Intelligent weeding machine

Abstract

The invention provides an intelligent weeding machine, and belongs to the technical field of agricultural machinery. The weeding machine comprises a power device, a jet device, an identification system, a processing system, a rainwater collecting device and a rotary scarifier. By integrating four water jet modes of continuous, pulse, abrasive and abrasive pulse and combining with an intelligent recognition and processing system, weeds can be automatically recognized, the optimal jet working condition can be adaptively selected, and efficient, accurate and environment-friendly removal of the weeds in different working environments is achieved. Meanwhile, the comprehensive benefits of energy conservation, environmental protection, soil improvement and crop growth promotion are achieved by utilizing the functions of degradable composite grinding materials, solar power supply, rainwater recovery, soil improvement agent addition and the like, and full automation of weeding operation is basically achieved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery or weeding equipment, and particularly to an intelligent weeding machine. Background Technology

[0002] In my country, weed problems cause approximately 10%-15% of the total grain output to be lost each year. Currently, the main weeding technologies include manual weeding, pesticide weeding, and mechanical weeding. Manual weeding is labor-intensive and has the lowest efficiency, making it unsuitable for large-scale use; pesticide weeding leads to environmental pollution and weeds are prone to developing resistance; existing mechanical weeding machines typically suffer from complex structures and are easily damaged.

[0003] Existing technology proposes a high-temperature hydraulic jet intelligent weeding machine based on image segmentation vision and control, which relies on high-temperature water vapor to remove weeds between plants. This type of weeding machine has a high weeding rate, but it has problems such as high power consumption, the high-temperature steam spraying can easily damage crops and is difficult to remove weeds near crops, and the spray angle cannot be arbitrarily adjusted.

[0004] Existing technology proposes a jet-type weeding machine for paddy fields, which relies on high-pressure water jets to wash away the soil around the weed roots along with the weed roots to complete the weed removal operation. This type of weeding machine has high operating efficiency and low seedling damage rate, but the operating environment is limited to paddy fields, and there are problems such as the need for extremely high impact pressure for long-term erosion, which is difficult to achieve in practice, and the inability to identify weeds autonomously, still requiring manual assistance. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an intelligent weeding machine that adapts to different weeds and environments, reduces energy consumption, and improves weeding efficiency.

[0006] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0007] A smart weed cutter includes a power unit, a jetting device, a recognition system, a processing system, a rain collection device, and a rotary soil loosener;

[0008] The jetting device includes a water tank, a plunger pump, a solenoid valve, an abrasive container, a soil conditioner container, and a nozzle. The water tank is connected to the nozzle via the plunger pump, which pressurizes the water in the tank to form a water pressure pipeline. The solenoid valve is connected to the plunger pump, and its opening and closing are controlled by the processing system to generate a pulsed water jet. The abrasive container is connected to the water pressure pipeline via a feed pipe and is used to add abrasive to the water through the Venturi effect. The soil conditioner container is connected to the water pressure pipeline via a feed pipe and is used to add soil conditioner to the water through the Venturi effect.

[0009] The identification system includes a depth camera for acquiring weed image information and a spectral camera for acquiring plant spectral information;

[0010] The processing system includes a processing module and an industrial control board; the processing module is communicatively connected to the identification system and is used to identify weeds and determine their location and status based on image and spectral information; the industrial control board is communicatively connected to the processing module and the jet device and is used to control the working parameters and start / stop of the jet device according to the instructions of the processing module; the rotary soil loosener is located at the rear of the weeding machine body and downstream of the jet device.

[0011] Furthermore, the processing system also includes a parallel robot, on which the nozzle is mounted; the industrial control board calculates the target jet position based on the weed location information, the weeder's travel speed, and the system response time provided by the processing module, and controls the parallel robot to move the nozzle to the target jet position and maintain the optimal jet angle.

[0012] Furthermore, the processing module has multiple operating modes, and the processing module controls the jet device to generate at least one water jet mode, including continuous water jet, pulsed water jet, abrasive water jet, and abrasive pulsed water jet.

[0013] Furthermore, the industrial control board receives instructions from the processing module and dynamically adjusts the operating parameters of the jet device. The operating parameters include the jet pressure provided by the plunger pump, the pulse frequency determined by the switching frequency of the solenoid valve, the abrasive concentration controlled by the opening degree of the abrasive valve, and the soil conditioner concentration controlled by the opening degree of the modification valve.

[0014] Furthermore, the processing module automatically selects and executes one of several predefined weeding modes based on the weed types and environmental parameters identified by the identification system, including:

[0015] In the greenhouse weeding mode, the processing module controls the jet device to generate a continuous water jet.

[0016] In the dryland weeding mode, the processing module controls the switching frequency of the solenoid valve to generate pulsed water jets from the jetting device.

[0017] In the paddy field weeding mode, the processing module controls the abrasive valve to open, so that the jetting device generates an abrasive water jet;

[0018] In the saline-alkali land weeding mode, the processing module controls the opening of the abrasive valve, improves the valve opening, and controls the switching frequency of the solenoid valve, so that the jet device generates abrasive pulse water jets.

[0019] Furthermore, the abrasive stored in the abrasive jar is a biodegradable composite abrasive, which is made by forming a nanoscale rough surface from rice husks or corn cobs through low-temperature plasma etching-silane coupling treatment, and then mixing and coating it with chitosan-CaCl2 gel.

[0020] Furthermore, the power unit includes a battery and a solar panel electrically connected to the battery for providing auxiliary power to the lawnmower.

[0021] Furthermore, the identification system also includes an infrared sensor for detecting human or animal bodies and sending a signal to the industrial control board when a human or animal is detected to control the jet device to stop or reduce its speed.

[0022] Furthermore, the jet device also includes a heater for preventing the water tank from freezing, and a sensor for monitoring the remaining material in the water tank, abrasive jar, and improved jar; the sensor is connected to the industrial control board and sends a warning message to the user terminal via a wireless communication module when the remaining material is below a threshold.

[0023] Furthermore, it also includes the rain collection device, which is installed on top of the weeder to collect and filter rainwater into a water tank.

[0024] The beneficial effects of this invention are as follows:

[0025] 1. The intelligent weeding machine of the present invention integrates four water jet modes: continuous, pulse, abrasive, and abrasive pulse, and matches more than 30 adjustable jet working conditions. It can achieve precise and efficient removal of weeds with different growth resilience and different working environments (such as greenhouses, dry land, paddy fields, and saline-alkali land). While ensuring a high weeding rate, it significantly reduces damage to crops and overall energy consumption.

[0026] 2. The intelligent weeding machine of the present invention, through an intelligent identification system that integrates a depth camera, a spectral camera and a processing module, can accurately identify and locate the type, growth status and location of weeds, providing a reliable data foundation for subsequent precise targeted weeding and effectively avoiding accidental damage to crops.

[0027] 3. The intelligent weeding machine of the present invention controls the parallel robot to drive the nozzle movement through the industrial control board, which can realize the precise positioning and attitude adjustment of the nozzle in three-dimensional space, ensuring that the jet always acts on the weeds at the best angle, greatly improving the success rate and cleanliness of single weeding.

[0028] 4. The intelligent weeding machine of the present invention, by using biodegradable abrasive that has been treated with low-temperature plasma etching-silane coupling and combined with chitosan-CaCl2 gel, can significantly enhance the water jet cutting ability of the abrasive. At the same time, after the abrasive degrades, it can slowly release nutrients into the soil, induce crop disease resistance, and fix heavy metals in the soil, thus achieving synergy between weeding and soil improvement.

[0029] 5. The intelligent weeding machine described in this invention, by configuring solar panels and rain collection devices, can achieve self-replenishment of energy and self-recycling of water during operation, greatly extending the continuous outdoor operation time and embodying the advanced design concept of green, energy-saving and environmental protection.

[0030] 6. The intelligent weeding machine of the present invention, through the linkage of infrared sensors and industrial control board, can realize automatic detection and emergency shutdown of human or animal, ensuring the safety of people and animals within the working range of the equipment.

[0031] 7. The intelligent weeding machine of the present invention integrates the function of adding soil conditioner into the jet, which can realize the simultaneous weeding and soil improvement of saline-alkali land. Users can flexibly select soil conditioners according to soil test results, thus expanding the functional boundaries and application scenarios of the equipment.

[0032] 8. The intelligent weeding machine described in this invention, through machine learning and parameter optimization based on feedback from the backend depth camera via the processing module, can achieve adaptive evolution and continuous improvement of the weeding strategy, thereby continuously improving the quality of the weeding machine's operation.

[0033] 9. The intelligent weeding machine of the present invention, by rotating the soil loosener to comb the soil after jet weeding, can achieve the cleaning of residual weed fragments and slight loosening of the soil surface, which not only keeps the field clean, but also promotes the growth of crop roots. Attached Figure Description

[0034] 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. The drawings described below are some embodiments of the present invention. For those skilled in the art, it is obvious that other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 This is a structural diagram of the intelligent weeding machine described in this invention.

[0036] Figure 2 for Figure 1 A schematic diagram of the internal structure.

[0037] Figure 3 for Figure 1 Top view.

[0038] Figure 4 This is a schematic diagram of a jet device.

[0039] Figure 5 This is a schematic diagram of the rain collection device described in this invention.

[0040] Figure 6 This is a schematic diagram of the rotary soil loosener described in this invention.

[0041] In the picture:

[0042] 1-Power unit; 11-Self-propelled chassis; 12-Drive motor; 13-Battery; 14-Solar panel; 2-Jet device; 21-Motor; 22-Plunger pump; 23-Water tank; 24-Heater; 25-Water tank sensor; 26-Overflow valve; 28-Solenoid valve; 29-Abrasive tank; 210-Abrasive valve; 211-Abrasive sensor; 212-Modifier tank; 213-Modifier valve; 214-Modifier sensor; 215-Feed pipe; 216-High-pressure hose; 217-Nozzle; 218-Return water pipe; 3-Identification system; 31-Infrared sensor; 32-Depth camera; 33-Spectrometer camera; 34-Light source; 4-Processing system; 41-Processing module; 42-Wireless communication module; 43-Industrial control board; 44-Parallel robot; 5-Rain collection device; 51-Filter screen; 52-Rainwater recovery pipe; 6-Rotating soil loosener. Detailed Implementation

[0043] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0044] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0045] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0046] like Figure 1 and Figure 2 As shown, the intelligent weeding machine of the present invention includes a power unit 1, a jetting device 2, an identification system 3, a processing system 4, a rain collection device 5, and a rotary soil loosener 6.

[0047] The power unit 1 includes a self-propelled chassis 11, a drive motor 12, a battery 13, and solar panels 14. The drive motor 12 provides power for the forward movement and steering of the self-propelled chassis 11. The self-propelled chassis 11 is equipped with a frame with a cargo box for housing the jetting device 2, the identification system 3, the processing system 4, and the rain collection device 5. There are four solar panels 14, located on both sides and above the frame, with the two upper solar panels 14 tilted towards the center. The battery 13 is located inside the cargo box of the self-propelled chassis 11 and is connected to the solar panels 14.

[0048] like Figure 3 and Figure 4 As shown, the jetting device 2 includes a water tank 23, a plunger pump 22, a solenoid valve 28, an abrasive tank 29, a soil conditioner tank 212, and a nozzle 217. The water tank 23 is connected to the nozzle 217 via the plunger pump 22, and the plunger pump 22 pressurizes the water in the water tank 23 to form a water pressure pipeline. The solenoid valve 28 is connected to the plunger pump 22, and its opening and closing are controlled by the processing system 4 to generate pulsed water jets. The abrasive tank 29 is connected to the water pressure pipeline via the feed pipe 215 and is used to add abrasive to the water through the Venturi effect. The soil conditioner tank 212 is connected to the water pressure pipeline via the feed pipe 215 and is used to add soil conditioner to the water through the Venturi effect.

[0049] The jetting device 2 includes a motor 21, a plunger pump 22, a water tank 23, a heater 24, a water tank sensor 25, an overflow valve 26, a solenoid valve 28, an abrasive canister 29, an abrasive valve 210, an abrasive sensor 211, a modifier canister 212, a modifier valve 213, a modifier sensor 214, an inlet pipe 215, a high-pressure hose 216, a nozzle 217, and a return water pipe 218. The motor 21, plunger pump 22, abrasive canister 29, and modifier canister 212 are all located inside the self-propelled chassis 11. The motor 21 provides power to the plunger pump 22. The plunger pump 22 is responsible for pressurization, and the pressure provided can be controlled by the industrial control board 43. Two water tanks 23 are located on both sides of the self-propelled chassis 11, responsible for providing water for the jetting. The heater 24 and water tank sensor 25 are located at the bottom of the water tank, used to monitor the water temperature and remaining water level. The overflow valve 26 is located at the outlet of the plunger pump 22, and the return water pipe... 218 overflows, serving as a safety protection mechanism; the solenoid valve 28 is connected to the plunger pump 22, and its opening and closing are controlled by the industrial control board 43 to generate pulse jets; the abrasive tank 29 stores biodegradable composite abrasives and is connected to the high-pressure hose 216 via the abrasive valve 210; the abrasive valve 210 controls whether abrasive is provided and its supply rate; the abrasive sensor 211 is located at the bottom of the abrasive tank 29 to monitor the remaining abrasive level; the modifier tank 212 stores modifiers and is connected to the high-pressure hose 216 via the abrasive valve 210; the modifier valve 213 controls whether modifier is provided and its supply rate; the modifier sensor 214 is located at the bottom of the modifier tank 212 to monitor the remaining modifier level; the high-pressure hose 216 connects the solenoid valve 28 to the nozzle 217; the nozzle 217 is controlled by the parallel robot 44, which is responsible for changing the angle of the water jet. The abrasive stored in the abrasive jar 29 is a biodegradable composite abrasive, which is made by forming a nanoscale rough surface from rice husks or corn cobs through low-temperature plasma etching-silane coupling treatment, and then mixing and coating it with chitosan-CaCl2 gel.

[0050] The identification system 3 includes an infrared sensor 31, a depth camera 32, a spectral camera 33, and a light source 34, and is powered by a battery 13. The infrared sensor 31 is located at the front of the weeder and is used to monitor infrared rays emitted by humans or animals. When detected, it sends a signal to the industrial control board 43 to control the jet device 2 to stop or reduce its speed. There are two depth cameras 32, located at the front and rear of the weeder respectively, tilted slightly downwards, and are responsible for taking pictures of the ground on the front and rear sides of the intelligent weeder during its movement. The spectral camera 33 is located at the front of the weeder and is used to identify the spectral curves of plant growth stages. The light source 34 is located at the front of the weeder and provides sufficient light for the weeder to work at night.

[0051] The processing system 4 includes a processing module 41, a wireless communication module 42, an industrial control board 43, and a parallel robot 44. The processing module 41, wireless communication module 42, and industrial control board 43 are located inside the vehicle compartment. The processing module 41 is responsible for learning and recognizing photos taken by the depth camera and spectra collected by the spectral camera. The processing module 41 is communicatively connected to the recognition system 3 and is used to identify weeds and determine their location and status based on image and spectral information. The industrial control board 43 is communicatively connected to the processing module 41 and the jet device 2 and is used to control the working parameters and start / stop of the jet device 2 according to the instructions of the processing module 41. The wireless communication module 42 is responsible for communication between the weeder and the mobile phone. The nozzle 217 is installed on the parallel robot 44. The industrial control board 43 calculates the target jet position based on the weed position information, the weeder's travel speed, and the system response time provided by the processing module 41, and controls the parallel robot 44 to move the nozzle 217 to the target jet position and maintain the optimal jet angle.

[0052] like Figure 5 As shown, the rainwater collection device 5 is installed on top of the weeder and is used to collect and filter rainwater into the water tank 23. The rainwater collection device 5 includes a filter screen 51 and a rainwater recovery pipe 52; the filter screen 51 is used to filter the collected rainwater, and the filtered clean rainwater flows into the water tank 23 through the rainwater recovery pipe 52 as jet water.

[0053] like Figure 6 As shown, the rotary soil loosener 6 is located at the rear of the weeder body, downstream of the jet device 2. After the high-pressure water jet weeding is completed, the rotary soil loosener 6 automatically rotates to comb through the jet area, cleaning away residual weed fragments and soil. It also slightly loosens the soil surface, which is beneficial for crop root growth.

[0054] The processing module 41 has multiple operating modes. It controls the jetting device 2 to generate at least one water jet method, including continuous water jet, pulsed water jet, abrasive water jet, and abrasive pulsed water jet. The industrial control board 43 receives instructions from the processing module 41 and dynamically adjusts the operating parameters of the jetting device 2. These parameters include the jet pressure provided by the plunger pump 22, the pulse frequency determined by the switching frequency of the solenoid valve 28, the abrasive concentration controlled by the opening degree of the abrasive valve 210, and the amendment concentration controlled by the opening degree of the amendment valve 213. Based on the weed species and environmental parameters identified by the identification system 3, the processing module 41 automatically selects and executes one of several predefined weeding modes, including:

[0055] In the greenhouse weeding mode, the processing module 41 controls the jet device 2 to generate a continuous water jet.

[0056] In the dryland weeding mode, the processing module 41 controls the switching frequency of the solenoid valve 28 to cause the jet device 2 to generate pulsed water jets.

[0057] In the paddy field weeding mode, the processing module 41 controls the abrasive valve 210 to open, so that the jet device 2 generates an abrasive water jet.

[0058] In the saline-alkali land weeding mode, the processing module 41 controls the opening of the abrasive valve 210 and the improved valve 213, and controls the switching frequency of the solenoid valve 28, so that the jet device 2 generates an abrasive pulse water jet.

[0059] Example 1

[0060] The processing module 41 of this invention automatically selects a weeding mode based on the weed types and environmental parameters identified by the identification system 3, such as ambient temperature and humidity. Alternatively, the weeding mode can be manually input.

[0061] Example 1: The working environment is a greenhouse. The processing module 41 selects the greenhouse weeding mode and controls the jet device 2 to generate a continuous water jet; specifically:

[0062] Battery 13 supplies power to the self-propelled chassis 11, motor 21, processing system 4, and other components. After the weeder starts, plunger pump 21 draws and pressurizes water from water tank 23. The pressurized water is then ejected from nozzle 217 via solenoid valve 28, forming a continuous water jet that cuts the above-ground parts of the weeds, preventing them from competing with crops for nutrients. At this time, the pressure ejected from nozzle 217 is 10 MPa. During the weeder's movement, depth camera 32 takes pictures of the ground surface in front of and behind the weeder's path at a set shooting frequency and transmits the pictures to processing module 41. Simultaneously, spectral camera also captures the weed spectrum and transmits it to processing module 41. Processing module 41 analyzes the received images and spectra to determine the location, type, and growth stage of the weeds. Processing module 41 detects that the weed is a relatively tough type and sends a signal to the industrial control board 43 to change the operating conditions. Simultaneously, it transmits the weed location information to the industrial control board 43 and stores the weed information in the database. Upon receiving the signal, the industrial control board 43 adjusts the position of the parallel robot 44 based on the weed information and changes the operating conditions, increasing the pressure of the plunger pump to change the pressure of the nozzle 217 to 20 MPa for better weed removal. After the weed is removed, the jet pressure is readjusted to 10 MPa. During the process, the rotary soil loosener 6 automatically rotates, combing the jet area, cleaning away residual weed fragments and soil, and also slightly loosening the soil surface, which is beneficial for crop root growth. After the jetting is completed, the rear depth camera also takes pictures of the ground behind the path of the weeder at the set shooting frequency, and transmits the pictures to the processing module 41. The processing module 41 identifies the weeds and determines whether the weeds have been completely destroyed, thereby monitoring the quality of the operation.

[0063] Example 2

[0064] Example 2 operates in a dry winter night environment. The processing module 41 selects the dryland weeding mode and controls the switching frequency of the solenoid valve 28 to generate pulsed water jets from the jetting device 2. Specifically, the battery 13 supplies power to the self-propelled chassis 11, motor 21, processing system 4, and other components. The plunger pump 21 draws water from the water tank 23 and pressurizes it. The solenoid valve 28 switches at a frequency of 10Hz, forming pulsed water jets. The pulsed water jets are ejected from the nozzle 217 through the high-pressure hose 216, cutting off the above-ground parts of the weeds and preventing them from competing with crops for nutrients. Since it is a winter night, the water tank sensor 25 detects that the water temperature in the tank is below 5°C and sends a signal to the industrial control board 43, which controls the heater 24 to heat the water tank. When the water tank sensor 25 detects that the water temperature in the tank is above 20°C, it sends a signal to the industrial control board 43, which then controls the heater 24 to stop heating. During the weeding machine's movement, the light source 34 is activated, and the depth camera 32 takes pictures of the ground surface in front of and behind the weeding machine's path at a set shooting frequency, transmitting the pictures to the processing module 41. Simultaneously, the spectral camera also transmits the captured weed spectra to the processing module 41. The processing module 41 analyzes the received images and spectra to determine the weed's location, type, and growth stage. If the processing module 41 detects that a weed is in a relatively mature growth stage, it sends a signal to the industrial control board 43 to change the operating conditions, transmits the weed location information to the industrial control board 43, and stores the weed information in the database. Upon receiving the signal, the industrial control board 43 adjusts the position of the parallel robot 44 based on the weed information and changes the output pressure of the plunger pump. During movement, the rear rotary soil loosener 6 automatically rotates, combing the jet area, cleaning away residual weed fragments and soil, and also slightly loosening the soil surface, which is beneficial for crop root growth. After the jetting is complete, the rear-end depth camera also takes pictures of the ground behind the weeder's path at the set shooting frequency, and transmits the pictures to the processing module 41. The processing module 41 identifies the weeds and determines that the weeds have not been removed under this condition, and that the rear-end depth camera has already captured pictures of the weeds multiple times. After a period of time, the front-end depth camera captures the weeds again, and the processing system selects the most destructive condition for weed removal, namely a jet pressure of 20 MPa and a pulse frequency of 20 Hz. After the weed is removed, the jetting conditions are readjusted to 10 MPa and 10 Hz, ensuring both minimum weed removal requirements and no energy waste.

[0065] Example 3

[0066] In Example 3, the working environment is a paddy field. The processing module 41 selects the paddy field weeding mode and controls the abrasive valve 210 to open, causing the jet device 2 to generate an abrasive water jet. The abrasive used in Example 3 is a biodegradable composite abrasive. The abrasive stored in the abrasive tank 29 is a biodegradable composite abrasive, which is made by forming a nanoscale rough surface from rice husks or corn cobs through low-temperature plasma etching-silane coupling treatment, and then coating it with chitosan-CaCl2 gel. Users can select 80-mesh or 120-mesh abrasive according to different needs.

[0067] Battery 13 supplies power to components such as the self-propelled chassis 11, motor 21, and processing system 4. Plunger pump 21 draws and pressurizes water from water tank 23, abrasive valve 210 opens to provide 5% abrasive concentration, and solenoid valve 28 opens. Based on the Venturi effect, high-pressure water jet draws abrasive from abrasive tank 29, forming an abrasive water jet. The jet passes through high-pressure hose 216 and exits from nozzle 217 into the paddy field, forming an abrasive water jet that cuts the above-ground parts of weeds, preventing them from competing with crops for nutrients. During the weeder's movement, depth camera 32 takes pictures of the ground surface in front of and behind the weeder's path at a set shooting frequency and transmits the pictures to processing module 41; simultaneously, spectral camera also captures the weed spectrum and transmits it to processing module 41. Processing module 41 analyzes the received images and spectra to determine the location, type, and growth stage of the weeds. Processing module 41 detects that the weed is a relatively tough type. It sends a signal to the industrial control board 43 to change the operating conditions, transmits the weed location information to the industrial control board 43, and stores the weed information in the database. Upon receiving the signal, the industrial control board 43 adjusts the position of the parallel robot 44 based on the weed information and changes the operating conditions. Specifically, it adjusts the output pressure of the plunger pump or changes the opening of the abrasive valve 210 to increase the abrasive concentration to approximately 8%, facilitating better weed removal. After the weed is removed, the jetting conditions are readjusted to 10 MPa and a concentration of 5%, ensuring both minimum weed removal requirements and preventing energy waste. After the weeder has been running for a period of time, the abrasive and jet water are basically consumed. At this time, the water tank sensor 25 and the abrasive sensor 211 detect that the jet water and abrasive are insufficient and send a signal to the industrial control board 43. The industrial control board 43 sends a warning message to the user's mobile phone through the wireless communication module 42, reminding the user to add abrasive or jet water. When the abrasive or jet water is exhausted, the industrial control board 43 controls the motor 21 to stop working until the user replenishes the required materials. During the movement, the rear rotating soil loosener 6 rotates automatically to comb the jet area, cleaning up the remaining weed fragments and soil, and also slightly loosening the soil surface, which is beneficial to the growth of crop roots. After the jetting is completed, the rear depth camera also takes pictures of the ground behind the weeder's path at the set shooting frequency and sends the pictures to the processing module 41. The processing module 41 identifies the weeds and determines whether the working condition has completely destroyed the weeds, thus monitoring the quality of the operation.

[0068] Example 4

[0069] Example 4 describes a saline-alkali land working environment. The treatment module 41 selects the saline-alkali land weeding mode. The module controls the opening of the abrasive valve 210 and the amendment valve 213, and controls the switching frequency of the solenoid valve 28, causing the jet device 2 to generate an abrasive pulse water jet. Testing revealed that the pH value of the land was 9, and the amendment used was desulfurized gypsum. The abrasive used was a biodegradable composite abrasive; the user selected 120-mesh abrasive based on visual inspection of the weed growth. The battery 13 supplies power to the self-propelled chassis 11, motor 21, treatment system 4, and other components. The plunger pump 21 draws and pressurizes water from the water tank 23, and the abrasive valve 210 opens, providing a 5% concentration of abrasive. Based on the Venturi effect, a high-pressure water jet draws abrasive from the abrasive tank 29, forming an abrasive water jet. Simultaneously, based on the Venturi effect, the abrasive water jet draws desulfurized gypsum from the modification tank 212. The mixed jet passes through the solenoid valve 28, which switches at a frequency of 10Hz, forming an abrasive pulsed water jet. The jet is ejected from the nozzle 217 through the high-pressure hose 216, cutting off the above-ground parts of the weeds and preventing them from competing with crops for nutrients. During the weeding machine's movement, the depth camera 32 takes pictures of the ground surface in front of and behind the weeding machine's path at a set shooting frequency and transmits the pictures to the processing module 41. At the same time, the spectral camera also transmits the captured weed spectrum to the processing module 41. The processing module 41 analyzes the received images and spectra to determine information such as the location, type, and growth stage of the weeds. Processing module 41 detects that the weed is a relatively tough type. It sends a signal to the industrial control board 43 to change the operating conditions, transmits the weed location information to the industrial control board 43, and stores the weed information in the database. Upon receiving the signal, the industrial control board 43 adjusts the position of the parallel robot 44 based on the weed information and changes the operating conditions. This includes adjusting the plunger pump pressure to 20 MPa, changing the opening of the abrasive valve 210 to increase the abrasive concentration to 8%, or increasing the opening and closing frequency of the solenoid valve 28 to 20 Hz. Two or three of these parameters can be changed simultaneously to better complete the weeding work. After the weed is removed, the jetting conditions are readjusted to 10 MPa, 5% concentration, and 10 Hz, ensuring both minimum weeding requirements are met and energy is not wasted. After the weeder has been running for a period of time, the desulfurized gypsum is basically consumed. At this point, the amendment sensor 214 detects that the desulfurized gypsum is insufficient and sends a signal to the industrial control board 43. The industrial control board 43 sends an alarm message to the user's mobile phone via the wireless communication module 42, reminding the user to add amendment. Once the amendment is exhausted, the industrial control board 43 controls the motor 21 to stop working until the user replenishes the required amount. During the movement, the rear rotating soil loosener 6 automatically rotates to comb the jet area, cleaning up residual weed fragments and soil, and also slightly loosening the soil surface, which is beneficial to the growth of crop roots.After the jetting is completed, the rear depth camera also takes pictures of the ground behind the path of the weeder at the set shooting frequency, and transmits the pictures to the processing module 41. The processing module 41 identifies the weeds and determines whether the weeds have been completely destroyed, thereby monitoring the quality of the operation.

[0070] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0071] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A smart weeding machine, characterized in that, It includes a power unit (1), a jet device (2), an identification system (3), a processing system (4), a rain collection device (5), and a rotary soil tumbler (6); the power unit (1) is used to provide power; The jetting device (2) includes a water tank (23), a plunger pump (22), a solenoid valve (28), an abrasive tank (29), a soil conditioner tank (212), and a nozzle (217). The water tank (23) is connected to the nozzle (217) via the plunger pump (22). The plunger pump (22) pressurizes the water in the water tank (23) to form a water pressure pipeline. The solenoid valve (28) is connected to the plunger pump (22), and its opening and closing are controlled by the treatment system (4) to generate a pulsed water jet. The abrasive tank (29) is connected to the water pressure pipeline and is used to add abrasive to the water through the Venturi effect. The soil conditioner tank (212) is connected to the water pressure pipeline and is used to add soil conditioner to the water through the Venturi effect. The identification system (3) includes a depth camera (32) for acquiring weed image information and a spectral camera (33) for acquiring plant spectral information. The processing system (4) includes a processing module (41) and an industrial control board (43); the processing module (41) is connected to the identification system (3) for identifying weeds and determining their location and status based on image and spectral information; the industrial control board (43) is connected to the processing module (41) and the jet device (2) for controlling the working parameters and jet start / stop of the jet device (2) according to the instructions of the processing module (41); the rotary soil loosener (6) is located at the rear of the weeding machine body and downstream of the jet device (2).

2. The intelligent weeding machine according to claim 1, characterized in that, The processing system (4) also includes a parallel robot (44), and the nozzle (217) is installed on the parallel robot (44). The industrial control board (43) calculates the target jet position based on the weed position information, the weeding machine speed and the system response time provided by the processing module (41), and controls the parallel robot (44) to move the nozzle (217) to the target jet position and maintain the optimal jet angle.

3. The intelligent weeding machine according to claim 1, characterized in that, The processing module (41) has multiple working modes. The processing module (41) controls the jet device (2) to generate at least one water jet mode, including continuous water jet, pulsed water jet, abrasive water jet and abrasive pulsed water jet.

4. The intelligent weeding machine according to claim 3, characterized in that, The industrial control board (43) receives instructions from the processing module (41) and dynamically adjusts the working parameters of the jet device (2). The working parameters include the jet pressure provided by the plunger pump (22), the pulse frequency determined by the switching frequency of the solenoid valve (28), the abrasive concentration controlled by the opening degree of the abrasive valve (210), and the modifier concentration controlled by the opening degree of the modifier valve (213).

5. The intelligent weeding machine according to claim 4, characterized in that, The processing module (41) automatically selects and executes one of several predefined weeding modes based on the weed types and environmental parameters identified by the identification system (3), including: In the greenhouse weeding mode, the processing module (41) controls the jet device (2) to generate a continuous water jet; In the dryland weeding mode, the processing module (41) controls the switching frequency of the solenoid valve (28) to generate a pulsed water jet from the jetting device (2); In the paddy field weeding mode, the processing module (41) controls the abrasive valve (210) to open, so that the jet device (2) generates an abrasive water jet; In the saline-alkali land weeding mode, the processing module (41) controls the opening of the abrasive valve (210) and the improved valve (213), and controls the switching frequency of the solenoid valve (28) so that the jet device (2) generates abrasive pulse water jet.

6. The intelligent weeding machine according to claim 1, characterized in that, The abrasive stored in the abrasive tank (29) is a biodegradable composite abrasive, which is made by forming a nano-scale rough surface by low-temperature plasma etching-silane coupling treatment of rice husk or corn cob, and then mixing and coating it with chitosan-CaCl2 gel.

7. The intelligent weeding machine according to claim 1, characterized in that, The power unit (1) includes a battery (13) and a solar panel (14) electrically connected to the battery (13) for providing auxiliary power to the weeder.

8. The intelligent weeding machine according to claim 1, characterized in that, The identification system (3) also includes an infrared sensor (31) for detecting human or animal and sending a signal to the industrial control board (43) when detected to control the jet device (2) to stop or reduce speed.

9. The intelligent weeding machine according to claim 1, characterized in that, The jet device (2) also includes a heater (24) for preventing the water tank (23) from freezing, and a sensor for monitoring the material balance in the water tank (23), abrasive jar (29), and improved jar (212); the sensor is connected to the industrial control board (43) and sends a warning message to the user terminal via the wireless communication module (42) when the material balance is lower than the threshold.

10. The intelligent weeding machine according to claim 1, characterized in that, It also includes the rain collection device (5), which is located on top of the weeder and is used to collect and filter rainwater into the water tank (23).

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