of the image information;

[0089] Step S3: annotate the lettuce and weeds in the expanded image information to form an annotation frame, thereby obtaining the annotation frame width, annotation frame height and coordinate information of the target center point of the lettuce and weeds, and then further annotate the target position, pixel-level segmentation boundary and image classification in the image information and obtain the corresponding category label. The category label specifically includes: first, by using an annotation tool, annotate the target position in the image with a boundary box to generate an annotation frame, and assign a corresponding category label to each annotation frame. Such annotation data can be used to train a target detection model so that the model can detect and locate the target object in the input image; second, by using an annotation tool, annotate the segmentation boundary of each pixel in the image, that is, assign a label to each pixel to indicate which object or region the pixel belongs to. Such annotation data can be used to train an image segmentation model so that it can achieve pixel-level target segmentation; third, by also using an annotation tool, classify and annotate the image at the image level, and assign a category label to each image. Such annotation data can be used to train an image classification model so that it can classify the input image and identify different categories in the image;

[0090] Use the labeled image information to create a corresponding data set, and then pass it into the convolutional neural network model to obtain the optimal model;

[0091] The prepared data set is specifically divided into: a training set, a test set and a validation set, wherein the training set is passed into the convolutional neural network model to train the model, the test set is used to evaluate the performance of the model on unseen data, and the validation set is used to adjust model parameters and select the optimal model;

[0092] Step S4: using the camera 6 of the automatic weeding device between plants used in conjunction with the camera 6 to shoot the lettuces in the current vegetable shed to obtain real-time video information, reading and converting it into a video stream format frame by frame, and using the converted video stream format information as input to load and run the optimal model on each frame;

[0093] Step S5: Detect and mark the identification rectangle of the lettuce predicted by the optimal model in the video stream format information by drawing a boundary box, and obtain the coordinate information of the center point of the lettuce according to the calculation processing of the identification rectangle. The specific formula is as follows:

[0094] ,

[0095] ,

[0096] in, , are the horizontal and vertical coordinates of the center point of the lettuce, , They are the horizontal and vertical coordinates of the upper left vertex of the lettuce recognition rectangle. , Identify the width and height of the rectangular box for the lettuce respectively;

[0097] Finally, the video stream format information with the annotation is displayed on the visualization panel, and at the same time, the signal is transmitted to the single-chip microcomputer controller in the control system of the automatic weeding device between rows through the serial port USART protocol to control the action of the automatic weeding device between rows;

[0098] Step S6: According to step S5, the position of the camera 6 is adjusted so that the shovel mouth of the symmetrically arranged weeding shovel 410 of the automatic weeding device between plants is placed in the middle position directly behind the video image screen obtained by the camera 6, in order to reduce the parameters of the subsequent distance calculation and avoid the influence of the shovel mouth position of the weeding shovel 410 on the image acquisition, and then the distance between the center point position of the lettuce and the corresponding shovel mouth position of the weeding shovel 410 is judged. When the distance between the center point position of the lettuce and the corresponding shovel mouth position of the weeding shovel 410 is less than a certain set value, the signal transmitted through the serial port is 1, and the shovel mouth of the symmetrically arranged weeding shovel 410 is opened to bypass the lettuce. When the distance between the center point position of the lettuce and the corresponding shovel mouth position of the weeding shovel 410 is greater than a certain set value, the signal transmitted through the serial port is 0, and the shovel mouth of the symmetrically arranged weeding shovel 410 is closed to remove the weeds along the way.

[0099] , the transmission signal is 1

[0100] , the transmission signal is 0

[0101] in, is the coordinate information of the center point of the lettuce, which is determined by the recognition result. The coordinate information of the position of the shovel mouth of the weeding shovel 410 is determined by the parameters of the camera 6 itself. For a certain set value, a suitable value needs to be selected in field tests.

[0102] In Example 2 described in the present invention, the annotation tool in step S3 adopts the labeimg annotation tool in PyCharm; the train function is used to train the model, and the val function is used to evaluate the training results of the model on the verification set; the OpenCV library and the OpenVINO inference engine are used to load the optimal model.

[0103] In Example 2 of the present invention, in step S4, the rectangle and circle functions in the OpenCV library are used to draw and mark the identification rectangle and center point coordinate information of the lettuce in the video stream; the imshow function in the OpenCV library is used to display the video stream format information with the annotations on the visualization panel.

[0104] In the second embodiment of the present invention, the shovel mouth of the weeding shovel 410 is symmetrically set in step S6 to be located at the edge of the video image obtained by the camera 6. For the convenience of calculation, the coordinates of a point in the middle of the bottom edge of the video image obtained by the camera 6 are used as the coordinate information of the position of the shovel mouth of the weeding shovel 410.

[0105] It should be noted that after the target is annotated with a bounding box, the bounding box is regarded as a marking box; when the target in the real-time video stream format is identified and annotated with a bounding box, the bounding box is regarded as a recognition rectangular box.

[0106] Combining the above content, such as Fig.10 and Fig.11 As shown, under the action of the real-time lettuce identification method, the working steps of the automatic weeding device between plants of the present invention are as follows:

[0107] Step S1: First, the automatic weeding device between the rows is placed at the end of the ridge between the two rows of lettuce, so that the walking mechanism 5 of the automatic weeding device between the rows is facing the ridge area outside the two rows of lettuce. Then, the position of the camera 6 is adjusted so that the shovel mouth of the symmetrically arranged weeding shovel 410 of the automatic weeding device between the rows is placed in the middle position behind the video image screen obtained by the camera 6. Finally, the device is initialized, the power supply connected to the control system is turned on, and the relevant components are powered on, the host computer and the single-chip microcomputer controller are started, and the row spacing parameter data of the lettuce obtained by field measurement is transmitted to the host computer. The input is input into the host computer, which can calculate the distance that the electric push rod 305 can be extended and retracted according to the row spacing of lettuce, and convert the measurement result into an electrical signal and transmit it to the single-chip controller. The single-chip controller controls the action of the electric push rod 305 through the received signal, and then drives the slide 304 to slide on the outer side of the guide rail bracket 301 to the specific position required by the parameters through the movable connecting rod 306 and the sliding cooperation between the transverse guide rail 302 and the transverse slider 303, so as to adjust the operating width between the symmetrically arranged weeding mechanisms 4, so as to improve the adaptability of the weeding mechanisms 4 to the lettuce fields with different planting specifications;

[0108] Step S2: Sending an execution signal to the servo motor drive module through the single-chip microcomputer controller, so that the servo motor drive module starts the hub motor 502 and drives the automatic weeding device between plants to move forward. At this time, the symmetrically arranged weeding shovel 410 has been inserted into the soil of the lettuce ridge and the video monitoring system has not yet photographed the lettuce, and the lettuce has not entered the identification setting safety area. The symmetrically arranged weeding shovel 410 is in a normal closed state, and the piston end of the cylinder 402 is in an extended state; during the moving process, the video monitoring system photographs the lettuce and weeds in the current vegetable shed to obtain real-time video information thereof, and transmits the real-time video information to the information processing system, the information processing system reads the video information transmitted in real time by the video monitoring system frame by frame, and identifies and marks the position of the lettuce in the video information according to the optimal model in the real-time identification method of lettuce, obtains the corresponding center point coordinate information, and then determines the distance between the lettuce and the shovel mouth of the weeding shovel 410 and transmits the determination result to the single-chip microcomputer controller in the form of an electrical signal;

[0109] Step S3: In step S2, if the distance between the center point of the lettuce and the shovel opening position of the corresponding weeding shovel 410 is less than a certain set value, the signal transmitted through the serial port is 1, the single-chip controller receives the signal and controls the solenoid valve to open, so that the solenoid valve controls the piston end of the cylinder 402 to retract through the air compressor to pull the adjusting rod 404 and the weeding rod 409 connected thereto, so that the symmetrically arranged weeding shovel 410 opens to cross the lettuce while turning the soil around the lettuce; if the distance between the center point of the lettuce and the shovel opening position of the corresponding weeding shovel 410 is greater than a certain set value, the signal transmitted through the serial port is 0, the single-chip controller receives the signal and controls the solenoid valve to close, so that the solenoid valve no longer controls the cylinder 402 through the air compressor, the piston end of the cylinder 402 extends and drives the weeding shovel 410 to close again through the adjusting rod 404 and the weeding rod 409, thereby breaking the roots of the weeds;

[0110] Step S4: In step S3, when the symmetrically arranged weeding shovel 410 reciprocates in this way, when the automatic weeding device between plants completes the weeding of the lettuce ridge, the single-chip microcomputer controller sends an execution signal to the servo motor drive module again, so that the servo motor drive module controls the steering of the hub motor 502 and starts the weeding operation of the next lettuce ridge.

[0111] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for real-time identification of lettuce, characterized by: The method comprises: Collect image information of lettuce and weeds in the target vegetable shed in advance; Blurring, increasing brightness, and decreasing brightness are performed on the collected image information of lettuce and weeds to expand the data volume of the image information; The lettuce and weeds in the expanded image information are respectively annotated to form an annotation box, thereby obtaining the annotation box width, annotation box height and coordinate information of the center point of the lettuce and weed targets, and then further annotating the target position, pixel-level segmentation boundary and image classification in the image information and obtaining the corresponding category label. The category label specifically includes: first, by using an annotation tool, the target position in the image is annotated with a bounding box to generate an annotation box, and a corresponding category label is assigned to each annotation box. Such annotation data can be used to train a target detection model, so that the model can detect and locate the target object in the input image; second, by using an annotation tool, the segmentation boundary of each pixel in the image is annotated, that is, a label is assigned to each pixel to indicate which object or region the pixel belongs to. Such annotation data can be used to train an image segmentation model, so that it can achieve pixel-level target segmentation; third, by also using the annotation tool, the image is classified and annotated at the image level, and a category label is assigned to each image. Such annotation data can be used to train an image classification model, so that it can classify the input image and identify different categories in the image; Use the labeled image information to create a corresponding dataset, which is then passed into the convolutional neural network model to obtain the optimal model; Using a camera of an automatic weeding device used in conjunction with the device to shoot lettuce in the current vegetable shed to obtain real-time video information, reading and converting it into a video stream format frame by frame, and using the converted video stream format information as input to load and run the optimal model on each frame; The identification rectangle of the lettuce predicted by the optimal model in the video stream format information is detected and marked by drawing a bounding box, and the coordinate information of the center point of the lettuce is obtained according to the calculation processing of the identification rectangle. The specific formula is as follows: in, , are the horizontal and vertical coordinates of the center point of the lettuce, , They are the horizontal and vertical coordinates of the upper left vertex of the lettuce identification rectangle, , Identify the width and height of the rectangle for the lettuce respectively; Finally, the video stream format information with annotations is displayed on the visualization panel, and at the same time, the signal is transmitted to the single-chip microcomputer controller in the control system of the automatic weeding device between rows through the serial port USART protocol to control the action of the automatic weeding device between rows.

2. The method for real-time identification of lettuce according to claim 1, wherein: According to the image information of the lettuce and weeds in the target vegetable shed, the method specifically includes: Image information of lettuce and weeds is collected under different lighting conditions, shooting angles, and shooting distances, where the image information includes a single lettuce image, multiple lettuce images, a mixed image of lettuce and weeds, a single weed image, and multiple weed images.

3. The method for real-time identification of lettuce according to claim 1, wherein: The method further comprises: Adjust the camera position so that the symmetrically arranged weeding shovel mouth of the automatic weeding device between plants is placed in the middle position just behind the video image screen obtained by the camera, in order to reduce the parameters of subsequent distance calculation and avoid the influence of the weeding shovel mouth position on image acquisition. Then, the distance between the center point position of the lettuce and the corresponding weeding shovel mouth position is judged. When the distance between the center point position of the lettuce and the corresponding weeding shovel mouth position is less than a certain set value, the signal transmitted through the serial port is 1, and the symmetrically arranged weeding shovel mouth opens to bypass the lettuce. When the distance between the center point position of the lettuce and the corresponding weeding shovel mouth position is greater than a certain set value, the signal transmitted through the serial port is 0, and the symmetrically arranged weeding shovel mouth closes to remove the weeds along the way. , the transmission signal is 1 , the transmission signal is 0 in, The coordinate information of the center point of the lettuce is determined by the recognition result. The coordinate information of the weeding shovel's shovel opening is determined by the camera's own parameters. For a certain set value, a suitable value needs to be selected in field testing.

4. An automatic weeding device between lettuce plants, characterized by: It includes a whole machine frame and a row width adjustment mechanism, a traveling mechanism and a control system arranged thereon, wherein a weeding mechanism is symmetrically arranged at the bottom end of the row width adjustment mechanism; The whole machine frame can integrate the row width adjustment mechanism, weeding mechanism, walking mechanism and control system together. The whole machine frame includes a support frame and support frames symmetrically arranged at the left and right ends thereof. The row width adjustment mechanism is symmetrically arranged on the front surface of the support frame, the walking mechanism is arranged at the bottom end of the support frame, and the control system is placed on the rear end surface of the support frame. The row width adjustment mechanism can adjust the working width between the symmetrically arranged weeding mechanisms according to different growth cycles and different planting specifications of lettuce, so as to adapt to its weeding requirements and achieve the purpose of weeding without damaging the seedlings. The row width adjustment mechanism includes a guide rail assembly and a slide assembly symmetrically arranged at its left and right ends and slidably matched therewith. The guide rail assembly can provide a sliding support for the slide assembly. The guide rail assembly is provided with an electric push rod assembly passing through its surface. The electric push rod assembly is movably connected to the slide assembly, which is used to control the position in which the slide assembly can slide on the surface of the guide rail assembly, thereby adjusting the working width between the symmetrically arranged weeding mechanisms. The bottom end of the slide assembly is connected to the weeding mechanism; The weeding mechanism is capable of removing weeds between lettuce plants. The weeding mechanism includes a pneumatic component, an adjustment component, and a weeding component connected thereto in sequence. The pneumatic component controls the symmetrically arranged weeding components to open and close by repeatedly pushing or retracting the adjustment component, so that the weeding components are opened to pass over the lettuce and closed to weed. The weeding components can be adjusted forward and backward within the extension direction of the adjustment component to accurately adjust the working width between the symmetrically arranged weeding components. The walking mechanism can not only provide support for the component mechanisms thereon, but also provide power support for the movement of the automatic weeding device between rows. The walking mechanism includes a driving wheel assembly located at the front end of the bottom of the support frame and a universal wheel assembly located at the rear end of the bottom of the support frame. The driving wheel assembly can drive the entire machine components forward under the action of the driving force provided by it. The cooperation between the universal wheel assembly and the driving wheel assembly can adapt to more complex working scenarios. The control system is based on a real-time identification method for lettuce as described in any one of claims 1 to 3. It identifies lettuce through real-time collected video images to control the start, stop, travel and weeding operations of the automatic inter-plant weeding device throughout the entire process. The control system includes a video monitoring system, an information processing system and a control system. The video monitoring system can monitor the lettuce within its field of view in real time and collect its video image information. The information processing system can read the video image information transmitted in real time by the video monitoring system frame by frame, and identify and mark the position of the lettuce to obtain the corresponding center point coordinate information, and then judge the distance between the lettuce and the weeding component to transmit the judgment result to the control system. The control system can control the row width adjustment mechanism to adjust the operating width of the weeding mechanism according to the signal transmitted by the information processing system, control the weeding mechanism to open and close within a suitable distance range between the lettuce and the weeding component, and control the walking mechanism to move forward steadily. The control system is connected to a power supply.

5. The automatic weeding device among lettuce plants according to claim 4, characterized in that: The supporting frame and support frame are both made of aluminum profiles connected by frame connecting angles and T-shaped nuts. The row width adjustment mechanism, weeding mechanism and walking mechanism are all connected and fastened to the entire machine frame through non-standard connectors. The control system is firmly placed on the surface of the supporting frame through non-standard structural parts.

6. The automatic weeding device among lettuce plants according to claim 4, characterized in that: The guide rail assembly includes a guide rail bracket fixedly connected to the supporting bracket, and transverse guide rails are symmetrically arranged on the upper surfaces of the left and right ends of the guide rail bracket. The slide assembly includes a transverse slider that slides with the transverse guide rail, and the transverse slider is connected to a slide sleeved on the outside of the guide rail bracket. The transverse slider can slide left and right relative to the transverse guide rail so that the slide can move left and right relative to the guide rail bracket. The electric push rod assembly includes an electric push rod that passes through the center position of the guide rail bracket, and the electric push rod is provided with a push rod end and a driving end. The push rod end of the electric push rod is connected to the inner edge position of the upper surface of the slide through a movable connecting rod, and the driving end of the electric push rod is connected to the bottom end surface of the guide rail bracket through a push rod connecting piece.

7. The automatic weeding device among lettuce plants according to claim 4, characterized in that: The pneumatic assembly includes a cylinder fixedly connected to the front end bottom surface of the slide assembly through a pneumatic connector, the cylinder is provided with a cylinder end and a piston end, the cylinder end of the cylinder is connected to an air compressor, the air compressor can supply air to the cylinder, and the air compressor is electrically connected to a solenoid valve, the adjustment assembly includes an adjustment rod movably connected to the rear end bottom surface of the slide assembly through a flange bearing, the middle part of the adjustment rod is provided with a movable groove passing through the upper and lower side surfaces of the adjustment rod, the interior of the movable groove is provided with a movable rod, the adjustment rod is movably connected to the piston end of the cylinder through the movable rod, the front end of the adjustment rod is provided with an adjustment track groove passing through the left and right side surfaces of the adjustment rod, the adjustment rod can be connected to the weeding assembly through an adjustment member that cooperates with the adjustment track groove, the adjustment member can move arbitrarily in the extension direction of the adjustment track groove, and the adjustment member is fastened to the adjustment track groove by a fastening bolt, the weeding assembly includes a weeding rod connected to the lower end of the adjustment member, and a weeding shovel is provided at the bottom end of the weeding rod. The symmetrical arrangement of the weeding assembly makes the weeding shovel also symmetrically arranged, so that the shovel heads of the weeding shovel are relatively arranged.

8. The automatic weeding device among lettuce plants according to claim 4, characterized in that: The driving wheel assembly includes a front drive wheel located at the front end of the bottom of the support frame. The front drive wheel is provided with a hub motor, which can drive the front drive wheel to rotate. The universal wheel assembly includes a universal wheel located at the rear end of the bottom of the support frame.

9. The automatic weeding device among lettuce plants according to claim 4, characterized in that: The video monitoring system includes a camera installed on the front end of the support bracket through an extension piece. The information processing system includes a host computer. The control system includes a single-chip microcomputer controller and a servo motor drive module and a communication module connected to the single-chip microcomputer controller for communication. The single-chip microcomputer controller uses a development board with model STM32F103, and the communication module is a WIFI module.

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