Field weeding equipment and method

Abstract

The invention provides a field weeding device and method, and the device comprises a sunflower solar panel which can rotate according to sunlight; the seedling condition monitoring camera is used for monitoring seedling conditions and plant diseases and insect pests; the small meteorological monitoring equipment is used for paddy field meteorological monitoring; the small lithium battery is used for supplying power to equipment; the motor is used for converting electric energy into mechanical energy; the power wheel is connected with the transmission shaft and matched with the driven wheel driving device to walk; the weeding wheel is used for weeding the paddy field; the image recognition camera is used for shooting pictures of the bottom environment of the rice field in weeding operation; the soil nitrogen-phosphorus-potassium sensor is used for monitoring fertility in soil; the navigation module is used for navigating and positioning the device; the automatic driving camera is used for shooting images in front, back, left and right directions of automatic driving; and the control module is used for controlling the automatic operation of the device, realizing the automatic operation of weeding, realizing multiple purposes in addition to the weeding operation, and monitoring seedling conditions and soil fertility, so that the working efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural intelligent equipment, and in particular to a field weeding equipment and method. Background Art

[0002] As the birthplace of rice, China has a long history of rice cultivation. With the development of science and technology and the evolution of agricultural equipment technology, most links in rice cultivation have now been replaced by machinery. For example, rice transplanting has replaced traditional manual transplanting, and rice harvesting has replaced traditional sickle harvesting with rice harvesters.

[0003] There are also some links, such as rice field weeding, which still uses traditional manual weeding or the use of chemical agents. Some rice fields also use weeding robots for weeding, but most of the current weeding robots rely on manual remote control for operation. At the same time, there is still a lot of room for improvement and enhancement in the weeding methods, walking methods and energy supply devices of these weeding robots.

[0004] Currently, the rice field seedling monitoring process is mainly based on manual inspections. Although some high-standard farmlands are equipped with agricultural monitoring cameras, these cameras are fixed monitoring and the monitoring area is very limited. It is difficult to accurately monitor large areas of farmland through existing methods.

[0005] More and more people are leaving agriculture and entering various industries, which also leads to an increase in agricultural labor costs year by year. Weeding and seedling monitoring are in urgent need of better quality and more convenient intelligent equipment to replace or reduce labor input costs and reduce the use of chemical agents. Summary of the invention

[0006] The technical problem to be solved by the present invention is: in order to solve the problems in the existing rice field weeding method that the labor cost input cannot be reduced, the use of chemical pesticides, and the lack of intelligence of weeding equipment, the present invention provides a field weeding equipment and method.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a field weeding equipment includes

[0008] This device uses a small lithium battery 3 as a power source, on which multiple functional modules and control modules are placed;

[0009] The sunflower solar panel is installed at the top of the column of the device, and is equipped with a charging current monitoring module and a rotatable connector, which are connected to a small lithium battery and a control module; the control module is configured to obtain and record the charging current value at the current time through a charging current monitoring sensor; the control module is also configured to perform rotation control on the rotatable connector, and the charging current value will change during the rotation process, and the rotation will be stopped when the charging current value is the largest; the control module is also configured to control the rotating connector at regular intervals to compare the charging current values;

[0010] The seedling monitoring camera is installed above the column of the device and is connected to a small lithium battery and a control module; the control module is also configured to obtain, record and analyze the current image through the seedling monitoring camera;

[0011] The small meteorological monitoring equipment is installed on the left and right sides above the column of this device, and includes an air temperature sensor, an air humidity sensor, a light intensity sensor, and a rain or snow sensor, which are connected to a small lithium battery and a control module; the control module is also configured to obtain air temperature values, air humidity values, and light intensity values ​​through the air temperature sensor, air humidity sensor, light intensity sensor, and rain or snow sensor of the small meteorological monitoring equipment.

[0012] The small lithium battery is installed in the middle of the device. It is a small-capacity, high-power charge-discharge lithium battery with the characteristics of small size and light weight. When there is sufficient sunlight, it can be connected to the sunflower solar panel to achieve rapid charging and discharging.

[0013] The motor is installed in the middle of the device and is connected to a small lithium battery, a transmission shaft and a control module; the control module is also configured to control the speed and direction of rotation of the motor;

[0014] The transmission shaft is installed at the bottom of the device and connected to the motor, the weeding wheel and the power wheel;

[0015] The power wheels are installed on both sides of the bottom of the device, connected to the transmission shaft and used in conjunction with the driven wheel drive device to move;

[0016] The weeding wheel is installed at the bottom of the device and connected to the transmission shaft; there are two groups of weeding wheels, each of which is equipped with a plurality of cutting blades; during weeding operations, the device spans across three rows of rice, and the weeding wheel weeds between the plants in the three rows of rice;

[0017] The image recognition camera is installed in the middle of the device, and has two connections with a small lithium battery and a control module. During the weeding operation, the control module takes pictures of the environment within the operation path. The control module is also configured to obtain, record, and analyze the current image through the image recognition camera.

[0018] The navigation module is installed in the middle of the device and is connected to a small lithium battery, an automatic driving camera, and a control module; the control module is also configured to obtain, record, and analyze the current speed, direction, and position through the navigation module;

[0019] The autonomous driving camera is installed at four positions of the device, front, back, left, and right, for 360° panoramic image capture, and is connected to a small lithium battery and a control module; the control module is also configured to acquire, record, and analyze the current image content through the autonomous driving camera;

[0020] The control module is also configured to have a self-checking function, which can perform self-checks on the sunflower solar panel, small meteorological monitoring equipment, small lithium battery, motor, seedling monitoring camera, automatic driving camera, image recognition camera, navigation module, and soil nitrogen, phosphorus and potassium sensor of the device; the control module is also configured to analyze the self-checking data, and when the self-checking data is normal, it starts to enter the next process; when the self-checking data is abnormal, it issues a self-checking function abnormality reminder; the control module is also configured to have three reminder modes for self-checking function abnormality reminders, namely, email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, name of abnormal component;

[0021] The control module is also configured to control the rotating connector to always keep the sunflower solar panel at a position of maximum charging current by comparing and analyzing the current charging current obtained by the charging current monitoring sensor in the sunflower solar panel;

[0022] The control module is also configured to determine whether to perform weeding operations through the light intensity value recorded by the light intensity sensor in the small meteorological monitoring equipment, the rain and snow sensor, and whether there is no rain or snow; when the light intensity reaches a certain threshold and there is no rain or snow, the device performs weeding operations, otherwise the operation is suspended;

[0023] The control module is also configured to analyze the images obtained by the seedling monitoring camera, and when the image analysis result is normal, no feedback is issued; when the analysis result is abnormal seedling condition or pests and diseases, the vehicle is driven normally and an abnormal image analysis reminder of the seedling monitoring camera is issued; the control module is also configured to have three reminder modes for abnormal seedling monitoring image analysis: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, location, and abnormal image;

[0024] The control module is further configured to precisely control the motor, including speed and direction; the control module is further configured to analyze the speed, direction, position obtained in the navigation module and the 360° panoramic image obtained in the automatic driving module camera, and feed back to the current motor control to achieve automatic driving;

[0025] The control module is also configured to analyze the image acquired by the image recognition camera, and when the analysis result is weeds, the weeding operation is carried out normally without giving feedback; when the analysis result is rice, the operation is suspended, the position is automatically changed to start the weeding operation again and a reminder of abnormal image analysis by the image recognition camera is issued; the control module is also configured to have three reminder modes for abnormal image analysis by the image recognition camera: email reminder, SMS reminder and voice call reminder, and the reminder content includes: current time, location and abnormal image;

[0026] The control module is also configured to analyze the image acquired by the automatic driving camera, and when the image analysis result is normal, no reminder is issued; when the analysis result is not conducive to forward driving, it automatically switches to other suitable rows of rice according to the image analysis result; the control module is also configured to have three reminder modes of email reminder, SMS reminder, and voice call reminder when the image analysis of the automatic driving camera is abnormal, and the reminder content includes: current time, location and abnormal image;

[0027] The control module is also configured to suspend the weeding operation and start the soil nitrogen, phosphorus and potassium sensor measurement operation; the control module is also configured to control the telescopic bracket of the soil nitrogen, phosphorus and potassium sensor, and insert the soil nitrogen, phosphorus and potassium sensor into the soil for measurement by extending the bracket; the control module is also configured to obtain the current soil nitrogen, phosphorus and potassium value through the soil nitrogen, phosphorus and potassium sensor, and when the soil nitrogen, phosphorus and potassium value is within a certain threshold range, no feedback is issued; when the soil nitrogen, phosphorus and potassium value is lower than or higher than a certain threshold range, an abnormal analysis reminder of the soil nitrogen, phosphorus and potassium sensor value is issued; the control module is also configured to have three reminder methods for abnormal analysis of the soil nitrogen, phosphorus and potassium sensor value: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, location and abnormal value.

[0028] Based on the above-mentioned field weeding device, the present invention also discloses a field weeding method, comprising the following steps:

[0029] S1. The control module performs equipment self-check and meteorological environment analysis on the device, which specifically includes the following steps:

[0030] S01, the control module issues a self-check command to perform self-checks on the sunflower solar panel, small meteorological monitoring equipment, small lithium battery, motor, seedling monitoring camera, automatic driving camera, image recognition camera, navigation module, and soil nitrogen, phosphorus, and potassium sensor of the device; analyzes the self-check results, and if the self-check results are normal, enters step S02; if the self-check results are abnormal, issues a self-check result abnormal reminder; the self-check function abnormal reminder has three reminder modes: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, name of abnormal component;

[0031] S02, the control module obtains and analyzes the current light intensity value and whether there is no rain or snow. If the current light intensity value exceeds a certain threshold and there is no rain or snow, the device enters step S2, otherwise the operation is suspended, and after waiting for a certain period of time, the device enters step S01;

[0032] S2: The control module obtains and analyzes the current location, the automatic driving camera image, and the motor status, and starts the automatic driving, which specifically includes the following steps:

[0033] S201, the control module obtains and analyzes the current positioning and the automatic driving camera image; the current position is in the rice field, and the surrounding environment is suitable for driving, and enters step S202;

[0034] S202, the device starts to start the automatic driving. Under the control module, the motor starts real-time control and status monitoring. The motor is connected to the power wheel through the transmission shaft to start the automatic driving. Enter step S3;

[0035] S3: The device starts to automate automatically, and the weeding wheels start to rotate in a linked manner, which specifically includes the following steps:

[0036] S301, after the device starts automatic driving, two sets of weeding wheels attached to the transmission shaft start to rotate in conjunction; the weeding wheels are equipped with multiple cutting blades, and the weeds between plants are cut during the driving process of the device; enter step S302;

[0037] S302: When weeding operation starts, the image recognition sensor starts taking pictures of the environment in the operation path under the control module; the control module acquires and analyzes the image of the image recognition sensor and enters step S4;

[0038] S4. Situation handling during the autonomous driving process includes the following steps:

[0039] S401, the control module obtains and analyzes the images of the current automatic driving camera and the image recognition camera; when the image analysis result of the automatic driving camera is conducive to forward driving, no feedback is issued, the driving is normal, and the process goes to step S5; when the image analysis result of the automatic driving camera is not conducive to forward driving, the automatic driving camera automatically switches to other suitable rows of rice to continue driving, and issues an abnormal reminder of the image analysis of the automatic driving camera; the automatic driving camera image analysis abnormality has three reminder methods: email reminder, SMS reminder, and voice call reminder, and the reminder content is: current time, location and abnormal image; the control module obtains and analyzes the image of the image recognition camera, and when the current image is weeds, the weeding operation is carried out normally, no feedback is issued, the driving is normal, and the process goes to step S5; when the analysis result in the current image is rice, the operation is suspended, and the automatic driving camera automatically switches to other suitable rows of rice to continue driving, and issues an abnormal reminder of the image analysis of the image recognition camera; the image analysis abnormality of the image recognition camera has three reminder methods: email reminder, SMS reminder, and voice call reminder, and the reminder content is: current time, location and abnormal image; go to step S402;

[0040] S402, the control module obtains and analyzes the current light intensity value and whether there is no rain or snow. If the current light intensity value is higher than a certain threshold and there is no rain or snow, no feedback is given, the vehicle drives normally, and the process goes to step S5; if the current light intensity value is lower than a certain threshold or there is rain or snow, the device analyzes the current environment through the automatic driving camera, drives the vehicle automatically to a suitable position, suspends operation, waits for a period of time, and then re-enters step S1;

[0041] S5. During the automatic driving weeding operation, the control module obtains and analyzes the image of the current seedling monitoring camera, which specifically includes the following steps:

[0042] S501. During the automatic driving weeding operation, the control module obtains and analyzes the image of the current seedling monitoring camera; when the image analysis result is normal, no feedback is issued, the vehicle is driven normally, and the process goes to step S6; when the analysis result is that the seedling condition is abnormal or there are pests and diseases, the vehicle is driven normally and an abnormal image analysis reminder from the seedling monitoring camera is issued; there are three reminder methods for abnormal image analysis from the seedling monitoring camera: email reminder, SMS reminder, and voice call reminder, and the reminder content includes the current time, location, and abnormal image; the process goes to step S6

[0043] S6. When performing automated soil nitrogen, phosphorus and potassium measurement, the control module obtains and analyzes the soil nitrogen, phosphorus and potassium content by stopping the motor, controlling the retractable bracket and the soil nitrogen, phosphorus and potassium sensor, specifically including the following steps:

[0044] S601, when it is necessary to enter the automatic soil nitrogen, phosphorus and potassium sensor measurement, the control module stops by controlling the motor, and the weeding operation and seedling monitoring operation are suspended at this time, and enters step S602;

[0045] S602, the control module controls the telescopic bracket of the soil nitrogen, phosphorus and potassium sensor, and inserts the soil nitrogen, phosphorus and potassium sensor into the soil for measurement by extending the bracket; the control module obtains and analyzes the current nitrogen, phosphorus and potassium value of the soil. When the soil nitrogen, phosphorus and potassium value is within a certain threshold range, no feedback is issued and the process enters step S1; when the soil nitrogen, phosphorus and potassium value is lower than or higher than a certain threshold range, the process enters step S1 and issues an abnormal soil nitrogen, phosphorus and potassium sensor value analysis reminder; there are three types of alarms for abnormal soil nitrogen, phosphorus and potassium sensor value analysis: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, location, and abnormal value. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0047] Figure 1 The present invention is a schematic diagram of the structure of a field weeding equipment.

[0048] Figure 2 It is a structural schematic diagram of a sunflower solar panel of field weeding equipment according to the present invention.

[0049] Figure 3 It is a structural schematic diagram of a weeding wheel of field weeding equipment of the present invention.

[0050] Figure 4 The present invention is a flow chart of a field weeding method.

[0051] Among them: 1. Sunflower solar panel, 2. Small meteorological monitoring equipment-1, 3. Small lithium battery, 4. Navigation module, 5. Cooling fan, 6. Power wheel, 7. Image recognition sensor, 8. Weeding wheel, 9. Autonomous driving camera, 10. Drive shaft, 11. Motor, 12. Column, 13. Small meteorological monitoring equipment-2, 14. Seedling monitoring camera, 15. Driven wheel, 16. Control module, 17. Retractable bracket, 18. Soil nitrogen, phosphorus and potassium sensor 19. Solar bracket, 20. Rotating connector, 21. Cutting blade, 22. Connector DETAILED DESCRIPTION

[0052] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0053] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0054] In addition, the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0055] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0056] like Figure 1 As shown, the present invention discloses an embodiment of a field weeding device, comprising:

[0057] In this embodiment, the device uses a small lithium battery 3 as a power source, on which multiple functional modules and a control module 16 are placed;

[0058] The sunflower solar panel 1 is installed at the top of the column 12 of the device, and is equipped with a charging current monitoring module and a rotatable connector, which are connected to the small lithium battery 3 and the control module 16; the control module 16 is configured to obtain and record the charging current value at the current time through the charging current monitoring sensor; the control module 16 is also configured to perform rotation control on the rotatable connector 20, and the charging current value will change during the rotation process, and the rotation is stopped when the charging current value is the largest; the control module 16 is also configured to control the rotating connector 20 at regular intervals to compare the charging current values;

[0059] The seedling monitoring camera 14 is installed above the column 12 of the device and is connected to the small lithium battery 3 and the control module 16; the control module 16 is also configured to obtain, record and analyze the current image through the seedling monitoring camera 14;

[0060] The small meteorological monitoring devices 2 and 13 are installed on the left and right sides above the column 12 of this device, and include air temperature sensors, air humidity sensors, light intensity sensors, and rain and snow sensors, and are connected to the small lithium battery 3 and the control module 16; the control module 16 is also configured to obtain air temperature values, air humidity values, and light intensity values ​​through the air temperature sensors, air humidity sensors, light intensity sensors, and rain and snow sensors of the small meteorological monitoring devices 2 and 13.

[0061] The small lithium battery 3 is installed in the middle of the device. It is a small-capacity, high-power charge-discharge lithium battery with the characteristics of small volume and light weight. When there is sufficient light, it can be connected to the sunflower solar panel 1 to achieve rapid charging and discharging.

[0062] The motor 11 is installed in the middle of the device and is connected to the small lithium battery 3, the transmission shaft 10 and the control module 16; the control module 16 is also configured to control the speed and direction of rotation of the motor 11;

[0063] The transmission shaft 10 is installed at the bottom of the device and is connected to the motor 11, the weeding wheel 8, and the power wheel 6;

[0064] The power wheels 6 are installed on both sides of the bottom of the device, connected to the transmission shaft 10 and matched with the driven wheels 15 to drive the device to move;

[0065] The weeding wheel 8 is installed at the bottom of the device and connected to the transmission shaft 10; the weeding wheel 8 has two groups, each of which is equipped with a plurality of cutting blades 21; during weeding operation, the device spans across three rows of rice, and the weeding wheel 8 weeds between the plants in the three rows of rice;

[0066] The image recognition camera is installed in the middle of the device, and has two connections with the small lithium battery 3 and the control module 16. During the weeding operation, the control module 16 takes pictures of the environment within the operation path. The control module 16 is also configured to obtain, record and analyze the current image through the image recognition camera;

[0067] The navigation module 4 is installed in the middle of the device and is connected to the small lithium battery 3, the automatic driving camera 9, and the control module 16; the control module 16 is also configured to obtain, record, and analyze the current speed, direction, and position through the navigation module 4;

[0068] The autonomous driving camera 9 is installed at four positions of the device, front, back, left, and right, for 360° panoramic image capture, and is connected to the small lithium battery 3 and the control module 16; the control module 16 is also configured to acquire, record, and analyze the current image content through the autonomous driving camera 9;

[0069] The control module 16 is also configured to have a self-checking function, which can perform self-checks on the sunflower solar panel 1, small meteorological monitoring equipment 2, 13, small lithium battery 3, motor 11, seedling monitoring camera 14, automatic driving camera 9, image recognition camera, navigation module 4, and soil nitrogen, phosphorus and potassium sensor 18 of the device; the control module 16 is also configured to analyze the self-checking data, and when the self-checking data is normal, it starts to enter the next process; when the self-checking data is abnormal, it issues a self-checking function abnormality reminder; the control module 16 is also configured to have three reminder modes for self-checking function abnormality reminders, namely, email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, name of abnormal component;

[0070] The control module 16 is also configured to control the rotating connector 20 by comparing and analyzing the current charging current obtained by the charging current monitoring sensor in the sunflower solar panel 1, so as to always keep the sunflower solar panel 1 at the position of maximum charging current;

[0071] The control module 16 is also configured to determine whether to perform weeding operations through the light intensity value recorded by the light intensity sensor and the rain and snow sensor in the small meteorological monitoring equipment 2 and 13, and whether there is no rain or snow; when the light intensity reaches a certain threshold and there is no rain or snow, the device performs weeding operations, otherwise the operation is suspended;

[0072] The control module 16 is also configured to analyze the image obtained by the seedling monitoring camera 14. When the image analysis result is normal, no feedback is issued; when the analysis result is abnormal seedling condition or pests and diseases, the vehicle is driven normally and an abnormal image analysis reminder of the seedling monitoring camera 14 is issued; the control module 16 is also configured to have three reminder modes for abnormal seedling condition monitoring image analysis, namely, email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, location, and abnormal image;

[0073] The control module 16 is also configured to precisely control the motor 11, including speed and direction; the control module 16 is also configured to analyze the speed, direction, position obtained by the navigation module 4 and the 360° panoramic image obtained by the automatic driving model camera, and feed back to the current motor 11 control to achieve automatic driving;

[0074] The control module 16 is also configured to analyze the image acquired by the image recognition camera. When the analysis result is weeds, the weeding operation is performed normally without giving feedback; when the analysis result is rice, the operation is suspended, the position is automatically changed to start the weeding operation again and a reminder of abnormal image analysis by the image recognition camera is issued; the control module 16 is also configured to have three reminder modes for abnormal image analysis by the image recognition camera: email reminder, SMS reminder and voice call reminder, and the reminder content includes: current time, location and abnormal image;

[0075] The control module 16 is also configured to analyze the image acquired by the automatic driving camera 9, and when the image analysis result is normal, no reminder is issued; when the analysis result is not conducive to forward driving, it automatically switches to other suitable rows of rice according to the image analysis result; the control module 16 is also configured to have three reminder modes of email reminder, SMS reminder, and voice call reminder when the image analysis of the automatic driving camera 9 is abnormal, and the reminder content includes: current time, location and abnormal image;

[0076] The control module 16 is also configured to suspend the weeding operation and start the soil nitrogen, phosphorus and potassium sensor 18 measurement operation; the control module 16 is also configured to control the telescopic bracket of the soil nitrogen, phosphorus and potassium sensor 18, and insert the soil nitrogen, phosphorus and potassium sensor 18 into the soil for measurement by extending the bracket; the control module 16 is also configured to obtain the current soil nitrogen, phosphorus and potassium value through the soil nitrogen, phosphorus and potassium sensor 18, and when the soil nitrogen, phosphorus and potassium value is within a certain threshold range, no feedback is issued; when the soil nitrogen, phosphorus and potassium value is lower than or higher than a certain threshold range, the soil nitrogen, phosphorus and potassium sensor 18 value analysis abnormality reminder is issued; the control module 16 is also configured to have three reminder modes for soil nitrogen, phosphorus and potassium sensor 18 value analysis abnormality, namely email reminder, SMS reminder and voice call reminder, and the reminder content includes: current time, location and abnormal value.

[0077] Based on the above-mentioned field weeding device, the present invention also discloses a field weeding method, comprising the following steps:

[0078] S1, the control module 16 performs equipment self-check and meteorological environment analysis on the device, specifically including the following steps:

[0079] S01, the control module 16 issues a self-check command to perform self-checks on the sunflower solar panel, small meteorological monitoring equipment 2, 13, small lithium battery 3, motor 11, seedling monitoring camera 14, automatic driving camera 9, image recognition camera, navigation module 4, and soil nitrogen, phosphorus and potassium sensor 18 of the device; the self-check results are analyzed, and if the self-check results are normal, the process proceeds to step S02; if the self-check results are abnormal, a self-check result abnormal reminder is issued; the self-check function abnormal reminder has three reminder modes: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, name of abnormal component;

[0080] S02, the control module 16 obtains and analyzes the current light intensity value and whether there is no rain or snow. If the current light intensity value exceeds a certain threshold and there is no rain or snow, the device enters step S2, otherwise the operation is suspended, and after waiting for a certain period of time, the device enters step S01;

[0081] S2, the control module 16 obtains and analyzes the current position, the image of the automatic driving camera 9, and the state of the motor 11, and starts the automatic driving, which specifically includes the following steps:

[0082] S201, the control module 16 obtains and analyzes the current position and the image of the automatic driving camera 9; the current position is in the rice field, and the surrounding environment is suitable for driving, and enters step S202;

[0083] S202, the device starts to start the automatic driving. Under the control module 16, the motor 11 starts real-time control and status monitoring. The motor 11 is connected to the power wheel 6 through the transmission shaft 10, and the automatic driving starts. Enter step S3;

[0084] S3, the device starts to start the automatic driving, and the weeding wheel 8 starts to rotate in conjunction, which specifically includes the following steps:

[0085] S301, after the device starts automatic driving, the two sets of weeding wheels 8 attached to the transmission shaft 10 start to rotate in conjunction; the weeding wheels 8 are equipped with multiple cutting blades 21, which cut the weeds between the plants during the driving process of the device; enter step S302;

[0086] S302, when the weeding operation starts, under the control module 16, the image recognition sensor 7 starts to take pictures of the environment within the operation path; the control module 16 obtains and analyzes the image of the image recognition sensor 7, and enters step S4;

[0087] S4. Situation handling during the autonomous driving process includes the following steps:

[0088] S401, the control module 16 obtains and analyzes the images of the current automatic driving camera 9 and the image recognition camera; when the image analysis result of the automatic driving camera 9 is conducive to forward driving, no feedback is issued, the driving is normal, and the process goes to step S5; when the image analysis result of the automatic driving camera 9 is not conducive to forward driving, the automatic driving camera 9 automatically switches to other suitable rows of rice to continue driving, and issues an abnormal image analysis reminder of the automatic driving camera 9; the automatic driving camera 9 has three reminder methods for abnormal image analysis, namely, email reminder, SMS reminder, and voice call reminder, and the reminder content is: current time, location, and abnormal image; the control module 16 obtains and analyzes the image of the image recognition camera, and when the current image is weeds, the weeding operation is carried out normally, no feedback is issued, the driving is normal, and the process goes to step S5; when the analysis result in the current image is rice, the operation is suspended, and the automatic driving camera 9 automatically switches to other suitable rows of rice to continue driving, and issues an abnormal image analysis reminder of the image recognition camera; the image analysis of the image recognition camera has three reminder methods, namely, email reminder, SMS reminder, and voice call reminder, and the reminder content is: current time, location, and abnormal image; the process goes to step S402;

[0089] S402, the control module 16 obtains and analyzes the current light intensity value and whether there is no rain or snow. If the current light intensity value is higher than a certain threshold and there is no rain or snow, no feedback is issued, the vehicle drives normally, and the process enters step S5; if the current light intensity value is lower than a certain threshold or there is rain or snow, the device analyzes the current environment through the automatic driving camera 9, drives the vehicle automatically to a suitable position, suspends operation, waits for a period of time, and then re-enters step S1;

[0090] S5. During the automatic driving weeding operation, the control module 16 obtains and analyzes the image of the current seedling monitoring camera 14, which specifically includes the following steps:

[0091] S501. During the automatic driving weeding operation, the control module 16 obtains and analyzes the image of the current seedling monitoring camera 14; when the image analysis result is normal, no feedback is issued, the vehicle drives normally, and enters step S6; when the analysis result is that the seedling condition is abnormal or there are pests and diseases, the vehicle drives normally and issues an abnormal reminder for the image analysis of the seedling monitoring camera 14; there are three reminder methods for abnormal image analysis of the seedling monitoring camera 14, namely, email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, location, and abnormal image; enter step S6

[0092] S6. When performing automated soil nitrogen, phosphorus and potassium measurement, the control module 16 stops the motor 11 and controls the retractable bracket 17 and the soil nitrogen, phosphorus and potassium sensor 18 to obtain and analyze the soil nitrogen, phosphorus and potassium content, specifically including the following steps:

[0093] S601, when it is necessary to enter the automatic soil nitrogen, phosphorus and potassium sensor 18 for measurement, the control module 16 stops by controlling the motor 11, and the weeding operation and seedling monitoring operation are suspended at this time, and the process goes to step S602;

[0094] S602, the control module 16 controls the telescopic bracket of the soil nitrogen, phosphorus and potassium sensor 18, and inserts the soil nitrogen, phosphorus and potassium sensor 18 into the soil for measurement by extending the bracket; the control module 16 obtains and analyzes the current nitrogen, phosphorus and potassium value of the soil. When the soil nitrogen, phosphorus and potassium value is within a certain threshold range, no feedback is issued, and the process enters step S1; when the soil nitrogen, phosphorus and potassium value is lower than or higher than a certain threshold range, the process enters step S1, and issues an abnormal analysis reminder of the soil nitrogen, phosphorus and potassium sensor 18 value; the soil nitrogen, phosphorus and potassium sensor 18 value analysis abnormality has three wake-up methods: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, location, and abnormal value.

[0095] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A field weeding device and method, characterized in that: include This device uses a small lithium battery as its power source, on which multiple functional modules and control modules are placed; The sunflower solar panel, connected to the small lithium battery in the device through a rotatable connector, serves as a solar charging system; The seedling monitoring camera takes real-time photos of the rice fields, and the images are recognized and analyzed by the control module; Small meteorological monitoring equipment, including air temperature sensor, air humidity sensor, light intensity sensor, and rain and snow sensor, for rice field meteorological monitoring; Small lithium battery, used in the energy system of this device, connected with the sunflower solar panel, various functional modules and control module; The motor is used to convert electrical energy into mechanical energy and is connected to the transmission shaft; The power wheel is connected with the driven wheel and the transmission shaft to drive the device to move; The navigation module is used for navigation and positioning of the device and is connected to the automatic driving camera; An automatic driving camera is used to capture images in all directions of the automatic driving of the device, front, back, left, and right; A weeding wheel, equipped with a plurality of cutting blades, connected to the transmission shaft; Image recognition camera, used to take pictures of the bottom environment of the rice field during weeding operations; Soil nitrogen, phosphorus and potassium sensors, used for soil fertility monitoring, are fixed by; The control module is used for automatic operation control of the device and is connected with the sunflower solar panel, seedling monitoring camera, small meteorological monitoring equipment, small lithium battery, motor, image recognition camera, soil nitrogen, phosphorus and potassium sensor, navigation module and automatic driving camera.

2. A field weeding equipment and method as claimed in claim 1, characterized in that The sunflower solar panel is installed at the top of the column of the device, and is equipped with a charging current monitoring module and a rotatable connector, which are connected to a small lithium battery and a control module; the control module is configured to obtain and record the charging current value at the current time through a charging current monitoring sensor; the control module is also configured to perform rotation control on the rotatable connector, and the charging current value will change during the rotation process, and the rotation will be stopped when the charging current value is the largest; the control module is also configured to control the rotating connector at regular intervals to compare the charging current values; The small meteorological monitoring equipment is installed on the left and right sides above the column of this device, and includes an air temperature sensor, an air humidity sensor, a light intensity sensor, and a rain or snow sensor, which are connected to a small lithium battery and a control module; the control module is also configured to obtain air temperature values, air humidity values, and light intensity values ​​through the air temperature sensor, air humidity sensor, light intensity sensor, and rain or snow sensor of the small meteorological monitoring equipment. The seedling monitoring camera is installed above the column of the device and is connected to a small lithium battery and a control module; the control module is also configured to obtain, record and analyze the current image through the seedling monitoring camera; The small lithium battery is installed in the middle of the device. It is a small-capacity, high-power charge-discharge lithium battery with the characteristics of small size and light weight. When there is sufficient sunlight, it can be connected to the sunflower solar panel to achieve rapid charge and discharge. The motor is installed in the middle of the device and is connected to a small lithium battery, a transmission shaft and a control module; the control module is also configured to control the speed and direction of rotation of the motor; The transmission shaft is installed at the bottom of the device and connected to the motor, the weeding wheel and the power wheel; The power wheels are installed on both sides of the bottom of the device, connected to the transmission shaft and used in conjunction with the driven wheel drive device to move; The weeding wheel is installed at the bottom of the device and connected to the transmission shaft; The image recognition camera is installed in the middle of the device and is connected to a small lithium battery and a control module; the control module is also configured to acquire, record, and analyze the current image through the image recognition camera; The navigation module is installed in the middle of the device and is connected to a small lithium battery, an automatic driving camera, and a control module; the control module is also configured to obtain, record, and analyze the current speed, direction, and position through the navigation module; The autonomous driving camera is installed at four positions of the device, front, back, left, and right, for 360° panoramic image capture, and is connected to a small lithium battery and a control module; the control module is also configured to acquire, record, and analyze the current image content through the autonomous driving camera; The soil nitrogen, phosphorus and potassium sensor is installed on the right side of the device, connected to a retractable bracket, and connected to a small lithium battery and a control module; The control module is installed in the middle of the device, is equipped with a cooling fan, and is connected to a small lithium battery, a sunflower solar panel, a seedling monitoring camera, a small meteorological monitoring device, a motor, a navigation module, an automatic driving camera, an image recognition camera, and a soil nitrogen, phosphorus and potassium sensor.

3. A field weeding equipment and method as claimed in claim 2, characterized in that There are two groups of weeding wheels, each equipped with a plurality of cutting blades; during weeding operations, the device spans three rows of rice, and the weeding wheels weed between the plants in the three rows of rice; There are two image recognition cameras installed above the weeding wheel. During the weeding operation, they respectively take pictures of the environment within the operation path.

4. A field weeding equipment and method as claimed in claim 2, characterized in that The control module is also configured to have a self-checking function, which can perform self-checks on the sunflower solar panel, small meteorological monitoring equipment, small lithium battery, motor, seedling monitoring camera, automatic driving camera, image recognition camera, navigation module, and soil nitrogen, phosphorus and potassium sensor of the device; the control module is also configured to analyze the self-checking data, and when the self-checking data is normal, it starts to enter the next process; When the self-test data is abnormal, a self-test function abnormality reminder is issued; the control module is also configured to have three reminder modes for self-test function abnormality reminder: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, name of abnormal component; The control module is also configured to control the rotating connector to always keep the sunflower solar panel at a position of maximum charging current by comparing and analyzing the current charging current obtained by the charging current monitoring sensor in the sunflower solar panel; The control module is also configured to determine whether to perform weeding operations based on the light intensity value recorded by the light intensity sensor in the small meteorological monitoring equipment and the rain and snow sensor, and whether there is no rain or snow; When the light intensity reaches a certain threshold and there is no rain or snow, the device will perform weeding operations, otherwise the operation will be suspended; The control module is also configured to analyze the images obtained by the seedling monitoring camera, and when the image analysis result is normal, no feedback is issued; when the analysis result is abnormal seedling condition or pests and diseases, the vehicle is driven normally and an abnormal reminder of the image analysis of the seedling monitoring camera is issued; The control module is also configured to have three reminder modes for abnormal seedling monitoring image analysis: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, location and abnormal image; The control module is further configured to precisely control the motor, including speed and direction; the control module is further configured to analyze the speed, direction, position obtained in the navigation module and the 360° panoramic image obtained in the automatic driving module camera, and feed back to the current motor control to achieve automatic driving; The control module is further configured to analyze the image acquired by the image recognition camera, and when the analysis result is weeds, perform weeding operations normally without issuing feedback; when the analysis result is rice, suspend the operation, automatically change the position and start weeding operations again and issue an abnormal image recognition camera image analysis reminder; The control module is also configured to have three reminder modes for abnormal image analysis by the image recognition camera: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, location, and abnormal image; The control module is also configured to analyze the image acquired by the automatic driving camera, and when the image analysis result is normal, no reminder is issued; when the analysis result is not conducive to forward driving, it automatically switches to other suitable rows of rice according to the image analysis result; the control module is also configured to have three reminder modes of email reminder, SMS reminder, and voice call reminder when the image analysis of the automatic driving camera is abnormal, and the reminder content includes: current time, location and abnormal image; The control module is also configured to suspend the weeding operation and start the soil nitrogen, phosphorus and potassium sensor measurement operation; the control module is also configured to control the telescopic bracket of the soil nitrogen, phosphorus and potassium sensor, and insert the soil nitrogen, phosphorus and potassium sensor into the soil for measurement by extending the bracket; the control module is also configured to obtain the current soil nitrogen, phosphorus and potassium value through the soil nitrogen, phosphorus and potassium sensor, and when the soil nitrogen, phosphorus and potassium value is within a certain threshold range, no feedback is issued; when the soil nitrogen, phosphorus and potassium value is lower than or higher than a certain threshold range, an abnormal analysis reminder of the soil nitrogen, phosphorus and potassium sensor value is issued; the control module is also configured to have three reminder methods for abnormal analysis of the soil nitrogen, phosphorus and potassium sensor value: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, location and abnormal value.

5. A field weeding equipment and method, characterized in that: The following steps are involved: S1. The control module performs equipment self-check and meteorological environment analysis on the device, which specifically includes the following steps: S01, the control module issues a self-check command to perform self-checks on the sunflower solar panel, small meteorological monitoring equipment, small lithium battery, motor, seedling monitoring camera, automatic driving camera, image recognition camera, navigation module, and soil nitrogen, phosphorus, and potassium sensor of the device; analyzes the self-check results, and if the self-check results are normal, enters step S02; if the self-check results are abnormal, issues a self-check result abnormal reminder; the self-check function abnormal reminder has three reminder modes: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, name of abnormal component; S02, the control module obtains and analyzes the current light intensity value and whether there is no rain or snow. If the current light intensity value exceeds a certain threshold and there is no rain or snow, the device enters step S2, otherwise the operation is suspended, and after waiting for a certain period of time, the device enters step S01; S2: The control module obtains and analyzes the current location, the automatic driving camera image, and the motor status, and starts the automatic driving, which specifically includes the following steps: S201, the control module obtains and analyzes the current position and the automatic driving camera image; the current position is in the rice field and the surrounding environment is suitable for driving, and enters step S202; S202, the device starts to start the automatic driving. Under the control module, the motor starts real-time control and status monitoring. The motor is connected to the power wheel through the transmission shaft to start the automatic driving. Enter step S3; S3: The device starts to automate automatically, and the weeding wheels start to rotate in a linked manner, which specifically includes the following steps: S301, after the device starts automatic driving, two sets of weeding wheels attached to the transmission shaft start to rotate in conjunction; the weeding wheels are equipped with multiple cutting blades, and the weeds between plants are cut during the driving process of the device; enter step S302; S302: When weeding operation starts, the image recognition sensor starts taking pictures of the environment in the operation path under the control module; the control module acquires and analyzes the image of the image recognition sensor and enters step S4; S4. Situation handling during the autonomous driving process includes the following steps: S401, the control module obtains and analyzes the images of the current automatic driving camera and the image recognition camera; when the image analysis result of the automatic driving camera is conducive to forward driving, no feedback is issued, the driving is normal, and the process goes to step S5; when the image analysis result of the automatic driving camera is not conducive to forward driving, the automatic driving camera automatically switches to other suitable rows of rice to continue driving, and issues an abnormal reminder of the image analysis of the automatic driving camera; the automatic driving camera image analysis abnormality has three reminder methods: email reminder, SMS reminder, and voice call reminder, and the reminder content is: current time, location and abnormal image; the control module obtains and analyzes the image of the image recognition camera, and when the current image is weeds, the weeding operation is carried out normally, no feedback is issued, the driving is normal, and the process goes to step S5; when the analysis result in the current image is rice, the operation is suspended, and the automatic driving camera automatically switches to other suitable rows of rice to continue driving, and issues an abnormal reminder of the image analysis of the image recognition camera; the image analysis abnormality of the image recognition camera has three reminder methods: email reminder, SMS reminder, and voice call reminder, and the reminder content is: current time, location and abnormal image; go to step S402; S402, the control module obtains and analyzes the current light intensity value and whether there is no rain or snow. If the current light intensity value is higher than a certain threshold and there is no rain or snow, no feedback is given, the vehicle drives normally, and the process goes to step S5; if the current light intensity value is lower than a certain threshold or there is rain or snow, the device analyzes the current environment through the automatic driving camera, drives the vehicle automatically to a suitable position, suspends operation, waits for a period of time, and then re-enters step S1; S5. During the automatic driving weeding operation, the control module obtains and analyzes the image of the current seedling monitoring camera, which specifically includes the following steps: S501. During the automatic driving weeding operation, the control module obtains and analyzes the image of the current seedling monitoring camera; when the image analysis result is normal, no feedback is issued, the vehicle is driven normally, and the process goes to step S6; when the analysis result is that the seedling condition is abnormal or there are pests and diseases, the vehicle is driven normally and an abnormal image analysis reminder from the seedling monitoring camera is issued; there are three reminder methods for abnormal image analysis from the seedling monitoring camera: email reminder, SMS reminder, and voice call reminder, and the reminder content includes the current time, location, and abnormal image; the process goes to step S6 S6. When performing automated soil nitrogen, phosphorus and potassium measurement, the control module obtains and analyzes the soil nitrogen, phosphorus and potassium content by stopping the motor, controlling the retractable bracket and the soil nitrogen, phosphorus and potassium sensor, specifically including the following steps: S601, when it is necessary to enter the automatic soil nitrogen, phosphorus and potassium sensor measurement, the control module stops by controlling the motor, and the weeding operation and seedling monitoring operation are suspended at this time, and enters step S602; S602, the control module controls the telescopic bracket of the soil nitrogen, phosphorus and potassium sensor, and inserts the soil nitrogen, phosphorus and potassium sensor into the soil for measurement by extending the bracket; the control module obtains and analyzes the current nitrogen, phosphorus and potassium value of the soil. When the soil nitrogen, phosphorus and potassium value is within a certain threshold range, no feedback is issued and the process enters step S1; when the soil nitrogen, phosphorus and potassium value is lower than or higher than a certain threshold range, the process enters step S1 and issues an abnormal soil nitrogen, phosphorus and potassium sensor value analysis reminder; there are three types of alarms for abnormal soil nitrogen, phosphorus and potassium sensor value analysis: email reminder, SMS reminder, and voice call reminder, and the reminder content includes: current time, location, and abnormal value.

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