A soybean and corn compound planting weeding robot and method based on intelligent agriculture

Abstract

The application discloses a soybean and corn composite planting weeding robot and method based on intelligent agriculture, and relates to the technical field of lawn mowing robots. The soybean and corn composite planting weeding robot and method based on intelligent agriculture comprises a plurality of weeding elements, a first weeding element and a second weeding element are respectively used for removing impurities on a corn ridge and a soybean ridge, a filter hole is formed through an upper surface of a collecting plate, the collecting plate is composed of two symmetrically arranged arc-shaped plates, a longitudinal section of the collecting plate is in a V shape, sharp heads and baffle plates are respectively connected to two ends of the collecting plate, and one side of the baffle plate is connected to an extension end of a hydraulic cylinder. The soybean and corn composite planting weeding robot and method based on intelligent agriculture crushes soil and brings out weed roots through the weeding elements matched with the corn ridge and the soybean ridge, pushes weeds into the collecting plate in the groove through a push plate to compress and store the weeds, and controls the closure of a weeding outlet of the collecting plate through the baffle plate.

Description

Technical Field

[0001] This invention relates to the field of lawn mowing machinery technology, specifically to a weeding robot and method for soybean-corn intercropping based on smart agriculture. Background Technology

[0002] Soybean-corn intercropping involves planting soybeans and corn on the same plot of land in a specific row ratio and spatial configuration. Weeding robots are equipped with high-definition cameras and image recognition systems to collect and analyze field images in real time. They use positioning technologies such as the Global Positioning System (GPS) and the BeiDou Navigation Satellite System to accurately determine their position in the field and plan their travel path, thereby assisting in weeding.

[0003] Referring to Chinese Patent Publication No. CN118901377A, a weeding robot and control method for inter-row weeding of corn includes a mobile chassis for the weeding robot, a seedling-positioning and covering robotic arm, a weeding end effector for inter-row weeding, and a control system. The mobile chassis for the weeding robot is installed at the bottom, the seedling-positioning and covering robotic arm is installed above the mobile chassis for the weeding robot, the weeding end effector for inter-row weeding is installed below the seedling-positioning and covering robotic arm, and the control system is located on one side of the mobile chassis for the weeding robot. This invention employs the aforementioned weeding robot and control method for inter-row weeding of corn. The weeding robot is agile, moving in cornfields without damaging seedlings while simultaneously performing inter-row weeding; the covering-cutting structure protects corn seedlings from damage and reduces the risk of adjacent corn plants being injured by the weeding blade.

[0004] However, the width and spacing of corn ridges and soybean ridges in soybean-corn intercropping fields are different. CN118901377A can only weed individual corn fields and requires steps such as seedling positioning, lowering the cover, rotating and mowing, and retrieving. The structure is complex and the operation steps are numerous. Moreover, weeding can only be carried out on the land around one seedling at a time, and it cannot clear weeds along the path, resulting in low work efficiency. Furthermore, most of what is cleared is the above-ground part of the weeds. Weeds have roots and are very easy to grow. Some weeds with strong regeneration ability have roots and branches scattered on the land. Weeds and their roots and branches cannot be quickly accumulated and processed. If environmental conditions are suitable, the cleared weeds will continue to grow on the land, weakening the weed removal effect. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a weeding robot and method for soybean-corn intercropping based on smart agriculture. The robot uses weeding components adapted to corn and soybean rows to break up the soil and remove weed roots. A pusher plate pushes the weeds into a collection plate in a trench for compression and storage. A baffle plate controls the closing of the opening for discharging weeds from the collection plate.

[0006] Technical Solution: To achieve the above objectives, the present invention is implemented through the following technical solution: a weeding robot and method for soybean-corn intercropping based on smart agriculture, comprising: a plurality of weeding components, wherein the plurality of weeding components are divided into a first weeding component and a second weeding component, the first weeding component being used to remove weeds on corn ridges, and the second weeding component being used to remove impurities on soybean ridges, each of the weeding components comprising: a stepper motor, the stepper motor being connected to the bottom of the frame, the rotating part of the stepper motor being connected to a push plate, and a protective plate being connected to the side of the lower part of the push plate that contacts the soil when rotating, the protective plate being a triangular prism-like structure.

[0007] Several grass collecting components are located on one side of the weeding component. The grass collecting components are divided into a first grass collecting component and a second grass collecting component. Each grass collecting component includes a collecting plate located below the frame. The upper surface of the collecting plate has a filter hole. The collecting plate is composed of two symmetrically arranged arc-shaped plates. The longitudinal sectional view of the collecting plate is V-shaped. The two ends of the collecting plate are respectively connected to a pointed end and a baffle. One side of the baffle is connected to the extension end of the hydraulic cylinder.

[0008] Preferably, a first groove is provided between the corn ridge and the soybean ridge, and a second groove is provided between adjacent soybean ridges. The collecting plates are placed in the first or second groove during operation. The distance between the corn ridge and the adjacent soybean ridge is 60-70 cm. Several soybean ridges are provided between two corn ridges. The distance between two corn ridges is 180-200 cm. A first weeding component is provided above each corn ridge, and a second weeding component is provided above each soybean ridge. A first weeding component is provided on one side of each first weeding component, and a second weeding component is provided between adjacent second weeding components.

[0009] Preferably, one side of the lower part of the frame is connected to the fixed end of the hydraulic cylinder, and the telescopic end of the hydraulic cylinder is connected to a connecting plate through a vertical plate. The same side of both ends of the connecting plate is connected to the top of the first grass collecting component. Several horizontal plates are connected to the side of the connecting plate near the frame. Each horizontal plate is connected to one side of a second grass collecting component. The top of the first grass collecting component and the top of the second grass collecting component are both connected to an arc-shaped plate. The top of the arc-shaped plate is connected to the bottom of the frame through a first fixed plate.

[0010] Preferably, each stepper motor's rotating part is connected to a rotating plate, and each rotating plate's base plate is provided with a second fixing plate. Each second fixing plate is connected to the rotating plate via a connecting rod, and a nut is connected to the bottom end of the connecting rod. Each second fixing plate has an upper tube connected to both sides, and each upper tube's bottom is connected to a lower tube via a push plate. The diameter of the lower tube is smaller than that of the upper tube, and the lower tube is inserted into the soil. Each push plate has several first channels through one side, and each protective plate has a second channel through one side, with one end of the second channel penetrating the push plate. The diameters of the first channels, the second channels, and the filter holes are all 0.2-0.4 cm.

[0011] Preferably, the cross-sectional view of the protective plate is a near-triangular shape, which is formed by a straight line and the arcs at both ends of the straight line connected end to end in sequence. The two arcs gradually contract along the direction of the virtual line. The tip of the protective plate is located on the side that contacts the soil when the push plate rotates. The distance between the side of the push plate away from the axis of the rotating plate and the axis of the first trench is less than the distance between the side of the corn ridge away from the soybean ridge and the axis of the first trench.

[0012] Preferably, the distance between the bottom of the collecting plate and the bottom of the first groove gradually increases along the axial direction of the first groove. The collecting plate is divided into two sections. The top of the first section of the collecting plate is provided with a second arc surface. The distance between the second arc surface and the bottom of the collecting plate remains unchanged along the axial direction of the first groove. The top of the second section of the collecting plate is provided with a straight surface. The top of the corn ridge and the top of the soybean ridge are located on the same plane as the straight surface. The distance between the bottom of the collecting plate and the straight surface gradually decreases along the axial direction of the first groove. The distance of the collecting plate away from the tip is less than the distance of the collecting plate near the tip. The end of the collecting plate away from the tip is located above the bottom of the first groove.

[0013] Preferably, both ends of the top of the collecting plate are connected to side plates, the bottom of the side plates is a first arc surface, the first arc surface is connected to a second arc surface, a top plate is provided between the two side plates, the two sides of the top plate are connected to the top edge of the side of the two side plates that are close to each other, each side plate has a sliding groove on the side away from the pointed plate, the sliding groove is slidably connected to a drawer plate, the drawer plate is connected to a baffle on the side away from the pointed plate, the baffle is matched with the collecting plate, the side of the baffle away from the pointed plate is connected to one end of the connecting plate or one end of the horizontal plate, the baffle is used to control the opening and closing of the end of the collecting plate away from the pointed plate.

[0014] A weeding method for soybean-corn intercropping based on smart agriculture employs a weeding robot. The robot receives task information, including the extent and boundary coordinates of the weeding area, via a control terminal or pre-programmed input. Based on this information, the robot uses built-in map-drawing and path planning algorithms to generate a travel path, ensuring comprehensive coverage of the area requiring weeding while avoiding repeated travel and collisions with obstacles. Once activated, the robot uses a GPS system for location information and real-time sensing via LiDAR, ultrasonic sensors, and camera sensors. Knowing its surroundings, the robot accurately identifies obstacles, crop row spacing, and boundaries for autonomous navigation and positioning. Using data acquired by sensors, the robot continuously adjusts its direction and speed, moving accurately along a preset path. The rotating lower tube digs up the soil and brings out the roots of weeds underneath. The weeding and collecting components move synchronously in the horizontal direction. The rotating pusher pushes the weeds on the soil into the first or second trench and into the collecting plate, completing the weed collection. The extension and retraction of the hydraulic cylinder drives the baffle to raise and lower, controlling the opening and closing of one end of the collecting plate. The weeds slide off the collecting plate and accumulate at the bottom of the first or second trench.

[0015] Beneficial Effects: This invention provides a weeding robot and method for soybean-corn intercropping based on smart agriculture. Compared with existing technologies, it has the following beneficial effects: 1. By using weeding components adapted to corn and soybean rows to break up the soil and remove weed roots, the weeds are pushed into a collection plate in the trench by a pusher plate for compression and collection. The opening of the collection plate for discharging weeds is controlled by a baffle, which can flexibly discharge weeds or debris from the collection plate into the trench and accumulate them, reducing the robot's load.

[0016] 2. The protective plate is a triangular prism-like structure. When rotating, the pointed end of the protective plate contacts the debris first. Due to the small contact area of ​​the pointed end, the same force acts on a smaller area, generating greater pressure, thus making it easier to break, push away, or cut the debris. The reaction force of the pointed end colliding with the debris is relatively small and more directional, increasing the robot's stability. The collision between the pointed end and the debris mainly affects the debris itself, causing relatively little disturbance to the surrounding soil. Furthermore, the connection between the push plate and the lower tube is highly susceptible to impact from various debris, making the push plate prone to damage and resulting in a short service life. By installing a protective plate at the connection between the push plate and the lower tube, the thickness and robustness of the connection are increased, extending the service life of the push plate.

[0017] 3. The rotating lower pipe breaks up the soil around the plants along the way, and the rotating pusher collects the weeds and pushes them into the first or second trench. This prevents the weeds from being scattered on the surface of the soil layer of the corn ridge and soybean ridge, and reduces the possibility of the weeds coming into contact with the soil surface again and growing after being pulled out. The soil breaking and pushing structure is simple and efficient, and no manual collection of weeds is required afterward.

[0018] 4. The bottom of the collecting plate is an upward-curving V-shape, which reduces the contact area of ​​the bottom of the collecting plate and reduces the chance of the bottom of the collecting plate coming into contact with debris in the groove. Even if the collecting plate comes into contact with debris, the contact area of ​​the bottom of the collecting plate is small, and the bottom of the collecting plate is knife-shaped, which makes it easy for the collecting plate to break through the debris or pass through the debris.

[0019] 5. The collection plate, top plate, and baffles form a storage bin. When too much weed or debris accumulates in the bin, the telescopic ends simultaneously move all the baffles away from the collection plate. The weeds fall into the first or second trench, completing the accumulation and reducing weed seed dispersal, hindering weed growth, and suppressing weed regeneration. This avoids the problem of weeds scattering on the soil surface and then regenerating or spreading, thus improving the effectiveness of weed control. Unloading of weeds from all collection plates can be controlled at once, making it convenient and quick. Attached Figure Description

[0020] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the present application and, together with the specification, further serve to explain the principles of the present application and enable those skilled in the art to implement and use the present application.

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the present invention.

[0023] Figure 2 for Figure 1 A schematic diagram of the structure after removing the corn and soybean rows.

[0024] Figure 3 for Figure 2 A schematic diagram of the structure after the frame has been removed.

[0025] Figure 4 This is a structural diagram of the first weeding component and the first weed collecting component.

[0026] Figure 5 This is a schematic diagram of the structure of the first weeding component.

[0027] Figure 6 This is a schematic diagram of the structure of the first weeding component after the stepper motor has been removed.

[0028] Figure 7 This is a structural diagram of the upper tube, push plate, protective plate, and lower tube.

[0029] Figure 8 This is a structural diagram of the first draft.

[0030] Figure 9 This is an exploded view of the first draft.

[0031] Figure 10 This is a schematic diagram of the structure of the collector plate and the first groove.

[0032] Figure 11 for Figure 10 Right sectional view.

[0033] Figure 12 This is a structural diagram of the side panel, pull panel, and baffle.

[0034] The reference numerals in the diagram are as follows: 11. Corn row; 12. Soybean row; 13. First furrow; 14. Second furrow; 21. Frame; 22. Wheel; 23. Hydraulic cylinder; 24. Vertical plate; 25. Connecting plate; 26. Horizontal plate; 27. Arc plate; 28. First fixing plate; 31. First weeding component; 311. Stepper motor; 312. Rotating plate; 313. Second fixing plate; 314. Upper pipe; 315. Push plate; 316. Anti- 317. Protective plate; 318. Lower pipe; 319. First channel; 310. Second channel; 32. Second weeding component; 41. First grass collecting component; 411. Collecting plate; 412. Pointed end; 413. Filter hole; 414. Side plate; 415. Top plate; 416. Sliding hole; 417. Pull plate; 418. Baffle; 419. First arc surface; 42. Second grass collecting component; 51. Connecting rod; 52. Nut; 61. Second arc surface; 62. Straight surface.

[0035] As shown in the figure, specific structures and devices are labeled in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs, and such adjustments or modifications are still included in the scope of the appended claims. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0038] Example 1: As Figure 1 - Figure 12 As shown, an embodiment of the present invention provides a weeding robot for soybean-corn intercropping based on smart agriculture, comprising: several weeding components, which are divided into a first weeding component 31 and a second weeding component 32. The first weeding component 31 is used to remove weeds on the corn ridge 11, and the second weeding component 32 is used to remove impurities on the soybean ridge 12. Each weeding component includes: a stepper motor 311, which is connected to the bottom of the frame 21. The rotating part of the stepper motor 311 is connected to a push plate 315. When the lower part of the push plate 315 rotates, the side in contact with the soil is connected to a protective plate 316, which is a triangular prism.

[0039] Intercropping or relay cropping soybeans and corn on the same plot of land with a specific row ratio and spatial arrangement is a common practice. Typically, the number of corn rows is proportional to the number of soybean rows, such as two rows of corn intercropped with four rows of soybeans. This fully utilizes the differences in growing space, light requirements, and root distribution between the two crops, achieving efficient use of land and solar resources. Soybeans have nitrogen-fixing properties; their rhizobia can convert free nitrogen from the air into nitrogen that can be absorbed by plants, increasing soil fertility. Corn has a well-developed root system, which improves soil aeration and water permeability. Rotating or intercropping these two crops helps maintain soil structural stability and improves soil nutrient cycling and utilization efficiency.

[0040] After the soil is turned over by the downpipe 317, some soil will accumulate on the soil surface, and some soil surface itself is prone to contain debris. The soil surface is also not level. If the downpipe 317 is directly connected to the push plate 315, the connection between the push plate 315 and the downpipe 317 (at the soil surface) is very easy to be hit by various debris, and the push plate 315 is easily damaged, resulting in a short service life. By installing a protective plate 316 at the connection between the push plate 315 and the downpipe 317, the thickness and strength of the connection between the push plate 315 and the downpipe 317 are increased, thereby improving the service life of the push plate 315.

[0041] The protective plate 316 is a triangular prism-like structure. When rotating, the pointed end of the protective plate 316 contacts the debris first. Due to the small contact area of ​​the pointed end, the same force acts on a smaller area, generating greater pressure, thus making it easier to break, push away, or cut the debris. For example, for some harder debris, such as small twigs or clumps of soil, the concentrated force of the pointed end can more effectively break them, facilitating subsequent processing or cleanup. For mobile equipment such as weeding robots, the reaction force on the equipment when the pointed end collides with the debris is relatively small and more directional, making it easier for the equipment to adapt to the collision by adjusting its posture, maintaining stable operation, and reducing equipment sway. The collision between the pointed end and the debris mainly affects the debris itself, with relatively little disturbance to the surrounding soil. This helps maintain the structure and stability of the soil, reduces soil erosion and compaction caused by collisions, and is beneficial to the growth and development of crop roots.

[0042] A first trench 13 is provided between corn ridge 11 and soybean ridge 12, and a second trench 14 is provided between adjacent soybean ridges 12. The collecting plate 411 is placed in the first trench 13 or the second trench 14 during operation. The distance between corn ridge 11 and adjacent soybean ridge 12 is 60-70 cm. Several soybean ridges 12 are provided between two corn ridges 11. The distance between two corn ridges 11 is 180-200 cm. A first weeding component 31 is provided above each corn ridge 11, and a second weeding component 32 is provided above each soybean ridge 12. A first grass collecting component 41 is provided on one side of each first weeding component 31, and a second grass collecting component 42 is provided between adjacent second weeding components 32.

[0043] When the distance between corn ridge 11 and the adjacent soybean ridge 12 is 60 cm, and the distance between two corn ridges 11 is 180 cm, the land use efficiency is high.

[0044] When the distance between corn row 11 and the adjacent soybean row 12 is 70 cm, and the distance between two corn rows 11 is 200 cm, appropriately increasing the distance between corn row 11 and soybean row 12 is beneficial for soybeans to receive more sunlight. A reasonable row spacing improves ventilation, allowing for better air circulation in the field. This helps reduce field humidity, decreases the probability of pests and diseases, and also facilitates the exchange of gases such as carbon dioxide, providing sufficient raw materials for crop photosynthesis. A larger row spacing facilitates field operations by agricultural machinery. Appropriate spacing allows the marginal plants of corn and soybeans to fully utilize sunlight, water, and nutrients, leveraging marginal advantages and increasing yield.

[0045] Each stepper motor 311 has a rotating plate 312 connected to its rotating part. Each rotating plate 312 has a second fixing plate 313 on its bottom plate. Each second fixing plate 313 is connected to the rotating plate 312 via a connecting rod 51. A nut 52 is connected to the bottom end of the connecting rod 51. Each second fixing plate 313 has an upper tube 314 connected to both sides. Each upper tube 314 has a lower tube 317 connected to its bottom via a push plate 315. The diameter of the lower tube 317 is smaller than that of the upper tube 314. The lower tube 317 is inserted into the soil. Each push plate 315 has several first channels 318 through one side. Each protective plate 316 has a second channel 319 through one side, with one end of the second channel 319 penetrating the push plate 315. The diameters of the first channels 318, the second channels 319, and the filter holes 413 are all 0.2-0.4 cm.

[0046] Narrow-leaved weeds: such as barnyard grass, whose leaves are usually narrow, generally about 0.5-1 cm wide. Foxtail grass has similarly narrow leaves, mostly between 0.4-0.8 cm. Broad-leaved weeds: like purslane, whose leaves are relatively wide, generally about 1-2 cm, with some well-grown individuals having leaves wider than 2 cm. Hops, on the other hand, can have leaves that are 3-7 cm wide, or even wider.

[0047] The diameters of the first channel 318, the second channel 319, and the filter hole 413 are all 0.2-0.4 cm, which can prevent most weeds from passing through the pores.

[0048] When the diameter is 0.2 cm, the aperture is small, reducing the possibility of weeds passing through the aperture.

[0049] When the diameter is 0.2 cm, the aperture is large, which makes it easier for debris (such as soil, stones, etc.) to pass through, making it easier to separate grass from debris, reducing the weight of the collection plate 411, and reducing the robot's load.

[0050] The cross-sectional view of the protective plate 316 is a near-triangular shape. The near-triangle is formed by a straight line and the arcs at both ends of the straight line connected end to end in sequence. The two arcs gradually contract along the direction of the virtual line. The tip of the protective plate 316 is located on the side of the push plate 315 that contacts the soil when it rotates. The distance between the side of the push plate 315 away from the axis of the rotating plate 312 and the axis of the first trench 13 is less than the distance between the side of the corn ridge 11 away from the soybean ridge 12 and the axis of the first trench 13. A part of the push plate 315 extends directly above the first trench 13, which makes it easier for the push plate 315 to push weeds or stones into the first trench 13.

[0051] When in use, determine the weeding path, insert the lower tube 317 into the soil, start the motor, and the wheels 22 travel in the trench outside the corn ridge 11. The lower tube 317, push plate 315, and protective plate 316 move in circles around the outer perimeter of the crop (corn, soybean) plants as the stepper motor 311 rotates. The protective plate 316 is in direct contact with the soil. The lower tube 317 breaks up the soil and turns over the soil and weed roots. The protective plate 316 breaks up small clods of soil on the surface or pushes away debris (stones, small clods of soil). The push plate 315 rotates with the weeds or stones on the soil surface and pushes them into the first trench 13 or the second trench 14. During this process, soil, stones, and other debris can pass through the first channel 318 and the second channel 319 and move to the other side of the push plate 315. However, the leaf width of weeds is mostly greater than 0.4 cm, and most weeds cannot pass through the first channel 318 and the second channel 319. As the push plate 315 rotates, it continuously gathers and pushes the weeds on the soil surface. Instead of a pipe, a widened plate is installed between the lower pipe 317 and the upper pipe 314 to increase the contact area between the push plate 315 and the weeds on the soil surface. The rotating lower pipe 317 breaks up the soil around the plants along the way, and the rotating push plate 315 collects the weeds and pushes them into the first trench 13 or the second trench 14. This prevents the weeds from being scattered on the surface of the soil layer of the corn ridge 11 and soybean ridge 12, reducing the possibility of the weeds coming into contact with the soil surface again and growing after being pulled out. The soil breaking and pushing structures are simple and efficient, and no manual collection of weeds is required afterward.

[0052] Example 2: As Figure 1 - Figure 12 As shown, an embodiment of the present invention provides a weeding robot for soybean-corn intercropping based on smart agriculture, comprising: several grass collecting components located on one side of the weeding component, the several grass collecting components being divided into a first grass collecting component 41 and a second grass collecting component 42, each grass collecting component including: a collecting plate 411 located below the frame 21, the collecting plate 411 having a filter hole 413 through-cut on its upper surface, the collecting plate 411 being composed of two symmetrically arranged arc-shaped plates 27, the longitudinal cross-sectional view of the collecting plate 411 being V-shaped, the two ends of the collecting plate 411 being respectively connected to a pointed head 412 and a baffle 418, one side of the baffle 418 being connected to the telescopic end of the hydraulic cylinder 23.

[0053] One side of the lower part of the frame 21 is connected to the fixed end of the hydraulic cylinder 23. The telescopic end of the hydraulic cylinder 23 is connected to the connecting plate 25 through the vertical plate 24. Both ends of the connecting plate 25 are connected to the top of the first grass collecting component 41. Several horizontal plates 26 are connected to the side of the connecting plate 25 near the frame 21. Each horizontal plate 26 is connected to one side of a second grass collecting component 42. The top of the first grass collecting component 41 and the top of the second grass collecting component 42 are connected to the arc plate 27. The top of the arc plate 27 is connected to the bottom of the frame 21 through the first fixing plate 28.

[0054] The distance between the bottom of the collecting plate 411 and the bottom of the first groove 13 gradually increases along the axial direction of the first groove 13. The collecting plate 411 is divided into two sections. The top of the first section of the collecting plate 411 is provided with a second arc surface 61. The distance between the second arc surface 61 and the bottom of the collecting plate 411 remains unchanged along the axial direction of the first groove 13. The top of the second section of the collecting plate 411 is provided with a straight surface 62. The top of the corn ridge 11 and the top of the soybean ridge 12 are located on the same plane as the straight surface 62. The distance between the bottom of the collecting plate 411 and the straight surface 62 gradually decreases along the axial direction of the first groove 13. The distance of the end of the collecting plate 411 away from the tip is less than the distance of the end of the collecting plate 411 close to the tip. The end of the collecting plate 411 away from the tip is located above the bottom of the first groove 13.

[0055] Both ends of the top of the collecting plate 411 are connected to side plates 414. The bottom of the side plate 414 is a first arc surface 419, which is connected to the second arc surface 61. A top plate 415 is provided between the two side plates 414. The two sides of the top plate 415 are connected to the top edge of the side of the two side plates 414 that are close to each other. Each side plate 414 has a sliding groove on the side away from the pointed plate. A drawer plate 417 is slidably connected to the sliding groove. A baffle plate 418 is connected to the side of the drawer plate 417 away from the pointed plate. The baffle plate 418 matches the collecting plate 411. The side of the baffle plate 418 away from the pointed plate is connected to one end of the connecting plate 25 or one end of the horizontal plate 26. The baffle plate 418 is used to control the opening and closing of the end of the collecting plate 411 away from the pointed plate.

[0056] A weeding method for soybean-corn intercropping based on smart agriculture employs a weeding robot. The robot receives task information, including the area to be weeded and its boundary coordinates, via a control terminal or pre-programmed input. Based on this information, the robot uses built-in mapping and path planning algorithms to generate a travel path, ensuring comprehensive coverage of the area requiring weeding while avoiding repeated travel and collisions with obstacles. Once activated, the robot uses a GPS system for location information and sensors such as LiDAR, ultrasonic sensors, and cameras to perceive its surroundings in real time, accurately identifying obstacles. The robot navigates and positions itself autonomously based on factors such as crop row spacing and boundaries. Using data acquired by sensors, the robot continuously adjusts its direction and speed, moving accurately along a preset path. The rotating lower tube 317 digs up the soil and brings out the roots of weeds underneath. The weeding and collecting components move synchronously in the horizontal direction. The rotating pusher 315 pushes the weeds on the soil into the first trench 13 or the second trench 14 and they fall into the collecting plate 411, completing the collection of weeds. The extension and retraction end of the hydraulic cylinder 23 drives the baffle 418 to raise and lower, controlling the opening and closing of one end of the collecting plate 411. The weeds slide off the collecting plate 411 and accumulate at the bottom of the first trench 13 or the second trench 14.

[0057] When weeds are piled up, their seeds are less likely to be dispersed into the surrounding soil by wind, water, or animal activity, thus reducing the probability of weed seeds re-germinating in the soil. The piled-up weeds form a mulch that blocks sunlight from reaching the soil surface, lowering soil temperature and increasing humidity, which is detrimental to seed germination and seedling growth. This mulch also physically hinders weed seedlings from emerging from the soil. Some weeds have asexual reproduction capabilities; for example, the roots and stolons of some weeds can regrow under suitable conditions. When weeds are piled up, their growing environment changes, with poorer ventilation and light, and increased humidity, which can easily cause these asexual reproductive organs to rot, thus inhibiting weed regeneration.

[0058] In use, the pusher plate 315 pushes the weeds into the first ditch 13 or the second ditch 14. A collecting plate 411 is placed in both the first ditch 13 and the second ditch 14. The collecting plate 411 moves with the pusher plate 315 along with the vehicle. Each pusher plate 315 has a collecting plate 411 on one side. The collecting plate 411 receives the weeds pushed down by the pusher plate 315. The weeds fall onto the tip of the collecting plate 411, which is curved. The tip of the collecting plate 411 is higher than the height of the collecting plate 411. The bottom plate of the collecting plate 411 is similar to an upward-curving boat bottom. This design makes the height of the feeding end of the collecting plate 411 higher than the height of the storage end, which facilitates the sliding of weeds and debris (pebbles, soil, etc.) into the collecting plate 411 downwards along the arc surface. During the sliding process, the stones and soil fall from the filter holes 413, ensuring that the soil is not lost in large quantities, but remains in the weeding area. After multiple weedings, it is easy to lift the soil onto the corn ridge 11 or soybean ridge 12. The bottom of the collecting plate 411 is an upward-curving V-shape, which reduces the contact area of ​​the bottom of the collecting plate 411 and reduces the chance of the bottom of the collecting plate 411 coming into contact with debris in the trench. Even if the collecting plate 411 comes into contact with debris, the contact area of ​​the bottom of the collecting plate 411 is small, and the bottom of the collecting plate 411 is knife-edged, which makes it easy for the collecting plate 411 to break through or pass through debris. The collecting plate 411, top plate 415, and baffle 418 form a storage bin. When too much weed or debris accumulates in the storage bin (which can be adjusted by the operator, for example, by installing a weight sensor at the bottom of the storage bin to trigger a warning when a certain threshold is reached), the hydraulic cylinder 23 is activated. The telescopic end of the hydraulic cylinder 23 sequentially moves the vertical plate 24, connecting plate 25, horizontal plate 26, and all the baffles 418 away from the collecting plate 411, controlling the unloading of weeds from all collecting plates 411 at once, which is convenient and quick. The baffle 418 no longer closes one end of the storage bin, and the storage bin outlet opens. Under the pressure of gravity, sliding friction, and the compression of the materials subsequently added to the storage bin, the weeds in the storage bin fall into the first trench 13 or the second trench 14, completing the accumulation of weeds. This reduces the spread of weed seeds, hinders weed growth, and inhibits weed regeneration, avoiding the problem of weeds scattering on the soil surface and then regenerating or spreading, thus improving the effectiveness of thorough weed control.

[0059] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details have been described in detail in the above preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits have not been described in detail.

[0060] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A weeding robot for soybean-corn intercropping based on smart agriculture, characterized in that, include: Several weeding components are provided, and the several weeding components are divided into a first weeding component (31) and a second weeding component (32). The first weeding component (31) is used to remove weeds on the corn ridge (11), and the second weeding component (32) is used to remove impurities on the soybean ridge (12). Each weeding component includes: a stepper motor (311), the stepper motor (311) is connected to the bottom of the frame (21), the rotating part of the stepper motor (311) is connected to a push plate (315), and the side of the push plate (315) that contacts the soil when rotating is connected to a protective plate (316). The protective plate (316) is a triangular prism. Several grass collecting components are located on one side of the grass removing component. The several grass collecting components are divided into a first grass collecting component (41) and a second grass collecting component (42). Each grass collecting component includes a collecting plate (411). The collecting plate (411) is located below the frame (21). The upper surface of the collecting plate (411) is provided with a filter hole (413). The collecting plate (411) is composed of two symmetrically arranged arc plates (27). The longitudinal section view of the collecting plate (411) is V-shaped. The two ends of the collecting plate (411) are respectively connected to a pointed head (412) and a baffle (418). One side of the baffle (418) is connected to the telescopic end of the hydraulic cylinder (23).

2. The weeding robot for soybean-corn intercropping based on smart agriculture according to claim 1, characterized in that: A first groove (13) is provided between the corn ridge (11) and the soybean ridge (12), and a second groove (14) is provided between adjacent soybean ridges (12). The collecting plate (411) is placed in the first groove (13) or the second groove (14) during operation. The distance between the corn ridge (11) and the adjacent soybean ridge (12) is 60-70 cm. Several soybean ridges (12) are provided between two corn ridges (11). The distance between two corn ridges (11) is 180-200 cm. A first weeding component (31) is provided above each corn ridge (11), and a second weeding component (32) is provided above each soybean ridge (12). A first grass collecting component (41) is provided on one side of each first weeding component (31), and a second grass collecting component (42) is provided between adjacent second weeding components (32).

3. The weeding robot for soybean-corn intercropping based on smart agriculture according to claim 2, characterized in that: The lower part of the frame (21) is connected to the fixed end of the hydraulic cylinder (23). The hydraulic cylinder (23) has a telescopic end connected to a connecting plate (25) via a vertical plate (24). Both ends of the connecting plate (25) are connected to the top of the first grass-collecting component (41). Several horizontal plates (26) are connected to the side of the connecting plate (25) near the frame (21). Each horizontal plate (26) is connected to one side of a second grass-collecting component (42). The top of the first grass-collecting component (41) and the top of the second grass-collecting component (42) are both connected to an arc plate (27). The top of the arc plate (27) is connected to the bottom of the frame (21) via a first fixed plate (28).

4. The weeding robot for soybean-corn intercropping based on smart agriculture according to claim 3, characterized in that: Each stepper motor (311) has a rotating part connected to a rotating plate (312). Each rotating plate (312) has a second fixing plate (313) on its base. Each second fixing plate (313) is connected to the rotating plate (312) via a connecting rod (51). A nut (52) is connected to the bottom end of the connecting rod (51). Upper tubes (314) are connected to both sides of each second fixing plate (313). The bottom of each upper tube (314) is connected to a lower tube (315) via a push plate (315). 17), the diameter of the lower pipe (317) is smaller than that of the upper pipe (314). The lower pipe (317) is inserted into the soil. Each push plate (315) has several first channels (318) through one side. Each protective plate (316) has a second channel (319) through one side, and one end of the second channel (319) passes through the push plate (315). The diameter of the first channel (318), the diameter of the second channel (319), and the diameter of the filter hole (413) are all 0.2-0.4 cm.

5. The weeding robot for soybean-corn intercropping based on smart agriculture according to claim 4, characterized in that: The cross-sectional view of the protective plate (316) is a near triangle. The near triangle is composed of a straight line and the arcs at both ends of the straight line connected end to end in sequence. The two arcs gradually contract along the direction of the virtual line. The tip of the protective plate (316) is located on the side that contacts the soil when the push plate (315) rotates. The distance between the side of the push plate (315) away from the axis of the rotating plate (312) and the axis of the first trench (13) is less than the distance between the side of the corn ridge (11) away from the soybean ridge (12) and the axis of the first trench (13).

6. The weeding robot for soybean-corn intercropping based on smart agriculture according to claim 5, characterized in that: The distance between the bottom of the collecting plate (411) and the bottom of the first groove (13) gradually increases along the axial direction of the first groove (13). The collecting plate (411) is divided into two sections. The top of the first section of the collecting plate (411) is provided with a second arc surface (61). The distance between the second arc surface (61) and the bottom of the collecting plate (411) remains unchanged along the axial direction of the first groove (13). The top of the second section of the collecting plate (411) is provided with a straight surface (62). The top of the corn ridge (11), the top of the soybean ridge (12), and the straight surface (62) are located on the same plane. The distance between the bottom of the collecting plate (411) and the straight surface (62) gradually decreases along the axial direction of the first groove (13). The distance of the collecting plate (411) away from the tip is less than the distance of the collecting plate (411) near the tip. The end of the collecting plate (411) away from the tip is located above the bottom of the first groove (13).

7. The weeding robot for soybean-corn intercropping based on smart agriculture according to claim 6, characterized in that: Both ends of the top of the collecting plate (411) are connected to side plates (414). The bottom of the side plate (414) is a first arc surface (419). The first arc surface (419) is connected to the second arc surface (61). A top plate (415) is provided between the two side plates (414). The two sides of the top plate (415) are connected to the top edge of the side of the two side plates (414) that are close to each other. Each side plate (414) has a sliding groove on the side away from the pointed plate. A drawer plate (417) is slidably connected to the sliding groove. A baffle plate (418) is connected to the side of the drawer plate (417) away from the pointed plate. The baffle plate (418) matches the collecting plate (411). The side of the baffle plate (418) away from the pointed plate is connected to one end of the connecting plate (25) or one end of the horizontal plate (26). The baffle plate (418) is used to control the opening and closing of the end of the collecting plate (411) away from the pointed plate.

8. A weeding method for soybean-corn intercropping based on smart agriculture, employing the weeding robot for soybean-corn intercropping based on smart agriculture as described in claim 7, characterized in that: Input task information, including the area to be weeded and its boundary coordinates, is given to the weeding robot via a control terminal or pre-programmed settings. Based on this information, the robot uses built-in mapping and path planning algorithms to generate a driving path, ensuring comprehensive coverage of the area to be weeded while avoiding repeated trips and collisions with obstacles. Once started, the robot uses a GPS system for location information and employs LiDAR, ultrasonic sensors, and camera sensors to perceive its surroundings in real time, accurately identifying obstacles, crop row spacing, and boundaries for autonomous navigation and positioning. The robot continuously adjusts its positioning based on the data acquired by the sensors. Adjust the driving direction and speed, move accurately along the preset path, dig up the soil and bring out the roots of weeds under the soil through the rotating lower pipe (317), the weeding part and the grass collecting part move synchronously in the horizontal direction, and push the weeds on the soil into the first trench (13) or the second trench (14) through the rotating push plate (315) and fall into the collecting plate (411) to complete the collection of weeds. The opening and closing of one end of the collecting plate (411) is controlled by the lifting and lowering of the baffle (418) driven by the extension end of the hydraulic cylinder (23). The weeds slide off the collecting plate (411) and accumulate at the bottom of the first trench (13) or the second trench (14).

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