Automatic hoeing and soil loosening equipment with adjustable row width for narrow row crops based on visual identification

Abstract

The invention discloses row width adjustable narrow row crop automatic hoeing and soil loosening equipment based on visual identification, and particularly relates to the technical field of hoeing and soil loosening equipment, comprising an automatic hoeing and soil loosening equipment body, a hybrid drive assembly, a visual avoidance assembly, a walking mechanism, a lifting assembly and a locking assembly; the automatic hoeing and soil loosening equipment body comprises a shell, an overturning shaft, a blade pressure sensor, a titanium alloy blade base and a wedge-shaped blade; the shell is connected with the carrier through the connecting arm; the turnover shaft is rotationally arranged in the shell; the blade pressure sensor is fixedly arranged on the inner side of the shell; a plurality of titanium alloy blade bases are fixedly arranged on the turnover shaft in a linear array; the plurality of wedge-shaped blades are in an annular array and are detachably connected with the titanium alloy blade base through bolts; the hybrid driving assembly and the visual avoiding assembly are both arranged on the shell. The device is reasonable in structural design, adjustable in row width, mixed in power and capable of achieving visual seedling avoiding, and meanwhile free adjustment of the three main wheels can be achieved through a single servo motor.

Description

Technical Field

[0001] The present invention relates to the technical field of weeding and soil loosening equipment, and more particularly to an automatic weeding and soil loosening equipment for narrow-row crops with adjustable row width based on visual recognition. Background Art

[0002] Automatic weeding and soil loosening equipment refers to mechanical equipment that can automatically remove weeds and loosen the soil. It is mainly used for operations in farmland, orchards, nurseries and other areas. This type of equipment is usually efficient and intelligent, and can significantly reduce manual labor intensity and improve work efficiency.

[0003] For example, the automatic soil loosening weeder provided by the Chinese utility model patent with publication number CN209402975U includes a roller loosening mechanism and a hand-held rod, wherein the roller loosening mechanism is hinged at the front end of the hand-held rod, the roller loosening mechanism includes a roller, the central axis of the roller is parallel to the ground, and the hand-held rod is perpendicular to the central axis of the roller; loosening knives are distributed on the circumferential surface of the roller, and the roller also includes a power source for driving the roller to rotate, and also includes a grass collecting device, the grass collecting device includes at least a pair of collecting wheels, the axis of the collecting wheel is perpendicular to the ground; the collecting wheel includes a cylindrical collecting wheel body and a plurality of collecting teeth distributed on the circumferential surface of the collecting wheel body; the grass collecting device is located behind the roller loosening mechanism and close to the ground; and also includes a power source for driving the collecting wheel to rotate relative to the ground.

[0004] In the agricultural production process, automatic weeding and loosening equipment is needed to weed and loosen the soil. However, the existing automatic weeding and loosening equipment still has the following problems during use: 1. The mechanical row width mechanism is difficult to adapt to different sowing row spacings and is easy to damage the crop root system; 2. Traditional seedling avoidance sensors can only identify single crops, and the misjudgment rate is high in dense planting scenarios; 3. Diesel-powered equipment has high energy consumption and battery equipment has short battery life, which cannot meet the needs of continuous field operations; 4. The depth of the weeding components into the soil is uncontrollable, which can easily lead to soil compaction or incomplete weeding. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an adjustable row width type automatic weeding and loosening soil equipment for narrow row crops based on visual recognition. The technical problems to be solved by the present invention are: 1. The mechanical row width mechanism is difficult to adapt to different sowing row spacings and is easy to damage the crop root system; 2. Traditional seedling avoidance sensors can only identify single crops, and the misjudgment rate is high in dense planting scenarios; 3. Diesel-powered equipment has high energy consumption and battery equipment has short battery life, which cannot meet the needs of continuous field operations; 4. The depth of the weeding component into the soil is uncontrollable, which can easily lead to soil compaction or incomplete weeding.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an automatic weeding and loosening device for narrow-row crops with adjustable row width based on visual recognition, comprising an automatic weeding and loosening device body, a hybrid drive component, a visual avoidance component, a walking mechanism, a lifting component and a locking component; the automatic weeding and loosening device body comprises a shell, a flip shaft, a blade pressure sensor, a titanium alloy blade base and a wedge-shaped blade; the shell is detachably connected to the carrier through a connecting arm; the flip shaft is rotatably arranged in the shell; the blade pressure sensor is fixed on the inner side of the shell; a number of the titanium alloy blade bases are fixed on the flip shaft in a linear array; a number of the wedge-shaped blades are detachably connected to the titanium alloy blade base in a circular array through bolts. ; The hybrid drive component and the visual avoidance component are both arranged on the shell; the diesel generator compartment and the battery compartment are both fixed on the shell; the visual avoidance component includes a front-stage visual probe and a rear-stage positioning sensor; at least three of the front-stage visual probes are connected to the shell through a walking mechanism; the rear-stage positioning sensor is fixed on the shell; the walking mechanism includes a sliding component; the sliding component includes a U-shaped frame, a transmission cylinder and a main wheel; the U-shaped frame is connected to the shell through a lifting component, and the U-shaped frame is detachably connected to at least three front-stage visual probes; the transmission cylinder is rotatably arranged on the U-shaped frame; at least three of the main wheels are slidably arranged on the transmission cylinder in a linear array and the main wheel position is fixed by a locking component.

[0007] As a further solution of the present invention: the walking mechanism also includes an adjusting component; the adjusting component includes a servo motor, a rotating disk, an open groove, a threaded barrel, a threaded sleeve, a connecting block and a connecting ring groove; the servo motor is fixed to one of the vertical plates of the U-shaped frame through a motor seat; the rotating disk is fixedly connected to the output end of the servo motor; at least three open grooves are provided in a linear array on the circumferential surface of the transmission barrel; at least three threaded barrels are mutually sleeved in the transmission barrel, and the ends of the threaded barrels pass through the U-shaped frame and are connected to the rotating disk through the rotating component; the threaded sleeve is screwed onto the threaded barrel; the connecting block is slidably inserted into the open groove and fixedly connected to the circumferential surface of the threaded sleeve; a connecting ring groove is provided in the main wheel, and the connecting block is movably engaged with the connecting ring groove.

[0008] As a further solution of the present invention: the lengths of the three threaded barrels gradually decrease from the inside to the outside.

[0009] As a further solution of the present invention: the rotating assembly includes a rotating groove, a rotating block, a positioning groove, a spring groove, a positioning block and a spring A; the rotating disk is provided with at least three rotating grooves on the side away from the servo motor; the rotating block is rotatably inserted into the rotating groove and is fixedly connected to the threaded barrel; a plurality of positioning grooves are provided in a circular array on the inner side wall of the rotating groove; a plurality of spring grooves are provided in a circular array on the side of the rotating block away from the threaded barrel; the positioning block is slidably inserted into the spring groove and engaged with the positioning groove; the two ends of the spring A are respectively fixedly connected to the inner wall of the spring groove and the positioning block.

[0010] As a further solution of the present invention: the rotating block is an annular structure, and the longitudinal section of the rotating block is an L-shaped structure, and the size of the rotating block close to the threaded barrel is smaller than the size of the rotating block away from the threaded barrel.

[0011] As a further solution of the present invention: the positioning block is a hemispherical structure, and the center of the positioning block is located in the spring groove.

[0012] As a further solution of the present invention: the locking assembly includes a movable groove, a wedge groove, a movable column, a movable sleeve, a spring B, a movable pin, a square block, a locking groove, a connecting plate and a locking block; the horizontal plate of the U-shaped frame is provided with a plurality of movable grooves in a linear array; a wedge groove is provided on the inner circumferential surface of the movable groove; the movable column is movably inserted into the movable groove; the movable sleeve is sleeved on the movable column and slides with the movable groove; the two ends of the spring B are respectively in contact with the inner wall of the movable groove and the movable sleeve; a plurality of movable pins are fixed in a ring array on the circumferential surface of the movable column and slide with the wedge groove; the square block is fixed on the bottom end of the movable column, and the end of the square block extends to the outside through the movable groove; a locking groove is provided on the circumferential surface of the main wheel; the connecting plate is fixedly connected to the end of the square block away from the movable column; a plurality of locking blocks are fixed in a linear array on the side of the connecting plate away from the square block, and the locking block is plugged into the locking groove, and the side of the locking block away from the square block is a V-shaped end.

[0013] As a further solution of the present invention: the wedge-shaped groove is formed by a plurality of V-shaped grooves, the inner wall and the outer wall at the tip of the V-shaped groove are staggered, and the inner and outer walls of the bottom tip of the V-shaped groove are both arc-shaped structures.

[0014] As a further solution of the present invention: the lifting assembly includes an L-shaped frame, a fixed seat, a hydraulic cylinder, an articulated seat, a limit slot and a limit block; the L-shaped frame is fixed on the shell; at least one of the fixed seats is fixed on the horizontal plate of the L-shaped frame; at least one piston end of the hydraulic cylinder is fixedly connected to the horizontal plate of the U-shaped frame; the articulated seat is fixed on the cylinder body of the hydraulic cylinder and is rotatably connected to the fixed seat through a rotating shaft; at least one limit slot is opened on the fixed seat; the limit block is slidably passed through the limit slot and fixedly connected to the articulated seat.

[0015] As a further solution of the present invention: the limiting groove is an arc-shaped structure, and the center of the limiting groove is located on the axis of the rotating shaft.

[0016] The beneficial effects of the present invention are:

[0017] 1. The present invention is provided with a hybrid drive component, a visual avoidance component, a walking mechanism and a rotating component. When adjusting the width of the main wheel, the servo motor is started, so that the output shaft of the servo motor drives the rotating disk to rotate, so that the threaded barrel rotates through the rotating component, so that the threaded barrel is threadedly connected with the threaded sleeve, so that the connecting block slides in the open groove, so that the connecting block squeezes the inner wall of the connecting ring groove, so that the main wheel slides on the transmission barrel until the main wheel moves to the appropriate position, and the locking component is used to fix the position of the main wheel. At this time, when the rotating disk rotates, the spherical surface of the positioning block squeezes the inner wall of the positioning groove, so that the positioning block is in the spring groove. The inner sliding causes the spring A to be forced to contract, causing the rotating block to rotate in the rotating groove until the positioning block contacts the inner wall of the next positioning groove. At this time, under the elastic force of spring A, the positioning block will be engaged with the next positioning groove. This is repeated to fix the position of the threaded barrel on the main wheel until the three main wheels are adjusted to the appropriate position. The servo motor is controlled so that the servo motor output shaft no longer rotates. Compared with the prior art, the present invention has a reasonable structural design, adjustable line width, mixed power, and can achieve visual seedling avoidance. At the same time, the three main wheels can be freely adjusted by a single servo motor.

[0018] 2. The present invention sets a locking assembly, and by pressing the movable column downward, the movable column drives the movable sleeve to slide downward in the movable groove, so that the spring B is stretched under force, and the square block drives the connecting plate and the locking block to move downward, so that the movable pin slides from the top tip in the wedge-shaped groove to the bottom tip of the wedge-shaped groove, and the movable column drives the movable sleeve to rotate in the movable groove until the movable pin slides to the bottom tip of the wedge-shaped groove. At this time, the movable column is released, and under the elastic force of the spring B, the movable pin slides to the arc surface at the top of the bottom tip of the wedge-shaped groove. At this time, the locking block is plugged into the locking groove, so that the side of the locking block squeezes the inner wall of the locking groove, so that the position of the main wheel is fixed.

[0019] 3. The present invention sets a lifting assembly. When the height of the main wheel needs to be adjusted, the hydraulic cylinder is started to shorten or extend the hydraulic cylinder piston rod, so that the U-shaped frame drives the main wheel to move, and the articulated seat rotates with the fixed seat through the rotating shaft, so that the limit block slides in the limit groove until the main wheel moves to the appropriate position. Since the limit groove is an arc-shaped structure, the lifting height of the U-shaped frame can be limited. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2It is a rear view of the overall structure of the present invention;

[0022] Figure 3 It is a cross-sectional view of the overall structure of the present invention;

[0023] Figure 4 This is a schematic diagram of the automatic weeding and soil loosening equipment of the present invention;

[0024] Figure 5 It is an exploded cross-sectional view of the adjustment assembly of the present invention;

[0025] Figure 6 A cross-sectional view of the rotating disk structure of the present invention;

[0026] Figure 7 A cross-sectional view of the U-shaped frame structure of the present invention;

[0027] Figure 8 It is a partial structural sectional view of the present invention;

[0028] Figure 9 For the present invention Figure 3 A in the middle is an enlarged schematic diagram;

[0029] Figure 10 For the present invention Figure 3 The enlarged schematic diagram of point B in the middle;

[0030] Figure 11 For the present invention Figure 3 The enlarged schematic diagram of point C in the middle;

[0031] Figure 12 For the present invention Figure 3 The enlarged schematic diagram of point D in the middle;

[0032] Figure 13 For the present invention Figure 7 Enlarged schematic diagram at point E in the middle.

[0033] In the picture:

[0034] 1. Automatic weeding and loosening equipment body; 2. Hybrid drive assembly; 3. Visual avoidance assembly; 4. Travel mechanism; 5. Sliding assembly; 6. Lifting assembly; 7. Locking assembly; 8. Adjustment assembly; 9. Rotation assembly;

[0035] 101. Housing; 102. Flip axis; 103. Blade pressure sensor; 104. Titanium alloy blade base; 105. Wedge-shaped blade;

[0036] 201. Diesel generator compartment; 202. Battery compartment;

[0037] 301, front-stage visual probe; 302, rear-stage positioning sensor;

[0038] 501, U-shaped frame; 502, transmission cylinder; 503, main wheel;

[0039] 601, L-shaped frame; 602, fixed seat; 603, hydraulic cylinder; 604, articulated seat; 605, limit slot; 606, limit block;

[0040] 701, movable groove; 702, wedge-shaped groove; 703, movable column; 704, movable sleeve; 705, spring B; 706, movable pin; 707, square block; 708, locking groove; 709, connecting plate; 710, locking block;

[0041] 801, servo motor; 802, rotating disk; 803, open slot; 804, threaded barrel; 805, threaded sleeve; 806, connecting block; 807, connecting ring groove;

[0042] 901, rotating groove; 902, rotating block; 903, positioning groove; 904, spring groove; 905, positioning block; 906, spring A. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0044] like Figures 1 to 13 As shown, the present invention provides an adjustable row width narrow row crop automatic weeding and loosening device based on visual recognition, including an automatic weeding and loosening device body 1, a hybrid drive component 2, a visual avoidance component 3, a walking mechanism 4, a lifting component 6, a locking component 7 and a rotating component 9; the automatic weeding and loosening device body 1 includes a shell 101, a flip shaft 102, a blade pressure sensor 103, a titanium alloy blade base 104 and a wedge-shaped blade 105; the shell 101 is detachably connected to the carrier through a connecting arm; the flip shaft 102 is rotatably arranged in the shell 101; the blade pressure sensor 103 is fixed on the inner side of the shell 101; five titanium alloy blade bases 104 and 105 are provided. 04 is fixed on the flip shaft 102 in a linear array, and the wedge-shaped blades 105 form a soil discharge angle of 60°-85°; the four wedge-shaped blades 105 are arranged in a circular array and are detachably connected to the titanium alloy blade base 104 by bolts. The diameter of the wedge-shaped blades 105 is 400-600mm; when the wedge-shaped blades 105 contact the ground, they automatically cut into the soil due to the reaction force of the soil. The cutting depth is controlled by the feedback of the blade pressure sensor 103 (depth range 30-80mm); when the equipment moves forward, the last wedge-shaped blade 105 flips at the moment it leaves the ground, so that the weed roots are pulled out and the soil is loosened (flip angle 45°-75°);

[0045] The hybrid drive assembly 2 and the visual avoidance assembly 3 are both arranged on the housing 101; the diesel generator compartment 201 and the battery compartment 202 are both fixed to the housing 101; the front diesel generator and the lithium battery pack are connected in parallel to provide power (generated power ≥ 5kW, battery capacity ≥ 20kWh);

[0046] The visual avoidance component 3 includes a front-stage visual probe 301 and a rear-stage positioning sensor 302. The three front-stage visual probes 301 are connected to the housing 101 via the walking mechanism 4 to capture the morphological characteristics of the plant roots and leaves in real time. The rear-stage positioning sensor 302 is fixed to the housing 101 and synchronously monitors the relative position of the rear weeding component and the crop. The visual avoidance component 3 uses the YOLOv5 algorithm to identify the morphological characteristics of the crop stem base. An ultrasonic ground-penetrating radar is installed at the rear wheel position to provide real-time feedback on soil compaction and coordinately adjust the weeding depth.

[0047] The walking mechanism 4 includes a sliding assembly 5, which includes a U-shaped frame 501, a transmission cylinder 502, and main wheels 503. The U-shaped frame 501 is connected to the housing 101 via a lifting assembly 6, and the U-shaped frame 501 is detachably connected to the three front-stage visual probes 301. The transmission cylinder 502 is rotatably mounted on the U-shaped frame 501. The three main wheels 503 are slidably mounted on the transmission cylinder 502 in a linear array and are fixed in position by a locking assembly 7. The wheelbase of the main wheels 503 is adjustable within a range of 150-300 mm (corresponding to a row spacing of 150-300 mm).

[0048] The walking mechanism 4 also includes an adjustment assembly 8; the adjustment assembly 8 includes a servo motor 801, a rotating disk 802, an open slot 803, a threaded barrel 804, a threaded sleeve 805, a connecting block 806 and a connecting ring groove 807; the servo motor 801 is fixed to one of the vertical plates of the U-shaped frame 501 through a motor seat; the rotating disk 802 is fixedly connected to the output end of the servo motor 801; three open slots 803 are opened in a linear array on the circumference of the transmission barrel 502; the three threaded barrels 804 are mutually sleeved on the transmission barrel 50 2, and the end of the threaded cylinder 804 passes through the U-shaped frame 501 and is connected to the rotating disk 802 through the rotating assembly 9; the threaded sleeve 805 is screwed onto the threaded cylinder 804; the connecting block 806 is slidably inserted into the opening groove 803 and fixedly connected to the circumferential surface of the threaded sleeve 805; a connecting ring groove 807 is opened in the main wheel 503, and the connecting block 806 is movably matched with the connecting ring groove 807; the length dimensions of the three threaded cylinders 804 gradually decrease from the inside to the outside; the length dimension of the opening groove 803 is greater than the movable dimension of the connecting block 806;

[0049] The rotating assembly 9 includes a rotating groove 901, a rotating block 902, a positioning groove 903, a spring groove 904, a positioning block 905 and a spring A906; the rotating disk 802 is provided with three rotating grooves 901 on the side away from the servo motor 801; the rotating block 902 is rotatably inserted into the rotating groove 901 and is fixedly connected to the threaded barrel 804; a plurality of positioning grooves 903 are provided in a circular array on the inner side wall of the rotating groove 901; a plurality of spring grooves 904 are provided in a circular array on the side of the rotating block 902 away from the threaded barrel 804; the positioning block 905 is slidably inserted into the spring groove 904 and is fixedly connected to the threaded barrel 804. The positioning groove 903 is snap-fitted; the two ends of the spring A906 are fixedly connected to the inner wall of the spring groove 904 and the positioning block 905 respectively; the rotating block 902 is an annular structure, and the longitudinal section of the rotating block 902 is an L-shaped structure. The size of the rotating block 902 close to the threaded barrel 804 is smaller than the size of the rotating block 902 away from the threaded barrel 804, so as to facilitate the position restriction between the threaded barrel 804 and the rotating disk 802; the positioning block 905 is a hemispherical structure, and the center of the positioning block 905 is in the spring groove 904, so as to facilitate the positioning block 905 to slide in the spring groove 904.

[0050] The present invention is provided with a hybrid drive component 2, a visual avoidance component 3, a walking mechanism 4 and a rotating component 9. When the line width of the main wheel 503 is adjusted, the servo motor 801 is started, so that the output shaft of the servo motor 801 drives the rotating disk 802 to rotate, so that the threaded cylinder 804 rotates through the rotating component 9, so that the threaded cylinder 804 is threadedly connected with the threaded sleeve 805, so that the connecting block 806 slides in the open groove 803, so that the connecting block 806 squeezes the inner wall of the connecting ring groove 807, so that the main wheel 503 slides on the transmission cylinder 502. After the main wheel 503 moves to a suitable position, the position of the main wheel 503 is fixed by the locking component 7. At this time, when the rotating disk 802 rotates, the positioning block 905 spherically squeezes the inner wall of the positioning groove 903, so that the positioning block 9 05 slides in the spring groove 904, causing the spring A906 to be forced to contract, causing the rotating block 902 to rotate in the rotating groove 901 until the positioning block 905 contacts the inner wall of the next positioning groove 903. At this time, under the elastic force of the spring A906, the positioning block 905 will be engaged with the next positioning groove 903. This is repeated to fix the position of the threaded cylinder 804 on the main wheel 503 until the three main wheels 503 are adjusted to the appropriate position. The servo motor 801 is controlled so that the output shaft of the servo motor 801 no longer rotates. Compared with the prior art, the present invention has a reasonable structural design, adjustable row width, mixed power, and can achieve visual seedling avoidance. At the same time, the three main wheels 503 can be freely adjusted by a single servo motor 801.

[0051] As a preferred embodiment, the locking assembly 7 includes a movable groove 701, a wedge-shaped groove 702, a movable column 703, a movable sleeve 704, a spring B705, a movable pin 706, a square block 707, a locking groove 708, a connecting plate 709 and a locking block 710; three movable grooves 701 are provided in a linear array on the horizontal plate of the U-shaped frame 501; a wedge-shaped groove 702 is provided on the inner circumference of the movable groove 701; the movable column 703 is movably inserted into the movable groove 701; the movable sleeve 704 is sleeved on the movable column 703 and slidably cooperates with the movable groove 701; the two ends of the spring B705 are respectively in contact with the inner wall of the movable groove 701 and the movable sleeve 704; six movable pins 706 are fixed on the circumference of the movable column 703 in an annular array and slidably cooperate with the wedge groove 702; the square block 707 is fixed on the bottom end of the movable column 703, and the square block When the cam 710 is in the unlocking state, the locking block 710 is locked and the locking block 710 is locked.

[0052] When the locking cam 710 is in the unlocking state, the locking cam 710 is in the unlocking state, and the locking cam 710 is in the unlocking state, so that the locking cam 710 is locked and the locking cam 710 is locked.

[0053] As a preferred embodiment, the lifting assembly 6 includes an L-shaped frame 601, a fixed seat 602, a hydraulic cylinder 603, an articulated seat 604, a limit slot 605 and a limit block 606; the L-shaped frame 601 is fixed on the shell 101; the two fixed seats 602 are fixed on the horizontal plate of the L-shaped frame 601; the piston ends of the two hydraulic cylinders 603 are fixedly connected to the horizontal plate of the U-shaped frame 501; the articulated seat 604 is fixed on the cylinder body of the hydraulic cylinder 603 and is rotatably connected to the fixed seat 602 through a rotating shaft; a limit slot 605 is provided on the fixed seat 602; the limit block 606 is slidably passed through the limit slot 605 and fixedly connected to the articulated seat 604; the limit slot 605 is an arc-shaped structure, and the center of the limit slot 605 is on the axis of the rotating shaft; the lifting height of the U-shaped frame 501 is ≥150mm.

[0054] The present invention is provided with a lifting assembly 6. When the height of the main wheel 503 needs to be adjusted, the hydraulic cylinder 603 is started to shorten or extend the piston rod of the hydraulic cylinder 603, so that the U-shaped frame 501 drives the main wheel 503 to move, and the articulated seat 604 rotates with the fixed seat 602 through the rotating shaft, so that the limit block 606 slides in the limit groove 605 until the main wheel 503 moves to a suitable position. Since the limit groove 605 is an arc-shaped structure, the lifting height of the U-shaped frame 501 can be limited.

[0055] The working principle of the present invention is as follows: when adjusting the line width of the main wheel 503, the servo motor 801 is started, so that the output shaft of the servo motor 801 drives the rotating disk 802 to rotate, so that the threaded cylinder 804 rotates through the rotating component 9, so that the threaded cylinder 804 is threadedly connected with the threaded sleeve 805, so that the connecting block 806 slides in the open groove 803, so that the connecting block 806 squeezes the inner wall of the connecting ring groove 807, so that the main wheel 503 slides on the transmission cylinder 502, until the main wheel 503 moves to the appropriate position, and then the movable column 703 is pressed downward to drive the movable sleeve 704 to rotate. The movable groove 701 slides downward, causing the spring B705 to be stretched, causing the square block 707 to drive the connecting plate 709 and the locking block 710 to move downward, causing the movable pin 706 to slide from the top tip of the wedge groove 702 to the bottom tip of the wedge groove 702, causing the movable column 703 to drive the movable sleeve 704 to rotate in the movable groove 701 until the movable pin 706 slides to the bottom tip of the wedge groove 702. At this time, the movable column 703 is released, and under the elastic force of the spring B705, the movable pin 706 slides to the arc surface at the top of the bottom tip of the wedge groove 702. , the locking block 710 is plugged into the locking groove 708, so that the side of the locking block 710 squeezes the inner wall of the locking groove 708, so that the position of the main wheel 503 is fixed. At this time, when the rotating disk 802 rotates, the spherical surface of the positioning block 905 squeezes the inner wall of the positioning groove 903, so that the positioning block 905 slides in the spring groove 904, so that the spring A906 is forced to contract, and the rotating block 902 rotates in the rotating groove 901 until the positioning block 905 contacts the inner wall of the next positioning groove 903. At this time, under the elastic force of the spring A906, the positioning block 905 is engaged with the next positioning groove 903 , repeat this process to fix the position of the threaded cylinder 804 on the main wheel 503 until the three main wheels 503 are adjusted to the appropriate position, and then control the servo motor 801 so that the output shaft of the servo motor 801 no longer rotates; when the height of the main wheel 503 needs to be adjusted, the hydraulic cylinder 603 is started to shorten or extend the piston rod of the hydraulic cylinder 603, so that the U-shaped frame 501 drives the main wheel 503 to move, and the articulated seat 604 rotates with the fixed seat 602 through the rotating shaft, so that the limit block 606 slides in the limit slot 605 until the main wheel 503 moves to the appropriate position.

[0056] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense, and may refer to mechanical or electrical connections, internal communication between two components, or direct connection. "Up," "down," "left," and "right" are only used to indicate relative positional relationships. When the absolute positions of the objects being described change, the relative positional relationships may also change.

[0057] Secondly: The drawings of the embodiments disclosed in the present invention only involve structures related to the embodiments disclosed in the present invention. Other structures may refer to conventional designs. The same embodiment and different embodiments of the present invention may be combined with each other without conflict.

[0058] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An adjustable row width narrow row crop automatic weeding and loosening device based on visual recognition, characterized by: The invention comprises an automatic weeding and loosening equipment body (1), a hybrid drive component (2), a visual avoidance component (3), a walking mechanism (4), a lifting component (6) and a locking component (7); the automatic weeding and loosening equipment body (1) comprises a shell (101), a tilting shaft (102), a blade pressure sensor (103), a titanium alloy blade base (104) and a wedge-shaped blade (105); the shell (101) is detachably connected to a carrier through a connecting arm; the tilting shaft (102) is rotatably arranged in the shell (101); the blade pressure sensor (103) is fixed on the inner side of the shell (101); a plurality of the titanium alloy blade bases (104) are fixed on the tilting shaft (102) in a linear array; a plurality of the wedge-shaped blades (105) are detachably connected to the titanium alloy blade base (104) through bolts in an annular array; the hybrid drive component (2) and the visual avoidance component (3) are both arranged on the shell (101); the diesel generator compartment (2 01) and the battery compartment (202) are fixed on the housing (101); the visual avoidance component (3) includes a front-stage visual probe (301) and a rear-stage positioning sensor (302); at least three of the front-stage visual probes (301) are connected to the housing (101) through a walking mechanism (4); the rear-stage positioning sensor (302) is fixed on the housing (101); the walking mechanism (4) includes a sliding component (5); the sliding component (5) includes a U-shaped frame (5 01), a transmission cylinder (502) and a main wheel (503); the U-shaped frame (501) is connected to the housing (101) through a lifting assembly (6), and the U-shaped frame (501) is detachably connected to at least three front-stage visual probes (301); the transmission cylinder (502) is rotatably arranged on the U-shaped frame (501); at least three main wheels (503) are slidably arranged on the transmission cylinder (502) in a linear array and are fixed in position by a locking assembly (7).

2. The automatic weeding and loosening equipment for narrow-row crops with adjustable row width based on visual recognition according to claim 1 is characterized in that: The walking mechanism (4) further comprises an adjusting assembly (8); the adjusting assembly (8) comprises a servo motor (801), a rotating disk (802), an opening slot (803), a threaded barrel (804), a threaded sleeve (805), a connecting block (806) and a connecting ring slot (807); the servo motor (801) is fixed to one of the vertical plates of the U-shaped frame (501) via a motor seat; the rotating disk (802) is fixedly connected to the output end of the servo motor (801); the circumferential surface of the transmission barrel (502) is provided with at least three opening slots (803) in a linear array. 03); at least three of the threaded cylinders (804) are mutually sleeved in the transmission cylinder (502), and the ends of the threaded cylinders (804) pass through the U-shaped frame (501) and are connected to the rotating disk (802) through the rotating assembly (9); the threaded sleeve (805) is screwed onto the threaded cylinder (804); the connecting block (806) is slidably inserted into the open groove (803) and is fixedly connected to the circumferential surface of the threaded sleeve (805); a connecting ring groove (807) is opened in the main wheel (503), and the connecting block (806) is movably matched with the connecting ring groove (807).

3. The automatic weeding and loosening equipment for narrow-row crops with adjustable row width based on visual recognition according to claim 2 is characterized in that: The lengths of the three threaded barrels (804) gradually decrease from the inside to the outside.

4. The automatic weeding and loosening equipment for narrow-row crops with adjustable row width based on visual recognition according to claim 3 is characterized in that: The rotating assembly (9) comprises a rotating groove (901), a rotating block (902), a positioning groove (903), a spring groove (904), a positioning block (905) and a spring A (906); at least three rotating grooves (901) are provided on the side of the rotating disk (802) away from the servo motor (801); the rotating block (902) is rotatably inserted into the rotating groove (901) and is fixedly connected to the threaded barrel (804); a plurality of positioning grooves (903) are provided in an annular array on the inner side wall of the rotating groove (901); a plurality of spring grooves (904) are provided in an annular array on the side of the rotating block (902) away from the threaded barrel (804); the positioning block (905) is slidably inserted into the spring groove (904) and is engaged with the positioning groove (903); and the two ends of the spring A (906) are fixedly connected to the inner wall of the spring groove (904) and the positioning block (905), respectively.

5. The automatic weeding and loosening equipment for narrow-row crops with adjustable row width based on visual recognition according to claim 4 is characterized in that: The rotating block (902) is an annular structure, and the longitudinal section of the rotating block (902) is an L-shaped structure. The size of the rotating block (902) close to the threaded barrel (804) is smaller than the size of the rotating block (902) away from the threaded barrel (804).

6. The automatic weeding and loosening equipment for narrow-row crops with adjustable row width based on visual recognition according to claim 4 is characterized in that: The positioning block (905) is a hemispherical structure, and the center of the positioning block (905) is located in the spring groove (904).

7. The automatic weeding and loosening equipment for narrow-row crops with adjustable row width based on visual recognition according to claim 5 is characterized in that: The locking assembly (7) includes a movable groove (701), a wedge-shaped groove (702), a movable column (703), a movable sleeve (704), a spring B (705), a movable pin (706), a square block (707), a locking groove (708), a connecting plate (709) and a locking block (710); a plurality of movable grooves (701) are provided on the horizontal plate of the U-shaped frame (501) in a linear array; a wedge-shaped groove (702) is provided on the inner circumference of the movable groove (701); the movable column (703) is movably inserted into the movable groove (701); the movable sleeve (704) is sleeved on the movable column (703) and slidably cooperates with the movable groove (701); the two ends of the spring B (705) are respectively connected to the inner wall of the movable groove (701) and the movable sleeve (704). contact; a plurality of the movable pins (706) are fixed in an annular array on the circumferential surface of the movable column (703) and are slidably matched with the wedge-shaped groove (702); the square block (707) is fixed on the bottom end of the movable column (703), and the end of the square block (707) passes through the movable groove (701) and extends to the outside; a locking groove (708) is provided on the circumferential surface of the main wheel (503); the connecting plate (709) is fixedly connected to one end of the square block (707) away from the movable column (703); a plurality of the locking blocks (710) are fixed in a linear array on the side of the connecting plate (709) away from the square block (707), and the locking block (710) is plug-fitted with the locking groove (708), and the side of the locking block (710) away from the square block (707) is a V-shaped end.

8. The vision-based adjustable row width narrow row crop automatic weeding and loosening equipment according to claim 7, characterized in that: The wedge-shaped groove (702) is formed by a plurality of V-shaped grooves, wherein the inner wall and the outer wall at the tip of the V-shaped groove are arranged alternately, and the inner and outer walls at the tip of the bottom of the V-shaped groove are both arc-shaped structures.

9. The automatic weeding and loosening equipment for narrow-row crops with adjustable row width based on visual recognition according to claim 7, characterized in that: The lifting assembly (6) comprises an L-shaped frame (601), a fixed seat (602), a hydraulic cylinder (603), an articulated seat (604), a limiting groove (605) and a limiting block (606); the L-shaped frame (601) is fixed on the housing (101); at least one of the fixed seats (602) is fixed on the horizontal plate of the L-shaped frame (601); a piston end of at least one of the hydraulic cylinders (603) is fixedly connected to the horizontal plate of the U-shaped frame (501); the articulated seat (604) is fixed on the cylinder body of the hydraulic cylinder (603) and is rotatably connected to the fixed seat (602) via a rotating shaft; at least one limiting groove (605) is formed on the fixed seat (602); the limiting block (606) is slidably inserted into the limiting groove (605) and is fixedly connected to the articulated seat (604).

10. The vision-based adjustable row width narrow row crop automatic weeding and loosening equipment according to claim 9, characterized in that: The limiting groove (605) is an arc-shaped structure, and the center of the limiting groove (605) is located on the axis of the rotating shaft.

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