Overwintering paddy field and dry land weeding robot

Abstract

The application discloses an overwintering rice field and dry land weeding robot, and relates to the technical field of weeding equipment.The robot body is provided with two mechanical arms installed on both sides of the robot body, two baffles installed in front of the robot body, and a plurality of spades installed on the outer surfaces of the baffles and capable of moving along a serpentine track in the inner layer of soil to hook weeds.The two baffles are used to shield and protect the two sides of rice seedlings and to push weeds away from the inside to the outside of the two sides of the rice seedlings during weeding.The spades are used to hook the roots and stems of weeds.The two baffles are installed in front of the robot body and guided by guide rails to realize inward retraction, lifting and outward extension, separate weeds from rice seedlings, accurately divide the cutting area, and increase the spades on the outer surfaces of the baffles.The spades are used to continuously hook weeds by winding the roots and stems of weeds in the inner layer of soil, and the connection between the spades and the roots and stems of weeds is more stable, which facilitates the subsequent uprooting of weeds and greatly improves the efficiency of root and stem removal.

Description

Technical Field

[0001] This invention relates to the field of weeding equipment technology, specifically a weeding robot for overwintering rice paddies in dryland. Background Technology

[0002] In agricultural production, weeds are one of the important factors affecting crop growth and yield, especially in the dry stage of overwintering rice fields. Due to the relatively loose field management, weeds are prone to grow in large quantities, competing with the rice for nutrients, water and sunlight in the following year, which seriously affects the normal growth of rice. Traditional weeding methods mainly include manual weeding, machine weeding and chemical weeding. Among them, weeding robots are currently the most advanced machine weeding equipment. Weeding robots are intelligent devices that use automation technology to operate automatically without human management. They can identify and remove weeds in a designated area. By being equipped with cameras and artificial intelligence algorithms, they can analyze images in real time, distinguish between crops and weeds, and then carry out precise processing. Currently, existing weeding robots mainly target the stems and leaves of weeds on the surface of dry land, failing to penetrate the soil to effectively remove weed roots. Weed roots and stems still have the ability to regenerate in the soil and can sprout again in a short time, requiring frequent repetition of the operation. Furthermore, during the weeding process, many weeds are adjacent to rice seedlings, and the roots of rice seedlings are easily damaged during the operation. Even if some intelligent robots have image recognition capabilities, there is still a risk of accidental damage. In addition, some types of weeds (such as nutgrass and barnyard grass) have roots that are distributed in a net-like or creeping pattern in the soil and are highly adhesive to the soil. Most existing mechanical shovels have a linear downward movement structure, which does not effectively connect with the roots and stems. It is necessary to repeatedly insert and pull the roots and stems to completely remove them. The repeated insertion and pulling process can also cause the roots and stems to break, making it impossible to completely remove the roots and stems of weeds in a short period of time.

[0003] To address the aforementioned issues, there is an urgent need for innovative designs based on existing weeding robots. Summary of the Invention

[0004] The present invention addresses the problem that existing technical solutions are too simplistic and provides a solution that is significantly different from existing technologies. Specifically, the purpose of the present invention is to provide a weeding robot for overwintering rice paddies in dryland areas, in order to solve the problems mentioned in the background technology, such as the easy damage to rice seedlings when cutting weeds and the inability to completely remove weed roots and stems in a short period of time.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a weeding robot for overwintering rice paddies, comprising a robot body, two mechanical arms installed on both sides of the robot body, and two baffles installed in front of the robot body. The two baffles can shield and protect the rice seedlings on both sides during weeding and push away the weeds on both sides of the rice seedlings from the inside out. Furthermore, each baffle is equipped with several shovels on its outer surface that can travel along a serpentine path in the inner soil layer to hook the roots and stems of weeds. Each robotic arm is equipped with a guide mechanism at its end to control the slide of the baffle along a set path, and a camera and a laser cutting head are respectively installed on the top of the robot body.

[0006] Preferably, the guiding mechanism includes two symmetrically distributed fixed rods and a push rod slidably connected to the top of the fixed rods. The front end of the fixed rod is fixedly connected to a guide rail, the end of the fixed rod is rotatably connected to a robotic arm, and the end of the push rod is fixedly connected to a crossbar. Two hydraulic rods are respectively installed at both ends of the crossbar.

[0007] Preferably, the guide rail has a curved shape that gradually curves inward from both ends toward the middle, and the middle concave part of the guide rail is inclined upward. A vertical rod is slidably connected to the inner wall of the guide rail. The top of the vertical rod is slidably connected to the front end of the push rod. Two limiting rods are fixedly connected to the bottom of the vertical rod, and the front end of the limiting rod is fixedly connected to the bottom of the baffle.

[0008] Preferably, the baffle is inclined and has several inclined slides installed on its outer surface. Each slide corresponds to a shovel blade. Each slide has a sliding rod slidably connected to its inner wall. The sliding rod has a locking block on both sides that slides along the inner wall of the slide. The distance between the slides gradually decreases from top to bottom.

[0009] Preferably, each of the baffles is equipped with a multi-stage telescopic rod at its top, with a connecting block installed at one end of each multi-stage telescopic rod, and an arc-shaped pressure rod fixedly connected to one side of the connecting block.

[0010] Preferably, the sliding rod has a through groove on its front side for the arc-shaped pressure rod to pass through, the sliding rod and the arc-shaped pressure rod are slidably connected, the shovel is located at the bottom of the sliding rod, and there is a gap between the sliding rod and the shovel.

[0011] Preferably, a guide groove is fixedly connected to the back of the slide rail, a lever is rotatably connected inside the sliding rod, an upper protrusion that slides along the guide groove is slidably connected to the upper end of the lever, a lower protrusion is slidably connected to the lower end of the lever, a turntable is fixedly connected to one end of the lower protrusion, the inner wall of the turntable is fixedly connected to the blade through a shaft, and the shaft and the sliding rod are rotatably connected through a bearing.

[0012] Preferably, the guide groove is designed as a continuously bent S-shape, and the upper protrusion slides along the guide groove so that the lever swings inside the sliding rod, further actuating the lower protrusion at the bottom to shift, and accompanied by the rotation of the turntable and the blade.

[0013] Compared with the prior art, the beneficial effects of the present invention are: By setting up a camera and a laser cutting head on the top of the robot, the camera can distinguish between weeds and rice seedlings, such as overwintering rice seedlings, through image algorithms such as color recognition and morphological feature comparison. It can accurately locate the weeds and avoid ineffective operations in areas without weeds or crop areas. After identifying the weeds, the laser cutting head is used to cut the weeds on the soil surface, achieving preliminary weed removal and preparing for subsequent root and stem removal. Furthermore, before the weeds on the surface of the soil are cut, the two baffles in front of the robot body are guided by the guide rail of the guide mechanism to move in the direction of the two baffles. The two baffles first move inward laterally, then begin to rise longitudinally from the root part to the leaf part at the top of the weeds, and finally spread outward laterally again to push the weeds to the sides of the rice seedlings, completely separating the weed leaves from the rice seedling leaves. This creates conditions for the subsequent laser cutting operation, ensuring that the subsequent laser cutting head only acts on the roots of the weeds and does not touch the roots of the rice seedlings. During the weed cutting process, a physical barrier is formed to prevent the rice seedlings from falling into the weed area and to prevent soil particles and weed residues from splashing and damaging the rice seedlings. In addition, the baffle is designed to be tilted away from the rice seedlings, and several inclined tracks are added to the outer surface of the baffle. The distance between the tracks gradually decreases from top to bottom. In the initial stage, the shovels are relatively far apart and move along the inclined tracks. While penetrating the inner soil layer, the shovels peel the roots and stems of weeds outward, increasing the safe distance between the roots and stems of weeds and rice seedlings, thus separating the weeds from the rice seedlings. At the same time, the roots and stems of weeds on both sides of the inner soil layer are pulled towards the center, preparing for subsequent concentrated removal. In addition, a continuously bent S-shaped guide groove is set on the back of the slide to independently guide the shovel blade. Guided by the guide groove, the shovel blade moves in a serpentine trajectory through the inner layer of the soil, continuously hooking and wrapping the roots of weeds, making the connection between the roots and the shovel blade more stable and preventing slippage. Finally, with the overall lifting action of the robot body, the weeds are pulled up by the roots, which greatly improves the efficiency of root and stem removal, cuts off the regeneration ability of weeds from the root, reduces the recurrence rate of weeds, reduces the number of subsequent re-weeding operations, and truly achieves the effect of eradicating weeds once and managing them for a whole season. It is especially suitable for the pre-treatment of weeds in the dry stage of overwintering rice fields, so as to avoid weeds competing with rice for nutrients in the following year. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 This is a schematic diagram of the connection structure between the guide mechanism and the baffle of the present invention.

[0016] Figure 3 This is a schematic diagram of the guiding mechanism structure of the present invention.

[0017] Figure 4 For the present invention Figure 1 Enlarged structural diagram at point A in the middle.

[0018] Figure 5 This is a schematic diagram of the connection structure between the baffle and the limiting rod of the present invention.

[0019] Figure 6 This is a schematic diagram of the exploded structure of the baffle of the present invention.

[0020] Figure 7 This is a cross-sectional view of the sliding rod of the present invention.

[0021] Figure 8 For the present invention Figure 7 Enlarged structural diagram at point A in the middle.

[0022] Figure 9 This is a schematic diagram of the connection structure between the shovel and the turntable of the present invention.

[0023] In the diagram: 1. Robot body; 2. Robotic arm; 3. Baffle; 301. Slide rail; 302. Sliding rod; 303. Locking block; 304. Guide groove; 305. Lever; 306. Upper protrusion; 307. Lower protrusion; 308. Turntable; 4. Shovel; 5. Guide mechanism; 501. Fixed rod; 502. Push rod; 503. Guide rail; 504. Vertical rod; 505. Limiting rod; 506. Horizontal rod; 6. Camera; 7. Laser cutting head; 8. Hydraulic rod; 9. Multi-stage telescopic rod; 10. Connecting block; 11. Arc-shaped pressure rod. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Please see Figures 1 to 9The present invention provides a technical solution: a weeding robot for overwintering rice paddies, including a robot body 1, two mechanical arms 2 installed on both sides of the robot body 1, and two baffles 3 installed in front of the robot body 1. When weeding, the two baffles 3 can shield and protect the rice seedlings on both sides and push the weeds on both sides of the rice seedlings from the inside to the outside. Furthermore, each baffle 3 has several shovels 4 installed on its outer surface, which can travel along a serpentine trajectory in the inner layer of the soil to hook the roots and stems of weeds. Each robotic arm 2 is equipped with a guide mechanism 5 at its end to control the baffle 3 to slide along a set path, and a camera 6 and a laser cutting head 7 are respectively installed on the top of the robot body 1. By setting a camera 6 and a laser cutting head 7 on the top of the robot body 1, the camera 6 can distinguish between weeds and rice seedlings, such as overwintering rice seedlings, through image algorithms such as color recognition and morphological feature comparison, accurately locate the weeds, and avoid ineffective operations in areas without weeds or crop areas. After identifying the weeds, the laser cutting head 7 is used to cut the weeds on the soil surface. Furthermore, the two baffles 3 directly in front of the robot body 1 serve two purposes: firstly, to push the weeds on both sides of the rice seedlings to the sides, so that the weeds are completely separated from the rice seedlings, making the cutting area of ​​the laser cutting head 7 clearer and preventing the laser cutting head 7 from accidentally damaging the rice seedlings; secondly, to shield and protect the rice seedlings, forming a physical barrier during the weed removal process, preventing the rice seedlings from falling into the weed area, and preventing soil particles and weed debris from splashing and damaging the rice seedlings. Meanwhile, several shovels 4 are added to the outer surface of the baffle 3. The shovels 4 can directly act on the roots and stems of weeds in the inner soil layer. By moving in a serpentine manner through the inner soil layer, they can wrap around and hook the roots and stems of weeds so that they can be pulled up by the roots during the subsequent upward pulling process. This greatly improves the efficiency of root and stem removal, cuts off the regeneration ability of weeds from the root, reduces the recurrence rate of weeds, reduces the number of subsequent re-weeding operations, and truly achieves the effect of eradicating weeds once and managing them for a whole season. It is especially suitable for the pretreatment of weeds in the dry stage of overwintering rice fields, so as to avoid weeds competing with rice for nutrients in the following year.

[0026] In this embodiment, as Figure 2 and Figure 3 As shown, the guide mechanism 5 includes two symmetrically distributed fixed rods 501 and a push rod 502 slidably connected to the top of the fixed rods 501. The front end of the fixed rods 501 is fixedly connected to the guide rail 503, the end of the fixed rods 501 is rotatably connected to the robotic arm 2, and the end of the push rod 502 is fixedly connected to the crossbar 506. Two hydraulic rods 8 are respectively installed at both ends of the crossbar 506. The guide rail 503 has a curved shape that gradually concaves inward from both ends to the middle, and the concave part in the middle of the guide rail 503 is inclined upward. A vertical rod 504 is slidably connected to the inner wall of the guide rail 503. The top of the vertical rod 504 is slidably connected to the front end of the push rod 502. Two limiting rods 505 are fixedly connected to the bottom of the vertical rod 504, and the front end of the limiting rod 505 is fixedly connected to the bottom of the baffle 3. It should be noted that, through the trajectory constraint of the special-shaped guide rail 503, the linear drive of the hydraulic rod 8 is transformed into the compound action of the baffle 3. The hydraulic rod 8 is in a retracted state in the initial stage. After the camera 6 detects the weeds, the robot body 1 is driven to move to the weed area through the control center of the robot body 1, and the telescopic rod of the hydraulic rod 8 is extended to push the push rod 502 to slide forward along the fixed rod 501. At this time, the front end of the push rod 502 abuts against the vertical rod 504, and the vertical rod 504 moves forward synchronously under the push rod 502, sliding along the guide rail 503. Because the two ends of the rail are concave towards the middle, and the concave part in the middle is inclined upward, the front end of the push rod 502 is provided with a groove, which allows the vertical rod 504 to move laterally left and right after moving along the guide rail 503. The bottom of the vertical rod 504 is fixedly connected to the baffle 3 by the limiting rod 505. Therefore, the baffle 3 moves synchronously with the vertical rod 504. The baffle 3 is driven by the vertical rod 504. The specific movement process is as follows: The two baffles 3 are close to the ground. When they retract laterally, they move from the base of the weeds towards the middle, separating the weed roots from the rice seedling roots to prevent damage to the rice seedling roots in subsequent actions. Then, the vertical rod 504 slides to the curved section that is concave in the middle. The baffles 3 rise with the vertical rod 504, and the retraction continues, gradually transitioning from the root part to the leaf part at the top of the weeds. Finally, when the vertical rod 504 slides to the front end of the guide rail 503, the baffles 3 unfold outwards again, pushing the weeds to both sides of the rice seedlings, so that the weeds are in a state of lying down on both sides, preventing the weeds from rebounding and re-entangling with the rice seedlings. This completely separates the weed leaves from the rice seedling leaves, creating conditions for subsequent laser cutting operations. Even if the weeds are close to the crop, they can be separated from the rice seedlings by being pushed to both sides by the direction of the baffles 3. This ensures that the subsequent laser cutting head 7 only acts on the roots of the weeds and does not touch the roots of the rice seedlings. In addition, for example Figure 4 As shown, an extension rod is slidably connected to the surface of the crossbar 506 to connect the crossbar 506 during its sliding process. The extension rod is connected to the robot body 1 and driven by the robot body 1. It works in conjunction with the hydraulic rod 8 to provide further support and limit the movement of the crossbar 506 during its sliding process. In addition, the lower half of the vertical rod 504 is cylindrical and can slide freely along the inner wall of the guide rail 503. Two limiting rods 505 are attached to the upper and lower surfaces of the guide rail 503, respectively, to limit the bottom of the vertical rod 504 and prevent it from detaching. The upper half of the vertical rod 504 is square and is restricted by the front groove of the push rod 502, so that the vertical rod 504 can move linearly forward, backward and left and right, but cannot rotate.

[0027] In this embodiment, as Figure 5 and Figure 6 As shown, the baffle 3 is inclined, and several inclined slides 301 are installed on the outer surface of the baffle 3. The several slides 301 correspond one-to-one with several shovels 4. Each slide 301 has a sliding rod 302 slidably connected to its inner wall. The two sides of the sliding rod 302 are provided with locking blocks 303 that slide along the inner wall of the slide 301. The distance between the several slides 301 gradually decreases from top to bottom. It should be noted that the baffle 3 is tilted away from the rice seedlings to provide basic support for the slide 301 and guide the slide 301 to tilt from top to bottom and from inside to outside, so that the shovel 4 naturally moves away from the rice seedlings when it peels off the roots of weeds. The shovel 4 and the slide 301 are distributed in a one-to-one correspondence. The shovel 4 is guided by the slide 301, and the overall movement path is also from top to bottom and from inside to outside. In addition, the front of the sliding rod 302 in this embodiment is provided with a diamond shape to ensure that the resistance is smaller when the sliding rod 302 slides down and cuts into the inner layer of soil. The back of the sliding rod 302 is provided with a square shape and is embedded in the slide track 301. By the limiting of the locking block 303, the sliding rod 302 can only slide along the axial direction of the slide track 301. In addition, due to the wide spacing of the upper sliding track 301, the blades 4 are relatively far apart in the initial stage. As the blades 4 are driven by the sliding rod, they move along the inclined sliding track 301, penetrating deeper into the soil layer while peeling the weed roots and stems outward, expanding the safe distance between the roots and stems of the weed area and the roots and stems of the rice seedling area. In this process, the roots and stems of the weeds on both sides of the inner soil layer are gradually pulled towards the center, preparing for the subsequent concentrated removal. In this embodiment, as Figure 5 As shown, each baffle 3 has a multi-stage telescopic rod 9 installed on its top. A connecting block 10 is installed at one end of the multi-stage telescopic rod 9, and an arc-shaped pressure rod 11 is fixedly connected to one side of the connecting block 10. The sliding rod 302 has a through groove on its front side for the arc-shaped pressure rod 11 to pass through. The sliding rod 302 and the arc-shaped pressure rod 11 are slidably connected. The scraper 4 is located at the bottom of the sliding rod 302, and there is a gap between the sliding rod 302 and the scraper 4. It should be noted that the multi-stage telescopic rod 9 is electrically connected to the robot body 1. The multi-stage telescopic rod 9 is driven to extend through the control center of the robot body 1, and the arc-shaped pressure rod 11 is pushed downward through the connecting block 10. The arc-shaped pressure rod 11 slides in the through groove of the sliding rod 302, and the downward pressure is evenly transmitted to all sliding rods 302. The downward direction of the arc-shaped pressure rod 11 is consistent with the tilt direction of the slide rail 301, ensuring that all sliding rods 302 slide downward along the slide rail 301. Furthermore, there is a gap between the bottom of the sliding rod 302 and the blade 4, so that the blade 4 will not rub against the sliding rod 302 during subsequent free rotation.

[0028] In this embodiment, as Figure 7 , Figure 8 and Figure 9 As shown, a guide groove 304 is fixedly connected to the back of the slide rail 301, a lever 305 is rotatably connected inside the sliding rod 302, an upper protrusion 306 that slides along the guide groove 304 is slidably connected to the upper end of the lever 305, a lower protrusion 307 is slidably connected to the lower end of the lever 305, a turntable 308 is fixedly connected to one end of the lower protrusion 307, the inner wall of the turntable 308 is fixedly connected to the blade 4 through a shaft, and the shaft and the sliding rod 302 are rotatably connected through a bearing. The guide groove 304 is designed as a continuously bent S-shape. The upper protrusion 306 slides along the guide groove 304 so that the lever 305 swings inside the sliding rod 302, further causing the lower protrusion 307 at the bottom to shift, and accompanied by the rotation of the turntable 308 and the blade 4. It should be noted that the continuously bent S-shaped guide groove 304 is set on the back of the slide 301 to independently guide the blade 4, allowing the blade 4 to generate a specific rotational sway during the downward movement. After the weeds on the soil surface are cut, the blade 4 is used to extend into the inner soil layer to hook and entangle the roots and stems of the weeds in the inner soil layer. The specific process is as follows: As the locking block 303 of the sliding rod 302 moves down along the slide rail 301, the sliding rod 302 slides downward at an angle along the slide rail 301. At the same time, the upper protrusion 306 at the upper end of the internal lever 305 slides along the S-shaped guide groove 304. Guided by the S-shaped guide groove 304, the upper protrusion 306 is forced to shift to the left and right sides, causing the upper end of the lever 305 to shift left and right. The middle part of the lever 305 is rotatably connected to the inside of the sliding rod 302 through a pin. When the upper end of the lever 305 shifts left and right, the lower end of the lever 305 swings in the opposite direction, further causing the lower protrusion 307 to shift left and right. The lower protrusion 307 shifts left and right, causing the turntable 308 to rotate. The turntable 308 is connected by a shaft, and at the same time, it causes the blade 4 to start rotating clockwise and counterclockwise. Its blade moves in a serpentine manner during this process, gradually penetrating into the inner layer of the soil. In addition, in this embodiment, through slots are provided at both ends of the lever 305, which provide displacement space for the sliding of the upper protrusion 306 and the lower protrusion 307, thus avoiding jamming. Additionally, it should be noted that the edge of the shovel 4 is relatively blunt, while its front end is designed to be pointed. When the shovel 4 penetrates into the soil layer, it extends downward at an angle, resulting in less lateral shearing force on the weed roots. This helps to preserve the integrity of the weed roots as much as possible, preparing them for subsequent overall removal. Guided by the guide groove 304, the shovel 4 moves in a serpentine trajectory through the inner soil layer, continuously hooking and wrapping around the weed roots. This makes the connection between the weed roots and the shovel 4 more stable, preventing slippage. Finally, with the help of the overall lifting action of the robot body 1, the weeds are pulled up by the roots, and the weed stems are completely removed from the soil.

[0029] Furthermore, a window is provided at the top of the back of the sliding rod 302, and the upper protrusion 306 extends along the window. During the sliding rod 302's downward movement, the upper protrusion 306 can be ensured to slide along the guide groove 304, while preventing soil from entering the sliding rod 302.

[0030] Working principle: When using this weeding robot, first move the robot body 1 to the dryland operation area of ​​the overwintering rice field, initialize each component in the control center, the hydraulic rod 8 is in the retracted state, the push rod 502 moves backward, the two baffles 3 are expanded, and the multi-stage telescopic rod 9 is in the retracted state. The robot body 1 moves at a constant speed along the paddy field ridges. The top camera 6 collects real-time images of the field and transmits them to the control center. The control center begins to identify weeds and accurately locate their positions. If weeds are identified, the control center drives the robot to stop moving and makes slight adjustments to its position to ensure that the laser cutting head 7, baffle 3, and shovel 4 are all aligned with the weed area. If no weeds are identified, the robot continues to move along the ridges to avoid unnecessary stops. This process is existing technology and will not be elaborated further. Next, after the robot body 1 detects the weeds, it begins to adjust its position, aligning the center area of ​​the two baffles 3 with the rice seedlings. The control center drives the hydraulic rod 8 to extend, and the push rod 502 slides forward along the fixed rod 501, driving the vertical rod 504 to move along the guide rail 503. The vertical rod 504 drives the two baffles 3 to move synchronously, which is divided into three stages: In the first stage, the vertical rod 504 is located at the end of the guide rail 503 and slides forward along the end. The baffles 3 on both sides are close to the ground and retract laterally to separate the weeds from the roots of the rice seedlings. In the second stage, under the action of push rod 502, vertical rod 504 gradually slides to the middle section, guide rail 503 is concave in the middle and tilted upward, baffles 3 on both sides are raised upward simultaneously, and the action area of ​​baffles 3 gradually transitions from root and stem to leaf part, separating weed leaves from rice seedling leaves. In the third stage, the vertical rod 504 gradually slides to the front end of the guide rail 503, and the baffles 3 on both sides unfold outwards again, pushing the weeds to both sides. Then, the laser cutting head 7 is used to perform laser cutting to remove weeds from the soil surface. During the cutting process, the laser energy is focused on the weed area to avoid spreading to the rice seedlings. After the cutting is completed, the laser cutting head 7 is turned off. Subsequently, the multi-stage telescopic rod 9 at the top of the control center drive baffle 3 extends, pushing the arc-shaped pressure rod 11 down the sliding rod 302 through the connecting block 10, transmitting downward pressure to each sliding rod 302. The sliding rod 302 slides downward along the slide rail 301, driving the blade 4 into the soil. During this process, the upper protrusion 306 slides along the guide groove 304. As the upper protrusion 306 slides left and right along the guide groove 304, the lever 305 rotates clockwise and counterclockwise respectively, simultaneously driving the lower protrusion 307 at the bottom to shift in the opposite direction, further driving the turntable 308 and the blade 4 to rotate. 4. The robot body 1 begins to rotate clockwise and counterclockwise alternately. While moving downward, the shovel 4 moves through the roots of the weeds in a serpentine trajectory. At the same time, guided by the slide rail 301, the shovel 4 and the sliding rod 302 move outward at an angle, gradually moving away from the roots of the rice seedlings. Finally, the roots of the weeds are gathered towards the center. After the shovel 4 wraps around the roots of the weeds, the control center drives the robot body 1 to lift slightly and pull the weeds out by the roots. At this time, the weeds on the surface of the soil have been cut off, and the underground roots are completely separated from the above-ground parts. The shovel 4 only needs to overcome the friction of the soil on the roots, which improves the success rate of the shovel 4's operation. After the weeds are cleared, the control center drives the hydraulic rod 8 to retract, the baffle 3 to return to its open state, and the robot continues to move along the rows until the weeding operation of the entire paddy field is completed.

[0031] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wintering paddy field dryland weeding robot, comprising a robot body (1) and two mechanical arms (2) mounted on both sides of the robot body (1), characterized in that: It also includes two baffles (3) installed in front of the robot body (1), and the two baffles (3) can shield and protect the rice seedlings on both sides when weeding and push the weeds on both sides of the rice seedlings from the inside to the outside. Furthermore, each baffle (3) has several shovels (4) installed on its outer surface that can travel along a serpentine path in the soil layer to hook the roots and stems of weeds. Each robotic arm (2) is equipped with a guide mechanism (5) at its end for controlling the baffle (3) to slide along a set path, and a camera (6) and a laser cutting head (7) are respectively installed on the top of the robot body (1).

2. The overwintering rice paddy dryland weeding robot according to claim 1, characterized in that: The guiding mechanism (5) includes two symmetrically distributed fixed rods (501) and a push rod (502) slidably connected to the top of the fixed rods (501). The front end of the fixed rods (501) is fixedly connected to a guide rail (503), and the end of the fixed rods (501) is rotatably connected to the robotic arm (2). The end of the push rod (502) is fixedly connected to a crossbar (506), and two hydraulic rods (8) are respectively installed at both ends of the crossbar (506).

3. The overwintering paddy field dryland weeding robot according to claim 2, characterized in that: The guide rail (503) has a curved shape that gradually curves inward from both ends to the middle, and the middle concave part of the guide rail (503) is inclined upward. A vertical rod (504) is slidably connected to the inner wall of the guide rail (503). The top of the vertical rod (504) is slidably connected to the front end of the push rod (502). Two limiting rods (505) are fixedly connected to the bottom of the vertical rod (504), and the front end of the limiting rod (505) is fixedly connected to the bottom of the baffle (3).

4. The overwintering paddy field dryland weeding robot according to claim 1, characterized in that: The baffle (3) is inclined, and several inclined slides (301) are installed on the outer surface of the baffle (3). Several slides (301) correspond one-to-one with several shovels (4). Each slide (301) has a sliding rod (302) slidably connected to its inner wall. The two sides of the sliding rod (302) are provided with locking blocks (303) that slide along the inner wall of the slide (301). The distance between several slides (301) gradually decreases from top to bottom.

5. A weeding robot for overwintering rice paddies in dryland areas according to claim 4, characterized in that: Each of the baffles (3) has a multi-stage telescopic rod (9) installed on its top. A connecting block (10) is installed at one end of the multi-stage telescopic rod (9), and an arc-shaped pressure rod (11) is fixedly connected to one side of the connecting block (10).

6. The winter paddy field weeding robot according to claim 5, characterized in that: The sliding rod (302) has a through groove on its front side for the arc-shaped pressure rod (11) to pass through. The sliding rod (302) and the arc-shaped pressure rod (11) are connected by a sliding connection. The shovel (4) is located at the bottom of the sliding rod (302), and there is a gap between the sliding rod (302) and the shovel (4).

7. The overwintering paddy field dryland weeding robot according to claim 4, characterized in that: The back of the slide rail (301) is fixedly connected to a guide groove (304), and the inside of the sliding rod (302) is rotatably connected to a lever (305). The upper end of the lever (305) is slidably connected to an upper protrusion (306) that slides along the guide groove (304), and the lower end of the lever (305) is slidably connected to a lower protrusion (307). One end of the lower protrusion (307) is fixedly connected to a turntable (308). The inner wall of the turntable (308) is fixedly connected to the blade (4) through a shaft, and the shaft and the sliding rod (302) are rotatably connected through a bearing.

8. A weeding robot for overwintering rice paddies in dryland areas according to claim 7, characterized in that: The guide groove (304) is designed as a continuously bent S-shape. The upper protrusion (306) slides along the guide groove (304) so ​​that the lever (305) swings inside the sliding rod (302), further causing the lower protrusion (307) at the bottom to shift, and accompanied by the rotation of the turntable (308) and the blade (4).

Images