Laser weeding machine capable of adapting to terrain

Abstract

The laser weeding machine comprises a main frame (1), the front end and the rear end of the main frame (1) are each provided with a bidirectional variable-pitch mechanism (2), and the moving ends of the two sides of each bidirectional variable-pitch mechanism (2) are provided with installation pieces (3) transversely and movably connected with the main frame (1); a frame lifting mechanism (4) is arranged on the mounting piece (3), and a steering wheel assembly (5) is arranged at the moving end of the frame lifting mechanism (4); a plurality of inter-plant mechanical weeding mechanisms (6) are arranged at the bottom of the front side of the main frame (1), a shifting mechanism (7) is arranged at the bottom of the rear side of the main frame (1), and a laser weeding assembly (8) is arranged at the moving end of the shifting mechanism (7); efficient and accurate inter-plant impurity removal is achieved through cooperation of regular path movement of the inter-plant mechanical weeding mechanism and multi-angle irradiation of the laser weeding assembly, and stable support is further provided on complex terrains by means of the frame lifting mechanism and the two-way variable-pitch mechanism.

Description

Technical Field

[0001] This invention relates to the field of weeding equipment, and more particularly to a laser weeding machine that can adapt to terrain. Background Technology

[0002] In modern agricultural production, effective weed control has become an important link in ensuring high and stable crop yields. Weeds not only compete with crops for water, nutrients and sunlight, but may also disrupt the ecological balance of farmland, becoming habitats for pests and sources of pathogens. Especially during the seedling stage of crops, crops have a high demand for external resources. Weeds in the field can hinder seedling growth and development, thus reducing later crop yields. Weed control mainly relies on four methods: manual weeding, chemical weeding, mechanical weeding, and laser weeding. Traditional manual methods suffer from low efficiency and delays. The negative impacts of chemical weeding on the environment and human health have attracted widespread attention. Mechanical weeding achieves non-chemical control through physical means. Laser weeding technology can precisely remove weeds without contact, effectively reducing crop damage. Based on the characteristics of the operating space, existing weeding equipment can be mainly divided into inter-row weeding devices and inter-plant weeding devices. Inter-plant mechanical weeding devices need to simultaneously complete the two tasks of weed removal and crop protection in a short operating space, facing problems such as high operational difficulty, low efficiency, and high crop damage rate. Laser weeding technology can precisely remove weeds without contact, effectively reducing crop damage. However, using laser weeding alone has limitations such as high energy consumption and short operating time, and requires additional stable support in complex terrain conditions. Summary of the Invention

[0003] The purpose of this invention is to provide a laser weeding machine adaptable to various terrains. This invention achieves efficient and precise weed removal between plants through the coordinated movement of the mechanical weeding mechanism and the multi-angle irradiation of the laser weeding component. Furthermore, it relies on a frame lifting mechanism and a two-way variable-pitch mechanism to provide stable support in complex terrains.

[0004] The technical solution of the present invention is as follows: A terrain-adaptable laser weeding machine includes a main frame. Both the front and rear ends of the main frame are equipped with bidirectional pitch-changing mechanisms. The two moving ends of the bidirectional pitch-changing mechanisms are equipped with mounting components that are laterally movably connected to the main frame. The mounting components are equipped with a frame lifting mechanism, and the moving ends of the frame lifting mechanism are equipped with steering wheel assemblies. The front bottom of the main frame is equipped with multiple inter-plant mechanical weeding mechanisms, and the rear bottom of the main frame is equipped with a shifting mechanism. The moving ends of the shifting mechanism are equipped with laser weeding components. Each inter-plant mechanical weeding mechanism includes reciprocating moving components arranged front and rear on the main frame. The moving ends of the two reciprocating moving components move in opposite directions and each is equipped with downward-facing mechanical weeding components. The mechanical weeding components of the same inter-plant mechanical weeding mechanism have a gap corresponding to the width of the plant to be retained.

[0005] In the aforementioned terrain-adaptable laser weeding machine, the bidirectional variable pitch mechanism includes a first worm gear motor fixed to the middle of the front and rear ends of the main frame. The output end of the first worm gear motor is provided with two first ball screws. The two first ball screws extend to the left and right ends of the main frame respectively and are connected thereto, and the threads of the two first ball screws are arranged in opposite directions. The mounting component is connected to the moving end of the first ball screw on the corresponding side.

[0006] In the aforementioned terrain-adaptable laser weeding machine, the frame lifting mechanism includes a lifting drive gear and a second worm gear motor mounted on the mounting component, the lifting drive gear being connected to the output end of the second worm gear motor; the mounting component is provided with a vertically movably connected lifting rack, the lifting rack meshing with the lifting drive gear; the steering wheel assembly is located at the lower end of the lifting rack.

[0007] In the aforementioned terrain-adaptable laser weeding machine, the steering wheel assembly includes a mounting plate disposed at the moving end of the frame lifting mechanism. The mounting plate is provided with a steering drive gear driven by a motor. The bottom surface of the mounting plate is provided with a rotatably connected steering driven gear, which meshes with the steering drive gear. The bottom surface of the steering driven gear is provided with a movable roller assembly.

[0008] In the aforementioned terrain-adaptable laser weeding machine, the reciprocating moving component includes a crankshaft rotatably connected to the main frame and driven by a motor. A connecting rod is provided on the crankshaft, and a moving part is provided at the end of the connecting rod that is laterally movably connected to the main frame. The mechanical weeding component is disposed on the bottom surface of the moving part.

[0009] In the aforementioned terrain-adaptable laser weeding machine, one side of the reciprocating moving component of the inter-plant mechanical weeding mechanism is provided with a transversely connected plant spacing adjustment component. The moving direction of the plant spacing adjustment component is perpendicular to the moving direction of the moving component, and the plant spacing adjustment component is connected to the corresponding mechanical weeding component. The moving component is provided with a second ball screw driven by a motor, and the moving end of the second ball screw is connected to the plant spacing adjustment component.

[0010] In the aforementioned terrain-adaptable laser weeding machine, the mechanical weeding component includes a cutting motor connected to a reciprocating motion component, and the output end of the cutting motor is provided with a cutting blade.

[0011] In the aforementioned terrain-adaptable laser weeding machine, the shifting mechanism includes a main moving frame laterally movably connected to the main frame, a moving belt driven by a motor on the main frame, and the moving belt fixedly connected to the main moving frame; a vertically movably connected lifting frame on the main moving frame, a third ball screw driven by a servo motor on the lifting frame, the moving end of the third ball screw fixedly connected to the main moving frame; an adjusting shaft and an adjusting gear driven by a servo motor on the lifting frame, a first adjusting arm fixedly connected to the bottom surface of the adjusting gear, a driven bevel gear rotatably connected inside the first adjusting arm, a rotating shaft rotatably connected to the end of the first adjusting arm, and a second adjusting arm on the rotating shaft; a driving bevel gear connected to the driven bevel gear at the end of the adjusting shaft, a transmission belt connected to the rotating shaft on the driven bevel gear; a rotating disk driven by a servo motor on the second adjusting arm, and the laser weeding component mounted on the rotating disk.

[0012] The aforementioned terrain-adaptable laser weeding machine also includes a controller, which is connected to a gyroscope; the bidirectional variable pitch mechanism, frame lifting mechanism, inter-plant mechanical weeding mechanism, shifting mechanism and laser weeding component are all connected to the controller.

[0013] Compared with existing technologies, this device adjusts the spacing of the two steering wheel assemblies synchronously using a bidirectional pitch mechanism before use to adapt to different ridge spacings. Synchronous adjustment effectively reduces center of gravity shift and ensures stable movement. For ridge environments with elevation differences and hilly environments, the frame lifting mechanism independently adjusts the height of the corresponding side of the frame to ensure that the mechanical weeding mechanism and laser weeding component remain horizontal, ensuring reliable operation. It has strong adaptability to various ridge environments and hilly environments. During use, the entire device is positioned above the plants and moved flexibly using the steering wheel assembly. During movement, the mechanical weeding mechanism drives the two mechanical weeding components in a mirror-like, regular path movement through the reciprocating moving component, avoiding the plants to achieve mechanical weeding between them. The laser weeding component at the rear precisely irradiates the untreated areas through a shifting mechanism, achieving efficient and comprehensive weed removal between plants. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the top structure of the present invention; Figure 3 This is a schematic diagram of the bidirectional variable pitch mechanism of the present invention; Figure 4 This is a schematic diagram of the frame lifting mechanism of the present invention; Figure 5 This is a schematic diagram of the steering wheel assembly of the present invention; Figure 6This is a schematic diagram of the steering wheel assembly of the present invention; Figure 7 This is a schematic diagram of the plant spacing adjustment component of the present invention; Figure 8 This is a schematic diagram of the shifting mechanism of the present invention; Figure 9 This is a schematic diagram of the internal structure of the first adjusting arm of the present invention after removing one side plate; Figure 10 This is a schematic diagram of the movement path of the mechanical weeding mechanism between plants in this invention.

[0015] The labels in the attached diagram are as follows: 1. Main frame; 2. Bidirectional pitch-changing mechanism; 21. First worm gear motor; 22. First ball screw; 3. Mounting component; 4. Frame lifting mechanism; 41. Lifting drive gear; 42. Lifting rack; 43. Second worm gear motor; 5. Steering wheel assembly; 51. Mounting plate; 52. Steering drive gear; 53. Steering driven gear; 54. Moving roller assembly; 6. Interplant mechanical weeding mechanism; 7. Shifting mechanism; 701. Main moving frame; 702. Moving belt; 703. Third ball screw. 704. Lifting frame; 705. Adjusting shaft; 706. Adjusting gear; 707. First adjusting arm; 708. Driven bevel gear; 709. Rotating shaft; 710. Second adjusting arm; 711. Driving bevel gear; 712. Transmission belt; 713. Rotating disk; 8. Laser weeding assembly; 9. Reciprocating moving assembly; 91. Crankshaft; 92. Connecting rod; 93. Moving part; 94. Plant spacing adjusting part; 95. Second ball screw; 10. Mechanical weeding assembly; 101. Cutting motor; 102. Cutting blade; 11. Controller. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0017] Example: A terrain-adaptable laser weed cutter, as shown in the attached image. Figure 1 and attached Figure 2As shown, the system includes a main frame 1, which is a rectangular multi-layered frame constructed from multiple horizontal aluminum profiles and hollow steel pipes. Connections are made using snap-fit, plug-in, bolt, or welding methods, resulting in a lightweight and low-material-consumption system that reduces unnecessary load. Both the front and rear ends of the main frame 1 are equipped with bidirectional pitch-changing mechanisms 2. The two movable ends of the bidirectional pitch-changing mechanisms 2 are fitted with mounting components 3 that are laterally connected to the main frame 1 via guide rods. The mounting components 3 are equipped with frame lifting mechanisms 4, and the movable ends of the frame lifting mechanisms 4 are equipped with steering wheel assemblies 5. The front bottom of the main frame 1 is equipped with two symmetrical inter-row mechanical weeding mechanisms 6, enabling double-ridge operation and improving weed removal efficiency. A shifting mechanism 7 is mounted on the rear bottom. A laser weeding component 8 is mounted on the moving end of the shifting mechanism 7. The laser weeding component includes an integrated camera and a laser emitter. The camera is used to identify and distinguish between weeds and crops. The laser emitter uses an FF450NMW laser with a wavelength of 455nm, power of 60W, and focal length of 40mm to irradiate and remove weeds. The inter-plant mechanical weeding mechanism 6 includes reciprocating moving components 9 mounted front and rear on the main frame 1. The moving ends of the two reciprocating moving components 9 move in opposite directions and are each equipped with downward-facing mechanical weeding components 10. The mechanical weeding components 10 of the same inter-plant mechanical weeding mechanism 6 have a gap corresponding to the width of the plant to be retained. (See attached...) Figure 3 As shown, the bidirectional variable pitch mechanism 2 includes a first worm gear motor 21 fixed to the middle of the front and rear ends of the main frame 1. The first worm gear motor is mainly a reduction stepper motor, with its output end encapsulated and connected to the worm gear and driven. The worm gear drives the worm wheel to rotate, and the worm wheel realizes power output. It has a self-locking function. The output end of the first worm gear motor 21 is equipped with two first ball screws 22. The two first ball screws 22 extend to the left and right ends of the main frame 1 respectively and are connected to them, and the threads of the two first ball screws 22 are arranged in opposite directions. The mounting part 3 is connected to the moving end of the first ball screw 22 on the corresponding side. When the first worm gear motor starts, the two first ball screws move simultaneously, thereby realizing the synchronous reverse movement of the mounting parts on both sides; as shown in the attached figure. Figure 4 As shown, the frame lifting mechanism 4 includes a lifting drive gear 41 and a second worm gear motor 43 mounted on the mounting component 3. The lifting drive gear is mounted vertically, and the second worm gear motor has the same structure as the first worm gear motor. The lifting drive gear 41 is connected to the output end of the second worm gear motor 43. The mounting component 3 is provided with a vertically movably connected cylindrical lifting rack 42, which meshes with the lifting drive gear 41. The steering wheel assembly 5 is located at the lower end of the lifting rack 42. The lifting drive gear drives the lifting rack to move up and down, thereby realizing the up and down movement of the steering wheel assembly, and it is reliably fixed by the self-locking function of the second worm gear motor. (See attached diagram) Figure 5As shown, the steering wheel assembly 5 includes a mounting plate 51 mounted on the moving end of the frame lifting mechanism 4. Multiple guide rods movably connected to the mounting plate are also mounted on the main frame to improve movement stability. The mounting plate 51 is equipped with a steering drive gear 52 driven by a stepper motor. A steering driven gear 53 is rotatably connected to the bottom surface of the mounting plate 51, meshing with the steering drive gear 52. A movable roller assembly 54 is located on the bottom surface of the steering driven gear 53. When the steering drive gear rotates, it drives the movable roller assembly on the steering driven gear to turn. The movable roller assembly includes an aluminum base, on which a wheel is rotatably connected. A stepper motor is mounted on one side of the aluminum base to drive the wheel. (See attached diagram) Figure 6 As shown, the reciprocating moving assembly 9 includes a crankshaft 91 rotatably connected to the main frame 1 and driven by a motor. A connecting rod 92 is mounted on the crankshaft 91, and a moving part 93 rotatably connected to the end of the connecting rod 92 and laterally movable to the main frame 1. The mechanical weeding assembly 10 is disposed on the bottom surface of the moving part 93. The crank-slider mechanism formed by the crankshaft, connecting rod, and moving part can drive the mechanical weeding assembly to reciprocate left and right, thereby forming a path similar to a trigonometric function in the forward direction, which can effectively avoid plants. With the counter-movement of the two reciprocating moving assemblies, two symmetrical paths similar to trigonometric functions are formed, which fully cover the area around the plants and have good reliability. Figure 7 As shown, on one side of the reciprocating moving assembly 9 of the inter-plant mechanical weeding mechanism 6, a plant spacing adjustment component 94 is mounted on the moving part 93 via a guide rail, which is laterally movably connected to the plant spacing adjustment component 94. The direction of movement of the plant spacing adjustment component 94 is perpendicular to the direction of movement of the moving part 93, and the plant spacing adjustment component 94 is connected to the corresponding mechanical weeding assembly 10. A second ball screw 95 driven by a motor is mounted on the moving part 93, and the moving end of the second ball screw 95 is connected to the plant spacing adjustment component 94. Further, the plant spacing adjustment component is used to adjust the front and rear positions of the corresponding mechanical weeding assembly, changing the gap between it and the mechanical weeding assembly on the rear reciprocating moving assembly, to accommodate plants of different widths. The mechanical weeding assembly 10 includes a cutting motor 101 connected to the reciprocating moving assembly 9, and a cutting blade 102 is mounted on the output end of the cutting motor 101. The cutting motor drives the cutting blade to rotate for mechanical weeding. Figure 8 and attached Figure 9As shown, the shifting mechanism 7 includes a main moving frame 701 that is laterally movably connected to the main frame 1 via guide rods. A moving belt 702 driven by a motor is mounted on the main frame 1. The moving belt 702 is fixedly connected to the main moving frame 701, and the moving belt drives the main moving frame to achieve left-right movement adjustment. A vertically movably connected lifting frame 704 is mounted on the main moving frame 701. A third ball screw 703 driven by a servo motor is mounted on the lifting frame 704. The movement of the third ball screw 703... The moving end is fixedly connected to the main moving frame. After the third ball screw rotates, the lifting frame is vertically raised and lowered using its moving end as the base point. The lifting frame 704 is equipped with an adjusting shaft 705 and an adjusting gear 706 driven by a servo motor. The adjusting gear is sleeved on the adjusting shaft. The bottom surface of the adjusting gear 706 is equipped with a first adjusting arm 707 that is fixedly connected. The first adjusting arm 707 is equipped with a driven bevel gear 708 that is rotatably connected. The end of the first adjusting arm 707 is equipped with a rotating shaft 709 that is rotatably connected. The moving plane is parallel to the vertical plane, and a second adjusting arm 710 is mounted on the rotating shaft 709. The end of the adjusting shaft 705 is equipped with a driving bevel gear 711 connected to a driven bevel gear 708. A transmission belt 712 connected to the rotating shaft 709 is mounted on the driven bevel gear 708. The rotation of the adjusting gear drives the first adjusting arm to rotate on the horizontal plane. The rotation of the adjusting shaft drives the driving bevel gear to rotate, which in turn drives the driven bevel gear to rotate, thereby driving the rotating shaft to rotate via the transmission belt. The rotating shaft then drives the second adjusting arm to adjust the pitch angle. A rotating disk 713 driven by a servo motor is mounted on the second adjusting arm 710. The rotating surface of the disk is perpendicular to the rotating surface of the rotating shaft. The laser weeding component 8 is mounted on the rotating disk 713 to adjust the tilt angle. These adjustments work together to achieve flexible movement of the laser weeding component and precise auxiliary weed removal. The system also includes a controller 11, which integrates a gyroscope for detecting the real-time attitude of the main frame, using SiliconSensing. The CRS03-02 has a measurement range of ±100° / second, uses analog voltage output, and directly adapts to the controller's A / D conversion pin. It requires no complex signal processing, has a simple peripheral circuit, and can be directly matched with the controller, offering strong compatibility. The bidirectional variable pitch mechanism 2, frame lifting mechanism 4, inter-plant mechanical weeding mechanism 6, shifting mechanism 7, and laser weeding component 8 are all connected to the controller 11 via cables. The camera collects field images in real time and transmits them to the controller. The controller first uses a CNN convolutional neural network to distinguish between crops, weeds, and soil background, locates the coordinates of the weeds, and marks areas not covered by mechanical weeding. Combining the horizontal data from the gyroscope with the device's moving speed, the controller converts the weed coordinates into relative displacement parameters for the laser weeding component and simultaneously sends commands to the shifting mechanism and the laser transmitter. After receiving the commands, the shifting mechanism achieves precise positioning through multiple adjustments: 1. The moving belt drives the main moving frame to move laterally, aligning it with the horizontal direction of the weeds; 2. The third ball screw drives the lifting frame to move vertically, adapting to the height of the weeds.3. The adjusting shaft, transmission belt, and rotating disk work together to adjust the pitch and tilt angles of the first and second adjusting arms, ensuring the laser emitter axis is precisely aligned with the center of the weeds. After the laser emitter is positioned by the shifting mechanism, the controller adjusts the laser power (30-60W) and irradiation duration (0.5-2s) according to the weed size (image pixel ratio), initiating laser irradiation to burn the weed growth points for precise weed removal. After irradiation, the controller switches to the next image acquisition and processing cycle, forming a work loop. The controller receives the tilt angle output in real time from the gyroscope. It first filters field vibration interference using a Kalman filter, then calculates the actual pitch and roll angles based on the horizontal reference plane (initial calibration value), and calculates the lifting height based on the pitch angle α and roll angle β. The lifting height H at the front and rear ends is calculated as H = L1 × sinα, where L1 is half the distance between the two steering wheel assemblies (obtained through the working information of the bidirectional pitch mechanism). The side lifting height D is calculated as D = L2 × sinβ, where L2 is half the distance between the front and rear steering wheel assemblies (a fixed value). Based on the pitch of the lifting rack and the number of teeth of the lifting drive gear, the gear angle corresponding to the required lifting height is calculated and then converted into a pulse signal for the stepper motor. During the adjustment process, the gyroscope transmits attitude signals in real time, and the controller compares the current tilt deviation with the allowable error (±0.5°). The motor stops operating when the deviation is less than the threshold.

[0018] Working principle: The controller 11, based on the required spacing between ridges, controls the first worm gear motor 21 of the bidirectional pitch-changing mechanism 2 to start, driving the two first ball screws 22 with opposite threads to rotate synchronously. This causes the mounting parts 3 on both sides to move laterally in opposite directions along the main frame 1, thereby adjusting the spacing of the steering wheel assembly 5. This adapts to different ridge widths while reducing the device's center of gravity offset and ensuring movement stability. For ridges with significant elevation differences or hilly terrain, the controller 11, based on the gyroscope's horizontal detection data, controls the second worm gear motor 43 of the corresponding side frame lifting mechanism 4 to operate. This drives the lifting drive gear 41 to mesh with the lifting rack 42, causing the lifting rack 42 to move the steering wheel assembly 5 up and down, independently adjusting the height of the corresponding side main frame 1. This ensures that the mechanical weeding mechanism 6 and the laser weeding assembly 8 between plants always remain horizontal, improving the reliability of operations in complex terrain. The stepper motor of the steering wheel assembly 5 drives the moving roller assembly 54 to move the entire device. At the same time, the motor on the mounting plate 51 drives the steering drive gear 52 to rotate, meshing with the steering driven gear 53 to drive the moving roller assembly 54 to rotate, achieving flexible positioning. The motor of the inter-plant mechanical weeding mechanism 6 drives the crankshaft 91 of the reciprocating moving assembly 9 to rotate, which pulls the moving part 93 to move laterally reciprocally along the main frame 1 through the connecting rod 92. The moving parts 93 of the two reciprocating moving assemblies 9 on both sides move in opposite directions, as shown in the attached figure. Figure 10As shown, the cutting motor 101 of the mechanical weeding component 10 drives the cutting blade 102 to form a mirror-like trigonometric function-like path, avoiding plants to complete mechanical weeding between plants. If the plant widths are different, the motor on the moving part 93 drives the second ball screw 95 to rotate, adjusting the plant spacing adjustment part 94 to move back and forth, changing the gap between the two mechanical weeding components 10 to accommodate different plant sizes. During the movement of the device, the motor of the rear displacement mechanism 7 drives the moving belt 702 to rotate, driving the main moving frame 701 to move laterally. At the same time, the servo motor drives the third ball screw 703 to rotate, causing the lifting frame 704 to rise and fall vertically along the main moving frame 701. The adjusting shaft 705 is driven by the servo motor to move... The active bevel gear 711 rotates, meshing with the driven bevel gear 708 inside the first adjusting arm 707. Through the transmission belt 712, it drives the rotating shaft 709 to rotate, thereby adjusting the pitch angle of the second adjusting arm 710. The rotation of the adjusting gear 706 can drive the first adjusting arm 707 to rotate horizontally. The servo motor on the second adjusting arm 710 drives the rotating disk 713 to rotate, further adjusting the side tilt angle of the laser weeding component 8. The camera of the laser weeding component 8 identifies the weeds that have not been completely removed in real time. After receiving the image signal, the controller 11 controls the shifting mechanism 7 to precisely adjust the position and angle of the laser weeding component 8, so that the laser emitter can accurately irradiate and remove the weeds, ultimately achieving efficient, comprehensive, and precise weed removal between plants.

[0019] The above embodiments merely illustrate implementation methods of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. Furthermore, in these embodiments, "up," "down," "left," "right," "front," and "back" represent relative positions only, not absolute positions. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A laser weeder adaptable to a terrain, characterized by: The utility model provides a kind of interplant mechanical weeding mechanism, including main frame (1), the front and rear ends of main frame (1) are equipped with two-way variable distance mechanism (2), the two sides of two-way variable distance mechanism (2) are equipped with the mounting piece (3) with the transverse activity connection of main frame (1);The mounting piece (3) is equipped with frame lifting mechanism (4), and the moving end of frame lifting mechanism (4) is equipped with steering wheel assembly (5);The front side bottom of main frame (1) is equipped with multiple interplant mechanical weeding mechanism (6), and the rear side bottom of main frame (1) is equipped with displacement mechanism (7), and the moving end of displacement mechanism (7) is equipped with laser weeding assembly (8);The interplant mechanical weeding mechanism (6) includes reciprocating movement component (9) arranged in front and back on main frame (1), and the moving direction of the two reciprocating movement components (9) is opposite and is equipped with the mechanical weeding assembly (10) being arranged downward, and the mechanical weeding assembly (10) of same interplant mechanical weeding mechanism (6) has the gap corresponding to the width of plant to be kept between the mechanical weeding assembly (10) of same interplant mechanical weeding mechanism (6).

2. The adaptable terrain laser weeder of claim 1, wherein: The two-way variable distance mechanism (2) includes the first worm gear motor (21) fixed to the middle part of the front and rear ends of the main frame (1), and the output end of the first worm gear motor (21) is provided with two first ball screws (22), the two first ball screws (22) extend to the left and right ends of the main frame (1) respectively and are connected thereto, and the threads of the two first ball screws (22) are oppositely arranged.

3. The adaptable terrain laser weeder of claim 1, wherein: The frame lifting mechanism (4) includes a lifting drive gear (41) and a second worm gear motor (43) arranged on the mounting piece (3), and the lifting drive gear (41) is connected to the output end of the second worm gear motor (43).

4. The adaptable terrain laser weeder of claim 1, wherein: The steering wheel assembly (5) includes a mounting plate (51) arranged at the moving end of the frame lifting mechanism (4), and the mounting plate (51) is provided with a steering drive gear (52) driven by a motor, the bottom surface of the mounting plate (51) is provided with a steering driven gear (53) rotatably connected, and the steering driven gear (53) is engaged with the steering drive gear (52).

5. The adaptable terrain laser weeder of claim 1, wherein: The reciprocating movement component (9) includes a crankshaft (91) rotatably connected to the main frame (1) and driven by a motor, the crankshaft (91) is provided with a connecting rod (92), and the end of the connecting rod (92) is provided with a moving piece (93) transversely connected to the main frame (1), and the mechanical weeding assembly (10) is arranged on the bottom surface of the moving piece (93).

6. The adaptable terrain laser weeder of claim 5, wherein: The moving piece (93) of the one side reciprocating moving assembly (9) of the inter-plant mechanical weeding mechanism (6) is provided with a transversely movably connected plant distance adjusting piece (94), the moving direction of the plant distance adjusting piece (94) is perpendicular to the moving direction of the moving piece (93), the plant distance adjusting piece (94) is connected with the corresponding mechanical weeding assembly (10); the moving piece (93) is provided with a second ball screw (95) driven by a motor, and the moving end of the second ball screw (95) is connected with the plant distance adjusting piece (94).

7. The adaptable terrain laser weeder of claim 1, wherein: The mechanical weeding assembly (10) comprises a cutting motor (101) connected with the reciprocating moving assembly (9), and the output end of the cutting motor (101) is provided with a cutting blade (102).

8. The adaptable terrain laser weeder of claim 1, wherein: The shifting mechanism (7) comprises a main moving frame (701) movably connected with the main frame (1), and the main frame (1) is provided with a moving belt (702) driven by a motor, and the moving belt (702) is fixedly connected with the main moving frame (701); the main moving frame (701) is provided with a lifting frame (704) movably connected in the vertical direction, the lifting frame (704) is provided with a third ball screw (703) driven by a rudder, and the moving end of the third ball screw (703) is fixedly connected with the main moving frame (701); the lifting frame (704) is provided with an adjusting shaft (705) and an adjusting gear (706) driven by a rudder, the bottom surface of the adjusting gear (706) is provided with a first adjusting arm (707) fixedly connected, the first adjusting arm (707) is provided with a driven bevel gear (708) rotatably connected in the inside, the end portion of the first adjusting arm (707) is provided with a rotating shaft (709) rotatably connected, and the rotating shaft (709) is provided with a second adjusting arm (710); the end portion of the adjusting shaft (705) is provided with a driving bevel gear (711) connected with the driven bevel gear (708), and the driven bevel gear (708) is provided with a transmission belt (712) connected with the rotating shaft (709); the second adjusting arm (710) is provided with a rotating disc (713) driven by a rudder, and the laser weeding assembly (8) is arranged on the rotating disc (713).

9. The adaptable terrain laser weeder of claim 1, wherein: Further comprising a controller (11), the controller (11) is connected with a gyroscope; the bidirectional variable distance mechanism (2), the frame lifting mechanism (4), the inter-plant mechanical weeding mechanism (6), the shifting mechanism (7) and the laser weeding assembly (8) are all connected with the controller (11).

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