Gardening weeding machine based on visual identification

Abstract

The gardening weeding machine comprises a vehicle frame, two sense recognizers, a battery pack, a lifting column, a control unit, an insertion rod, a transposition gear, a grass jacking sleeve, a tension spring and a hook, two driving tracks and a universal follower wheel are arranged on the lower side of the vehicle frame, and the control unit and the battery pack are further arranged on the upper side of the vehicle frame. The two visual recognizers are mounted on the lower side of the front end of the frame; the lifting column is vertically installed in the middle of the frame and can move up and down, the three inserting rods are installed at the lower end of the lifting column and form a moving pair, the grass jacking sleeve is installed in the lifting column and forms a moving pair, the three transposition gears are meshed with the grass jacking sleeve and the corresponding inserting rods at the same time, and the three hooks are rotationally connected with the lifting column. Each hook and the outer side of the lifting column are further connected with a tension spring; the three inserting rods can pull out rhizomes of weeds and wrapped soil together, and knock down the wrapped soil in the weed jacking process, so that the weeds are withered due to lack of nutrients and water, the weed regeneration possibility is solved from the root, and the weeding device is environmentally friendly and free of pollution.

Description

Technical Field

[0001] The invention relates to the technical field of gardening weeding, and in particular to a gardening weeder based on visual recognition. Background Art

[0002] Horticulture is a discipline that studies the cultivation, breeding, maintenance, gardening and garden design of horticultural plants. It is also called garden cultivation. It covers multiple areas such as fruit trees, vegetables, flowers, lawns, etc. Horticulture is related to the cultivation and breeding techniques of plants. Horticultural cultivation can beautify and transform people's living environment, and is also of great significance to the healthy development of the ecological environment. In the process of gardening maintenance, it is very necessary to remove weeds. Weeds will compete with gardening plants for resources such as nutrients, water and light, affecting the normal growth of plants. Weeds are often a breeding ground for pests and diseases. Regular weeding can reduce the incidence of pests and diseases and protect the health of gardening plants. Herbicides are generally not used for gardening weeding. Herbicides will not only kill weeds, but also cause accidental injury to gardening plants, affecting the growth and ornamental value of plants. The use of herbicides will cause soil structure deterioration and compaction, affecting soil aeration and plant root growth. In addition, the chemical components in herbicides will remain in the soil, causing long-term adverse effects on soil microorganisms and plants. Herbicides will also enter water bodies through rainwater erosion and other methods, causing damage to aquatic ecosystems. Therefore, gardening weeding usually adopts manual weeding. Although manual weeding can accurately The manual weeding is time-consuming and labor-intensive, and the weeds need to be removed quickly and efficiently to be removed. Summary of the invention

[0003] In order to solve the deficiencies of the prior art, the purpose of the present invention is to provide a gardening weeder based on visual recognition, which mainly includes a frame, two visual identifiers, a battery pack, a lifting column, a control unit, a lifting motor, a lifting gear, an insertion rod, a transposition gear, a grass cover, a push-down spring, a tension spring, a hook, and a turntable bearing, characterized in that: two driving tracks are arranged on the lower side of the front end of the frame, a universal follower wheel is arranged on the lower side of the rear end of the frame, a boss with an opening downward is arranged on the upper side of the frame, two guide bars are arranged vertically on the left and right sides of the through circular hole at the upper end of the boss, and a cone bowl with a flare downward is arranged on the inner upper end of the boss; two battery packs are arranged on the front end of the upper side of the frame, a control unit is arranged on the rear end of the upper side of the frame, and two visual identifiers are installed on the lower side of the front end of the frame; the lifting gear is installed on the upper end of the boss through a turntable bearing to form a rotating pair, and a threaded hole is arranged vertically in the center of the lifting gear; the lifting column is installed in the through circular hole at the upper end of the boss and can move up and down, and the lifting column and the lifting gear are coaxially installed to form a threaded pair, and the lifting motor is installed on the boss The front side of the platform drives the lifting column to move up and down through the gear meshing structure; the lower end of the lifting column is evenly distributed with three rod seats with the center line tilted inward, the inner side of the lower end of the lifting column is provided with three arc-shaped guide plates and spring sleeve seats, and the inner side of the lifting column is also provided with three hook rotating seats; a top plate is provided at the lower end of the top grass sleeve, three top grass racks are evenly spaced on the outside of the top grass sleeve, and three hook grooves are evenly spaced on the upper end of the top grass sleeve; a hook structure is provided at the lower right end of the hook, and a freely rotating guide wheel is provided at the upper left end of the hook. The hooks are rotatably connected with the three hook swivel seats respectively, and each hook is also connected to the outside of the lifting column with a tension spring; the top grass sleeve is installed in the middle of the three arc-shaped guide plates to form a moving pair, and the push-down spring is installed between the inside of the top grass sleeve and the spring sleeve seat; a plug rod rack is provided along the axis line on the side of the plug rod, and a pointed top is provided at the lower end of the plug rod. The three plug rods are coaxially installed in the three plug rod seats respectively and form a moving pair; three transposition gears are evenly distributed circumferentially installed at the lower end of the lifting column, and each transposition gear is meshed with the corresponding top grass rack and plug rod rack at the same time.

[0004] Preferably, when the two crawlers rotate at the same speed and in the same direction, the weeder achieves straight-line travel, and when the two crawlers rotate at a differential speed or in opposite directions, the weeder achieves turning.

[0005] Preferably, an integrated circuit is provided inside the control unit, and the control unit is electrically connected to all electrical components of the lawn mower.

[0006] Preferably, the two visual identifiers are installed at different positions, and parallax will be generated when the two capture images of the same target weed. The control unit can calculate the position of the target weed based on the parallax principle, and can determine the type of weed and the precise position of the target weed rhizome based on the shape and direction of the weed branches and leaves.

[0007] Preferably, two guide grooves are vertically arranged on the outer cylindrical surface of the lifting column, and the two guide grooves are symmetrically distributed.

[0008] Preferably, a plurality of conical top cones are provided on the lower side of the top plate, and the conical top cones prevent the weeds from sliding on the lower side of the top plate during the weeding process.

[0009] Preferably, a guiding slope is provided on the lower side of the hook structure.

[0010] Preferably, when the top grass cover is in the upper position, the hook structures at the lower ends of the three hooks will be stuck in the three corresponding hook grooves, thereby preventing the top grass cover from moving downward. At this time, the push-down spring is in a compressed state; when the lifting column moves upward, the three guide wheels will contact the cone bowl, and under the push of the cone bowl, the three hooks will rotate clockwise at the same time, causing the hook structures at their lower ends to disengage from the corresponding hook grooves. At this time, the top grass cover will move downward rapidly under the elastic force of the push-down spring.

[0011] Preferably, when the top grass cover moves downward, the three shifting gears rotate counterclockwise and the three insertion rods move upward; when the top grass cover moves upward relative to the lifting column under the thrust of the ground, the three shifting gears rotate clockwise and the three insertion rods move downward and are inserted into the soil.

[0012] The beneficial effects of the present invention are as follows: 1. The two visual identifiers not only have a good visual field effect, but also can calculate the position of the target weeds according to the parallax principle, and can judge the type of weeds and determine the precise position of the target weed rhizomes according to the shape and direction of the weed branches and leaves, so as to achieve accurate removal of the weeds and minimize the damage to other horticultural plants; 2. It can replace manual work to complete the removal of horticultural weeds, reduce the labor intensity of manual labor, and reduce the cost of horticultural weeding work; 3. The driving mode of combining crawler tracks and follower wheels is adopted, which is not only flexible in movement, but also has good passability on rugged ground; 4. The three inwardly inclined insertion rods can pull out the weed rhizomes and the soil wrapped around the rhizomes together, and in the process of pulling up the weeds, the soil wrapped around the rhizomes of the weeds is crushed and separated from the rhizomes, so that the weeds are dried up due to lack of nutrients and water, which not only solves the possibility of regeneration of weeds from the roots, but also is environmentally friendly and pollution-free. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the left front overall structure of the present invention.

[0014] Figure 2 This is a schematic diagram of the overall structure of the present invention after removing the cover.

[0015] Figure 3 It is a schematic diagram of the cross-sectional structure of the lower end of the lifting column in the present invention.

[0016] Figure 4It is a schematic diagram of the cross-sectional structure of the boss position in the present invention.

[0017] Figure 5 It is a schematic diagram of the cross-sectional structure of the lower end of the lifting column in the present invention.

[0018] Figure 6 It is a schematic structural diagram of the top grass cover of the present invention.

[0019] Figure numbers: 1 frame, 101 left outrigger, 102 right outrigger, 103 rear outrigger, 104 boss, 105 cone bowl, 2 left crawler, 3 left motor, 4 right crawler, 5 right motor, 6 left visual identifier, 7 right visual identifier, 8 battery pack, 9 cover, 10 lifting column, 1001 guide groove, 1002 rod seat, 1003 spring sleeve seat, 1004 arc guide plate, 1005 hanging spring lower seat, 1006 hook swivel seat, 1007 Transposition gear seat, 11 control unit, 12 rear wheel, 13 rear wheel connecting part, 14 lifting motor, 15 lifting pinion, 16 lifting gear, 17 plug rod, 1701 plug rod rack, 18 transposition gear, 19 top grass sleeve, 1901 top plate, 1902 top grass rack, 1903 hook slot, 1904 limiting ramp, 20 push-down spring, 21 tension spring, 22 hook, 2201 hanging spring upper seat, 2202 guide wheel, 23 turntable bearing. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0021] like Figure 1-6As shown, a gardening weeder based on visual recognition mainly includes a frame 1, a left crawler 2, a left motor 3, a right crawler 4, a right motor 5, a left visual identifier 6, a right visual identifier 7, a battery pack 8, a cover 9, a lifting column 10, a control unit 11, a rear wheel 12, a rear wheel connecting piece 13, a lifting motor 14, a lifting pinion 15, a lifting gear 16, an insertion rod 17, a transposition gear 18, a grass-top sleeve 19, a push-down spring 20, a tension spring 21, a hook 22, and a turntable bearing 23, wherein the cover 9 is fixedly installed on the upper side of the frame 1, and two legs are downwardly arranged on the left and right sides of the front end of the frame 1, which are a left leg 101 and a right leg 102, respectively, the left crawler 2 is installed on the outer side of the lower end of the left leg 101, and the inner side of the lower end of the left leg 101 is fixed A left motor 3 is installed, and the output shaft of the left motor 3 is tightly connected to the driving wheel inside the left crawler 2, so that the left motor 3 can drive the rotation of the left crawler 2, and the right crawler 4 is installed on the outer side of the lower end of the right support leg 102, and the right motor 5 is fixedly installed on the inner side of the lower end of the right support leg 102, and the output shaft of the right motor 5 is tightly connected to the driving wheel inside the right crawler 4, so that the right motor 5 can drive the rotation of the right crawler 4, and a rear support leg 103 is arranged downwardly at the middle position of the rear end of the frame 1, and the lower end of the rear support leg 103 is rotatably connected to the front end of the rear wheel connecting member 13, and the swivel axis is vertical, and the rear end of the rear wheel connecting member 13 is rotatably connected to the rear wheel 12, and the swivel axis is horizontal, so that the rear wheel can not only rotate freely, but also turn freely; the left crawler 2 and the right crawler 4 are the same When the left crawler 2 and the right crawler 4 rotate at different speeds or in opposite directions, the lawn mower can realize straight-line travel, and when the left crawler 2 and the right crawler 4 rotate at different speeds or in opposite directions, the lawn mower can realize steering; two battery packs 8 are arranged at the front end of the upper side of the frame 1, and the two battery packs 8 can provide power for all electrical equipment of the lawn mower, and a control unit 11 is arranged at the rear end of the upper side of the frame 1, and an integrated circuit is arranged inside the control unit 11, and the control unit 11 is electrically connected to all electrical components of the lawn mower; a boss 104 with an opening downward is arranged at the middle position of the upper side of the frame 1, and a through circular hole is vertically arranged at the upper end of the boss 104, and two guide bars are vertically arranged on the left and right sides of the through circular hole, and a cone bowl 105 with a flared mouth downward is arranged at the upper end of the boss 104; the left visual The left visual identifier 6 and the right visual identifier 7 are respectively installed on the lower side of the front end of the frame 1. A lens is provided in each of the left visual identifier 6 and the right visual identifier 7. Both lenses can rotate 360° horizontally and 180° in pitch, so as to have a good field of view. A fill light is provided in each of the left visual identifier 6 and the right visual identifier 7, so that weeds can be clearly identified even in a dark environment. Since the left visual identifier 6 and the right visual identifier 7 are installed at different positions, parallax will be generated when the two collect images of the same target weed. The control unit 11 can calculate the position of the target weed according to the parallax principle, and can judge the type of the weed and determine the precise position of the rhizome of the target weed according to the shape and direction of the weed branches and leaves.

[0022] like Figure 2 , Figure 4 As shown, the turntable bearing 23 is coaxially mounted on the upper end of the boss 104, and the outer ring of the turntable bearing 23 is fastened to the boss 104 by screws; the lifting gear 16 is coaxially mounted on the upper side of the turntable bearing 23, and the inner ring of the turntable bearing 23 is fastened to the lifting gear 16 by screws, so that the lifting gear 16 can rotate freely, and a threaded hole is vertically provided at the center of the lifting gear 16; the lifting column 10 is a hollow cylindrical structure, and an external thread is provided on its outer cylindrical surface, and two guide grooves 1001 are vertically provided on the outer cylindrical surface, and the two guide grooves 1001 are symmetrically distributed, and the lifting column 10 is coaxially mounted with the through circular hole in the center of the boss 104 to form a moving pair, and the two guide strips on the left and right sides of the through circular hole correspond to the two guide grooves 1001 on the outer side of the lifting column 10 respectively. 001 is installed in cooperation, so that the lifting column 10 can move up and down, but cannot rotate. In addition, the external thread on the outer cylindrical surface of the lifting column 10 is installed in cooperation with the central threaded hole of the lifting gear 16 to form a thread pair, so that the lifting gear 16 can realize the lifting action of the lifting column 10 by rotation; the lifting motor 14 is fixedly installed on the front side of the boss 104, and the output shaft of the lifting motor 14 is coaxially and tightly connected with the lifting pinion 15, and the lifting pinion 15 is meshed with the lifting gear 16 to form a gear transmission structure, so that the lifting motor 14 can realize the lifting and positioning of the lifting column 10. The lifting motor 14 is integrated with an encoder and a brake. The encoder can monitor the number of rotations of the lifting pinion 15 in real time, so as to determine the height position of the lifting column 10, and the brake can realize the position locking of the lifting column 10.

[0023] like Figure 5 As shown, three rod seats 1002 are arranged at equal intervals on the outer side of the lower end of the lifting column 10, each rod seat 1002 is provided with a smooth guide hole with its lower end inclined inward, and a window is arranged on the upper side of each rod seat 1002, and three shifting gear seats 1007 are arranged at positions corresponding to the three windows on the outer side of the lifting column 10, three arc guide plates 1004 are fixedly arranged on the inner side of the lower end of the lifting column 10, and a downward spring sleeve seat 1003 is arranged at the upper center position of the arc guide plate 1004, and the spring sleeve seat 1003 is a tubular structure with an opening downward, and three hanging spring lower seats 1005 are arranged at equal intervals on the outer side of the lifting column 10 near the lower end, and a square slot is also arranged above each hanging spring lower seat 1005, and three hook swivel seats 1006 are also arranged correspondingly on the inner sides of the three square slots.

[0024] like Figure 6As shown, the grass-lifting sleeve 19 is a tubular structure with an opening upward, and a circular top plate 1901 is arranged at its lower end. A plurality of conical top cones are arranged on the lower side of the top plate 1901, and the conical top cones can prevent the weeds from sliding on the lower side of the top plate 1901 during the grass-lifting process. Three grass-lifting racks 1902 are fixedly arranged at equal vertical intervals on the outer side of the grass-lifting sleeve 19, and a limiting ramp 1904 is arranged at the upper end of each grass-lifting rack 1902. Three hook grooves 1903 are arranged at equal circumferential intervals on the upper end of the grass-lifting sleeve 19.

[0025] like Figure 3 As shown, a hook structure is provided at the lower right end of the hook 22, a guide slope is provided on the lower side of the hook structure, a freely rotatable guide wheel 2202 is provided at the upper left end of the hook 22, a hanging spring upper seat 2201 is provided below the guide wheel 2202, and the middle positions of the three hooks 22 are respectively rotatably connected with the three hook rotating seats 1006; the upper ends of the three tension springs 21 are respectively connected with the three hanging spring upper seats 2201, and the lower ends of the three tension springs 21 are respectively connected with the three hanging spring lower seats 1005, so that under the tension of the tension spring 21, the corresponding hook 22 always has a tendency to flip outward.

[0026] like Figure 3 , Figure 4As shown, the top grass sleeve 19 is coaxially installed in the middle of the three arc-shaped guide plates 1004 at the lower end of the lifting column 10 and forms a moving pair, and the positions of the three top grass racks 1902 correspond to the three plug-in rod seats 1002 one by one; the push-down spring 20 is coaxially installed inside the top grass sleeve 19, and the push-down spring 20 is a thrust spring, whose upper end is pressed against the upper end of the spring sleeve seat 1003, and whose lower end is pressed against the lower end of the push-down spring 20, so that under the elastic force of the push-down spring 20, the top grass sleeve 1 9 always has a tendency to move downward; when the top grass cover 19 is in the upper position, the hook structures at the lower ends of the three hooks 22 will be stuck in the three corresponding hook grooves 1903, thereby preventing the top grass cover 19 from moving downward. At this time, the push-down spring 20 is in a compressed state; when the lifting column 10 moves upward, the three guide wheels 2202 will contact the cone bowl 105, and under the pushing action of the cone bowl 105, the three hooks 22 rotate clockwise at the same time, so that the hook structures at their lower ends are disengaged from the corresponding hook grooves 1903. At this time, the top grass sleeve 19 will move downward rapidly under the elastic force of the push-down spring 20; the plug rod 17 is a cylindrical rod-shaped structure, and a row of plug rod racks 1701 are arranged along the axis of its side, and a sharp-angled top is arranged at the lower end of the plug rod 17. The three plug rods 17 are coaxially installed in the three plug rod seats 1002 and form a moving pair; the three transposition gears 18 are respectively connected to the three transposition gear seats 1007 coaxially, and the three transposition gears 18 are respectively connected to the corresponding top grass racks 19 02 mesh with each other to form a gear rack transmission structure, and at the same time, the three transposition gears 18 are respectively meshed with the corresponding insertion rod racks 1701 to form a gear rack transmission structure; thus, when the top grass cover 19 moves downward under the elastic force of the push-down spring 20, the three transposition gears 18 rotate counterclockwise, and at the same time, the three insertion rods 17 move upward; when the top grass cover 19 moves upward relatively under the thrust of the ground, the three transposition gears 18 rotate clockwise, and at the same time, the three insertion rods 17 move downward and are inserted into the soil.

[0027] The weeding process of the garden weeder is as follows: ① the top grass cover 19 moves to the lower position, and the three limit ramps 1904 contact the three shifting gears 18 respectively and limit the top grass cover 19 from falling downward. At this time, the three insertion rods 17 are in the upper position; ② the left visual identifier 6 and the right visual identifier 7 scan the ground environment, and identify the type and distribution position of the weeds, and then determine the precise position of the rhizome according to the direction of the weed branches and leaves; ③ the left crawler 2 and the right crawler 4 rotate, and move the lifting column 10 to the top of the target weed; ④ the lifting motor 14 drives the lifting column 10 to move downward, such as Figure 4 As shown, when the top plate 1901 is pressed against the weeds or the ground, it cannot move downward further. At this time, the top grass cover 19 moves downward. Under the transmission action of the three shifting gears 18, the three insertion rods 17 move downward and gradually insert into the soil around the weed rhizomes, as shown in FIG. Figure 3As shown in the figure, the lifting column 10 moves downward until the hook structures at the lower ends of the three hooks 22 are stuck in the three corresponding hook grooves 1903, and at this time, the lower ends of the three insertion rods 17 are completely inserted into the soil; ⑤ The lifting motor 14 drives the lifting column 10 to move upward, and at the same time, the three insertion rods 17 pull the weed roots and the soil around them off the ground; ⑥ The lifting column 10 continues to move upward, and the three guide wheels 2202 contact the cone bowl 105, and under the push of the cone bowl 105, the three hooks 22 rotate clockwise at the same time, and the hook structures at the lower ends of the three hooks 22 are pulled out of the corresponding ⑦ The top weed cover 19 is disengaged from the hook groove 1903, and then the top weed cover 19 moves downward rapidly under the elastic force of the push-down spring 20. At the same time, the three insertion rods 17 move upward and release the clamping of the weeds. At this time, the top plate 1901 that pops up rapidly downward breaks up the soil wrapped around the weed rhizomes and separates from the weed rhizomes, and also knocks the weeds to the ground, so that the weed rhizomes are separated from the soil and exposed to the air. The weeds cannot get nutrients and water from the rhizomes and gradually dry up, thereby completing the weeding action; ⑦ Repeat the above process until all the weeds in the horticultural planting area are removed.

Claims

1. A garden weeder based on visual recognition, mainly including a frame, two visual identifiers, a battery pack, a lifting column, a control unit, a lifting motor, a lifting gear, a plug rod, a transposition gear, a grass-top sleeve, a push-down spring, a tension spring, a hook, and a turntable bearing, characterized in that: Two driving tracks are arranged on the lower side of the front end of the frame, a universal follower wheel is arranged on the lower side of the rear end of the frame, a boss with an opening downward is arranged on the upper side of the frame, two guide bars are arranged vertically on the left and right sides of the through circular hole at the upper end of the boss, and a cone bowl with a flared mouth downward is arranged on the inner upper end of the boss; two battery packs are arranged on the front end of the upper side of the frame, a control unit is arranged on the rear end of the upper side of the frame, and two visual identifiers are installed on the lower side of the front end of the frame; the lifting gear is installed on the upper end of the boss through a turntable bearing to form a rotating pair, and a threaded hole is arranged vertically in the center of the lifting gear; the lifting column is installed in the through circular hole at the upper end of the boss and can move up and down, and the lifting column and the lifting gear are coaxially installed to form a threaded pair, and the lifting motor is installed on the front side of the boss and drives the lifting column to move up and down through a gear meshing structure; three rod seats with center lines inclined inward are evenly distributed circumferentially at the lower end of the lifting column, and the lower end of the lifting column Three arc guide plates and spring sleeve seats are provided on the inner side of the end, and three hook swivel seats are also provided on the inner side of the lifting column; a top plate is provided at the lower end of the top grass sleeve, and three top grass racks are provided at equal intervals on the outer side of the top grass sleeve, and three hook grooves are provided at equal intervals circumferentially on the upper end of the top grass sleeve; a hook structure is provided at the lower end of the right side of the hook, and a freely rotating guide wheel is provided at the upper end of the left side of the hook. The three hooks are respectively rotatably connected with the three hook swivel seats, and each hook is also connected to the outer side of the lifting column with a tension spring; the top grass sleeve is installed in the middle of the three arc guide plates and constitutes a moving pair, and the push-down spring is installed between the inside of the top grass sleeve and the spring sleeve seat; a plug rod rack is provided along the axis line on the side of the plug rod, and a pointed top is provided at the lower end of the plug rod. The three plug rods are coaxially installed in the three plug rod seats respectively and constitute a moving pair; three transposition gears are evenly distributed circumferentially installed at the lower end of the lifting column, and each transposition gear is simultaneously meshed with the corresponding top grass rack and plug rod rack.

2. A garden weeder based on visual recognition according to claim 1, characterized in that: When the two crawlers rotate at the same speed and in the same direction, the weeder can travel in a straight line; when the two crawlers rotate at a differential speed or in opposite directions, the weeder can turn.

3. A garden weeder based on visual recognition according to claim 1, characterized in that: The control unit is internally provided with an integrated circuit, and the control unit is electrically connected to all electrical components of the lawn mower.

4. A garden weeder based on visual recognition according to claim 1, characterized in that: The two visual identifiers are installed at different positions, and parallax will be generated when the two collect images of the same target weed. The control unit can calculate the position of the target weed according to the parallax principle, and can judge the type of the weed and determine the precise position of the target weed rhizome according to the shape and direction of the weed branches and leaves.

5. The gardening weeder based on visual recognition according to claim 1, characterized in that: Two guide grooves are vertically arranged on the outer cylindrical surface of the lifting column, and the two guide grooves are symmetrically distributed.

6. The gardening weeder based on visual recognition according to claim 1, characterized in that: A plurality of conical top cones are arranged on the lower side of the top plate, and the conical top cones prevent the weeds from sliding on the lower side of the top plate during the weed lifting process.

7. The gardening weeder based on visual recognition according to claim 1, characterized in that: A guiding inclined surface is arranged on the lower side of the hook structure.

8. The gardening weeder based on visual recognition according to claim 1, characterized in that: When the top grass sleeve is in the upper position, the hook structures at the lower ends of the three hooks will be stuck in the three corresponding hook grooves, thereby preventing the top grass sleeve from moving downward. At this time, the push-down spring is in a compressed state; when the lifting column moves upward, the three guide wheels will contact the cone bowl, and under the push of the cone bowl, the three hooks will rotate clockwise at the same time, so that the hook structures at their lower ends will be disengaged from the corresponding hook grooves. At this time, the top grass sleeve will move downward rapidly under the elastic force of the push-down spring.

9. The gardening weeder based on visual recognition according to claim 1, characterized in that: When the top grass cover moves downward, the three shifting gears rotate counterclockwise, and the three insertion rods move upward; when the top grass cover moves upward relative to the lifting column under the thrust of the ground, the three shifting gears rotate clockwise, and the three insertion rods move downward and are inserted into the soil.

Images