Reciprocating Roller Type All-Around Intelligent Weeding Device

Abstract

This invention relates to a reciprocating rolling type all-around intelligent weeding device, which is an intelligent agricultural power machine. It includes a three-point suspension mechanism, an inter-row weeding mechanism, a reciprocating rolling type inter-plant weeding mechanism, an inter-plant weeding contouring mechanism, a fixed-point spraying mechanism, and a control system. A camera is installed at the front end of the three-point suspension mechanism, which is fixedly connected to the inter-plant weeding contouring mechanism. The middle part of the inter-plant weeding contouring mechanism is fixedly connected to the reciprocating rolling type inter-plant weeding mechanism, and the rear part of the inter-plant weeding contouring mechanism is fixedly connected to the inter-row weeding mechanism. The nozzle of the fixed-point spraying mechanism is located behind the reciprocating rolling type inter-plant weeding mechanism. The reciprocating rolling type inter-plant weeding mechanism includes a motor support base, a servo motor, an eccentric disc, a crank connecting rod assembly, a compression spring, and a spiked roller. It can accurately complete all-around field weeding and accurately avoid crops, solving the problem that traditional weeders cannot remove weeds between crops in dryland fields.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural power machinery in the intelligent manufacturing equipment industry, specifically to a reciprocating rolling all-around intelligent weeding device. Background Technology

[0002] Weeds are widely distributed and diverse in dryland crops, competing with crops for living space, leading to a decrease in crop yields, and providing habitat for harmful organisms, which affects the normal growth and development of crops. Therefore, it is necessary to regularly remove weeds from farmland.

[0003] Currently, weed control mainly relies on chemical weeding. While chemical herbicides are highly efficient, their use poses environmental and crop pollution risks, leaves pesticide residues, and prolonged use can lead to increased herbicide resistance in weeds. With increasing public awareness of food and environmental safety, mechanical weeding has become a research hotspot. Crop growth is divided into two stages: vegetative and reproductive growth, each further subdivided into several stages. Mechanical weeding primarily consists of inter-row and inter-plant weeding. Inter-row weeding can be carried out for most of the crop's growth period, while inter-plant weeding is mainly performed during the vegetative growth stage, particularly when there is sufficient space between crop plants. The specific growth stage varies depending on the crop, as at this stage, crop plants have less of a growth advantage over weeds, which can easily threaten crop growth and compete for soil nutrients. By the late vegetative growth stage, crops have a strong growth advantage over weeds, and the space between crop plants is largely occupied by the crop itself, depriving weeds of their original habitat; therefore, inter-plant weeding is generally unnecessary.

[0004] Existing agricultural weeding machinery mainly targets weeds between crop rows. However, in weeding between individual plants, current machinery has limited effectiveness in removing weeds, often leaving weed residues. Furthermore, the process of weeding between plants can disturb the surrounding soil, damaging crop roots. Manual weeding is costly and unsuitable for large-scale operations. Therefore, there is an urgent need for a comprehensive weeding device that reduces the use of chemical pesticides and enables intelligent, mechanized weeding in agriculture. Summary of the Invention

[0005] The purpose of this invention is to provide a reciprocating rolling all-around intelligent weeding device. This reciprocating rolling all-around intelligent weeding device is used to solve the problems of poor weed removal ability between plants in existing weeding machinery, which easily causes weed residue and disturbs the soil around crops, and realizes the manufacturing of mechanized agricultural weeding devices.

[0006] To achieve the above objectives, the specific technical solution adopted by the present invention is as follows: This reciprocating rolling all-around intelligent weeding device simultaneously completes inter-row weeding, inter-plant weeding, and targeted spraying of weeds; it includes an inter-row weeding mechanism, a reciprocating rolling inter-plant weeding mechanism, an inter-plant weeding contouring mechanism, a three-point suspension mechanism, a targeted spraying mechanism, and a control system. A camera is installed below the front end of the three-point suspension mechanism. The three-point suspension mechanism is fixedly connected to the inter-plant weeding contouring mechanism. The middle part of the inter-plant weeding contouring mechanism is fixedly connected to the reciprocating rolling inter-plant weeding mechanism. The tail part of the inter-plant weeding contouring mechanism is fixedly connected to the inter-row weeding mechanism. The nozzle of the targeted spraying mechanism is located behind the reciprocating rolling inter-plant weeding mechanism.

[0007] The reciprocating rolling inter-plant weeding mechanism includes a motor support base, which is fixed in the middle of the inter-plant weeding contour mechanism. A pair of servo motors are installed on the motor support base. Each servo motor shaft is connected to an eccentric disk located on the front panel of the motor support base. The eccentric disk is hinged to a short crank connecting rod of a crank connecting rod assembly. The crank connecting rod assembly consists of a long crank connecting rod hinged to the other end of the short crank connecting rod. A roller connecting rod is fixed to the lower end of the long crank connecting rod. A roller bracket passes through the center of the roller connecting rod. A compression spring is provided between the roller connecting rod and the roller bracket. A spiked roller is provided under the roller bracket. A set of crank-connecting rods is located in front of the front panel of the motor support base. A frustum is set between the long crank-connecting rod of this set of crank-connecting rods and the front panel of the motor support base, separating the two sets of crank-connecting rods. Two pairs of roller supports and spike rollers are inclined in a V-shape. When the servo motor drives the spike rollers to rotate left and right, the spike rollers apply downward pressure under the action of the compression spring, so that the rows of spikes on the spike rollers evenly penetrate the soil between plants, destroying the stems and leaves of weeds and killing the weeds between plants. The formula for calculating the swing amplitude when the control system controls the reciprocating rolling inter-plant weeding mechanism to operate is as follows:

[0008]

[0009] Where, θ s The oscillation amplitude of the reciprocating roller-type inter-plant weeding mechanism during operation, measured in degrees; w r H is the protection radius of crops during weeding operations, measured in meters (m). m h is the height above the ground of the central rotating shaft of the long crank connecting rod in a reciprocating rolling inter-plant weeding mechanism. i This refers to the height of the top leaves of the crop above the ground, expressed in meters (m).

[0010] In the above scheme, the two ends of the compression spring contact the roller connecting rod and the square plane of the roller bracket respectively, providing downward pressure for the spiked roller; the curved surface below the roller bracket is embedded with bristles, which contact the spikes of the spiked roller. When the spiked roller rotates, the bristles remove the debris attached to the spike surface; several rows of spikes are evenly distributed on the surface of the spiked roller, and the spikes are densely distributed on the surface of the spiked roller. During weeding, spiked rollers with different numbers and lengths of spikes are used for weeding between plants according to the type of dryland crop; a motor bracket is set on the motor support base, and the motor bracket, servo motor, eccentric disk and motor coupling are coaxially connected; when the servo motor rotates, it drives the eccentric disk to rotate, and drives the crank connecting rod assembly to rotate left and right, thereby driving the roller bracket and spiked roller to rotate left and right for weeding between plants.

[0011] The above-mentioned weeding contour mechanism includes a four-bar front support, a four-bar long rod, a four-bar rear support, a tension spring, individual supports, a depth limiting wheel, a depth adjustment rod, a weeding device limiting plate, and a camera. Specifically: the four-bar front support, four-bar rear support, and four-bar long rod are connected by bolts; the upper tension spring support is installed above the four-bar long rod, and the lower tension spring support is installed below the four-bar long rod; the hooks at both ends of the tension spring are connected to the hooks of the upper and lower tension spring supports, respectively; the two individual supports are connected to the left and right sides of the four-bar rear support by bolts; each individual support is connected to the upper end of the depth limiting arm by a pin; and the weeding device limiting plate... Installed at the center of the rear end of two single-unit brackets; the lower end of the depth limiting arm is connected to the depth limiting wheel by a shaft pin, the depth adjustment rod is connected to the insertion hole at the rear end of the single-unit bracket by a shaft pin, and the depth adjustment plug is connected to the weeding device limiting plate by a insertion hole and bolts. The weeding depth is adjusted by adjusting the holes at different positions; the camera bracket is connected to the four-bar front bracket by a U-shaped buckle and bolts, and the bottom of the camera is fixedly connected to the camera bracket by bolts. The camera lens is perpendicular to the ground. The camera is responsible for collecting information on the position of weeds and crop plants on the ground, providing information for the weeding and spraying actions of the reciprocating rolling inter-plant weeding mechanism and the fixed-point spraying mechanism.

[0012] The above-described targeted spraying mechanism includes a nozzle and a pesticide tank. The nozzle is installed below the motor support base and is fixedly connected by bolts. The nozzle has a built-in solenoid valve, which is controlled by the control system to accurately control the spraying amount and time. The nozzle and the pesticide tank are connected by a hose. The pesticide tank is equipped with an ultrasonic sensor that measures and monitors the liquid level inside the tank. After the camera identifies the location of the weeds, the control system sends a command to the targeted spraying mechanism based on the vehicle speed and action delay to control the solenoid valve to open and close, thus achieving precise targeted spraying.

[0013] The above-mentioned inter-row weeding mechanism includes an inter-row weeding wheel bracket and an inter-row weeding wheel. The inter-row weeding wheel is located in the middle of the inter-row weeding wheel bracket, and both ends of the inter-row weeding wheel are connected to the inter-row weeding wheel bracket via pins and bearings. The side of the inter-row weeding wheel bracket is fixedly connected to the side of the inter-plant weeding contour mechanism via bolts. The entire inter-row weeding mechanism is located between two inter-plant weeding contour mechanisms and is used to remove weeds between two rows of crops. Several comb teeth are welded to the surface of the inter-row weeding wheel, and several comb teeth are also distributed inside the inter-row weeding wheel bracket. The positions of the comb teeth inside the inter-row weeding wheel bracket and the positions of the comb teeth on the surface of the inter-row weeding wheel are staggered, with a distance between the comb teeth, so that the two sets of comb teeth will not collide during operation.

[0014] The above scheme includes a crossbar, a three-point suspension base, a three-point suspension upper bracket, and a medicine box bracket. The three-point suspension base and the three-point suspension upper bracket are vertically installed and connected by bolts. The two ends of the reinforcing connector are respectively connected to the three-point suspension base and the three-point suspension upper bracket by bolts. The three-point suspension base and the crossbar are connected by bolts through U-shaped buckles. The medicine box bracket is perpendicular to the crossbar, and the bottom of the medicine box is fixedly connected to the upper plane of the medicine box bracket by bolts.

[0015] The above scheme utilizes a reciprocating rolling omnidirectional intelligent weeding device to achieve inter-plant weeding control:

[0016] When controlling the movement of the reciprocating rolling inter-plant weeding mechanism, control parameters such as the crop protection radius are planned in advance based on the current crop type and growth stage. The protection radius is a circle drawn with the crop stem as the center, artificially determined to prevent damage to the crop during the reciprocating motion of the long crank connecting rod. When the long crank connecting rod performs seedling avoidance, it should avoid the area within the crop protection radius to prevent damage to the crop. After setting the crop protection radius in the control system, the average growth height of the crop and the height parameters of the reciprocating rolling inter-plant weeding mechanism are input. The control system calculates the swing amplitude of the reciprocating rolling inter-plant weeding mechanism during operation, which serves as the control basis during the weeding process to achieve precise seedling avoidance.

[0017] After obtaining the oscillation amplitude of the reciprocating rolling inter-plant weeding mechanism during operation, the control system calculates the servo motor speed based on the current forward speed of the weeding device, the crop planting spacing, the number of pulses per revolution of the servo motor, and the step angle of the servo motor. For each revolution of the servo motor, the long crank connecting rod and the spiked roller oscillate left and right once and return to their original positions. During operation, the servo motor rotates half a revolution, and the long crank connecting rod and the spiked roller oscillate left or right once, completing one inter-plant weeding cycle. This speed is the minimum speed of the servo motor during oscillation. The formula for calculating the servo motor speed is as follows:

[0018]

[0019] Where S r θ represents the servo motor speed, in rad / s. s θ represents the oscillation amplitude of the reciprocating roller-type inter-plant weeding mechanism during operation, expressed in degrees. a 1 is the step angle of the servo motor, in degrees; P is the encoder resolution, i.e., the number of pulses per revolution; S is the forward speed of the weeding device, in m / s; D is the planting spacing of the crops, in meters.

[0020] In the above scheme, the three-point suspension mechanism is fixedly connected to the inter-row weeding contouring mechanism via U-shaped buckles. The middle part of the inter-row weeding contouring mechanism is fixedly connected to the reciprocating rolling inter-row weeding mechanism via bolts. The tail part of the inter-row weeding contouring mechanism is fixedly connected to the row weeding mechanism via bolts. The inter-row weeding contouring mechanism is fixedly connected to the fixed-point spraying mechanism behind the reciprocating rolling inter-row weeding mechanism via bolts. The row weeding mechanism and the inter-row weeding contouring mechanism are connected by axle pins.

[0021] Beneficial effects:

[0022] 1. This invention is an intelligent agricultural power machine in the intelligent manufacturing equipment industry. It effectively solves the problem of weeds between plants of dryland crops that cannot be removed by traditional mechanical weeders. By controlling the reciprocating rolling weeding mechanism between plants, the row weeding mechanism and the intelligent recognition system (control system, camera), it can accurately complete all-round field weeding and accurately avoid crops. It is suitable for all-round weeding of dryland crops, realizes intelligent agricultural mechanized weeding, and can reduce soil disturbance and the use of chemical agents.

[0023] 2. The reciprocating rolling weeding mechanism of this invention can use spiked rollers to spike and crush the stems and leaves of weeds on the surface, causing large-area wounds on the weeds. As a result, the weeds lose their growth advantage in competition with crops and gradually wither and die. In addition, the spiked rollers can also make holes in the soil during the weeding process, loosening the soil and making it more breathable. After the weeding is completed, it only affects the shallow soil surface, reducing soil disturbance. Compared with traditional mechanical weeding, it avoids damage to the roots and stems of crops.

[0024] 3. When the reciprocating rolling inter-plant weeding mechanism is used in conjunction with the fixed-point spraying mechanism, the present invention can completely kill weeds. Furthermore, spraying after the spiked rollers damage the stems and leaves of the weeds allows the pesticide to act directly on the wounds of the weeds, improving the efficiency of pesticide use and reducing the amount of pesticide used, thus achieving the goal of environmental protection.

[0025] 4. The inter-plant weeding contouring mechanism in this invention can adjust the ground pressure of the spiked roller in the reciprocating rolling inter-plant weeding mechanism by adjusting the gear, which can make the spiked roller fully contact the ground and reduce soil compaction.

[0026] 5. In this invention, the inter-row weeding mechanism can remove weeds between rows, and the comb teeth of the inter-row weeding mechanism can self-clean during operation. Soil and weeds caught on the comb teeth on the surface of the inter-row weeding wheel during the weeding process will be removed by the comb teeth inside the inter-row weeding wheel bracket.

[0027] 6. This invention integrates visual recognition technology, which can simultaneously complete weeding between rows and between plants of crops, as well as targeted small-scale spraying of herbicides. The reciprocating rolling weeding mechanism reduces soil disturbance caused by weeding between plants and reduces the amount of herbicide sprayed, improving the accuracy of weeding operations and making it more environmentally friendly. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the front left structure of the entire machine of the present invention;

[0029] Figure 2 This is a schematic diagram of the three-point suspension mechanism of the present invention;

[0030] Figure 3 This is a schematic diagram of the inter-plant weeding contour-following mechanism of the present invention;

[0031] Figure 4 This is a schematic diagram of the reciprocating rolling inter-plant weeding mechanism of the present invention;

[0032] Figure 5 This is a right view of the structure of the reciprocating rolling inter-plant weeding mechanism of the present invention;

[0033] Figure 6 This is a schematic diagram of the roller bracket of the present invention;

[0034] Figure 7 This is a schematic diagram of the inter-row weeding mechanism of the present invention;

[0035] Figure 8 This is a schematic diagram of the structure of the inter-row weeding wheel of the present invention;

[0036] Figure 9 This is a schematic diagram of the structure of the inter-row weeding wheel bracket of the present invention;

[0037] Figure 10 This is a schematic diagram showing the cooperative state of the inter-plant weeding contouring mechanism, the inter-row weeding mechanism, and the reciprocating rolling inter-plant weeding mechanism of the present invention.

[0038] Figure 11 A schematic diagram of the left rear structure of the entire machine of this invention;

[0039] Figure 12 A schematic diagram of the oscillating motion of the reciprocating rolling inter-plant weeding mechanism of the present invention during operation;

[0040] Figure 13The reciprocating rolling inter-plant weeding mechanism of the present invention uses spiked rollers and springs during operation.

[0041] In the diagram: 1. Inter-row weeding mechanism; 2. Reciprocating roller-type inter-plant weeding mechanism; 3. Inter-plant weeding contour-following mechanism; 4. Three-point suspension mechanism; 5. Fixed-point spraying mechanism; 6. Three-point suspension base frame; 7. Three-point suspension upper bracket; 8. Reinforced connector; 9. Crossbar; 10. Medicine box; 11. Medicine box bracket; 12. Four-link front bracket; 13. Four-link rear bracket; 14. Tension spring upper bracket; 15. Tension spring lower bracket; 16. Tension spring; 17. Four-link long rod; 18. Camera bracket; 19. Camera ; 20 Single unit bracket; 21 Depth limiting arm; 22 Depth limiting wheel; 23 Depth adjustment plug; 24 Depth adjustment rod; 25 Weeding device limit plate; 26 Motor support base; 27 Motor bracket; 28 Servo motor; 29 Motor coupling; 30 Eccentric disc; 31 Short crank connecting rod; 32 Long crank connecting rod; 33 Roller connecting rod; 34 Roller bracket; 35 Compression spring; 36 Spiked roller; 37 Nozzle; 38 Interrow weeding wheel bracket; 39 Interrow weeding wheel. Detailed Implementation

[0042] The invention will be further described below with reference to the accompanying drawings:

[0043] Combination Figures 1-13 As shown, this reciprocating rolling all-around intelligent weeding device is an intelligent agricultural power machine in the intelligent manufacturing equipment industry. It better reduces soil disturbance and damage to crop roots during inter-row weeding. It includes an inter-row weeding mechanism 1, a reciprocating rolling inter-row weeding mechanism 2, a fixed-point spraying mechanism 5, a pesticide tank 10, an inter-row weeding contouring mechanism 3, and a three-point suspension mechanism 4. The three-point suspension mechanism 4 connects two inter-row weeding contouring mechanisms 3. The reciprocating rolling inter-row weeding mechanism 2 is installed above the inter-row weeding contouring mechanism 3. The reciprocating rolling inter-row weeding mechanism 2 and the fixed-point spraying mechanism 5 use a camera to detect the relative position of crops and weeds, calculate when to control the mechanism to perform mechanical inter-row weeding and perform precise, small-volume spraying to kill weeds. At the same time, the inter-row weeding mechanism removes weeds between rows. Details are as follows:

[0044] The three-point suspension mechanism 4 is fixedly connected to the inter-plant weeding contouring mechanism 3 via a U-shaped buckle. The middle part of the inter-plant weeding contouring mechanism 3 is fixedly connected to the reciprocating rolling inter-plant weeding mechanism 2 via bolts. The tail part of the inter-plant weeding contouring mechanism 3 is fixedly connected to the row weeding mechanism 1 via bolts. The inter-plant weeding contouring mechanism 3 is fixedly connected to the fixed-point spraying mechanism 5 behind the reciprocating rolling inter-plant weeding mechanism 2 via bolts. The row weeding mechanism and the inter-plant weeding contouring mechanism are connected by axle pins.

[0045] The three-point suspension mechanism 4 consists of a crossbar 9, a three-point suspension base frame 6, a three-point suspension upper bracket 7, a reinforcing connector 8, a medicine box bracket 11, and a medicine box 10. The three-point suspension base frame 6 and the three-point suspension upper bracket 7 are vertically installed and connected by bolts. The two ends of the reinforcing connector 8 are respectively connected to the three-point suspension base frame 6 and the three-point suspension upper bracket 7 by bolts. The three-point suspension base frame 6 and the crossbar 9 are connected by bolts through a U-shaped buckle. The medicine box bracket 11 is installed and welded perpendicular to the crossbar 9. The bottom of the medicine box 10 is fixedly connected to the upper surface of the medicine box bracket 11 by bolts.

[0046] The inter-plant weeding contour mechanism 3 consists of a four-bar front support 12, a four-bar long rod 17, a four-bar rear support 13, a tension spring 16, a tension spring upper support 14, a tension spring lower support 15, a single support 20, a depth limiting wheel 22, a depth limiting arm 21, a depth adjustment rod 24, a weeding device limiting plate 25, a depth adjustment plug 23, a camera bracket 18, and a camera 19; wherein the four-bar front support 12, the four-bar rear support 13, and the four-bar long rod 17 are connected by bolts. The upper tension spring bracket 14 is installed above the four-bar linkage 17, and the lower tension spring bracket 15 is installed below the four-bar linkage 17. The hooks at both ends of the tension spring 16 are connected to the hooks of the upper tension spring bracket 14 and the lower tension spring bracket 15, respectively. The two individual brackets 20 are installed on the left and right sides of the rear bracket 13 of the four-bar linkage and are connected by bolts. The tension spring 16 is responsible for applying downward pressure to the inter-plant weeding contour mechanism 3 as a whole, and indirectly adjusting the spiked roller 36 in the reciprocating rolling inter-plant weeding mechanism 2. The ground pressure is ensured to be within the required range by the spiked roller 36; one end of each of the two sets of depth limiting arms 21 is installed on the left and right sides of the single bracket 20 and connected by axle pins; the weeding device limiting plate 25 is installed at the center of the rear end of the two single brackets 20 and fixed by welding; the other end of the depth limiting arm 21 is connected to the depth limiting wheel 22 by axle pin; the depth adjustment rod 24 is connected to the rear end insertion hole of the single bracket 20 by axle pin; the depth adjustment plug 23 is connected to the weeding device limiting plate 25 by a insertion hole and bolts, and the weeding depth can be adjusted by adjusting the holes at different positions; the camera bracket 18 is connected to the four-bar front bracket 12 by U-shaped buckles and bolts; the bottom of the camera 19 is fixed to the camera bracket 18 by bolts; the lens of the camera 19 is perpendicular to the ground; the camera 19 is responsible for collecting the position information of weeds and crop plants on the ground, providing information for the weeding and spraying actions of the reciprocating rolling inter-plant weeding mechanism 2 and the fixed-point spraying mechanism 5.

[0047] The reciprocating rolling inter-plant weeding mechanism 2 consists of a motor support base 26, a motor bracket 27, a servo motor 28, an eccentric disc 30, a motor coupling 29, a short crank connecting rod 31, a long crank connecting rod 32, a compression spring 35, a roller bracket 34, a roller connecting rod 33, and a spiked roller 36. The roller bracket 34 passes through the center of the roller connecting rod 33, and a compression spring 35 is provided between them. The two ends of the compression spring 35 contact the square planes of the roller connecting rod 33 and the roller bracket 34, respectively. The spring 35 provides elasticity and downward pressure to the spike roller 36. Bristles are embedded in the curved surface below the roller bracket 34, contacting the spikes on the spike roller 36. As the spike roller 36 rotates, the bristles remove dirt and other debris adhering to the spike surface. When the motor indirectly controls the left and right rotation of the spike roller 36, the spike roller 36 is subjected to downward pressure by the spring force of the compression spring 35. Simultaneously, the spike roller 36 is subjected to the reaction force of the soil, creating a balance that allows the spikes to penetrate the soil. The rollers roll and the spikes penetrate the soil evenly, destroying the stems and leaves of weeds and killing them. Several rows of spikes are evenly distributed on the surface of the spiked rollers 36, with a dense distribution of spikes. Different numbers and lengths of spiked rollers 36 can be used depending on the type of dryland crop. The motor support base 26, motor bracket 27, eccentric disc 30, motor coupling 29, and servo motor 28 are connected on the same axis. The eccentric disc 30, short crank connecting rod 31, long crank connecting rod 32, and rollers... The connecting rod 33 is fixed by bolts. A protruding truncated cone is provided between the long crank connecting rod 32 and the motor support base 26 to separate the two sets of crank connecting rods. A motor bracket 27 is provided between the servo motor 28 and the motor support base 26 and is connected by bolts. When the servo motor 28 rotates, it drives the eccentric disk 30 to rotate and drives the long crank connecting rod 32 and the short crank connecting rod 31 to rotate back and forth. The long crank connecting rod 32 drives the roller bracket 34 and the spiked roller 36 to rotate left and right to realize weeding between plants.

[0048] The fixed-point spraying mechanism 5 consists of a nozzle 37 and a medicine tank 10. The nozzle 37 is installed below the motor support base 26 and is fixedly connected by bolts. The nozzle 37 has a built-in solenoid valve, which can accurately control the spraying amount and spraying time through the controller. The nozzle 37 and the medicine tank 10 are connected by a hose. The medicine tank 10 is equipped with an ultrasonic sensor to measure and monitor the liquid level inside the medicine tank 10. The fixed-point spraying mechanism is mainly based on the camera recognizing the location of weeds and sending a command to the fixed-point spraying mechanism according to the vehicle speed and action delay to control the solenoid valve to open and close, so as to achieve precise fixed-point spraying.

[0049] The inter-row weeding mechanism 1 includes an inter-row weeding wheel bracket 38 and an inter-row weeding wheel 39. The two ends of the inter-row weeding wheel 39 are connected to the inter-row weeding wheel bracket 38 via pins and bearings, and are located in the middle of the bracket. The inter-row weeding wheel 39 can rotate in both forward and backward directions. The side of the inter-row weeding wheel bracket is bolted to the side of the inter-plant weeding contour mechanism. The entire inter-row weeding mechanism 1 is located between two inter-plant weeding contour mechanisms and is used to remove weeds between two rows of crops. The wheel width can be changed according to different tillage methods and crop types. Several comb teeth are welded to the surface of the inter-row weeding wheel. The arrangement of the comb teeth is related to the corresponding weeding target. Inter-row weeding wheels with different numbers and lengths of comb teeth can be selected for installation to cope with different crops and terrains. Several comb teeth are also distributed inside the inter-row weeding wheel bracket. The position of the comb teeth inside the inter-row weeding wheel bracket is staggered from the position of the comb teeth on the surface of the inter-row weeding wheel. There is a distance between the comb teeth, so that the two sets of comb teeth will not collide during operation.

[0050] In use, the device is first connected to the rear end of a tractor or electric self-propelled chassis via a three-point suspension mechanism 4. The tractor or similar power unit then pulls the weeding device forward for all-around weeding. Before weeding, the weeding device limit plate 25 of the inter-plant weeding contour mechanism 3 can be adjusted to control the soil pressure of the spiked rollers 36, preventing excessive soil compaction. Before inter-plant weeding, different spiked rollers 36 with varying numbers and lengths of spikes can be switched to achieve better weeding results depending on the type of dryland crop. During intercropping, the control system first uses a deep learning algorithm to detect the relative positions of crops, weeds, and the reciprocating rolling intercropping weeding mechanism 2 in the images captured by the camera 19. It then calculates when the reciprocating rolling intercropping weeding mechanism 2 will reach the location of the weeds between the crops, taking into account factors such as the forward speed and acceleration of the current power unit. This weeding information is transmitted to the control system, which then accurately controls the rotation direction, position, and speed of the servo motor 28 of the reciprocating rolling intercropping weeding mechanism 2. This ensures that the spiked roller 36 precisely sweeps across the location of the weeds between the crops when moving left and right, avoiding the crop plants. The spiked roller 36 damages the stems and leaves of the weeds. Because the spiked roller has a compression spring, it maintains full contact and rolling with the ground when passing through the crop seedlings, ensuring damage to the stems and leaves of the weeds. After mechanical weeding between plants is performed by the reciprocating rolling inter-plant weeding mechanism 2, the control system can control the nozzle 37 of the fixed-point spraying mechanism 5 according to factors such as operating speed, number of weeds, and control system delay. The control system mainly controls the switching frequency and switching time of the solenoid valve in the nozzle 37 to achieve accurate control of the spraying position and spraying amount, and precisely kill the weeds.

[0051] When controlling the movement of the reciprocating roller weeding mechanism, the crop protection radius is planned according to the current crop type and growth stage. The protection radius defines the minimum distance between the long crank connecting rod 32 and the crop when the mechanism is avoiding seedlings; distances smaller than this can easily damage the crop. Simultaneously, after setting the crop protection radius in the control system, inputting the current crop height and the height of the reciprocating roller weeding mechanism yields the swing amplitude of the mechanism during operation. This amplitude serves as the control basis during weeding, achieving precise seedling avoidance. The current crop height needs to be sampled and averaged before operation as the basis for calculation. The formula for calculating the swing amplitude of the reciprocating roller weeding mechanism during operation is as follows:

[0052]

[0053] Where, θ s The oscillation amplitude of the reciprocating roller-type inter-plant weeding mechanism during operation, measured in degrees; w r H is the protection radius of crops during weeding operations, measured in meters (m). m The height above the ground of the intermediate rotating shaft of the long crank connecting rod 32 in the reciprocating rolling inter-plant weeding mechanism, in meters (m); h i This refers to the height of the top leaves of the crop above the ground, expressed in meters (m).

[0054] After setting the swing amplitude of the reciprocating rolling inter-plant weeding mechanism, the control system calculates the servo motor speed based on parameters such as the current forward speed of the weeding device, the crop planting distance, the number of pulses per revolution of the servo motor, and the step angle of the servo motor. Each revolution of the servo motor causes the long crank connecting rod 32 and the spiked roller 36 to swing left and right once and return to their original positions. During operation, the servo motor rotates half a revolution, and the long crank connecting rod 32 and the spiked roller 36 swing left or right once, completing one cycle of inter-plant weeding. This speed is the minimum speed at which the servo motor swings. Speeds below this may cause the reciprocating rolling inter-plant weeding mechanism to operate too slowly, resulting in the long crank connecting rod 32, the spiked roller 36 rubbing against the crop seedlings and damaging the crops. The servo motor speed calculation formula is as follows:

[0055]

[0056] Where S r θ represents the servo motor speed, in rad / s. s θ represents the oscillation amplitude of the reciprocating roller-type inter-plant weeding mechanism during operation, expressed in degrees. a1 is the step angle of the servo motor, in degrees; P is the encoder resolution, i.e., the number of pulses per revolution; S is the forward speed of the weeding device, in m / s; D is the planting spacing of the crops, in meters.

[0057] During inter-row weeding, the inter-row weeding wheel breaks up some of the soil and damages weeds with its densely packed teeth, removing some weed roots from the soil. The inter-row weeding wheel support 38 also has densely packed teeth inside, and these teeth are staggered from the teeth of the inter-row weeding wheel 39. When the inter-row weeding wheel 39 rotates, the teeth on its surface intersect with the teeth inside the support, cutting the weeds on the teeth of the inter-row weeding wheel 39 and removing the soil from the surface of the teeth. This ensures that the inter-row weeding wheel 39 always has the ability to cut weeds as it moves forward, and will not be covered by weeds and soil, thus affecting the weeding effect. The size of the inter-row weeding wheel is related to the row spacing of the planted crops. The inter-row weeding wheel can be replaced according to different crops and agronomic requirements to better achieve inter-row weeding. If weeding is carried out in furrows, the inter-row weeding wheel can be replaced with a weeding shovel for easy furrow weeding.

[0058] This invention features a three-point suspension mechanism connecting two inter-row weeding contour-following mechanisms. Above these mechanisms is a reciprocating rolling inter-row weeding mechanism. This reciprocating rolling mechanism and the fixed-point spraying mechanism use a camera to detect the relative positions of crops and weeds, calculating when to control the mechanism to perform mechanical inter-row weeding and precise, small-volume weed control. Simultaneously, the row-to-row weeding mechanism removes weeds between rows, further reducing soil disturbance and damage to crop roots during inter-row weeding. This invention realizes the manufacturing of a mechanized agricultural weeding device, integrating visual recognition technology. It can simultaneously complete inter-row weeding, inter-row weeding, and precise, small-volume weed control. The reciprocating rolling inter-row weeding mechanism reduces soil disturbance and the amount of pesticide used, achieving intelligent weeding operations in agricultural machinery, improving the accuracy of weeding operations, and being more environmentally friendly.

Claims

1. A control method for a reciprocating rolling type omnidirectional intelligent weeding device, characterized in that: This reciprocating rolling all-around intelligent weeding device simultaneously performs weeding between rows and between plants of crops, as well as targeted spraying for weed control. It includes a row weeding mechanism, a reciprocating rolling inter-plant weeding mechanism, an inter-plant weeding contouring mechanism, a three-point suspension mechanism, a targeted spraying mechanism, and a control system. A camera is installed at the lower front end of the three-point suspension mechanism, which is fixedly connected to the inter-plant weeding contouring mechanism. The middle part of the inter-plant weeding contouring mechanism is fixedly connected to the reciprocating rolling inter-plant weeding mechanism, and the tail part of the inter-plant weeding contouring mechanism is fixedly connected to the row weeding mechanism. The nozzle of the targeted spraying mechanism is located behind the reciprocating rolling inter-plant weeding mechanism. The reciprocating rolling inter-plant weeding mechanism includes a motor support base, which is fixed to the middle of the inter-plant weeding contour mechanism. A pair of servo motors are mounted on the motor support base. Each servo motor shaft is connected to an eccentric disk located on the front panel of the motor support base. The eccentric disk is hinged to a short crank connecting rod of a crank-connecting rod assembly. The crank-connecting rod assembly consists of a long crank connecting rod hinged to the other end of the short crank connecting rod. A roller connecting rod is fixed to the lower end of the long crank connecting rod. A roller bracket passes through the center of the roller connecting rod. A compression spring is provided between the roller connecting rod and the roller bracket. Spikes are provided under the roller bracket. Rollers; a set of crank-connecting rods is located in front of the front panel of the motor support base. A frustum is set between the long crank-connecting rod of this set of crank-connecting rods and the front panel of the motor support base, separating the two sets of crank-connecting rods; two pairs of roller supports and spike rollers are arranged in a V-shape at an angle; when the servo motor drives the spike rollers to rotate left and right, the spike rollers are subjected to downward pressure by the compression spring, so that the rows of spikes on the spike rollers are evenly inserted into the soil between plants, destroying the stems and leaves of weeds and killing the weeds between plants; the calculation formula for the swing amplitude of the reciprocating rolling inter-plant weeding mechanism during operation is as follows: Where, θ s The oscillation amplitude of the reciprocating roller-type inter-plant weeding mechanism during operation; w r H is the protection radius of crops during weeding operations. m h is the ground clearance of the central rotating shaft of the long crank connecting rod in the reciprocating roller-type inter-plant weeding mechanism; i The height of the top leaves of the crop above the ground; The reciprocating rolling all-around intelligent weeding device achieves inter-plant weeding control method: When controlling the movement of the reciprocating rolling inter-plant weeding mechanism, the crop protection radius control parameters are planned in advance based on the current crop type and growth stage. The control parameters include the crop protection radius, which is set to prevent damage to the crop during the reciprocating motion of the long crank connecting rod. The crop protection radius is a circle drawn with the crop stem as the center. When the long crank connecting rod performs the seedling avoidance action, it avoids the area within the crop protection radius to prevent damage to the crop. After setting the crop protection radius in the control system, the average growth height of the crop and the height parameters of the reciprocating rolling inter-plant weeding mechanism are input. The control system calculates the swing amplitude of the reciprocating rolling inter-plant weeding mechanism during operation, which serves as the control basis during the weeding operation to achieve precise seedling avoidance. After obtaining the oscillation amplitude of the reciprocating rolling inter-plant weeding mechanism during operation, the control system calculates the servo motor speed based on the current forward speed of the weeding device, the crop planting spacing, the number of pulses per revolution of the servo motor, and the step angle of the servo motor. For each revolution of the servo motor, the long crank connecting rod and the spiked roller oscillate left and right once and return to their original positions. During operation, the servo motor rotates half a revolution, and the long crank connecting rod and the spiked roller oscillate left or right once, completing one inter-plant weeding cycle. This speed is the minimum speed of the servo motor during oscillation. The formula for calculating the servo motor speed is as follows: Where Sr is the servo motor speed, in rad / s; θ s θ represents the oscillation amplitude of the reciprocating roller-type inter-plant weeding mechanism during operation, expressed in degrees. a 1 is the step angle of the servo motor, in degrees; P is the encoder resolution, i.e., the number of pulses per revolution; S is the forward speed of the weeding device, in m / s; D is the planting spacing of the crops, in meters.

2. The control method for the reciprocating rolling omnidirectional intelligent weeding device according to claim 1, characterized in that: The compression spring has two ends in contact with the roller connecting rod and the square plane of the roller bracket, respectively, providing downward pressure to the spiked roller. Bristles are embedded in the curved surface below the roller bracket, contacting the spikes of the spiked roller. As the spiked roller rotates, the bristles remove debris adhering to the spike surface. Several rows of spikes are evenly distributed on the surface of the spiked roller, creating a dense distribution. Different numbers and lengths of spiked rollers are used for weeding depending on the type of dryland crop. A motor bracket is mounted on the motor support base. The motor bracket, servo motor, eccentric disc, and motor coupling are coaxially connected. When the servo motor rotates, it drives the eccentric disc to rotate, which in turn drives the crank-connecting rod assembly to reciprocate left and right, thus rotating the roller bracket and spiked roller left and right for weeding between plants.

3. The control method for the reciprocating rolling omnidirectional intelligent weeding device according to claim 2, characterized in that: The inter-plant weeding contour mechanism includes a four-bar front support, a four-bar long rod, a four-bar rear support, a tension spring, individual supports, a depth limiting wheel, a depth adjustment rod, a weeding device limiting plate, and a camera. The four-bar front support, four-bar rear support, and four-bar long rod are connected by bolts. The upper tension spring support is installed above the four-bar long rod, and the lower tension spring support is installed below the four-bar long rod. Hooks at both ends of the tension spring are connected to the hooks of the upper and lower tension spring supports, respectively. The two individual supports are connected to the left and right sides of the four-bar rear support by bolts. Each individual support is connected to the upper end of the depth limiting arm by a pin. The weeding device limiting plate is installed... Located at the center of the rear end of two individual support units; the lower end of the depth limiting arm is connected to the depth limiting wheel via a pin; the depth adjustment rod is connected to the insertion hole at the rear end of the individual support unit via a pin; the depth adjustment plug is connected to the weeding device limiting plate via a hole and bolts; the weeding depth is adjusted by adjusting the holes at different positions; the camera bracket is connected to the four-bar front support via a U-shaped buckle and bolts; the bottom of the camera is fixedly connected to the camera bracket via bolts; the camera lens is perpendicular to the ground; the camera is responsible for collecting information on the location of weeds and crop plants on the ground, providing information for the weeding and spraying actions of the reciprocating rolling inter-plant weeding mechanism and the fixed-point spraying mechanism.

4. The control method for the reciprocating rolling omnidirectional intelligent weeding device according to claim 3, characterized in that: The fixed-point spraying mechanism includes a nozzle and a medicine tank. The nozzle is installed below the motor support base and is fixedly connected by bolts. The nozzle has a built-in solenoid valve, which is controlled by the control system to accurately control the spraying amount and time. The nozzle and the medicine tank are connected by a hose. The medicine tank is equipped with an ultrasonic sensor to measure and monitor the liquid level in the medicine tank. After the camera identifies the location of weeds, the control system sends a command to the fixed-point spraying mechanism based on the vehicle speed and action delay to control the solenoid valve to open and close, thereby achieving precise fixed-point spraying.

5. The control method for the reciprocating rolling omnidirectional intelligent weeding device according to claim 4, characterized in that: The inter-row weeding mechanism includes an inter-row weeding wheel bracket and an inter-row weeding wheel. The inter-row weeding wheel is located in the middle of the inter-row weeding wheel bracket, and both ends of the inter-row weeding wheel are connected to the inter-row weeding wheel bracket via pins and bearings. The side of the inter-row weeding wheel bracket is fixedly connected to the side of the inter-plant weeding contour mechanism via bolts. The entire inter-row weeding mechanism is located between two inter-plant weeding contour mechanisms and is used to remove weeds between two rows of crops. Several comb teeth are welded to the surface of the inter-row weeding wheel, and several comb teeth are also distributed inside the inter-row weeding wheel bracket. The positions of the comb teeth inside the inter-row weeding wheel bracket and the positions of the comb teeth on the surface of the inter-row weeding wheel are staggered, with a distance between the comb teeth, so that the two sets of comb teeth will not collide during operation.

6. The control method for the reciprocating rolling omnidirectional intelligent weeding device according to claim 5, characterized in that: The three-point suspension mechanism includes a crossbar, a three-point suspension base frame, a three-point suspension upper bracket, and a medicine box bracket. The three-point suspension base frame and the three-point suspension upper bracket are vertically installed and connected by bolts. The two ends of the reinforcing connector are respectively connected to the three-point suspension base frame and the three-point suspension upper bracket by bolts. The three-point suspension base frame and the crossbar are connected by bolts through U-shaped buckles. The medicine box bracket is perpendicular to the crossbar, and the bottom of the medicine box is fixedly connected to the upper plane of the medicine box bracket by bolts.

7. The control method for the reciprocating rolling omnidirectional intelligent weeding device according to claim 6, characterized in that: The three-point suspension mechanism is fixedly connected to the inter-row weeding contouring mechanism via U-shaped buckles. The middle part of the inter-row weeding contouring mechanism is fixedly connected to the reciprocating rolling inter-row weeding mechanism via bolts. The tail part of the inter-row weeding contouring mechanism is fixedly connected to the row weeding mechanism via bolts. The inter-row weeding contouring mechanism is fixedly connected to the fixed-point spraying mechanism behind the reciprocating rolling inter-row weeding mechanism via bolts. The row weeding mechanism and the inter-row weeding contouring mechanism are connected by axle pins.

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