Self-adaptive weeding robot

Abstract

The invention provides a self-adaptive weeding robot, and relates to the technical field of agricultural intelligent equipment. The self-adaptive weeding robot comprises a robot body, a lifting type moving platform, a self-adaptive weeding platform, an intelligent sensing system and an energy management platform. Wherein the lifting type mobile platform is connected with the robot main body; the self-adaptive weeding system comprises a weeding module, a laser weeding module and a grass shoveling and raking module, and one or more of the weeding module, the laser weeding module and the grass shoveling and raking module are detachably connected with the robot body; the intelligent sensing system comprises a depth camera, a laser radar, an antenna, a GPS positioner and an ultrasonic sensor. The depth camera, the laser radar, the antenna, the GPS positioner and the ultrasonic sensor are all connected with the robot body. The energy management platform is connected with the robot body. The self-adaptive weeding robot can adapt to height changes of crops in different growth stages, and is high in weeding accuracy, good in weeding effect, high in weeding efficiency and low in labor cost.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural intelligent equipment, and particularly relates to an adaptive weeding robot. Background Art

[0002] As an important traditional Chinese medicine, Platycodon grandiflorum is extremely vulnerable to weed competition during its growth period, which in turn restricts the normal growth of Platycodon grandiflorum seedlings and the final yield. Therefore, quickly and efficiently removing weeds has become one of the key links in the field management of Platycodon grandiflorum.

[0003] Currently, the traditional weeding methods mainly include two ways: manual weeding and chemical herbicide weeding. Manual weeding is inefficient and labor-intensive, making it difficult to meet the needs of large-scale planting; while chemical weeding, although alleviating the labor shortage problem to a certain extent, may cause phytotoxicity to Platycodon grandiflorum seedlings, and at the same time cause soil pollution after long-term use, affecting ecological safety.

[0004] In recent years, with the development of laser weeding technology, this method has gradually attracted attention in the field of agricultural automation due to its advantages of non-contact, precise and efficient, and environmentally friendly. However, the existing laser weeding devices still have deficiencies. In particular, it is difficult to adapt to the height changes of crops at different growth stages. The traditional fixed laser weeding equipment lacks an effective height adjustment function, resulting in insufficient weeding accuracy and unstable operation effects. In addition, the single laser weeding mode has limited effects on weeds with developed roots or weeds growing close to the ground, making it difficult to completely remove weeds and there are operation blind spots.

[0005] Therefore, there is a need to provide a new adaptive weeding robot that can adapt to the height changes of crops at different growth stages, improve weeding accuracy, increase weeding modes, enhance weeding effects, improve weeding efficiency, and reduce labor costs. Summary of the Invention

[0006] The purpose of the present invention is to provide an adaptive weeding robot to solve the problems of the existing weeding robots that cannot adapt to the height changes of crops at different growth stages, have poor weeding accuracy, poor weeding effects, low weeding efficiency, and high labor costs.

[0007] The present invention provides an adaptive weeding robot, which includes a robot main body, a lifting mobile platform, an adaptive weeding platform, an intelligent sensing system, and an energy management platform; wherein, the lifting mobile platform is connected to the robot main body; the adaptive weeding system includes a weeding module, a laser weeding module, and a shoveling and raking weeding module, and one or more of the weeding module, the laser weeding module, and the shoveling and raking weeding module are detachably connected to the robot main body; the intelligent sensing system includes a depth camera, a lidar, an antenna, a GPS locator, and an ultrasonic sensor, and the depth camera, the lidar, the antenna, the GPS locator, and the ultrasonic sensor are all connected to the robot main body; the energy management platform is connected to the robot main body.

[0008] In this way, the adaptive weeding robot provided by this application is provided with a lifting mobile platform, which can adjust the height of the robot main body according to the elongation height of the crops to meet the operation requirements of different growth stages of the crops; the adaptive weeding robot provided by this application is also provided with multiple weeding modules and has multiple weeding modes. The weeding module is suitable for removing large weeds, the laser weeding module is suitable for removing small weeds, and the shoveling and raking weeding module is suitable for cleaning the remaining weeds in the ground-growing fields, removing the remaining roots of the weeds, and realizing the soil loosening operation; the adaptive weeding robot provided by this application is also provided with an intelligent sensing system, which can sense the environment in real time and locate the weeds to achieve precise operation control; the energy management platform is used to provide power supply to ensure that the adaptive weeding robot can operate continuously and stably.

[0009] Further, the robot main body includes a box cover, a box body, and a first quick-change connector. The box cover and the box body are fixedly connected by bolts. Multiple holes are provided at the bottom of the box body, and a first quick-change connector is fixedly installed at each hole by bolts; the weeding module, the laser weeding module, and the shoveling and raking weeding module all include a second quick-change connector, and the second quick-change connector is detachably connected to the first quick-change connector.

[0010] In this way, one or more of the weeding module, the laser weeding module, and the shoveling and raking weeding module can be selected according to actual needs and installed on the robot main body through a quick-change joint. The setting of the quick-change joint is beneficial to improving the operation efficiency, and the modular design is beneficial to enhancing the field adaptability of the adaptive weeding robot.

[0011] Further, the weeding module includes a second quick-change connector, a cylinder fixing member, a cylinder, a push rod, a protective housing for the manipulator rotation motor, a rotation motor, a mechanical gripper connector, a mechanical gripper fixing bracket, a first mechanical gripper, a mechanical gripper servo, a second mechanical gripper, a fixing nut, a fourth fixing bolt, and a first connecting bolt. The cylinder is fixedly connected to the second quick-change connector through the cylinder fixing member. The output end of the cylinder is connected to the push rod. The end of the push rod is provided with the protective housing for the manipulator rotation motor. The rotation motor is installed inside the protective housing for the manipulator rotation motor. The output end of the rotation motor is connected to the mechanical gripper connector. The mechanical gripper fixing bracket is installed on the mechanical gripper connector through bolts. Two groups of first mechanical grippers are installed at the upper and lower ends of the mechanical gripper fixing bracket through fixing nuts. The mechanical gripper servo is installed in the center of the mechanical gripper fixing bracket and is used to drive the opening and closing movement of the first mechanical gripper. At least one group of second mechanical grippers is installed between the two groups of first mechanical grippers. The two groups of first mechanical grippers and the second mechanical grippers are fixedly connected through the fourth fixing bolt and the first connecting bolt. The rotation motor, the cylinder, and the mechanical gripper servo are all electrically connected to the intelligent perception system.

[0012] In this way, the mechanical weeding method is adopted to completely remove the roots of large weeds and reduce the risk of regrowth.

[0013] Further, the laser weeding module includes a second quick-change connector, a bolt fixing member, a second connecting bolt, a first pan servo, a first pan connecting plate, a third connecting bolt, a first servo transmission member, a second servo transmission member, a second tilt servo, a servo bracket, a laser head bracket, a laser head, a second tilt connecting plate, a third tilt connecting plate, and a pedestal bearing. The second quick-change connector is connected to the bolt fixing member through bolts. The bolt fixing member is connected to the first pan connecting plate through the second connecting bolt. The first pan servo is installed on the first pan connecting plate. The second tilt connecting plate is connected to the first pan connecting plate through the third connecting bolt. A pedestal bearing is installed between the second tilt connecting plate and the third tilt connecting plate. One end of the first servo transmission member is connected to the output end of the first pan servo, and the other end of the first servo transmission member is connected to one side of the third tilt connecting plate. The servo bracket is connected to the other side of the third tilt connecting plate. The second tilt servo is installed on the servo bracket. One end of the second servo transmission member is connected to the output end of the second tilt servo, and the other end of the second servo transmission member is connected to the laser head bracket. The laser head is installed on the laser head bracket.

[0014] In this way, the precise non-contact removal of small weeds is achieved through the laser burning mode, avoiding damage to crop seedlings.

[0015] Furthermore, the shoveling and raking grass module includes a second quick-change connector, a lead screw motor, a lead screw motor support plate, an elastic coupling, a third connecting bolt, an upper connecting plate, a lead screw fixing seat, a lead screw, rake teeth, a lower connecting plate, a vibration motor, a shovel, a shock-absorbing spring, a shovel connecting frame, a lead screw slide, and a rake tooth connecting frame. The second quick-change connector is connected to the fixed end of the lead screw motor. The lead screw motor support plate and the upper connecting plate are fixed by the third connecting bolt. The lead screw motor is fixedly installed on the lead screw motor support plate. The output end of the lead screw motor is connected to the elastic coupling. The elastic coupling is connected to the lead screw. The upper and lower ends of the lead screw are respectively fixed between the upper connecting plate and the lower connecting plate through the lead screw fixing seat. The lead screw passes through the lead screw slide and is threadedly connected to the lead screw slide. The lead screw slide is provided with a shovel connecting frame and a rake tooth connecting frame. The shovel connecting frame is located at the front side, and the rake tooth connecting frame is located at the rear side. A shovel is installed on the shovel connecting frame. A shock-absorbing spring is installed between the shovel and the shovel connecting frame. Rake teeth are fixed on the rake tooth connecting frame. A vibration motor is installed at the lower end of the lead screw slide. The output end of the vibration motor is connected to the lower connecting plate.

[0016] In this way, the shoveling and raking grass module thoroughly clears the residual weeds close to the ground, effectively loosens the soil, reduces the probability of weed regrowth, and improves the soil environment.

[0017] Furthermore, the lifting mobile platform includes four groups of lifting mechanisms. The four groups of lifting mechanisms are respectively connected to the robot main body. Each group of lifting mechanisms includes a frame rod, wheels, a wheel motor fixing seat, and a wheel motor. A plurality of connection holes are provided at the top of the frame rod. At least one of the plurality of connection holes is selected to be connected to the robot main body. The wheel motor fixing seat is connected to the bottom of the frame rod. The wheel motor is connected to the wheel motor fixing seat. The wheels are connected to the wheel motor.

[0018] Furthermore, the lifting mechanism further includes a wheel motor protection housing, a mudguard, an upper end connecting member, a first fixing bolt, a middle end connecting member, a middle end supporting spring, a bottom end supporting spring, a bottom end connecting member, a wheel motor fixing seat, a wheel motor, a second fixing bolt, a first hydraulic damping connecting member, a second fixing bolt, a hydraulic damper, a second hydraulic damping connecting member, a third fixing bolt, and a bearing support; one end of the upper end connecting member is installed on the frame rod through the first fixing bolt, and the other end of the upper end connecting member is fixedly connected to the first hydraulic damping connecting member through a bolt; the first hydraulic damping connecting member is connected to the hydraulic damper through the second fixing bolt, the lower end of the hydraulic damper is connected to the second hydraulic damping connecting member, both ends of the second hydraulic damping connecting member are respectively connected to the bearing support, and the bearing support is installed and fixed on the side surface of the box body through the third fixing bolt; one end of the middle end connecting member is installed and fixed on the frame rod through the first fixing bolt, and the other end of the middle end connecting member is connected to the side surface of the box body through the second fixing bolt; the middle end supporting spring is installed in the middle of the middle end connecting member, and the upper end connecting member and the middle end connecting member can be selectively installed at different connecting holes on the frame rod in cooperation with the first fixing bolt; the bottom end connecting member is fixedly installed at the lower part of the frame rod in a screwing manner, and the bottom end supporting spring is nested and installed therein. The wheel is driven to rotate by the wheel motor, the wheel motor is installed and fixed on the wheel motor fixing seat, and the wheel motor fixing seat is tightly installed on the bottom end connecting member. A wheel motor protection housing is arranged outside the bottom end connecting member to effectively protect the wheel motor and the bottom end supporting spring, and a mudguard is further installed outside the wheel motor protection housing.

[0019] In this way, the lifting mobile platform of the present application is provided with a variety of shock absorption modules, which is beneficial to improving the running stability of the robot.

[0020] Furthermore, the lifting mobile platform further includes a warning light and a warning light support. The warning light is installed on the warning light support in a screwing manner, and the warning light support is fixed on the frame rod in a screwing manner.

[0021] In this way, the setting of the warning light is beneficial to providing real-time safety warnings during the operation of the robot.

[0022] Furthermore, the intelligent perception system includes a depth camera dust cover, a lidar dust cover, a lidar, an antenna, a GPS locator, an ultrasonic sensor, a depth camera fixing base, a depth camera rotating servo, a depth camera fixing frame, and a depth camera; the depth camera is installed and fixed within the depth camera fixing frame, and both sides of the depth camera fixing frame are respectively connected to the depth camera fixing base and the depth camera rotating servo; the depth camera rotating servo can drive the depth camera fixing frame and the depth camera to rotate up and down, and the depth camera fixing base is fixed to the box body by bolts; the lidar is fastened to the upper part of the box cover by bolts; the ultrasonic sensors are arranged around and at the bottom of the box body; the GPS locator and the antenna are installed and fixed on the back of the box body; the depth camera and the lidar are respectively equipped with a depth camera dust cover and a lidar dust cover.

[0023] In this way, the intelligent perception system is reasonably arranged and installed on the robot body. The depth camera is used for visual detection to identify weeds and crops during the operation. The lidar is used for long-distance environmental scanning, target detection, and path planning. The ultrasonic sensors are used to detect nearby obstacles and achieve precise obstacle avoidance; at the same time, the ultrasonic sensors are also used to measure the softness of the soil surface layer to dynamically adjust the downward pressure of the shovel and rake in real time, improving the weed cleaning efficiency and soil treatment effect. The GPS locator and the antenna are used to provide real-time precise positioning information to assist the robot in precise navigation and operation trajectory planning. The settings of the depth camera dust cover and the lidar dust cover can effectively avoid the influence of external environmental factors such as mud, dust, and water vapor on the equipment performance, ensuring the stable operation of the robot in the complex farmland environment.

[0024] Furthermore, the energy management platform includes a solar panel, a telescopic bracket, a charging interface, and a solar panel support frame. The solar panel is fixed to the solar panel support frame by bolts, the solar panel support frame is connected to the telescopic bracket, the telescopic bracket is fixed to the box cover by bolts, and the telescopic bracket and the solar panel support frame together form a triangular structure; the charging interface is installed on the box body by bolts, and a lithium battery is provided inside the robot body, and the lithium battery is electrically connected to the solar panel.

[0025] In this way, the energy management platform includes a charging system for the lithium battery and the solar panel, which can achieve intelligent energy distribution and management, dynamically adjust the power output, extend the battery life, and meet the energy requirements of the robot in the long-term farmland operation environment.

[0026] The adaptive weeding robot provided by the present invention can adapt to the height changes of crops at different growth stages, has high weeding accuracy, good weeding effect, high weeding efficiency, and low labor cost. It is particularly suitable for weeding operations in platycodon grandiflorum seedling fields, and can effectively improve the field management efficiency and yield of platycodon grandiflorum cultivation.

[0027] Based on the implementation manners provided in the above aspects, the present application can be further combined to provide more implementation manners. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0029] Figure 1 Schematic diagram of the three-dimensional structure of the adaptive weeding robot provided by an optional embodiment of the present invention;

[0030] Figure 2 Rear view of the adaptive weeding robot provided by an optional embodiment of the present invention;

[0031] Figure 3 Schematic diagram of the bottom structure of a part of the structure of the adaptive weeding robot provided by an optional embodiment of the present invention;

[0032] Figure 4 For Figure 1 Schematic diagram of the structure of the lifting mobile platform of the adaptive weeding robot in

[0033] Figure 5 For Figure 1 Schematic diagram of the structure of the weeding module of the adaptive weeding robot in

[0034] Figure 6 For Figure 5 Schematic diagram of the structure of the mechanical gripper of the weeding module in

[0035] Figure 7 For Figure 1 Schematic diagram of the structure of the laser weeding module of the adaptive weeding robot in

[0036] Figure 8 For Figure 7 Schematic diagram of the connection structure of the second pan-tilt connecting plate, the third pan-tilt connecting plate and the pedestal bearing of the laser weeding module in

[0037] Figure 9 For Figure 1 Schematic diagram of the structure of the shoveling and raking weeding module of the adaptive weeding robot in

[0038] Figure 10 Schematic diagram of the connection structure of the depth camera fixing seat, the depth camera rotating servo, the depth camera fixing frame and the depth camera of the intelligent perception system of the adaptive weeding robot provided by an optional embodiment of the present invention.

[0039] Reference numerals:

[0040] 1. Solar panel; 2. Telescopic bracket; 3. Box cover; 4. Box body; 5. Depth camera dust cover; 6. Manipulator rotating motor protection shell; 7. Wheel motor protection shell; 8. Fender; 9. Charging interface; 10. Lidar dust cover; 11. Lidar; 12. Antenna; 13. GPS locator; 14. Solar panel support frame; 15. Ultrasonic sensor; 16. First quick-change connector; 17. Warning light; 18. Warning light support; 19. Frame rod; 20. Upper connector; 21. First fixing bolt; 22. Middle connector; 23. Middle support spring; 24. Bottom support spring; 25. Bottom connector; 26. Wheel; 27. Wheel motor fixing seat; 28. Wheel motor; 29. Second fixing bolt; 30. First hydraulic damping connector; 31. Second fixing bolt; 32. Hydraulic damper; 33. Second hydraulic damping connector; 34. Third fixing bolt; 35. Bearing support; 36. Second quick-change connector; 37. Cylinder fixing part; 38. Cylinder; 39. Push rod; 40. Rotating motor; 41. Manipulator jaw connector; 42. Manipulator jaw fixing frame; 43. Fixing nut; 44. Fourth fixing bolt; 45. First connecting bolt; 46. Manipulator jaw servo; 47. First manipulator jaw; 48. Second manipulator jaw; 49. Bolt fixing part; 50. Second connecting bolt; 51. First pan servo; 52. First pan connecting plate; 53. Third connecting bolt; 54. First servo transmission part; 55. Second servo transmission part; 56. Second tilt servo; 57. Servo support; 58. Laser head support; 59. Laser head; 60. Second tilt connecting plate; 61. Third tilt connecting plate; 62. Pillow block bearing; 63. Lead screw motor; 64. Lead screw motor support plate; 65. Elastic coupling; 66. Third connecting bolt; 67. Upper connecting disk; 68. Lead screw fixing seat; 69. Lead screw; 70. Rake teeth; 71. Lower connecting disk; 72. Vibration motor; 73. Shovel; 74. Shock-absorbing spring; 75. Shovel connecting frame; 76. Lead screw slide; 77. Rake teeth connecting frame; 78. Depth camera fixing seat; 79. Depth camera rotating servo; 80. Depth camera fixing frame; 81. Depth camera. Detailed implementation manners

[0041] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art. Unless otherwise specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.

[0042] In Figures 1 to 10 the optional embodiment shown, the present application provides an adaptive weeding robot for the growth process of Platycodon grandiflorum, which includes a lifting mobile platform, an adaptive weeding system, an intelligent perception system, and an energy management platform. Among them, the lifting mobile platform can automatically adjust the operation height according to different growth stages of Platycodon grandiflorum to enhance the field adaptability; the intelligent perception system integrates a depth camera, a lidar, and ultrasonic sensors to accurately identify Platycodon grandiflorum seedlings and weeds, realizing intelligent identification, path optimization, and real-time obstacle avoidance; the adaptive weeding system consists of a weeding module, a laser weeding module, and a shovel weeding module, and can intelligently select the weeding, laser burning, or shovel weeding mode according to the weed type, growth state, and distribution situation identified by the intelligent perception system, realizing differential and multi-mode joint operations; the energy management platform combines a lithium battery and a solar charging system to realize intelligent energy allocation and meet the long-term field operation requirements of the robot. Through the above technical solutions, the present invention can achieve precise, efficient, and environmentally friendly automated weeding in a complex farmland environment.

[0043] The main body of the adaptive weeding robot for the growth process of Platycodon grandiflorum is composed of a box cover 3, a box body 4, and a first quick-change connector 16. The box cover 3 and the box body 4 are fixedly connected by bolts; a plurality of mounting holes are reserved on the surfaces of the box cover 3 and the box body 4 for subsequent equipment expansion and convenient installation of functional modules; six holes are provided at the bottom of the box body 4, and the first quick-change connector 16 is fixed by bolts to realize the quick replacement of each adaptive weeding module, effectively improving the modularity of the overall structure of the robot and the operation adaptability in different farmland environments.

[0044] The lifting mobile platform is composed of a wheel motor protection case 7, a mudguard 8, a warning light 17, a warning light support 18, a frame rod 19, an upper end connector 20, a first fixing bolt 21, a middle end connector 22, a middle end support spring 23, a bottom end support spring 24, a bottom end connector 25, a wheel 26, a wheel motor fixing seat 27, a wheel motor 28, a second fixing bolt 29, a first hydraulic damping connector 30, a second fixing bolt 31, a hydraulic damper 32, a second hydraulic damping connector 33, a third fixing bolt 34, and a bearing support 35. Among them, the warning light 17 is installed on the warning light support 18 by screwing, and the warning light support 18 is also fixed to the frame rod 19 by screwing, which is used to provide real-time safety warnings during the operation of the robot; the frame rod 19 is respectively connected to a hydraulic damping module, a middle end spring damping module, and a bottom end spring damping module. The three damping modules work together to form a hydraulic spring composite suspension system, which jointly enhances the stability and adaptability of the robot in a complex terrain environment.

[0045] In the hydraulic damping module, one end of the upper connecting member 20 is installed on the frame rod 19 through the first fixing bolt 21, and the other end is fixedly connected to the first hydraulic damping connecting member 30 through a bolt; the first hydraulic damping connecting member 30 is connected to the hydraulic damper 32 through the second fixing bolt 31, and the lower end of the hydraulic damper 32 is further connected to the second hydraulic damping connecting member 33. The two ends of the second hydraulic damping connecting member 33 are respectively connected to the bearing supports 35 to achieve the damping rotation and effective shock absorption functions. The bearing supports 35 are installed and fixed on the side of the box body 4 through the third fixing bolt 34, so as to ensure that the hydraulic damping module can absorb vibrations under different terrain conditions and significantly improve the running stability of the robot.

[0046] In the middle spring shock absorption module, one end of the middle connecting member 22 is installed and fixed on the frame rod 19 through the first fixing bolt 21, and the other end is connected to the side of the box body 4 through the second fixing bolt 29; the middle support spring 23 is installed in the middle of the middle connecting member 22 to effectively relieve the lateral impact of the robot and ensure the lateral stability. In addition, the upper connecting member 20 and the middle connecting member 22 can be selectively installed at different hole positions on the frame rod 19 with the first fixing bolt 21, so as to realize the function of adjustable lifting height of the mobile platform and flexibly meet the operation height requirements at different stages of the growth process of the platycodon grandiflorum.

[0047] In the bottom spring shock absorption module, the bottom connecting member 25 is fixedly installed at the lower part of the frame rod 19 by screwing, and the bottom support spring 24 is nested inside it to form a bottom buffer structure, further improving the adaptability of the robot to complex farmland terrain. The wheel 26 is driven to rotate by the wheel motor 28. The wheel motor 28 is installed and fixed on the wheel motor fixing seat 27, and the wheel motor fixing seat 27 is tightly installed on the bottom connecting member 25. A wheel motor protection shell 7 is provided outside the bottom connecting member 25 to effectively protect the wheel motor 28 and the bottom support spring 24; a mudguard 8 is also installed on the outside of the wheel motor protection shell 7 to prevent mud splashing from affecting the running stability of the robot. At the same time, the wheel 26 adopts an anti-slip tire design with deep anti-slip textures to effectively improve the friction and grip ability between the wheel and the farmland ground. Each component of the above structure is symmetrically arranged in four copies to jointly form a complete lifting mobile platform.

[0048] The frame rod 19 adopts a composite structure design combining aluminum alloy and carbon fiber materials, which not only ensures the overall structural strength of the robot but also significantly reduces the weight, meeting the high reliability requirements for long-term field operations. The hydraulic spring composite suspension system can weaken the impact and vibration from the ground through the coordinated action of the hydraulic damper and the double springs, enabling the robot to still operate stably in a complex farmland environment. In addition, the height of the lifting chassis structure can be accurately adjusted according to the operation requirements and can be applicable to different farmland operation conditions at each stage from the seedling stage to the growth stage of the platycodon grandiflorum.

[0049] The adaptive weeding system consists of a manipulator rotating motor protective housing 6, a second quick-change connecting piece 36, a cylinder fixing piece 37, a cylinder 38, a push rod 39, a rotating motor 40, a mechanical gripper connecting piece 41, a mechanical gripper fixing bracket 42, a fixing nut 43, a fourth fixing bolt 44, a first connecting bolt 45, a mechanical gripper servo 46, a first mechanical gripper 47, a second mechanical gripper 48, a bolt fixing piece 49, a second connecting bolt 50, a first pan servo 51, a first pan connecting plate 52, a third connecting bolt 53, a first servo transmission piece 54, a second servo transmission piece 55, a second pan servo 56, a servo bracket 57, a laser head bracket 58, a laser head 59, a second pan connecting plate 60, a third pan connecting plate 61, a pedestal bearing 62, a lead screw motor 63, a lead screw motor support plate 64, an elastic coupling 65, a third connecting bolt 66, an upper connecting plate 67, a lead screw fixing seat 68, a lead screw 69, harrow teeth 70, a lower connecting plate 71, a vibration motor 72, a shovel 73, a shock-absorbing spring 74, a shovel connecting frame 75, a lead screw slide 76 and a harrow tooth connecting frame 77. It adopts an operation mode of "front-end mechanical weeding - mid-end laser burning - rear-end shoveling and raking cleaning". The three modules cooperate with each other to improve the overall efficiency and quality of the weeding operation.

[0050] In the front-end weeding module, the cylinder 38 is fixedly connected to the second quick-change connecting piece 36 through the cylinder fixing piece 37, and the cylinder 38 drives the push rod 39 to move up and down. The end of the push rod 39 is installed with the manipulator rotating motor protective housing 6, and the rotating motor 40 is installed inside the housing, which can avoid external soil and dust interference and improve the motor stability. The output end of the rotating motor 40 transmits power through the mechanical gripper connecting piece 41; the mechanical gripper fixing bracket 42 is installed on the mechanical gripper connecting piece 41 by bolts. Two groups of first mechanical grippers 47 are installed at the upper and lower ends of the mechanical gripper fixing bracket 42, and the mechanical gripper servo 46 is installed in the center of the mechanical gripper fixing bracket 42 to drive the first mechanical gripper 47 to open and close. Two groups of second mechanical grippers 48 are also installed in the middle of the first mechanical gripper 47 to increase the contact area with the weeds. When the front-end intelligent sensing system identifies large weeds with well-developed roots, the mechanical grippers precisely grip their roots, and through the rotating and vertically upward pulling action, the weeds are completely uprooted to avoid weed regrowth.

[0051] In the mid-end laser weeding module, the second quick-change connecting piece 36 is fixed to the bolt fixing piece 49 by bolts, and the latter is connected to the first pan tilt connecting plate 52 by the second connecting bolt 50. The first pan tilt servo 51 is installed on the first pan tilt connecting plate 52. The second pan tilt connecting plate 60 is connected to the first pan tilt connecting plate 52 by the third connecting bolt 53. A pedestal bearing 62 is installed between the second pan tilt connecting plate 60 and the third pan tilt connecting plate 61. One end of the first servo transmission piece 54 is connected to the output end of the first pan tilt servo 51, and the other end of the first servo transmission piece 54 is connected to one side of the third pan tilt connecting plate 61. The servo bracket 57 is connected to the other side of the third pan tilt connecting plate 61. The second pan tilt servo 56 is installed on the servo bracket 57. One end of the second servo transmission piece 55 is connected to the output end of the second pan tilt servo 56, and the other end of the second servo transmission piece 55 is connected to the laser head bracket 58; the laser head 59 is installed on the laser head bracket 58. In this way, the first pan tilt servo 51 controls the horizontal rotation of the third pan tilt connecting plate 61 relative to the second pan tilt connecting plate 60 through the first servo transmission piece 54, realizing the 270° horizontal rotation function of one axis. The third pan tilt connecting plate 61 drives the servo bracket 57, the second pan tilt servo 56, the second servo transmission piece 55, the laser head bracket 58 and the laser head 59 to rotate horizontally synchronously. The second pan tilt servo 56 drives the laser head bracket 58 through the second servo transmission piece 55 to realize the 180° pitch adjustment in the vertical direction; the laser head 59 is installed on the laser head bracket 58, and the laser head bracket 58 drives the laser head 59 to pitch and adjust, and can automatically adjust the laser power, focal length and angle according to the position, size and type of weeds, accurately aiming at the root of the weeds for burning, improving the weeding accuracy and reducing the energy consumption.

[0052] In the rear-end shovel and rake weeding module, the second quick-change connecting piece 36 fixes the lead screw motor support plate 64 and the upper connecting plate 67 through the third connecting bolt 66. The lead screw motor 63 is fixedly installed on the lead screw motor support plate 64. The output end of the lead screw motor 63 is connected to the elastic coupling 65 to drive the lead screw 69 to rotate. The upper and lower ends of the lead screw 69 are respectively fixed between the upper connecting plate 67 and the lower connecting plate 71 through the lead screw fixing seats 68. A total of four groups of lead screw assemblies are provided and are evenly distributed at 360°. The lead screw 69 penetrates and drives the lead screw slide 76 to move up and down; the shovel blade connecting frame 75 and the rake tooth connecting frame 77 are stacked on top of the lead screw slide 76 in sequence. The shovel blade connecting frame 75 is located at the front side, and the rake tooth connecting frame 77 is located at the rear side. The shovel blade 73 is installed on the shovel blade connecting frame 75. A shock-absorbing spring 74 is installed between the shovel blade 73 and the shovel blade connecting frame, and the angle can be adjusted to adapt to soils of different hardnesses, effectively removing the residual weeds close to the ground. The rake teeth 70 are fixed on the rake tooth connecting frame 77, and cooperate with the shovel blade 73 to jointly clean the residual weeds and debris, thoroughly optimizing the soil environment and reducing the possibility of weed regrowth. A vibration motor 72 is installed at the lower end of the lead screw slide 76 to loosen the soil through vibration, improve the air permeability of the crop roots, and promote the growth of the rootstock.

[0053] Each module of the adaptive weeding system is used in conjunction with the first quick-change connector 16 on the robot body through the second quick-change connector 36. Different operation modules can be quickly installed, replaced or combined to adapt to field operation requirements of various weed types and different growth stages, thereby realizing modular management and differentiated processing of weeding operations and effectively improving the weeding effect.

[0054] The intelligent sensing system consists of a depth camera dust cover 5, a laser radar dust cover 10, a laser radar 11, an antenna 12, a GPS locator 13, an ultrasonic sensor 15, a depth camera fixing seat 78, a depth camera rotating servo 79, a depth camera fixing frame 80 and a depth camera 81.

[0055] The depth camera 81 is installed and fixed in the depth camera fixing frame 80. The two sides of the depth camera fixing frame 80 are respectively connected to the depth camera fixing seat 78 and the depth camera rotating servo 79; the depth camera rotating servo 79 can drive the depth camera fixing frame 80 and the depth camera 81 to rotate up and down to dynamically adjust the visual detection angle and improve the accuracy of identifying weeds and platycodon seedlings during operation. The depth camera fixing seat 78 is fixed to the box body 4 by bolts to ensure the stable operation of the camera.

[0056] The laser radar 11 is bolted to the top of the box cover 3 and is used for long-distance environmental scanning, target detection and path planning. The ultrasonic sensors 15 are evenly arranged around the box and on the bottom, with 2 sensors installed on each side of the box and 1 on the back, for a total of 7, and 2 sensors installed on each side of the bottom, for a total of 8, to achieve close-range obstacle detection and precise obstacle avoidance; at the same time, the ultrasonic sensor 15 is also used to measure the softness of the soil surface to dynamically adjust the downward force of the shovel and rake in real time to improve the weed cleaning efficiency and soil treatment effect.

[0057] The GPS locator 13 and the antenna 12 are fixedly mounted on the back of the box 4 to provide real-time accurate positioning information to assist the robot in accurate navigation and operation trajectory planning.

[0058] The depth camera 81 and the laser radar 11 are respectively equipped with a depth camera dust cover 5 and a laser radar dust cover 10 to effectively prevent the influence of external environmental factors such as dirt, dust and water vapor on the performance of the equipment, ensuring the stable operation of the robot in the complex environment of the farmland.

[0059] The energy management platform consists of a solar panel 1, a telescopic bracket 2, a charging interface 9, and a solar panel support frame 14. There are a total of 4 solar panels 1, which are respectively installed on the left and right sides of the robot body, 2 on each side; each solar panel 1 is fixed to the solar panel support frame 14 by bolts. The solar panel support frame 14 is connected to the two telescopic brackets 2. By adjusting the telescopic length of the telescopic brackets 2, the installation angle of the solar panels 1 can be flexibly adjusted to increase the lighting area and improve the solar energy utilization rate. The telescopic brackets 2 are fixed to the box cover 3 by bolts and together with the solar panel support frame 14 form a stable triangular structure to ensure that the solar panels 1 operate stably and are evenly stressed under complex field conditions.

[0060] The charging interface 9 is installed on the box body 4 by bolts. The robot is powered by a 48V / 20Ah lithium battery. Combined with the charging system of the solar panel 1, it realizes intelligent energy distribution and management, dynamically adjusts the power output, extends the battery life, and meets the energy requirements of the robot in the long-term farm operation environment.

[0061] The adaptive weeding robot for Platycodon grandiflorum growth process provided by this application. The liftable mobile platform can be dynamically adjusted according to the actual height requirements at different growth stages of Platycodon grandiflorum, improving the field adaptability and operation flexibility; the platform adopts four-wheel drive and integrates a hydraulic spring composite suspension system combining hydraulic damping and spring shock absorption, improving the passability and stability of the robot on soft, muddy and uneven terrains. The adaptive weeding system consists of a front-end weeding module, a middle-end laser weeding module and a rear-end shovel and rake weeding module, which can automatically match multiple operation modes such as mechanical pulling, laser burning or mechanical shoveling and raking according to the types, growth states and distribution characteristics of weeds, realizing intelligent multi-mode joint operation; the front-end weeding module realizes the functions of weed clamping, rotation and pulling through a cylinder-driven mechanical claw, which can accurately pull out large weeds with well-developed roots and reduce the probability of weed regrowth; the middle-end laser weeding module drives the laser head to rotate horizontally through the first pan-tilt servo and drives the laser head to pitch through the second pan-tilt servo, accurately controlling the angle, focal length and power of the laser head to achieve non-contact precise burning of small weeds and avoid damaging Platycodon grandiflorum seedlings; the rear-end shovel and rake weeding module adjusts the angle of the shovel blade and the position of the rake teeth through a screw device, thoroughly removing the residual roots and leaves of weeds growing close to the ground and loosening the surface soil to optimize the root growth environment of crops. The intelligent perception system integrates a depth camera, a lidar and ultrasonic sensors to achieve accurate identification of weeds and Platycodon grandiflorum seedlings, and assist the robot in path planning and real-time obstacle avoidance, effectively improving the operation safety and intelligent level. The energy management platform adopts a power supply method combining lithium batteries and solar charging, dynamically optimizing the energy consumption distribution, improving the endurance ability and adapting to the demand of long-term continuous field operations. Through the coordinated cooperation of automation control technology, intelligent vision detection technology and multi-mode adaptive weeding technology, the present invention significantly improves the weed removal efficiency, accuracy and operation reliability, effectively reduces the manual operation intensity, and is applicable to the intelligent weeding operation scenarios in Platycodon grandiflorum seedling fields and other similar economic crop fields.

[0062] The present invention provides an adaptive weeding robot integrating multiple weeding methods such as laser, weeding and knife, shovel and rake weeding. The adjustable-height mobile platform is used to adapt to the field environment at different growth stages of Platycodon grandiflorum, improving the operation flexibility and stability. This robot integrates vision detection technology, can achieve accurate identification and differential treatment of Platycodon grandiflorum and weeds, and through a modular mechanical structure and an automatic control system, intelligently matches the weeding method according to the weed type, improving the operation accuracy and intelligent level. The present invention meets the requirements of efficient, accurate, environmental protection and low-pollution weeding in the process of Platycodon grandiflorum planting, is applicable to automated weeding operations in complex farmland environments, and has good application prospects and promotion value.

[0063] The working principle of the mechanical structure of the adaptive weeding robot provided by this application will be described in detail below:

[0064] 1. Liftable mobile platform

[0065] The robot drive system receives control instructions from the path planning algorithm, automatically adjusts the wheel speed, and realizes autonomous navigation. At the same time, according to the actual height of the Platycodon grandiflorum at the growth stage, the robot controls the lifting chassis to adjust the height in real time to ensure that the robot can adapt to the complex terrain of the field and the operation requirements of crops at different growth stages. The hydraulic damping module and spring shock absorption module in the hydraulic spring composite suspension system work together to absorb ground vibrations and ensure the stability and smoothness of the robot during driving.

[0066] 2. Adaptive weed control system

[0067] The weeding system adopts the operation mode of "front-end mechanical weeding - mid-end laser burning - back-end shoveling and rake cleaning" to complete the weeding operation in sequence. After the front-end weeding module uses the intelligent sensing system to accurately identify the location of large weeds with developed root systems, the mechanical claws accurately locate and clamp the target, and remove the weeds by the rotation of the mechanical claws and the vertical upward pulling action. The mid-end laser weeding module identifies the location of small weeds through visual detection and sends control instructions to the laser pan-tilt device. The pan-tilt automatically adjusts the irradiation angle, focal length and power of the laser head in real time to accurately locate and burn the roots of the weeds. The back-end shoveling and rake module is used to clean up the weed residues growing close to the ground. The weed roots are removed by the adjustable angle shovel, and the vibration device is used to loosen the soil; a rake is set behind the shovel to work with the shovel to loosen the soil surface and clean up small weed debris, further optimizing the crop growth environment. All three modules adopt a quick-change connection method, which can quickly replace or combine modules according to the actual situation of weeds in the field to meet different operation needs.

[0068] 3. Intelligent perception system

[0069] The robot is equipped with an intelligent perception system, including a depth camera, a lidar and an ultrasonic sensor, which can realize real-time environmental perception and weed positioning. The depth camera builds a real-time three-dimensional map, accurately identifies the spatial position of platycodon seedlings and weeds, and provides positioning support for the weeding module. The lidar realizes long-distance 360° scanning, identifies obstacles in the field, and plans the robot's navigation path in real time. The ultrasonic sensor is used to detect obstacles at close range to prevent the robot from colliding with crops, and measures the softness of the soil surface. According to the feedback signal, the downward pressure of the shovel and rake is dynamically adjusted to achieve precise operation control.

[0070] 4. Energy management platform

[0071] The robot monitors and adjusts the energy consumption of each module in real time through an energy management platform, rationally allocates power supply, and ensures the continuous and stable operation of the robot. The platform integrates a lithium battery power supply system and a solar charging module to provide energy guarantee for long-term operation; the robot also has the function of wireless charging or autonomous charging and energy replenishment with a supporting automatic charging pile to meet the continuous operation requirements of all-weather and unmanned field operations.

[0072] The beneficial effects of the present invention are as follows:

[0073] 1. Lifting mobile platform, improving field adaptability

[0074] The present invention adopts a lifting mobile platform, which can flexibly adjust the operation height to adapt to different growth stages of platycodon grandiflorum and complex farmland environments, and is especially suitable for precise operations from the seedling stage to the vigorous growth stage. The hydraulic spring composite suspension system of the platform has excellent terrain adaptability, can smoothly pass through complex farmlands such as soft and muddy fields, ridges or uneven terrains, and effectively guarantees the operation stability.

[0075] 2. Adaptive combined weeding system, improving precision and efficiency

[0076] The weeding system of the present invention adopts an operation mode of "front-end mechanical weeding - middle-end laser burning - rear-end shovel raking and cleaning", which can intelligently match the optimal weeding scheme for different weed types. The mechanical weeding method can completely remove the roots of large weeds and reduce the risk of regrowth; the laser burning mode can precisely and non-contact remove small weeds and avoid damaging crop seedlings; the rear-end shovel raking and weeding module can thoroughly clean the residual weeds close to the ground and effectively loosen the soil, reduce the probability of weed regrowth, and improve the soil environment. In addition, the weeding module has a quick replacement function to improve field adaptability.

[0077] 3. Intelligent perception system, improving operation safety and precision

[0078] The present invention integrates intelligent perception systems such as depth cameras, lidar, and ultrasonic sensors to achieve precise weed identification, crop protection, path optimization, and real-time obstacle avoidance, effectively avoiding accidental damage to crops and collision accidents. At the same time, it supports remote monitoring and intelligent management, reduces manual intervention, and improves the automation level of agricultural operations.

[0079] 4. Intelligent energy management platform, improving operation endurance

[0080] The present invention adopts an intelligent energy management platform, which organically combines lithium battery and solar charging technologies to achieve dynamic energy distribution and optimization of endurance. The robot also supports wireless charging or energy replenishment with an automatic charging pile, fully meeting the energy requirements of long-term and unmanned field operations, and enhancing the actual operation efficiency and application value of the equipment.

[0081] The present invention solves the problems of low accuracy, low efficiency and high labor costs existing in the current farmland weeding operation. Especially in the process of planting economic crops such as Platycodon grandiflorum, the traditional chemical weeding method can not only damage the Platycodon grandiflorum seedlings, but also cause ecological problems such as soil pollution. The manual weeding method has low efficiency and high labor intensity, and it is difficult to meet the needs of large-scale planting. The present invention proposes an adaptive weeding robot mechanical structure applicable to Platycodon grandiflorum seedling fields, including a lifting mobile platform, an adaptive weeding system, an intelligent perception system and an energy management platform. Among them, the lifting mobile platform can automatically adjust the operation height according to different growth stages of Platycodon grandiflorum to enhance the field adaptability; the intelligent perception system accurately identifies Platycodon grandiflorum seedlings and weeds by integrating a depth camera, a lidar and ultrasonic sensors, and realizes intelligent identification, path optimization and real-time obstacle avoidance; the adaptive weeding system consists of a front-end weeding module, a middle-end laser weeding module and a rear-end shoveling and raking weeding module, which can intelligently select the pulling, laser burning or shoveling and raking removal modes according to the weed types, growth states and distribution conditions identified by the vision detection device, and realize differential and multi-mode joint operations; the energy management platform combines a lithium battery with a solar charging system to realize intelligent energy allocation and meet the long-term field operation requirements of the robot. Through the above technical solutions, the present invention can achieve precise, efficient and environmentally friendly automatic weeding in a complex farmland environment, and effectively improve the field management efficiency and yield of Platycodon grandiflorum planting.

[0082] As described above, the above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

[0083] Unless otherwise defined, the technical terms or scientific terms used in this disclosure should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The "first", "second" and similar terms used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, the terms such as "a", "an" or "the" do not indicate a quantity limitation, but indicate the existence of at least one. The terms such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "up", "down", "left" and "right" are only used to indicate relative positional relationships, and when the absolute position of the object to be described changes, the relative positional relationship may also change accordingly.

Claims

1. An adaptive weeding robot, characterized in that: It includes a robot body, a lifting mobile platform, an adaptive weeding platform, an intelligent sensing system and an energy management platform; Wherein, the lifting mobile platform is connected to the robot body; The adaptive weeding system comprises a weeding module, a laser weeding module and a shoveling and raking module, and one or more of the weeding module, the laser weeding module and the shoveling and raking module are selected to be detachably connected to the robot body; The intelligent perception system comprises a depth camera (81), a laser radar (11), an antenna (12), a GPS locator (13) and an ultrasonic sensor (15), wherein the depth camera (81), the laser radar (11), the antenna (12), the GPS locator (13) and the ultrasonic sensor (15) are all connected to the robot body; The energy management platform is connected to the robot body.

2. The adaptive weeding robot according to claim 1, characterized in that: The robot body comprises a box cover (3), a box body (4) and a first quick-change connector (16); the box cover (3) and the box body (4) are fixedly connected by bolts; a plurality of holes are provided at the bottom of the box body (4); and one of the first quick-change connectors (16) is fixed at each hole by bolts; The weeding module, the laser weeding module and the shoveling and raking module all comprise a second quick-change connecting piece (36), and the second quick-change connecting piece (36) is detachably connected to the first quick-change connecting piece (16).

3. The adaptive weeding robot according to claim 2, characterized in that: The weeding module comprises a second quick-change connector (36), a cylinder fixing member (37), a cylinder (38), a push rod (39), a manipulator rotating motor protective shell (6), a rotating motor (40), a mechanical clamping claw connector (41), a mechanical clamping claw fixing frame (42), a first mechanical clamping claw (47), a mechanical clamping claw steering gear (46), a second mechanical clamping claw (48), a fixing nut (43), a fourth fixing bolt (44) and a first connecting bolt (45); the cylinder (38) is fixedly connected to the second quick-change connector (36) through the cylinder fixing member (37); the output end of the cylinder (38) is connected to the push rod (39); the manipulator rotating motor protective shell (6) is installed at the end of the push rod (39); the rotating motor (40) is installed in the manipulator rotating motor protective shell (6); the output end of the rotating motor (40) is connected to the push rod (39); the output end of the push rod (39 ... The end is connected to the mechanical clamp connecting piece (41), the mechanical clamp fixing frame (42) is installed on the mechanical clamp connecting piece (41) by bolts, the upper and lower ends of the mechanical clamp fixing frame (42) are installed with two groups of first mechanical clamps (47) by fixing nuts (43), the mechanical clamp servo (46) is installed in the center of the mechanical clamp fixing frame (42), the mechanical clamp servo (46) is used to drive the first mechanical clamp (47) to open and close, at least one group of second mechanical clamp (48) is installed between the two groups of first mechanical clamps (47), and the two groups of first mechanical clamps (47) and the second mechanical clamp (48) are fixedly connected by a fourth fixing bolt (44) and a first connecting bolt (45); the rotating motor (40), the cylinder (38) and the mechanical clamp servo (46) are all electrically connected to the intelligent sensing system.

4. The adaptive weeding robot according to claim 1, characterized in that: The laser weeding module comprises a second quick-change connector (36), a bolt fixing member (49), a second connecting bolt (50), a first pan-tilt steering gear (51), a first pan-tilt connecting plate (52), a third connecting bolt (53), a first steering gear transmission member (54), a second steering gear transmission member (55), a second pan-tilt steering gear (56), a steering gear bracket (57), a laser head bracket (58), a laser head (59), a second pan-tilt connecting plate (60), a third pan-tilt connecting plate (61) and a seat bearing (62); The second quick-change connecting member (36) is connected to the bolt fixing member (49) via a bolt, the bolt fixing member (49) is connected to the first pan-tilt connecting plate (52) via a second connecting bolt (50), the first pan-tilt connecting plate (52) is mounted with a first pan-tilt servo (51), the second pan-tilt connecting plate (60) is connected to the first pan-tilt connecting plate (52) via a third connecting bolt (53), a seat bearing (62) is mounted between the second pan-tilt connecting plate (60) and the third pan-tilt connecting plate (61), one end of the first servo transmission member (54) The first servo transmission member (54) is connected to the output end of the first servo motor (51), the other end of the first servo transmission member (54) is connected to one side of the third servo connection plate (61), the servo bracket (57) is connected to the other side of the third servo connection plate (61), the second servo motor (56) is installed on the servo bracket (57), one end of the second servo transmission member (55) is connected to the output end of the second servo motor (56), the other end of the second servo transmission member (55) is connected to the laser head bracket (58); the laser head (59) is installed on the laser head bracket (58).

5. The adaptive weeding robot according to claim 1, characterized in that: The grass raking module comprises a second quick-change connector (36), a screw motor (63), a screw motor support plate (64), an elastic coupling (65), a third connecting bolt (66), an upper connecting plate (67), a screw fixing seat (68), a screw (69), rake teeth (70), a lower connecting plate (71), a vibration motor (72), a shovel blade (73), a shock absorbing spring (74), a shovel blade connecting frame (75), a screw slide (76) and a rake tooth connecting frame (77). The second quick-change connector (36) is connected to the fixed end of the screw motor (63), and the screw motor support plate (64) and the upper connecting plate (67) are fixed by the third connecting bolt (66). The screw motor (63) is fixedly mounted on the screw motor support plate (64). The output end of the screw motor (63) is connected to the elastic coupling (65), and the elastic coupling (65) is connected to the screw (69). The upper and lower ends of the screw (69) are respectively fixed between the upper connecting plate (67) and the lower connecting plate (71) through the screw fixing seat (68). The screw (69) passes through the screw slide (7 6) and is threadedly connected with a screw rod slide (76), a scraper connecting frame (75) and a rake tooth connecting frame (77) are installed on the screw rod slide (76), the scraper connecting frame (75) is located at the front side, and the rake tooth connecting frame (77) is located at the rear side, a scraper (73) is installed on the scraper connecting frame (75), a cushioning spring (74) is installed between the scraper (73) and the scraper connecting frame (75), and rake teeth (70) are fixed on the rake tooth connecting frame (77), and a vibration motor (72) is installed at the lower end of the screw rod slide (76), and the output end of the vibration motor (72) is connected with a lower connecting plate (71).

6. The adaptive weeding robot according to claim 1, characterized in that: The lifting mobile platform comprises four groups of lifting mechanisms, which are respectively connected to the robot body, and each group of lifting mechanisms comprises a frame rod (19), a wheel (26), a wheel motor fixing seat (27) and a wheel motor (28). The top of the frame rod (19) is provided with a plurality of connection holes, and at least one of the plurality of connection holes is selected to be connected to the robot body, the wheel motor fixing seat (27) is connected to the bottom of the frame rod (19), the wheel motor (28) is connected to the wheel motor fixing seat (27), and the wheel (26) is connected to the wheel motor (28).

7. The adaptive weeding robot according to claim 6, characterized in that: The lifting mechanism further comprises a wheel motor protection shell (7), a fender (8), an upper end connecting piece (20), a first fixing bolt (21), a middle end connecting piece (22), a middle end supporting spring (23), a bottom end supporting spring (24), a bottom end connecting piece (25), a wheel motor fixing seat (27), a wheel motor (28), a second fixing bolt (29), a first hydraulic damping connecting piece (30), a second fixing bolt (31), a hydraulic damper (32), a second hydraulic damping connecting piece (33), a third fixing bolt (34) and a bearing support (35); One end of the upper end connecting member (20) is mounted on the frame rod (19) via a first fixing bolt (21), and the other end of the upper end connecting member (20) is fixedly connected to the first hydraulic damping connecting member (30) via a bolt; the first hydraulic damping connecting member (30) is connected to the hydraulic damper (32) via a second fixing bolt (31), the lower end of the hydraulic damper (32) is connected to the second hydraulic damping connecting member (33), and both ends of the second hydraulic damping connecting member (33) are respectively connected to the bearing support (35), and the bearing support (35) is installed and fixed to the side of the box body (4) via a third fixing bolt (34); One end of the middle-end connecting member (22) is fixedly mounted on the frame rod (19) by a first fixing bolt (21), and the other end of the middle-end connecting member (22) is connected to the side of the box body (4) by a second fixing bolt (29); the middle-end supporting spring (23) is mounted in the middle of the middle-end connecting member (22), and the upper-end connecting member (20) and the middle-end connecting member (22) can be selectively mounted at different connection holes on the frame rod (19) in combination with the first fixing bolt (21); The bottom connecting member (25) is fixedly mounted on the lower part of the frame rod (19) by screwing, and a bottom supporting spring (24) is nested and mounted therein. The wheel (26) is driven to rotate by a wheel motor (28). The wheel motor (28) is fixedly mounted on a wheel motor fixing seat (27), and the wheel motor fixing seat (27) is fastened and mounted on the bottom connecting member (25). A wheel motor protection shell (7) is provided outside the bottom connecting member (25) to effectively protect the wheel motor (28) and the bottom supporting spring (24). A fender (8) is also installed outside the wheel motor protection shell (7).

8. The adaptive weeding robot according to claim 6, characterized in that: The lifting mobile platform also includes a warning light (17) and a warning light support (18), wherein the warning light (17) is installed on the warning light support (18) by screwing, and the warning light support (18) is fixed on the frame rod (19) by screwing.

9. The adaptive weeding robot according to claim 2, characterized in that: The intelligent sensing system comprises a depth camera dust cover (5), a laser radar dust cover (10), a laser radar (11), an antenna (12), a GPS locator (13), an ultrasonic sensor (15), a depth camera fixing seat (78), a depth camera rotating servo (79), a depth camera fixing frame (80) and a depth camera (81); The depth camera (81) is installed and fixed in the depth camera fixing frame (80), and the two sides of the depth camera fixing frame (80) are respectively connected to the depth camera fixing seat (78) and the depth camera rotating servo (79); the depth camera rotating servo (79) can drive the depth camera fixing frame (80) and the depth camera (81) to rotate up and down, and the depth camera fixing seat (78) is fixed to the box (4) by bolts; The laser radar (11) is fastened to the top of the box cover (3) by bolts; The ultrasonic sensors (15) are arranged around the box and at the bottom; The GPS locator (13) and the antenna (12) are installed and fixed on the back of the box (4); The depth camera (81) and the laser radar (11) are respectively provided with a depth camera dust cover (5) and a laser radar dust cover (10) on the outside.

10. The adaptive weeding robot according to claim 2, characterized in that: The energy management platform comprises a solar panel (1), a retractable bracket (2), a charging interface (9) and a solar panel support frame (14); the solar panel (1) is fixed to the solar panel support frame (14) by bolts; the solar panel support frame (14) is connected to the retractable bracket (2); the retractable bracket (2) is fixed to the box cover (3) by bolts; the retractable bracket (2) and the solar panel support frame (14) together form a triangular structure; The charging interface (9) is mounted on the box body (4) by means of bolts, a lithium battery is arranged in the robot body, and the lithium battery is electrically connected to the solar cell panel (1).

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