Intelligent weeding device and weeding method with synergistic effect of machine and pesticide

Abstract

The invention provides an intelligent weeding device with a machine-pesticide synergistic effect and a weeding method, and belongs to the technical field of weeding. The device comprises a rack and a weeding mechanism. The rack is arranged on the advancing mechanism, a camera and a transverse moving sliding rail are arranged on the rack, and the transverse moving sliding rail is horizontally arranged and is perpendicular to the advancing direction of the advancing mechanism. The weeding mechanism comprises a row control support and a weeding unit, the row control support is slidably connected to the transverse moving sliding rail, a lifting mechanism is arranged on the row control support, the weeding unit is connected with the lifting mechanism, the weeding unit comprises a weeding shovel, a first spray head and a second spray head, and the weeding shovel is arranged at the bottom of the weeding unit. The first nozzle is arranged behind a shovel handle of the weeding shovel, and the second nozzle is arranged on the side of the shovel handle of the weeding shovel. The technical problem that existing weeding equipment is low in weeding precision and efficiency due to insufficient flexibility and adaptability can be solved.

Description

Technical Field

[0001] The invention belongs to the technical field of weeding, and in particular relates to an intelligent weeding device and a weeding method with synergistic effects of machinery and pesticides. Background Art

[0002] Due to the continuous growth of the world's population, desertification and irrational use of land, the area of ​​arable land is constantly decreasing. Therefore, only by increasing the yield per unit area of ​​land and reducing the losses caused by weeds can we rely on limited land to feed the growing population, which puts higher requirements on human resources and agricultural weeding equipment. According to statistics from relevant experts at home and abroad, weeds cause losses of up to 95 billion US dollars in global food production each year, which shows the importance of efficient and accurate weeding.

[0003] In the relevant technologies, weed control mainly relies on chemical and physical methods. Chemical weed control is widely used for its fast, efficient, stable effect and labor-saving characteristics, but long-term excessive use of herbicides will cause land pollution and ecological damage. Guguo mainly adopts a coordinated method of physical weed control as the main method and chemical weed control as the auxiliary method. In physical weed control, especially mechanical weed control, it can loosen the soil while weeding, improve soil aeration and permeability, and help improve soil structure. With the development of modern agricultural technology, the wide-narrow row planting model has gradually become an advanced cultivation method to increase crop yields. This model improves crop yields by optimizing the spatial layout of crop plants. Crop plants are usually planted in multiple rows in parallel. Most existing mechanical weeding equipment can usually only remove weeds between rows, but it is difficult to effectively deal with weeds between plants in the row. It cannot meet the complex and precise weeding requirements under wide-narrow row planting, resulting in a significant reduction in weeding accuracy and efficiency. Summary of the invention

[0004] The embodiment of the present invention provides an intelligent weeding device and weeding method with synergistic effect of machinery and pesticides, which can solve the technical problems of low weeding accuracy and efficiency caused by the lack of flexibility and adaptability of existing weeding equipment. The technical solution is as follows: In a first aspect, an embodiment of the present invention provides an intelligent weeding device with coordinated action of a machine and a pesticide, which is arranged on a traveling mechanism and includes: A frame is arranged on the traveling mechanism, and a camera and a transverse slide rail are arranged on the frame, wherein the camera is used for communication connection with a host computer, and the transverse slide rail is arranged horizontally and perpendicular to the traveling direction of the traveling mechanism; The weeding mechanism includes a row bracket and a weeding unit, wherein the row bracket is slidably connected to the transverse slide rail, a lifting mechanism is arranged on the row bracket, and the weeding unit is connected to the lifting mechanism, the weeding unit includes a weeding shovel, a first nozzle and a second nozzle, the weeding shovel is arranged at the bottom of the weeding unit, in the traveling direction of the traveling mechanism, the first nozzle is arranged behind the shovel handle of the weeding shovel, and the second nozzle is arranged on the side of the shovel handle of the weeding shovel.

[0005] Optionally, the weeding mechanism includes two weeding units, which are horizontally spaced apart on the lifting mechanism along the extension direction of the transverse slide rail, the spacing between the two weeding units is adjustable, and the two second nozzles in the two weeding units are respectively arranged on opposite sides of the two shovel handles.

[0006] Optionally, the row bracket includes a first drive device and a longitudinal sliding arm, the longitudinal sliding arm is arranged vertically and is slidably connected to the transverse sliding rail through the first drive device, the lifting mechanism includes a second drive device and a terminal pipe rack, a horizontal sliding rail is horizontally arranged on the terminal pipe rack, and is slidably connected to the longitudinal sliding arm through the second drive device, and a third drive device is arranged on the two weeding units, and is slidably connected to the horizontal sliding rail through the third drive device.

[0007] Optionally, the weeding unit also includes a vertically arranged longitudinal connecting arm, the top of the longitudinal connecting arm is connected to the third driving device, the weeding shovel is arranged at the bottom of the longitudinal connecting arm, and in the traveling direction of the traveling mechanism, the weeding shovel of one of the two weeding units is arranged at the front side of the corresponding longitudinal connecting arm, and the weeding shovel of the other one is arranged at the rear side of the corresponding longitudinal connecting arm.

[0008] Optionally, the terminal pipe rack includes a sleeve and a square pipe rack, the sleeve is sleeved on the longitudinal sliding arm, the second driving device is connected to the outside of the sleeve, its output shaft extends into the sleeve, and is engaged with a rack arranged on the longitudinal sliding arm through a transmission gear arranged at the end of the output shaft, and the square pipe rack is connected to the sleeve.

[0009] Optionally, the square tube rack includes a transverse square tube and longitudinal square tubes arranged at both ends of the transverse square tube, a horizontal slide rail is connected between the two longitudinal square tubes, and a first guide support rod is also arranged between the two longitudinal square tubes and is arranged parallel to the horizontal slide rail. The first guide support rod is passed through the longitudinal connecting arm. Optionally, angle codes are provided at the connection between the first drive device and the longitudinal sliding arm, at the connection between the second drive device and the sleeve, and at the connection between the third drive device and the longitudinal connecting arm. Optionally, the frame is further provided with a second guide support rod which is arranged parallel to and spaced from the transverse slide rail, and the second guide support rod passes through the longitudinal slide arm.

[0010] Optionally, a plurality of the weeding mechanisms are provided and are horizontally spaced apart along the extension direction of the transverse slide rail. In a second aspect, an embodiment of the present invention further provides a weeding method, which is implemented based on the intelligent weeding device with synergistic effect of machine and pesticide as described in the first aspect, and includes: The moving mechanism is used to drive the intelligent weeding device with coordinated action of machine and pesticide to move among crops planted in rows; The camera is used to detect the row spacing of crops, the lifting mechanism is used to lift the weeding unit, and the relative position of the row support on the transverse slide rail is adjusted so that the weeding shovel is located between the crop rows; Using the camera to detect whether there are discrete crops that are offset within the crop rows, If the discrete crop exists, the weeding unit is controlled to remain in or switch to a raised state, and the first nozzle is used to spray the weeds located between the crop rows and distributed around the discrete crop, and the second nozzle is used to spray the weeds in the crop row and distributed between the crop plants; If the discrete crop does not exist, the weeding unit is controlled to maintain or switch to a descending state, and the weeding shovel is used to physically remove the weeds between the crop rows; the second nozzle is used to spray the weeds in the crop row and distributed between the crop plants with liquid medicine.

[0011] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least: The intelligent weeding device with the synergistic effect of the machine and the pesticide provided in the embodiment of the present invention can use the camera connected to the host computer to monitor the row spacing and seedling belt information of the crops planted in rows in real time, so as to control the position adjustment of the row bracket of the weeding mechanism on the frame, so that the weeding unit moves to the accurate working position. During the weeding process, the discrete crops and corresponding weed information between the crop rows are also monitored in real time by the camera to control the switching of the working state of the weeding unit, so that the weeding shovel is lifted to avoid when there are discrete crops and sprays the liquid through the first nozzle to weed, and maintains or switches to the lowered state to achieve physical eradication when there are no discrete crops. While ensuring the accurate removal of weeds between the rows, the second nozzle extending from the side of the weeding shovel into the crop row is used to spray the liquid to remove the weeds between the crop plants. Through the synergistic effect of the machine and the pesticide, the weeds between the rows and between the plants of the crops planted in rows can be accurately removed at the same time, solving the technical problems of low weeding accuracy and efficiency caused by the lack of flexibility and adaptability of the existing weeding equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 It is a three-dimensional structural schematic diagram of one side of an intelligent weeding device with synergistic effect of machine and pesticide provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the other side of an intelligent weeding device with synergistic effect of machinery and pesticides provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the structure of the cooperation between the frame and a single weeding mechanism provided by an embodiment of the present invention; Figure 4 is a structural schematic diagram of one side of a weeding mechanism provided by an embodiment of the present invention; Figure 5 is a structural schematic diagram of the other side of the weeding mechanism provided by an embodiment of the present invention; Figure 6 is a schematic structural diagram of a row support provided by an embodiment of the present invention; Figure 7 is a schematic structural diagram of a terminal pipe rack provided by an embodiment of the present invention; Figure 8 This is a schematic diagram of the working condition when there are no discrete crops between rows when the intelligent weeding device with coordinated action of machinery and pesticide provided by an embodiment of the present invention is working; Fig. 9This is a schematic diagram of the working condition of the intelligent weeding device with coordinated action of machinery and pesticide provided by an embodiment of the present invention when there are discrete crops between rows; Fig.10 It is a flow chart of the weeding method provided by an embodiment of the present invention.

[0014] In the figure: 1-frame; 2-weeding mechanism; 3-angle code; 11-camera; 12-transverse slide rail; 13-second guide support rod; 21-row bracket; 22-weeding unit; 23-lifting mechanism; 211-first driving device; 212-longitudinal sliding arm; 221-weeding shovel; 222-first nozzle; 223-second nozzle; 224-third driving device; 225-longitudinal connecting arm; 231-second driving device; 232-end pipe rack; 233-horizontal slide rail; 2121-rack; 2211-shovel handle; 2311-transmission gear; 2321-sleeve; 2322-square tube rack; 23221-transverse square tube; 23222-longitudinal square tube; 23223-first guide support rod; a-crop; a1-discrete crop; b-weed; m-travel mechanism. DETAILED DESCRIPTION

[0015] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0016] Figure 1 It is a three-dimensional structural schematic diagram of one side of an intelligent weeding device with synergistic effect of machine and pesticide provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the other side of an intelligent weeding device with synergistic effect of machinery and pesticides provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the structure of the cooperation between the frame and a single weeding mechanism provided by an embodiment of the present invention; Figure 4 is a structural schematic diagram of one side of a weeding mechanism provided by an embodiment of the present invention; Figure 5 is a structural schematic diagram of the other side of the weeding mechanism provided by an embodiment of the present invention; Figure 6 is a schematic structural diagram of a row support provided by an embodiment of the present invention; Figure 7 is a schematic structural diagram of a terminal pipe rack provided by an embodiment of the present invention; Figure 8 This is a schematic diagram of the working condition when there are no discrete crops between rows when the intelligent weeding device with coordinated action of machinery and pesticide provided by an embodiment of the present invention is working; Fig. 9 Schematic diagram of the working condition of the intelligent weeding device with synergistic effect of machinery and pesticide provided by the embodiment of the present invention when there are discrete crops between rows. Figures 1 to 9 As shown, an embodiment of the present invention provides an intelligent weeding device with coordinated action of a machine and pesticide, which is arranged on a traveling mechanism m and includes a frame 1 and a weeding mechanism 2.

[0017] Among them, the frame 1 is arranged on the traveling mechanism m, and a camera 11 and a transverse slide rail 12 are arranged on the frame 1. The camera 11 is used to communicate with the host computer, and the transverse slide rail 12 is arranged horizontally and perpendicular to the traveling direction of the traveling mechanism m.

[0018] The weeding mechanism 2 includes a row support 21 and a weeding unit 22. The row support 21 is slidably connected to the transverse slide rail 12, and a lifting mechanism 23 is provided on the row support 21, and the weeding unit 22 is connected to the lifting mechanism 23. The weeding unit 22 includes a weeding shovel 221, a first nozzle 222 and a second nozzle 223. The weeding shovel 221 is arranged at the bottom of the weeding unit 22. In the traveling direction of the traveling mechanism m, the first nozzle 222 is arranged behind the shovel handle 2211 of the weeding shovel 221, and the second nozzle 223 is arranged on the side of the shovel handle 2211 of the weeding shovel 221.

[0019] In an embodiment of the present invention, the intelligent weeding device with the synergistic effect of the machine and the pesticide is integrally mounted on a traveling mechanism m that can move at the planting position, using an agricultural vehicle, a tractor, etc. When weeding is required, it can be moved under the drive of the traveling mechanism m to travel between the crops a planted in rows. Before the intelligent weeding device contacts the crops a planted in rows, it first detects the row spacing of the crops a using a camera 11, lifts the weeding unit 22 to a lifted state using a lifting mechanism 23, and adjusts the relative position of the row bracket 21 on the transverse slide rail 12 according to the row spacing of the crops a, so that the weeding shovel 221 is located between the rows of the crops a. The purpose of lifting the weeding unit 22 is to space the weeding shovel 221 sufficiently from the ground to prevent the weeding shovel 221 from accidentally damaging the crops a that may exist on the travel route during the travel process. When the intelligent weeding device moves forward, the camera 11 will collect the seedling belt information of crop a in real time, detect the center line between the rows of crop a, and calculate the deviation between the center line of the row of crop a and the center of the row bracket 21 through the host computer. When the deviation is too large, the position of the row bracket 21 will be adjusted to keep the weeding shovel 221 between the rows of crop a during the movement. After completing the path alignment, the camera 11 will continue to be used to detect whether there are discrete crops a1 that are offset within the rows of crop a during the movement, that is, individual crops that grow between the rows of crop a due to deviation during the sowing process. Reference Fig. 9, if there is a discrete crop a1, in order to avoid accidental injury, after the camera 11 detects the discrete crop, the upper machine will detect the current state of the weeding unit 22, and further control the weeding unit 22 to maintain or switch to the lifted state, to ensure that the weeding shovel 221 avoids the discrete crop a1. Then, the camera 11 is used to monitor the weeds growing around the discrete crop a1 in real time. When it moves above the corresponding weed b, the first nozzle 222 is used to spray the weeds b located between the rows of crop a and distributed around the discrete crop a1 for 0.5S of liquid medicine, and the discrete weeds b caused by the discrete crop a1 are removed at a fixed point. At the same time, the side of the weeding shovel 221, that is, the second nozzle 223 located above the row of crop a planted in rows at this time, is used to spray the weeds b in the row of crop a and distributed between the plants of crop a for 0.5S of liquid medicine, and the apex of the weeds b between the plants is removed; refer to Figure 8 If the camera 11 detects that there is no discrete crop a1 between the rows, there is no need to avoid the discrete crop a1. At this time, the upper computer will detect the current state of the weeding unit 22 again, and further control the weeding unit 22 to maintain or switch to the descending state, so that the weeding unit 221 descends to a position close to the ground, and the weeding shovel 221 can be used to physically remove the weeds b between the rows of crop a during the process of traveling, and at the same time, the second nozzle 223 is used to spray the weeds b distributed in the row of crop a and between the plants of crop a for 0.5S, so as to remove the top of the weeds b between the plants.

[0020] The intelligent weeding device with the synergistic effect of the machine and the pesticide provided in the embodiment of the present invention can use the camera 11 connected to the host computer to monitor the row spacing and seedling belt information of the crop a planted in rows in real time, so as to control the row bracket 21 of the weeding mechanism 2 to adjust its position on the frame 1, so that the weeding unit 22 moves to the accurate working position. During the weeding process, the discrete crop a1 and the corresponding weed information between the rows of crop a are also monitored in real time by the camera 11 to control the switching of the working state of the weeding unit 22, so that the weeding shovel 221 is lifted up to avoid when there are discrete crops a1 and the first nozzle 222 is used to spray the liquid for weeding, and when there are no discrete crops a1, it is maintained or switched to the lowered state to achieve physical eradication. While ensuring the accurate removal of weeds between rows, the second nozzle 223 extending from the side of the weeding shovel 221 into the row of crop a is used to spray the liquid for weeding b between the plants of crop a. Through the synergistic effect of machinery and pesticides, weeds between rows and between plants of crops planted in parallel rows can be accurately removed simultaneously, solving the technical problems of low weeding accuracy and efficiency caused by insufficient flexibility and adaptability of existing weeding equipment.

[0021] For example, in the workflow of the embodiment of the present invention, the 0.5S duration of the liquid spraying by the first nozzle 222 and the second nozzle 223 is determined by the weed width, the forward speed of the device, and the detection duration. This spraying duration ensures that continuous weeds b between plants can be removed (uninterrupted spraying), and discontinuous single weeds b can be removed efficiently and accurately (fixed-point spraying). It can also be adaptively changed according to the actual weed situation, and the embodiment of the present invention does not limit the specific spraying duration.

[0022] Optionally, the weeding mechanism 2 includes two weeding units 22, which are horizontally spaced apart on the lifting mechanism 23 along the extension direction of the transverse slide rail 12, and the spacing between the two weeding units 22 is adjustable, and the two second nozzles 223 in the two weeding units 22 are respectively arranged on opposite sides of the two shovel handles 2211. Exemplarily, in the embodiment of the present invention, each row bracket 21 is equipped with two weeding units 22 which are horizontally spaced apart and have adjustable spacing. Specifically, the row support 21 includes a first driving device 211 and a longitudinal sliding arm 212, the longitudinal sliding arm 212 is arranged vertically, and is slidably connected to the transverse slide rail 12 through the first driving device 211, the lifting mechanism 23 includes a second driving device 231 and a terminal pipe frame 232, a horizontal slide rail 233 is horizontally arranged on the terminal pipe frame 232, and is slidably connected to the longitudinal sliding arm 212 through the second driving device 231, and a third driving device 224 is arranged on the two weeding units 22, and is slidably connected to the horizontal slide rail 233 through the third driving device 224. The first driving device 211, the second driving device 231 and the third driving device 224 are all motors, and the ends of their respective output shafts are installed with transmission gear structures. Accordingly, the transverse slide rail 12, the longitudinal sliding arm 212 and the horizontal slide rail 233 are all provided with rack structures that match and mesh with the transmission gear structures. For example, the terminal pipe frame 232 includes a sleeve 2321 and a square pipe frame 2322. The sleeve 2321 is sleeved on the longitudinal sliding arm 212. The second driving device 231 is connected to the outside of the sleeve 2321. Its output shaft extends into the connecting sleeve 2321, and is engaged with the rack 2121 provided on the longitudinal sliding arm 212 through the transmission gear 2311 provided at the end of the output shaft. The square pipe frame 2322 is connected to the sleeve 2321. The internal transmission adjustment of the weeding mechanism 2 is performed through the gear rack, which improves the accuracy of movement and reduces the load on the mechanism when it moves, compared with the traditional row mechanism that drives the weeding components through the hydraulic cylinder.

[0023] After receiving the control signal from the host computer, the first driving device 211 drives the entire row support 21 and the parts connected thereto to move horizontally along the transverse slide rail 12; the second driving device 231 drives the end pipe frame 232 to rise and fall on the longitudinal sliding arm 212 to drive the two weeding units 22 to rise and fall synchronously; and the third driving device 224 drives the two weeding units 22 to move horizontally on the horizontal slide rail 233 to adjust the spacing by moving them closer or farther from each other. By configuring two weeding units 22 with adjustable horizontal spacing in the weeding mechanism 2, the spacing can be flexibly adjusted according to the actual row spacing of the crop a to ensure the coverage of the weeding between the rows. In combination with the two second nozzles 223 in the two weeding units 22 being respectively arranged on the opposite sides of the two shovel handles 2211, it is possible to use one weeding mechanism 2 to simultaneously weed the two rows of crops a on both sides during the process of traveling, thereby maximizing the weeding coverage area and improving the weeding efficiency.

[0024] Optionally, the weeding unit 22 further includes a vertically arranged longitudinal connecting arm 225, the top of the longitudinal connecting arm 225 is connected to the third driving device 224, and the weeding shovel 221 is arranged at the bottom of the longitudinal connecting arm 225. In the traveling direction of the traveling mechanism m, the weeding shovel 221 of one of the two weeding units 22 is arranged at the front side of the corresponding longitudinal connecting arm 225, and the weeding shovel 221 of the other one is arranged at the rear side of the corresponding longitudinal connecting arm 225. Exemplarily, in the embodiment of the present invention, the longitudinal connecting arm 225 serves as a supporting component connecting the third driving device 224 and the weeding shovel 221, the first nozzle 222, and the second nozzle 223. When adjusting the spacing between the two weeding units 22, the weeding shovels 221 are staggeredly installed on the two longitudinal connecting arms 225 one after the other through the horizontal square tube, so that the two weeding units 22 can avoid collision and interference of the weeding shovels 221 when the spacing is small, thereby increasing the spacing adjustment range and increasing adaptability.

[0025] Optionally, the square tube frame 2322 includes a transverse square tube 23221 and longitudinal square tubes 23222 arranged at both ends of the transverse square tube 23221, the horizontal slide rail 233 is connected between the two longitudinal square tubes 23222, and a first guide support rod 23223 arranged parallel to the horizontal slide rail 233 and spaced between the two longitudinal square tubes 23222 is also arranged between the two longitudinal square tubes 23222, and the first guide support rod 23223 is penetrated through the longitudinal connecting arm 225. Exemplarily, in the embodiment of the present invention, the transverse square tube 23221 serves as the connecting part between the square tube frame 2322 and the sleeve 2321, and a setting space for the horizontal slide rail 233 and a horizontal movement space for the two longitudinal connecting arms 225 are formed between the two longitudinal square tubes 23222. On this basis, by additionally providing a plurality of first guide support rods 23223 penetrating the longitudinal connecting arm 225 between the two longitudinal square tubes 23222, it is possible to achieve additional support for the longitudinal connecting arm 225, as well as limit guidance during horizontal position adjustment, thereby improving overall working stability.

[0026] Optionally, the connection between the first drive device 211 and the longitudinal sliding arm 212, the connection between the second drive device 231 and the sleeve 2321, and the connection between the third drive device 224 and the longitudinal connecting arm 225 are all provided with an angle code 3. Exemplarily, in the embodiment of the present invention, by providing an angle code 3 at the turning position of the connection between the first drive device 211 and the longitudinal sliding arm 212, the connection between the second drive device 231 and the sleeve 2321, and the connection between the third drive device 224 and the longitudinal connecting arm 225, the mechanical strength at the connection position is improved, loosening or deformation damage due to vibration during operation is avoided, and the overall mechanical stability is improved.

[0027] Optionally, the frame 1 is further provided with a second guide support rod 13 arranged in parallel and spaced relation with the transverse slide rail 12, and the second guide support rod 13 is passed through the longitudinal slide arm 212. For example, in the embodiment of the present invention, by additionally providing a plurality of second guide support rods 13 passing through the longitudinal slide arm 212 above and below the transverse slide rail 12, it is possible to achieve additional support for the longitudinal slide arm 212 and limit guide during horizontal position adjustment, thereby further improving the overall working stability.

[0028] Optionally, a plurality of weeding mechanisms 2 are provided, and are arranged horizontally at intervals along the extension direction of the transverse slide rail 12. For example, in the embodiment of the present invention, the width of the frame 1 and the transverse slide rail 12 can be set as large as possible according to the specifications of the traveling mechanism m, and multiple groups of weeding structures 2 are connected to the transverse slide rail 12. According to the actual planting row spacing of the crop a, the horizontal positions of the multiple groups of weeding mechanisms 2 can be adjusted along the transverse slide rail 12 to achieve simultaneous removal of weeds b between rows and plants of multiple rows of crops a, further improving work adaptability and weeding efficiency.

[0029] Fig.10 Flow chart of the weeding method provided by the embodiment of the present invention. Fig.10 As shown, the embodiment of the present invention also provides a weeding method based on Figures 1 to 9 The ballast track maintenance test device shown is implemented, including: S1, using the traveling mechanism m to drive the intelligent weeding device with the synergistic effect of the weeding machine and the pesticide to move between the crops a planted in rows.

[0030] S2, using the camera 11 to detect the row spacing of the crop a, using the lifting mechanism 23 to lift the weeding unit 22, and adjusting the relative position of the row bracket 21 on the transverse slide rail 12 so that the weeding shovel 221 is located between the rows of the crop a.

[0031] S3, using the camera 11 to detect whether there is a discrete crop a1 that is offset within the row between the crop a rows, If there is a discrete crop a1, the weeding unit 22 is controlled to remain in or switch to the raised state, and the first nozzle 222 is used to spray the weeds b located between the rows of crop a and distributed around the discrete crop a1, and the second nozzle 223 is used to spray the weeds b in the row of crop a and distributed between the plants of crop a; If there is no discrete crop a1, the weeding unit 22 is controlled to maintain or switch to the descending state, and the weeding shovel 221 is used to physically remove the weeds b between the rows of crop a; the second nozzle 223 is used to spray the weeds b distributed in the row of crop a and between the plants of crop a with liquid medicine.

[0032] The intelligent weeding device with the synergistic effect of the machine and the pesticide provided in the embodiment of the present invention is adopted, and the above-mentioned weeding method is used to weed between the rows and between the plants of the crops a planted in parallel in multiple rows. The row spacing and seedling belt information of the crops a planted in rows can be monitored in real time by using the camera 11 connected to the host computer, so as to control the position adjustment of the row support 21 of the weeding mechanism 2 on the frame 1, so that the weeding unit 22 moves to the accurate working position. During the weeding process, the discrete crops a1 and the corresponding weed information between the rows of the crops a are also monitored in real time by the camera 11, so as to control the switching of the working state of the weeding unit 22, so that the weeding shovel 221 is lifted up to avoid when the discrete crops a1 exist, and the first nozzle 222 is used to spray the liquid for weeding, and when the discrete crops a1 do not exist, it is maintained or switched to the lowered state to achieve physical eradication. While ensuring the accurate removal of the weeds between the rows, the second nozzle 223 extending from the side of the weeding shovel 221 into the row of the crops a is used to spray the liquid for weeding b between the plants of the crops a. Through the synergistic effect of machinery and pesticides, weeds between rows and between plants of crops planted in parallel rows can be accurately removed simultaneously, solving the technical problems of low weeding accuracy and efficiency caused by insufficient flexibility and adaptability of existing weeding equipment and weeding methods.

[0033] ‌ Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" cover the elements or objects listed after "include" or "comprise" and are extremely equivalent, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0034] The above descriptions are merely optional embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent weeding device with synergistic effect of machine and pesticide, arranged on a traveling mechanism, characterized in that: include: A frame (1) is arranged on the travel mechanism (m), and a camera (11) and a transverse slide rail (12) are arranged on the frame (1), the camera (11) is used for communication connection with a host computer, and the transverse slide rail (12) is arranged horizontally and perpendicular to the travel direction of the travel mechanism (m); The weeding mechanism (2) comprises a row support (21) and a weeding unit (22), wherein the row support (21) is slidably connected to the transverse slide rail (12), a lifting mechanism (23) is arranged on the row support (21), and the weeding unit (22) is connected to the lifting mechanism (23), and the weeding unit (22) comprises a weeding shovel (221), a first nozzle (222) and a second nozzle (223), wherein the weeding shovel (221) is arranged at the bottom of the weeding unit (22), and in the travel direction of the travel mechanism (m), the first nozzle (222) is arranged behind a shovel handle (2211) of the weeding shovel (221), and the second nozzle (223) is arranged on the side of the shovel handle (2211) of the weeding shovel (221).

2. The intelligent weed control device with synergistic effect of machine and pesticide according to claim 1 is characterized in that: The weeding mechanism (2) comprises two weeding units (22), the two weeding units (22) being arranged horizontally and spaced apart on the lifting mechanism (23) along the extension direction of the transverse slide rail (12), the spacing between the two weeding units (22) being adjustable, and the two second nozzles (223) in the two weeding units (22) being arranged on opposite sides of the two shovel handles (2211), respectively.

3. The intelligent weed control device with synergistic effect of machine and pesticide according to claim 2 is characterized in that: The row support (21) comprises a first driving device (211) and a longitudinal sliding arm (212); the longitudinal sliding arm (212) is arranged vertically and is slidably connected to the transverse sliding rail (12) via the first driving device (211); the lifting mechanism (23) comprises a second driving device (231) and a terminal pipe rack (232); a horizontal sliding rail (233) is horizontally arranged on the terminal pipe rack (232) and is slidably connected to the longitudinal sliding arm (212) via the second driving device (231); and a third driving device (224) is arranged on the two weeding units (22) and is slidably connected to the horizontal sliding rail (233) via the third driving device (224).

4. The intelligent weed control device with synergistic effect of machine and pesticide according to claim 3 is characterized in that: The weeding unit (22) further comprises a vertically arranged longitudinal connecting arm (225), the top of the longitudinal connecting arm (225) being connected to the third driving device (224), the weeding shovel (221) being arranged at the bottom of the longitudinal connecting arm (225), and in the travel direction of the travel mechanism (m), the weeding shovel (221) of one of the two weeding units (22) being arranged at the front side of the corresponding longitudinal connecting arm (225), and the weeding shovel (221) of the other one of the two weeding units (22) being arranged at the rear side of the corresponding longitudinal connecting arm (225).

5. The intelligent weeding device with synergistic effect of machine and pesticide according to claim 4 is characterized in that: The terminal tube rack (232) comprises a sleeve (2321) and a square tube rack (2322); the sleeve (2321) is sleeved on the longitudinal sliding arm (212); the second driving device (231) is connected to the outside of the sleeve (2321); its output shaft extends into the connecting sleeve (2321) and is meshed with a rack (2121) arranged on the longitudinal sliding arm (212) via a transmission gear (2311) arranged at the end of the output shaft; the square tube rack (2322) is connected to the sleeve (2321).

6. The intelligent weed control device with synergistic effect of machine and pesticide according to claim 5 is characterized in that: The square tube frame (2322) comprises a transverse square tube (23221) and longitudinal square tubes (23222) arranged at both ends of the transverse square tube (23221); a horizontal slide rail (233) is connected between the two longitudinal square tubes (23222); a first guide support rod (23223) is arranged between the two longitudinal square tubes (23222) and is arranged in parallel with the horizontal slide rail (233); the first guide support rod (23223) is passed through the longitudinal connecting arm (225).

7. The intelligent weed control device with synergistic effect of machine and pesticide according to claim 5 is characterized in that: Angle brackets (3) are provided at the connection between the first drive device (211) and the longitudinal sliding arm (212), at the connection between the second drive device (231) and the sleeve (2321), and at the connection between the third drive device (224) and the longitudinal connecting arm (225).

8. The intelligent weed control device with synergistic effect of machine and pesticide according to claim 3 is characterized in that: The frame (1) is also provided with a second guide support rod (13) arranged in parallel and spaced relation to the transverse sliding rail (12); the second guide support rod (13) is passed through the longitudinal sliding arm (212).

9. The intelligent weed control device with synergistic effect of pesticide and pesticide according to any one of claims 1 to 8, characterized in that: A plurality of the weeding mechanisms (2) are provided, and are arranged horizontally at intervals along the extension direction of the transverse sliding rail (12).

10. A weeding method, based on the intelligent weeding device with synergistic effect of machinery and pesticide as claimed in any one of claims 1 to 9, characterized in that: include: The moving mechanism (m) is used to drive the intelligent weeding device with coordinated action of the machine and pesticide to move among the crops (a) planted in rows; The camera (11) is used to detect the row spacing of the crop (a), the lifting mechanism (23) is used to lift the weeding unit (22), and the relative position of the row support (21) on the transverse slide rail (12) is adjusted so that the weeding shovel (221) is located between the rows of the crop (a); Using the camera (11) to detect whether there are discrete crops (a1) that are offset within the rows of the crops (a), If the discrete crop (a1) exists, the weeding unit (22) is controlled to remain in or switch to a raised state, and the first nozzle (222) is used to spray the weeds (b) located between the rows of the crop (a) and distributed around the discrete crop (a1), and the second nozzle (223) is used to spray the weeds (b) within the row of the crop (a) and distributed between the plants of the crop (a); If the discrete crop (a1) does not exist, the weeding unit (22) is controlled to maintain or switch to a descending state, and the weeding shovel (221) is used to physically remove the weeds (b) between the rows of the crop (a); and the second nozzle (223) is used to spray the weeds (b) within the row of the crop (a) and distributed between the plants of the crop (a) with liquid medicine.

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