Inter-plant weeding equipment based on machine vision

Abstract

The invention relates to the technical field of hoeing, in particular to inter-plant hoeing equipment based on machine vision, which comprises a slot hoeing machine, a turning assembly arranged on a first bearing plate and used for cleaning weeds at wall corners, a linkage assembly arranged on the first bearing plate, and an adjusting assembly arranged on a positioning block and used for adjusting the range. A power assembly used for providing power for the direction changing assembly is arranged on the second bearing plate, a smashing assembly used for smashing collected weeds is arranged in the weed treatment shell, and an absorbing assembly used for collecting hoed weeds is arranged in the weed treatment shell. Through cooperative use of the direction changing assembly, the linkage assembly, the adjusting assembly, the power assembly, the grinding assembly and the absorbing assembly, weeds, close to the wall corner, of seedlings can be removed, the weeds, close to the wall corner, cleaned are treated and collected in time, other sundries at the wall corner are treated while the working efficiency is improved, and the labor intensity of workers is reduced. The influence of sundries on the growth of the seedlings is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of weeding, and particularly to an inter-row weeding device based on machine vision. Background Art

[0002] An inter-row weeding device is a mechanical device used in agriculture to remove weeds between crop rows. An inter-row weeding device based on machine vision is an agricultural mechanical device integrating advanced machine vision technology and automatic control technology. It collects real-time information on the plant spacing of crops through a vision camera installed on the device and transmits this data to an intelligent controller. The intelligent controller accurately calculates the position and distribution of weeds between plants based on the received data, and then guides the weeding device to perform precise weeding operations. However, when the inter-row weeding device based on machine vision is running and the plants are close to the wall, the weeding device cannot remove the weeds in the range of the plant corners due to the plants being close to the wall, and manual cleaning is often required, which reduces the work efficiency. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides an inter-row weeding device based on machine vision.

[0004] To solve the above technical problems, the present invention provides the following technical solutions: It includes a hoe groove machine, on which there are four movable wheels. The camera equipment cabin is arranged on the hoe groove machine. Inside the camera equipment cabin, there are machine vision cameras and modules, which are publicly known technologies in this technical field, so no more details are described in this application. One side of the hoe groove machine is fixedly connected to a first bearing plate. On one side of the first bearing plate, there is a weed treatment shell, which is fixedly connected to the hoe groove machine. On the first bearing plate, there is a deflection component for cleaning the weeds at the corner; The deformation component includes: two bearing blocks, a support arm, a worm, an incomplete worm gear, a fixed disk, a rotating disk, a first transmission shaft, two bearing pieces, two blocking blocks, a number of first positioning columns, a first rotating column, a number of torsion columns, a first positioning disk, a number of second positioning columns, a cutting disk, a connecting strip and a servo motor; Among them, the two bearing blocks are correspondingly fixedly connected to the first bearing plate. Each bearing block is provided with a bearing. The incomplete worm gear is fixedly connected to the inner ring of the bearings on the two bearing blocks. One end of the connecting strip is fixedly connected to the first bearing plate. There is a bearing on the connecting strip. The first transmission shaft is fixedly connected to the inner ring of the bearing on the connecting strip. At the bottom of the first transmission shaft, there is a servo motor, and the first transmission shaft is fixedly connected to the output shaft of the servo motor. The fixed disk is fixedly connected to the end of the first transmission shaft away from the servo motor. The incomplete worm gear is fixedly connected to the fixed disk, and the incomplete worm gear meshes with the worm. The two blocking blocks are correspondingly fixedly connected to the fixed disk, and the two blocking blocks correspond to the incomplete worm gear. The side of the fixed disk away from the incomplete worm gear is fixedly connected to the rotating disk. The end of the rotating disk away from the fixed disk is fixedly connected to the support arm. The support arm is L-shaped. The end of the support arm away from the rotating disk is fixedly connected to the first rotating column. The two bearing pieces are respectively movably connected to the first rotating column and the first transmission shaft. A number of first positioning columns are correspondingly fixedly connected to each bearing piece. At both ends of the first positioning disk, a number of second positioning columns are correspondingly fixedly connected. At both ends of each torsion column, a first positioning column and a second positioning column are respectively fixedly connected. The first positioning disk is fixedly connected to the cutting disk. On the first bearing plate, there is a linkage component for cooperating with the deformation component; The linkage component includes: a bearing strip, a second bearing plate, a guiding block, a movable block, a triggering strip, a positioning block, a single-headed gear rod, a stepping motor and a first machine housing;Among them, one side of the carrier bar and the second carrier plate are fixedly connected to the first carrier plate correspondingly. The single-headed gear rod is movably connected to the second carrier plate. The first housing is fixedly connected to the bottom of the carrier bar. The stepper motor is arranged inside the first housing. The end of the single-headed gear rod away from the gear is fixedly connected to the output shaft of the stepper motor. The guiding block is fixedly connected to the second carrier plate, and a U-shaped groove for the movable block to move is provided inside the guiding block. The movable block is inserted into the U-shaped groove of the guiding block. The trigger bar is movably connected to the single-headed gear rod, and a long groove for the movable block to move is provided on the trigger bar. The bottom of the movable block is inserted into the long groove of the trigger bar. The end of the trigger bar away from the servo motor is fixedly connected to the positioning block, and an adjusting component for the adaptation range is provided on the positioning block; the adjusting component includes: a moving bar, a trigger block, a spring and a retracting block; among them, the positioning block is provided with a cavity for placing the moving bar, the moving bar is inserted into the cavity of the positioning block, a placing groove for placing the trigger block is provided on the moving bar, the spring is arranged inside the moving bar, and the two ends of the spring are fixedly connected to the inner wall of the moving bar and the trigger block respectively. A number of corresponding card slots are provided on the top of the positioning block. The end of the trigger block away from the spring is semi-circular, and the trigger block is inserted into the corresponding card slot. The end of the moving bar away from the positioning block is fixedly connected to the retracting block, and the retracting block is in the shape of an inverted hook. A power component for providing power to the direction-changing component is provided on the second carrier plate; the power component includes: a bevel gear, a bearing bar, a one-way gear rod and a two-way gear rod; among them, the bearing bar is fixedly connected to the second carrier plate, a bearing is provided on the bearing bar, the two-way gear rod is fixedly connected to the inner ring of the bearing on the bearing bar, the end of the worm away from the bearing block is fixedly connected to the bevel gear, the one-way gear rod is movably connected to the second carrier plate, one gear on the one-way gear rod meshes with the bevel gear, another gear on the one-way gear rod meshes with the two-way gear rod, one gear of the two-way gear rod close to the single-headed gear rod meshes with the gear of the single-headed gear rod, the incomplete worm wheel is semi-circular, and the U-shaped groove of the guiding block corresponds to the bevel gear. When the incomplete worm wheel rotates to one end, the movable block reaches one end of the U-shaped groove of the guiding block. When the trigger bar rotates to the maximum position, the trigger bar corresponds to the weed treatment shell, and the retracting block fits with the weed treatment shell.;

[0005] Preferably, by the combined use of the direction-changing component, the linkage component, the adjusting component and the power component, when it is necessary to clean the weeds at the corner of the column seedlings, the hoe groove machine is pushed to the corresponding position, the first bearing plate is aligned with the position to be processed, and the servo motor is started. When the servo motor rotates, the servo motor drives the first transmission shaft to rotate, and the first transmission shaft drives the corresponding bearing piece to rotate. Furthermore, when the bearing piece rotates, the bearing piece drives the torsion column to rotate through the corresponding first positioning column. When the torsion column rotates, it drives the first positioning disk to rotate. Furthermore, when the first positioning disk rotates, it drives the cutting disk to rotate, and the cutting disk clears the weeds while rotating. The stepping motor is started, and the stepping motor drives the trigger bar to rotate. Furthermore, when the trigger bar rotates, it drives the movable block to move along the U-shaped groove on the guiding block, and the stepping motor drives the single-headed gear rod to rotate when it rotates. The single-headed gear rod drives the one-way gear rod to rotate through the two-way gear rod, and the one-way gear rod drives the bevel gear on the worm to rotate when it rotates. Furthermore, when the worm rotates, it drives the meshing incomplete worm wheel to rotate, and the incomplete worm wheel drives the corresponding fixed disk to rotate when it rotates. The fixed disk drives the support arm to rotate through the rotating disk when it rotates. Furthermore, the trigger bar and the support arm rotate synchronously. When it is necessary to adjust the receiving block, press the receiving block. Furthermore, the trigger block drives the spring to compress, and the trigger block moves towards the position of the moving bar, and the moving bar is pulled for adjustment. When the adjustment is completed, the compressed spring rebounds to drive the trigger block to reset.

[0006] As a preferred technical solution of the present invention, a crushing assembly for crushing the collected weeds is provided inside the weed treatment shell; the crushing assembly includes: a toothed disc, two connecting blocks, a connecting rod, a main tooth column, two secondary tooth columns, four second rotating columns and a second positioning disc; wherein, both ends of the toothed disc are respectively fixedly connected to two connecting blocks, and one end of each of the two connecting blocks away from the toothed disc is fixedly connected to the inner wall of the weed treatment shell. One end of the connecting rod is fixedly connected to the second positioning disc. One end of the main tooth column is fixedly connected to a second rotating column, and one end of each of the three secondary tooth columns is fixedly connected to a second rotating column. Each second rotating column is correspondingly and movably connected to one end of the second positioning disc away from the connecting rod. The three connecting rods are engaged with the secondary tooth columns, and several tooth blocks are provided on the inner ring of the toothed disc. The three connecting rods are engaged with the tooth blocks on the toothed disc. An absorbing assembly for collecting the weeds after hoeing is provided inside the weed treatment shell; the absorbing assembly includes: a dust suction shell, a fan blade, a positioning shell, a speed motor and a second machine shell; wherein, the second machine shell is fixedly connected to the inner wall of the weed treatment shell, the speed motor is arranged inside the second machine shell, one end of a second transmission shaft is fixedly connected to the output shaft of the speed motor, the dust suction shell is fixedly connected to the inner wall of the weed treatment shell, the dust suction shell is of a hollow design, one end of the dust suction shell close to the second machine shell is fixedly connected to the positioning shell, a bearing is provided on the positioning shell, and the second transmission shaft is fixedly connected to the inner ring of the bearing on the positioning shell. The fan blade is arranged inside the dust suction shell and is fixedly connected to the second transmission shaft. One end of the second transmission shaft away from the speed motor is fixedly connected to the connecting rod.

[0007] Preferably, through the combined use of the crushing assembly and the absorbing assembly, when the receiving block corresponds to the weed treatment shell, the speed motor is started. Then, the speed motor drives the second transmission shaft to rotate. When the second transmission shaft rotates, it drives the fan blade to rotate. When the fan blade rotates, it sucks the external weeds into the inside of the weed treatment shell. The rotation of the second transmission shaft drives the connecting rod to rotate. Then, the connecting rod drives the second positioning disc to rotate. When the second positioning disc rotates, it drives the secondary tooth columns to rotate along the tooth blocks of the toothed disc, and the secondary tooth columns rotate around the main tooth column to grind the sundries entering the weed treatment shell.

[0008] Compared with the prior art, the beneficial effects that the present invention can achieve are: Through the combined use of the direction-changing assembly, the linkage assembly, the adjusting assembly and the power assembly, the weeding efficiency can be effectively improved, the manual input can be reduced, the situation that weeds compete with crops for growth resources can be effectively reduced, and the yield and quality of crops can be improved.

[0009] By using the cooperation of the direction-changing component, linkage component, adjustment component, power component, crushing component and absorption component, the weeds near the corner of the plant seedlings can be removed, and the removed weeds near the corner can be promptly processed and collected. While improving the work efficiency, other sundries at the corner are also processed to avoid the influence of sundries on the growth of plant seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a schematic structural diagram of the present invention; Figure 2 for the present invention Figure 1 is a schematic structural diagram of the first bearing plate in the present invention; Figure 3 for the present invention Figure 2 is a schematic structural diagram of the first rotating column in the present invention; Figure 4 for the present invention Figure 3 is a schematic structural diagram of the support arm in the present invention; Figure 5 for the present invention Figure 4 is a schematic structural diagram of the connecting bar in the present invention; Figure 6 for the present invention Figure 5 is a schematic enlarged view of the details at position A in the present invention; Figure 7 for the present invention Figure 5 is a schematic structural diagram of the positioning block in the present invention; Figure 8 for the present invention Figure 2 is a schematic structural diagram of the weed treatment shell in the present invention; Figure 9 for the present invention Figure 8 is a schematic structural diagram of the connecting rod in the present invention; Figure 10 for the present invention Figure 8 is a schematic structural diagram of the second machine shell in the present invention.

[0011] Wherein: 1. Hoe groove machine; 2. Movable wheel; 3. Camera equipment cabin; 4. First bearing plate; 5. Weed treatment shell; 6. Bearing strip; 7. Second bearing plate; 8. Bearing block; 9. Support arm; 10. Worm; 11. Incomplete worm gear; 12. Fixed disk; 13. Rotating disk; 14. First transmission shaft; 15. Bearing piece; 16. Blocking block; 17. First positioning column; 18. First rotating column; 19. Torsion column; 20. First positioning disk; 21. Second positioning column; 22. Cutting disk; 23. Connecting strip; 24. Servo motor; 25. Guide block; 26. Movable block; 27. Trigger strip; 28. Positioning block; 29. Moving strip; 30. Trigger block; 31. Spring; 32. Receiving block; 33. Bevel gear; 34. Single-headed gear rod; 35. Bearing strip; 36. One-way gear rod; 37. Bidirectional gear rod; 38. Stepper motor; 39. First machine shell; 40. Tooth disk; 41. Connecting block; 42. Connecting rod; 43. Main tooth column; 44. Sub-tooth column; 45. Second rotating column; 46. Second positioning disk; 47. Dust suction shell; 48. Fan blade; 49. Positioning shell; 50. Speed motor; 51. Second machine shell; 52. Second transmission shaft. Specific implementation mode

[0012] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments. However, the following embodiments are only the preferred embodiments of the present invention, not all of them. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present invention. The experimental methods in the following embodiments are all conventional methods unless otherwise specified. The materials, reagents, etc. used in the following embodiments can be obtained from commercial channels unless otherwise specified.

[0013] Embodiment: As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown in the figure, a machine vision-based inter-row weeding device includes a weeding groove machine 1. Four movable wheels 2 are provided on the weeding groove machine 1. A camera device cabin 3 is arranged on the weeding groove machine 1. A first bearing plate 4 is fixedly connected to one side of the weeding groove machine 1. A weed treatment shell 5 is provided on one side of the first bearing plate 4. The weed treatment shell 5 is fixedly connected to the weeding groove machine 1. A direction-changing component for cleaning weeds in the corner is provided on the first bearing plate 4; The deformation component includes: two bearing blocks 8, a support arm 9, a worm 10, an incomplete worm gear 11, a fixed disk 12, a rotating disk 13, a first transmission shaft 14, two bearing pieces 15, two blocking blocks 16, several first positioning columns 17, a first rotating column 18, several torsion columns 19, a first positioning disk 20, several second positioning columns 21, a cutting disk 22, a connecting strip 23 and a servo motor 24; Among them, the two bearing blocks 8 are correspondingly fixedly connected to the first bearing plate 4. Bearings are provided on each bearing block 8. The inner ring of the bearings on the two bearing blocks 8 is fixedly connected to the incomplete worm gear 11. One end of the connecting strip 23 is fixedly connected to the first bearing plate 4. A bearing is provided on the connecting strip 23. The inner ring of the bearing on the connecting strip 23 is fixedly connected to the first transmission shaft 14. A servo motor 24 is provided at the bottom of the first transmission shaft 14. The first transmission shaft 14 is fixedly connected to the output shaft of the servo motor 24. The fixed disk 12 is fixedly connected to the end of the first transmission shaft 14 away from the servo motor 24. The incomplete worm gear 11 is fixedly connected to the fixed disk 12. And the incomplete worm gear 11 meshes with the worm 10. The two blocking blocks 16 are correspondingly fixedly connected to the fixed disk 12. And the two blocking blocks 16 correspond to the incomplete worm gear 11. The side of the fixed disk 12 away from the incomplete worm gear 11 is fixedly connected to the rotating disk 13. The end of the rotating disk 13 away from the fixed disk 12 is fixedly connected to the support arm 9. The support arm 9 is L-shaped. The end of the support arm 9 away from the rotating disk 13 is fixedly connected to the first rotating column 18. The two bearing pieces 15 are respectively movably connected to the first rotating column 18 and the first transmission shaft 14. Several first positioning columns 17 are correspondingly fixedly connected to each bearing piece 15. Several second positioning columns 21 are fixedly connected to both ends of the first positioning disk 20. The two ends of each torsion column 19 are respectively fixedly connected to a first positioning column 17 and a second positioning column 21. The first positioning disk 20 is fixedly connected to the cutting disk 22. A linkage component for cooperating with the deformation component is provided on the first bearing plate 4; The linkage component includes: a bearing strip 6, a second bearing plate 7, a guiding block 25, a movable block 26, a triggering strip 27, a positioning block 28, a single-headed gear rod 34, a stepping motor 38 and a first machine housing 39;Among them, one side of the bearing strip 6 and the second bearing plate 7 are fixedly connected to the first bearing plate 4 correspondingly. The single-headed gear rod 34 is movably connected to the second bearing plate 7. The first housing 39 is fixedly connected to the bottom of the bearing strip 6. The stepping motor 38 is arranged inside the first housing 39. One end of the single-headed gear rod 34 away from the gear is fixedly connected to the output shaft of the stepping motor 38. The guiding block 25 is fixedly connected to the second bearing plate 7, and a U-shaped groove for the movable block 26 to move is arranged inside the guiding block 25. The movable block 26 is inserted into the U-shaped groove of the guiding block 25. The trigger strip 27 is movably connected to the single-headed gear rod 34, and a long groove for the movable block 26 to move is arranged on the trigger strip 27. The bottom of the movable block 26 is inserted into the long groove of the trigger strip 27. One end of the trigger strip 27 away from the servo motor 24 is fixedly connected to the positioning block 28, and an adjusting component for the adaptation range is arranged on the positioning block 28; the adjusting component includes: a moving strip 29, a trigger block 30, a spring 31 and a retracting block 32; among them, the positioning block 28 is provided with a cavity for placing the moving strip 29, the moving strip 29 is inserted into the cavity of the positioning block 28, a placing groove for placing the trigger block 30 is arranged on the moving strip 29, the spring 31 is arranged inside the moving strip 29, and both ends of the spring 31 are fixedly connected to the inner wall of the moving strip 29 and the trigger block 30 respectively. A plurality of corresponding card slots are arranged on the top of the positioning block 28. One end of the trigger block 30 away from the spring 31 is semi-circular, and the trigger block 30 is inserted into the corresponding card slot. One end of the moving strip 29 away from the positioning block 28 is fixedly connected to the retracting block 32, and the retracting block 32 is in the shape of an inverted hook. A power component for providing power to the direction-changing component is arranged on the second bearing plate 7; the power component includes: a bevel gear 33, a bearing strip 35, a one-way gear rod 36 and a two-way gear rod 37; among them, the bearing strip 35 is fixedly connected to the second bearing plate 7, a bearing is arranged on the bearing strip 35, the two-way gear rod 37 is fixedly connected to the inner ring of the bearing on the bearing strip 35, one end of the worm 10 away from the bearing block 8 is fixedly connected to the bevel gear 33, the one-way gear rod 36 is movably connected to the second bearing plate 7, one gear on the one-way gear rod 36 meshes with the bevel gear 33, another gear on the one-way gear rod 36 meshes with the two-way gear rod 37, one gear of the two-way gear rod 37 close to the single-headed gear rod 34 meshes with the gear of the single-headed gear rod 34, the incomplete worm wheel 11 is in a semi-circular shape, and the U-shaped groove of the guiding block 25 corresponds to the bevel gear 33. When the incomplete worm wheel 11 rotates to one end, the movable block 26 reaches one end of the U-shaped groove of the guiding block 25. When the trigger strip 27 rotates to the maximum position, the trigger strip 27 corresponds to the weed treatment shell 5, and the retracting block 32 is in contact with the weed treatment shell 5.;

[0014] Such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6, Figure 7 , Figure 8 , Figure 9 and Figure 10 As shown in Figure 7 , Figure 8 , Figure 9 and Figure 10 , a machine vision-based inter-row weeding device is provided. Inside the weed treatment shell 5, there is a crushing component for crushing the collected weeds. The crushing component includes: a toothed disc 40, two connecting blocks 41, a connecting rod 42, a main tooth column 43, two secondary tooth columns 44, four second rotating columns 45 and a second positioning disc 46. Among them, both ends of the toothed disc 40 are fixedly connected to two connecting blocks 41 respectively. One end of each of the two connecting blocks 41 away from the toothed disc 40 is fixedly connected to the inner wall of the weed treatment shell 5. One end of the connecting rod 42 is fixedly connected to the second positioning disc 46. One end of the main tooth column 43 is fixedly connected to a second rotating column 45. One end of each of the three secondary tooth columns 44 is fixedly connected to a second rotating column 45. Each second rotating column 45 is correspondingly movably connected to the end of the second positioning disc 46 away from the connecting rod 42. The three connecting rods 42 are meshed with the secondary tooth columns 44. The inner ring of the toothed disc 40 is provided with a number of tooth blocks. The three connecting rods 42 are meshed with the tooth blocks on the toothed disc 40. Inside the weed treatment shell 5, there is a suction component for collecting the hoed grass. The suction component includes: a dust suction shell 47, a fan blade 48, a positioning shell 49, a speed motor 50 and a second housing 51. Among them, the second housing 51 is fixedly connected to the inner wall of the weed treatment shell 5. The speed motor 50 is arranged inside the second housing 51. One end of the second transmission shaft 52 is fixedly connected to the output shaft of the speed motor 50. The dust suction shell 47 is fixedly connected to the inner wall of the weed treatment shell 5. The dust suction shell 47 is of a hollow design. One end of the dust suction shell 47 close to the second housing 51 is fixedly connected to the positioning shell 49. The positioning shell 49 is provided with a bearing. The second transmission shaft 52 is fixedly connected to the inner ring of the bearing on the positioning shell 49. The fan blade 48 is arranged inside the dust suction shell 47. The fan blade 48 is fixedly connected to the second transmission shaft 52. One end of the second transmission shaft 52 away from the speed motor 50 is fixedly connected to the connecting rod 42.

[0015] Working principle: When it is necessary to clean the weeds at the corner of the column seedlings, push the hoe groove machine 1 to the corresponding position, align the first bearing plate 4 with the position to be processed, and start the servo motor 24. When the servo motor 24 rotates, the servo motor 24 drives the first transmission shaft 14 to rotate, and the first transmission shaft 14 drives the corresponding bearing piece 15 to rotate. Then, when the bearing piece 15 rotates, the bearing piece 15 drives the torsion column 19 to rotate through the corresponding first positioning column 17. When the torsion column 19 rotates, it drives the first positioning disk 20 to rotate. Further, when the first positioning disk 20 rotates, it drives the cutting disk 22 to rotate, and the cutting disk 22 clears the weeds while rotating. Start the stepping motor 38, and the stepping motor 38 drives the trigger bar 27 to rotate. Then, when the trigger bar 27 rotates, it drives the movable block 26 to move along the U-shaped groove on the guide block 25. And when the stepping motor 38 rotates, it drives the single-headed gear rod 34 to rotate. The single-headed gear rod 34 drives the one-way gear rod 36 to rotate through the bidirectional gear rod 37. When the one-way gear rod 36 rotates, it drives the bevel gear 33 on the worm 10 to rotate. Then, when the worm 10 rotates, it drives the meshing incomplete worm wheel 11 to rotate. When the incomplete worm wheel 11 rotates, it drives the corresponding fixed disk 12 to rotate. When the fixed disk 12 rotates, it drives the support arm 9 to rotate through the rotating disk 13. Further, the trigger bar 27 and the support arm 9 rotate synchronously. When it is necessary to adjust the receiving block 32, press the receiving block 32. Then, the trigger block 30 drives the spring 31 to compress, and the trigger block 30 moves towards the position of the moving bar 29, pulling the moving bar 29 for adjustment. When the adjustment is completed, the compressed spring 31 rebounds to drive the trigger block 30 to reset. When the receiving block 32 corresponds to the weed treatment shell 5, start the speed motor 50. Then, the speed motor 50 drives the second transmission shaft 52 to rotate. When the second transmission shaft 52 rotates, it drives the fan blade 48 to rotate. The fan blade 48 sucks the external weeds into the interior of the weed treatment shell 5 while rotating. The rotation of the second transmission shaft 52 drives the connecting rod 42 to rotate. Then, the connecting rod 42 drives the second positioning disk 46 to rotate. When the second positioning disk 46 rotates, it drives the auxiliary tooth column 44 to rotate along the tooth blocks of the tooth disk 40, and the auxiliary tooth column 44 rotates around the main tooth column 43 to grind the sundries entering the weed treatment shell 5.

[0016] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to this. Within the scope of knowledge possessed by those skilled in the art to which the present invention pertains, various changes can be made without departing from the gist of the present invention.

Claims

1. A machine vision-based weeding device, comprising a weeding machine (1), the weeding machine (1) being provided with four movable wheels (2), a camera cabin (3) being arranged on the weeding machine (1), and characterized in that: A first bearing plate (4) is fixedly connected to one side of the trenching machine (1); a weed processing shell (5) is provided on one side of the first bearing plate (4); the weed processing shell (5) is fixedly connected to the trenching machine (1); and a direction-changing component for cleaning weeds in a wall corner is provided on the first bearing plate (4); The deformation assembly comprises: two bearing blocks (8), a support arm (9), a worm (10), an incomplete worm wheel (11), a fixed disk (12), a rotating disk (13), a first transmission shaft (14), two bearing plates (15), two blocking blocks (16), a plurality of first positioning columns (17), a first rotating column (18), a plurality of torsion columns (19), a first positioning disk (20), a plurality of second positioning columns (21), a cutting disk (22), a connecting strip (23) and a servo motor (24); The two bearing blocks (8) are fixedly connected to the first bearing plate (4) respectively, each bearing block (8) is provided with a bearing, the incomplete worm wheel (11) is fixedly connected to the inner rings of the bearings on the two bearing blocks (8), one end of the connecting bar (23) is fixedly connected to the first bearing plate (4), the connecting bar (23) is provided with a bearing, the first transmission shaft (14) is fixedly connected to the inner ring of the bearing on the connecting bar (23), a servo motor (24) is provided at the bottom of the first transmission shaft (14), the first transmission shaft (14) is fixedly connected to the output shaft of the servo motor (24), the fixed plate (12) is fixedly connected to one end of the first transmission shaft (14) away from the servo motor (24), the incomplete worm wheel (11) is fixedly connected to the fixed plate (12), and the incomplete worm wheel (11) is meshed with the worm (10), the two blocking blocks (16) are fixedly connected to the fixed plate (12), and the two The blocking block (16) corresponds to the incomplete worm gear (11); a side of the fixed disk (12) away from the incomplete worm gear (11) is fixedly connected to the rotating disk (13); an end of the rotating disk (13) away from the fixed disk (12) is fixedly connected to the support arm (9); the support arm (9) is L-shaped; an end of the support arm (9) away from the rotating disk (13) is fixedly connected to the first rotating column (18); two bearing plates (15) are movably connected to the first rotating column (18) and the first transmission shaft (14), respectively; each bearing plate (15) is correspondingly fixedly connected to a plurality of first positioning columns (17); two ends of the first positioning disk (20) are correspondingly fixedly connected to a plurality of second positioning columns (21); two ends of each torsion column (19) are correspondingly fixedly connected to a first positioning column (17) and a second positioning column (21); and the first positioning disk (20) is fixedly connected to the cutting disk (22).

2. The machine vision-based weeding equipment according to claim 1, characterized in that: The first bearing plate (4) is provided with a linkage component for cooperating with the deformation component; The linkage assembly comprises: a bearing bar (6), a second bearing plate (7), a guide block (25), a movable block (26), a trigger bar (27), a positioning block (28), a single-head gear rod (34), a stepping motor (38) and a first housing (39); The bearing bar (6) and one side of the second bearing plate (7) are both fixedly connected to the first bearing plate (4), the single-head gear rod (34) is movably connected to the second bearing plate (7), the first housing (39) is fixedly connected to the bottom of the bearing bar (6), the stepper motor (38) is arranged inside the first housing (39), the end of the single-head gear rod (34) away from the gear is fixedly connected to the output shaft of the stepper motor (38), and the guide block (25) is fixedly connected to the second bearing plate (7). ), and a U-shaped groove for the movable block (26) is provided inside the guide block (25), the movable block (26) is inserted into the U-shaped groove of the guide block (25), the trigger bar (27) is movably connected to the single-head gear rod (34), and a long groove for the movable block (26) is provided on the trigger bar (27), the bottom of the movable block (26) is inserted into the long groove of the trigger bar (27), and the end of the trigger bar (27) away from the servo motor (24) is fixedly connected to the positioning block (28).

3. The machine vision-based weeding equipment according to claim 2, characterized in that: The positioning block (28) is provided with an adjustment component for adapting to the range; The adjustment component comprises: a moving bar (29), a trigger block (30), a spring (31) and a collecting block (32); The positioning block (28) is provided with a cavity for placing the moving bar (29), the moving bar (29) is inserted into the cavity of the positioning block (28), the moving bar (29) is provided with a placement groove for placing the trigger block (30), the spring (31) is arranged inside the moving bar (29), the two ends of the spring (31) are respectively fixedly connected to the inner wall of the moving bar (29) and the trigger block (30), the top of the positioning block (28) is provided with a plurality of corresponding slots, the end of the trigger block (30) away from the spring (31) is semi-arc-shaped, the trigger block (30) is inserted into the corresponding slot, the end of the moving bar (29) away from the positioning block (28) is fixedly connected to the collecting block (32), and the collecting block (32) is in the shape of a barb.

4. The machine vision-based weeding equipment according to claim 1, characterized in that: The second bearing plate (7) is provided with a power component for providing power to the direction-changing component; The power assembly comprises: a bevel gear (33), a bearing bar (35), a one-way gear rod (36) and a two-way gear rod (37); The bearing strip (35) is fixedly connected to the second bearing plate (7), a bearing is provided on the bearing strip (35), a bidirectional gear rod (37) is fixedly connected to the inner ring of the bearing on the bearing strip (35), one end of the worm (10) away from the bearing block (8) is fixedly connected to the bevel gear (33), the unidirectional gear rod (36) is movably connected to the second bearing plate (7), a gear on the unidirectional gear rod (36) is meshed with the bevel gear (33), another gear on the unidirectional gear rod (36) is meshed with the bidirectional gear rod (37), and a gear of the bidirectional gear rod (37) close to the single-head gear rod (34) is meshed with a gear of the single-head gear rod (34).

5. The machine vision-based weeding equipment according to claim 1, characterized in that: The weed treatment shell (5) is provided with a crushing assembly for crushing the collected weeds inside; The crushing assembly comprises: a toothed disc (40), two connecting blocks (41), a connecting rod (42), a main tooth column (43), two auxiliary tooth columns (44), four second rotating columns (45) and a second positioning disc (46); The two ends of the toothed disc (40) are respectively fixedly connected to two connecting blocks (41); the ends of the two connecting blocks (41) away from the toothed disc (40) are fixedly connected to the inner wall of the weed treatment shell (5); one end of the connecting rod (42) is fixedly connected to the second positioning disc (46); one end of the main tooth column (43) is fixedly connected to a second rotating column (45); one end of the three auxiliary tooth columns (44) are fixedly connected to a second rotating column (45); each second rotating column (45) is movably connected to an end of the second positioning disc (46) away from the connecting rod (42); the three connecting rods (42) mesh with the auxiliary tooth columns (44); the inner ring of the toothed disc (40) is provided with a plurality of tooth blocks; the three connecting rods (42) mesh with the tooth blocks on the toothed disc (40).

6. The machine vision-based weeding equipment according to claim 1, characterized in that: The weed treatment shell (5) is provided with a collecting component for collecting weeds after hoeing. The suction assembly comprises: a dust suction shell (47), a fan blade (48), a positioning shell (49), a speed motor (50) and a second shell (51); The second housing (51) is fixedly connected to the inner wall of the weed treatment housing (5), the speed motor (50) is arranged inside the second housing (51), one end of the second transmission shaft (52) is fixedly connected to the output shaft of the speed motor (50), the dust collection housing (47) is fixedly connected to the inner wall of the weed treatment housing (5), the dust collection housing (47) is hollow-out, one end of the dust collection housing (47) close to the second housing (51) is fixedly connected to the positioning housing (49), the positioning housing (49) is provided with a bearing, the second transmission shaft (52) is fixedly connected to the inner ring of the bearing on the positioning housing (49), the fan blade (48) is arranged inside the dust collection housing (47), the fan blade (48) is fixedly connected to the second transmission shaft (52), and one end of the second transmission shaft (52) away from the speed motor (50) is fixedly connected to the connecting rod (42).

7. The machine vision-based weeding equipment according to claim 1, characterized in that: The incomplete worm wheel (11) is semicircular in shape, the U-shaped groove of the guide block (25) corresponds to the bevel gear (33), and when the incomplete worm wheel (11) rotates to one end, the movable block (26) reaches one end of the U-shaped groove of the guide block (25).

8. The machine vision-based weeding equipment according to claim 2, characterized in that: When the trigger bar (27) is rotated to the maximum position, the trigger bar (27) corresponds to the weed processing shell (5), and the collecting block (32) fits the weed processing shell (5).

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