Conjugated double-cycloid intelligent weed extractor

Abstract

The utility model relates to a conjugate double-cycloid intelligent weed extractor, the weed extractor is provided with a vision guide device, and an intelligent control system recognizes weeds, sets a weeding path and controls an inter-plant weeding knife to perform inter-plant weeding operation through images shot by the vision guide device, and is characterized in that a plurality of sets of electric control boxes are arranged in front of a main beam of the weed extractor; two rotating wheels are arranged below the electric control box, and each rotating wheel is provided with a set of inter-plant hoeing cutters. During operation, the two rotating wheels are driven by the servo motor to rotate reversely, and the two sets of inter-plant weeding cutters are driven to operate along the two conjugate cycloids to remove weeds around plants. The weeding device has the advantages that the weeding component is simple in structure, single in action, capable of conducting closed-loop cutting around crop plants, low in plant damage rate, high in weed removal rate, few in control variable, convenient to control intelligently, low in requirement for an intelligent control system and a servo motor and capable of greatly reducing equipment cost and operation cost, and therefore the weeding device is suitable for various crops. And particularly, applicable intelligent hoeing equipment is provided for fragile crops such as vegetables and the like.

Description

Technical Field

[0001] This utility model relates to an intelligent agricultural machine, namely a conjugate double cycloidal intelligent weeding machine. Background Technology

[0002] Weeding is a crucial part of crop field management. In the past, weeding was primarily done manually, which was labor-intensive and inefficient. In recent years, various weeding machines have been introduced to the market, reducing the workload. However, these machines can only remove weeds between crop rows, not between individual plants within the same row. Therefore, several intelligent weeding machines capable of weeding between plants have emerged. Existing intelligent weeding machines typically capture images of the crop and weeds, then use an intelligent control system to determine the weeding path and control the weeding components to remove weeds along that path. Current weeding components often employ lasers, flame jets, or mechanical blades. Lasers and flames consume a lot of energy, so mechanical blades remain the primary method. However, existing intelligent weeding machines with mechanical blades often use a plow body with attached plow blades. These blades can only move horizontally with the plow body and cannot rotate around the plant. They cannot be directly driven by a motor or other rotating power source, resulting in multiple power conversion steps, greater difficulty in electronic control, lower sensitivity, higher plant damage rate, and lower weed removal rate. Furthermore, to reduce costs, most weeding plows use a linkage mechanism, requiring the entire machine to operate once for each weed removal, resulting in numerous ineffective movements and significant power consumption. To address these issues, our company developed an intelligent weeding machine where the weeding blades are directly driven by a motor. This machine uses one motor per row of crops, driving one set of weeding blades, and performs weeding operations under the control of an intelligent control system. However, to improve weed removal rates, the weeding blades need to be programmed with various operating trajectories. The more complex the trajectory, the higher the requirements for the intelligent control system and the machine itself, and the higher the cost. Extensive experimental research revealed that the cycloidal trajectory is simpler, facilitating intelligent control, and the structure of the weeding blades and motor is also simpler, significantly reducing costs. However, the cycloidal trajectory is a periodic arched line, and the weeding blades cannot cut on the open side of the arch. Although the weeding blades cut close to the rows, a small number of gaps remain, requiring further elimination. Utility Model Content

[0003] The purpose of this invention is to provide an intelligent weeding machine that can perform intelligent weeding operations according to video signals, with a simple running trajectory of the weeding components, easy intelligent control, and the ability to cut around crop plants comprehensively, resulting in low crop damage and high weed removal rate.

[0004] The above objective is achieved by the following technical solution: A conjugate double cycloidal intelligent weeding machine is provided. The weeding machine is driven by a tractor. Multiple plow bodies are installed behind the main beam of the weeding machine, each plow body equipped with inter-row weeding blades. A speed measuring device is installed on the weeding machine or tractor, and a guidance device is installed above the weeding machine. The images captured by the guidance device and the data collected by the speed measuring device are input into the intelligent control system. The intelligent control system identifies weeds, sets the weeding path, and controls the inter-row weeding components to complete the inter-row weeding action. The key feature is that: an electrical control box is installed in front of the main beam for each row of crops. The electrical control box contains a servo motor, and two rotating wheels are mounted below the electrical control box via a rotating shaft. Each rotating wheel is equipped with an inter-row weeding blade. During operation, the two rotating wheels rotate in opposite directions under the drive of the servo motor output shaft, driving the two sets of inter-row weeding blades to run along two conjugate cycloidal lines on both sides of the crop plant, thereby performing closed-loop cutting around the crop plant and removing weeds around the plant.

[0005] A contour frame is mounted on the main beam. An electrical control box is installed in front of the contour frame relative to the position within the crop row, and a plow body is installed behind the contour frame.

[0006] The weeding knife between plants includes a handle and a blade. The upper end of the handle is located on one side of the lower end of the servo motor output shaft. The upper section of the handle extends outward at an angle, and the middle and lower part has an inwardly bent section. The lower end of the bent section is connected to the blade.

[0007] The two rotating wheels, namely wheel A and wheel B, have the following configurations: the outer gear of wheel A meshes with the central gear at the lower end of the servo motor output shaft; a hub gear is fixedly connected to the upper side of wheel B, coaxial with wheel B and with a smaller diameter; a shaft gear is fixedly connected to the upper side of the central gear, coaxial with the central gear and with a smaller diameter; an intermediate gear is located between the shaft gear and the hub gear, and is mounted on the lower part of the electrical control box via a rotating shaft, with its two sides meshing with the hub gear and the shaft gear, respectively.

[0008] The two rotating wheels below the electrical control box, namely wheel A and wheel B, are two gears of the same specification that mesh with each other and rotate in opposite directions. A coaxial transmission gear is fixed on top of wheel A, and the transmission gear meshes with the central gear at the lower end of the servo motor output shaft.

[0009] The two rotating wheels, namely wheel A and wheel B, are gears of the same specification that mesh with each other and rotate in opposite directions. Wheel A is installed at the lower end of the output shaft of the servo motor.

[0010] The two rotating wheels, namely rotating wheel A and rotating wheel B, are installed symmetrically with respect to the center position of the servo motor. The output shaft of the servo motor enters the gearbox from the center of the servo motor downwards, and extends out from a position off the center of the servo motor through gear transmission, with rotating wheel A installed at the lower end.

[0011] The two rotating wheels, namely rotating wheel A and rotating wheel B, are installed in staggered positions.

[0012] The two rotating wheels, namely rotating wheel A and rotating wheel B, are offset by an angle γ, which is the angle θ = ∠90° - γ between the line connecting the centers of rotating wheels A and B and the forward direction of the weeding machine. When the plant spacing between the weeding blades is equal to b, the distance between the opposite endpoints of the two cycloids driven by rotating wheels A and B in the same period is δ = bγ / 360.

[0013] The blade's edge is crescent-shaped, disc-shaped, serrated by many sharp angles, or star-shaped by multiple concave curves.

[0014] The beneficial effects of this utility model are: the weeding component runs along a conjugate double cycloidal trajectory, has a simple structure and a single action, can perform closed-loop cutting around the crop plants, has a low plant damage rate, a high weed removal rate, and has few motion variables, a simple algorithm, and is easy to control intelligently. It has lower requirements for intelligent control systems and servo motors, and significantly reduces equipment and operating costs, thus providing a suitable intelligent weeding device for a variety of crops, especially fragile crops such as vegetables. Attached Figure Description

[0015] Figure 1 This is a perspective view of the intelligent weeding machine of the first embodiment;

[0016] Figure 2 This is a three-dimensional assembly drawing of the plow body, the contour frame, the electrical control box, and the weeding knife between plants in the first embodiment;

[0017] Figure 3 This is a front view of the electrical control box in the first embodiment;

[0018] Figure 4 This is a left view of the electrical control box in the first embodiment;

[0019] Figure 5 This is a perspective view of the weeding knife used in the first embodiment;

[0020] Figure 6 This is a front view of the copying frame in the first embodiment;

[0021] Figure 7 This is a schematic diagram of a pure rolling cycloid in the first embodiment;

[0022] Figure 8 This is a schematic diagram of the positive sliding cycloid of the first embodiment;

[0023] Figure 9 This is a schematic diagram of the negative slip cycloid in the first embodiment;

[0024] Figure 10This is a front view of the weeding knife transmission mechanism of the first embodiment;

[0025] Figure 11 This is a bottom view of the weeding knife transmission mechanism of the first embodiment;

[0026] Figure 12 This is a flowchart of the intelligent control system operation process of the first embodiment;

[0027] Figure 13 This is a schematic diagram of the trajectory of the weeding blade along the conjugate bicycloid in the first embodiment;

[0028] Figure 14 This is a diagram showing the operating status of the weeding knife between plants in the first embodiment under the condition of plant spacing error;

[0029] Figure 15 This is a front view of the weeding knife transmission mechanism in the second embodiment;

[0030] Figure 16 This is a bottom view of the weeding knife transmission mechanism in the second embodiment;

[0031] Figure 17 This is a front view of the weeding knife transmission mechanism in the third embodiment;

[0032] Figure 18 This is a bottom view of the weeding knife transmission mechanism in the third embodiment;

[0033] Figure 19 This is a front view of the weeding knife transmission mechanism in the fourth embodiment;

[0034] Figure 20 This is a bottom view of the weeding knife transmission mechanism in the fourth embodiment;

[0035] Figure 21 This is a front view of the weeding knife transmission mechanism in the fifth embodiment;

[0036] Figure 22 This is a bottom view of the weeding knife transmission mechanism in the fifth embodiment;

[0037] Figure 23 This is a top view of the circular blade of the weeding knife in the sixth embodiment;

[0038] Figure 24 This is a top view of the serrated blade of the weeding knife in the seventh embodiment;

[0039] Figure 25 This is a top view of the star-shaped blade of the weeding knife in the eighth embodiment.

[0040] The diagram shows: main beam 1, guidance device 2, plow body 3, plow beam 3-1, cross scale 3-2, leaf spring 3-3, plow column 3-4, inter-row weeding knife 3-5, support roller 4, electrical control box 5, servo motor 5-1, servo motor output shaft 5-2, inter-plant weeding knife 6, knife bar 6-1, blade 6-2, bending section 6-3, knife bar seat 6-4, upper pull beam 7, suspension frame 8, contour frame 9, frame plate 9-1, connecting rod 9-2, side plate 9-3, lock 9-4, front connecting plate 9-5, A rotating wheel 10, B rotating wheel 11, center gear 12, wheel core gear 13, intermediate gear 14, shaft core gear 15, transmission gear 16, plant midpoint a, plant spacing b, baseline c, generatrix d, moving point p, generatrix radius r, cycloid e. Detailed Implementation

[0041] First embodiment: Figure 1 A conjugate double cycloidal intelligent weeder is introduced. As shown in the figure, there is a main beam 1 at the front of the weeder, and a guidance device 2 is installed on the top of the main beam 1. The camera of the guidance device can capture images of the field and then transmit the images to the intelligent control system. The intelligent control system identifies weeds and crops through images, sets the weeding path, and the controller controls the inter-row weeding component to complete the weeding action between plants in the row. Multiple plow bodies 3 are installed behind the main beam, and each plow body is equipped with inter-row weeding blades 3-5 on both sides, which can remove weeds between crop rows while moving. Its features are: each row of crops is equipped with an electrical control box 5 at the front of the main beam, and the electrical control box is equipped with a servo motor 5-1. Two rotating wheels, namely rotating wheel A 10 and rotating wheel B 11, are mounted on the bottom of the electrical control box via a rotating shaft. Each rotating wheel is equipped with an inter-row weeding blade 6. During weeding, the two rotating wheels rotate in opposite directions under the drive of the servo motor output shaft 5-2, driving the two sets of weeding blades between plants to run along two conjugate cycloids on both sides of the crop plants, thereby removing weeds around the crop plants.

[0042] As shown in the diagram, the main beam is fixedly connected to an upper tie beam 7 at the top, and the rear of the tie beam is slidably connected to a suspension frame 8. Behind this suspension frame is the tractor's position. During weeding operations, the tractor drives the weeder from behind. Since tractor-tethering is a standard method, the tractor is not shown in the diagram.

[0043] Combination Figure 2As can be seen, multiple sets of contour frames 9 are mounted on the main beam. Each contour frame has an electrical control box 5 installed in front of it, and two sets of inter-row weeding knives 6 are installed below each control box. A plow body 3 is installed behind each contour frame. The plow beam 3-1 of the plow body 3 extends rearward, and leaf springs 3-3 are mounted on both sides via crossbars 3-2. A plow column 3-4 is mounted at the other end of the leaf spring, and inter-row weeding knives 3-5 are installed below the plow column. The contour frames, control boxes, and the plow body are all positioned opposite the rows of crops. The inter-row weeding knives below the control box can move within the rows to perform inter-row weeding. The inter-row weeding knives installed on both sides of the plow body are opposite the rows of crops, enabling them to remove weeds between the crop rows.

[0044] Combination Figure 3 , Figure 4 As can be seen, the electrical control box 5 has a cubic housing, inside which is a servo motor 5-1. The output shaft 5-2 of the servo motor extends downwards from the housing. The speed of the servo motor is mostly set by an encoder, or a speed-changing mechanism can be installed on the output shaft. The lower end of the servo motor output shaft controls two rotating wheels, namely rotating wheel A 10 and rotating wheel B 11. Each of the two rotating wheels is equipped with a set of weeding blades 6.

[0045] Combination Figure 5 As can be seen, the weeding knife 6 has a handle 6-1 with a blade 6-2 attached to the lower end. The upper section of the handle extends outwards at an angle, while the lower middle section has an inward-bending section 6-3. Clearly, this bent handle conforms to the shape of various vegetable plants, reducing scratching of the upper branches and leaves while allowing the blade to approach the lower part of the plant for better removal of weeds around the plant. It also increases the turning radius at the lower end of the handle, increasing the weeding area.

[0046] As shown in the figure, the blade 6-2 is crescent-shaped with an arc-shaped cutting edge. This shape is suitable for moving around the plant, and weeds are less likely to slip away, resulting in excellent cutting performance. Of course, the edges outside the arc can also be sharpened to increase the working surface for cutting weeds. The upper side of the blade's back connects to the blade holder, and the upper end of the blade holder is connected to the wheel at the lower end of the servo motor output shaft via the blade holder seat 6-4. In this way, the upper end of the blade holder is a certain distance from the axis of the motor output shaft, and with the outward tilt of the blade holder, the lower end of the blade holder, along with the blade, has a large turning radius, which can meet the needs of weeding operations.

[0047] Of course, different crops and different planting methods may have different requirements for the specifications of the blade and the cutting tool. Therefore, the parameters of the blade and cutting tool should be determined according to the needs. It is also advisable to have multiple sets of blades and cutting tools of different specifications on hand for selection.

[0048] Combination Figure 6 As can be seen, the contour frame 9 consists of a vertically mounted frame plate 9-1, a side plate 9-3, and two horizontally placed connecting rods 9-2, forming a parallel four-bar linkage. Figure 2 As shown in the 3D diagram, there are two sets of frame plate-1, side plate 9-3, and two horizontally placed connecting rods 9-2, one on the left and one on the right, with a tension spring in the middle. They are connected by a rotating shaft to form a contour-following mounting frame. The side plate has an opening at the front, which engages with the locking buckle 9-4 to secure it to the main beam. The frame plate 9-1 at the rear of the contour-following frame extends downwards and then folds forward. The rear of the frame plate is connected to the front end of the plow body via a plate, and the front of the frame plate is connected to the electrical control box via a front connector 9-5.

[0049] As can be seen from the above, the main feature of this machine is that a motor is installed for each row of crops, and each motor drives two sets of inter-plant weeding blades. These blades operate within the gaps between the crop plants, removing weeds around the plants as much as possible without touching them, or with minimal contact. Obviously, there are various operating trajectories for these inter-plant weeding blades, but different trajectories place different demands on the intelligent control system, servo motors, and the machine itself. For example, the weeding blade can rotate a full circle around each plant. However, during this operation, the backward half-turn contradicts the machine's direction of travel, requiring the machine to travel at low speed or variable speed, and sometimes even requiring the motor to stop or reverse. Some designs even require the blade handle to have both revolution and rotational motions, making the structure more complex. Therefore, complex trajectories not only present significant control challenges but also require frequent speed changes and repeated overcoming of the inertia of moving parts, inevitably consuming a large amount of power.

[0050] Numerous experiments have demonstrated that using a cycloid as the trajectory of a weeding blade results in a simple algorithm, easy control, smooth movement, and good weeding and energy-saving effects.

[0051] Figure 7 A standard cycloid is illustrated in the diagram. There is an imaginary baseline c, at one end of which is a generatrix d with radius r. The point where the generatrix intersects the baseline is a moving point p. As the generatrix rolls along the baseline, the trajectory e of the moving point p is a cycloid. The cycloid changes periodically, with each cycle consisting of a smooth arched line from the starting point to the ending point. For the generatrix rolling purely along the baseline, its circumference is equal to the length b of the baseline corresponding to the arch, i.e., b = 2πr.

[0052] When the rolling of the parent circle is impure, and it slips while rolling, the cycloidal curve will exhibit... Figure 8 , Figure 9 Two forms.

[0053] Figure 8 It can be seen that positive slip occurs during the rolling of the parent circle, and the baseline length b corresponding to an arch is greater than the length of pure rolling, i.e., b > 2πr.

[0054] Figure 9 It can be seen that the rolling of the parent circle exhibits negative slip, and the baseline length b corresponding to an arch is less than the length of pure rolling, i.e., b < 2πr.

[0055] Figure 7 , Figure 8 , Figure 9 This indicates that the span 'b' of each cycle of the cycloid can be large or small. Therefore, the value of 'b' can be set as the plant spacing, thus aligning the concave surface of each arch with a single plant. During weeding, the plant spacing, including the current spacing (i.e., the spacing between plants aligned with the weeding blade), is already known in the image captured by the guidance device and stored in the intelligent control system. The diameter of the generatrix is ​​the height of the cycloid arch. Clearly, this value can be determined according to agronomic requirements, and the allowable range is relatively large. The baseline 'c' points forward, which is the direction line of the weeder's movement. Based on this, it can be known that for every plant spacing 'b' the weeder advances, the weeding blade between plants completes one revolution. Therefore, the time for the weeder to advance one plant spacing must be equal to the time it takes for the weeding blade to complete one revolution. Let this time be 't', then t = 2π / ω = b / v.

[0056] In the formula, 2π is the angle of one revolution of the weeding blade between plants, and ω is the instantaneous angular velocity of the weeding blade (for convenience, the angle is in radians). b is the current plant spacing, and v is the instantaneous speed of the implement. Here, b is determined by the controller based on the image provided by the visual navigation system and is known. v is provided by the implement speed measuring device and is also known. Various speed measuring devices are available. Under conditions of good soil firmness, neat crop arrangement, and stable implement speed, v can be provided by the tractor's speed measuring device. In more complex operating conditions, other commercially available speed sensors can be selected.

[0057] With the data b and v, the controller can determine the value of ω based on 2π / ω = b / v, and then drive the weeding blades between plants to rotate at an angular velocity ω via the servo motor in the control box. It is evident that using a cycloid as the trajectory of the weeding blades reduces the number of variables in intelligent control, simplifies the program, and simplifies the transmission mechanism between the weeding blades and the motor. The movement direction of each moving part is singular, with no reversible motion. Therefore, compared to other trajectories, the cost and power consumption of the intelligent control system and servo motor are significantly reduced.

[0058] However, this method of weeding along the cycloid means that the weeding knife cannot cut through the side of the arched opening. Although the subsequent plowing body drives the weeding knife between rows to cut the sides of the plant, especially the side of the arched opening, a small amount of blank space will still remain. To eliminate this blank space, this example further provides a conjugate double cycloid based on the aforementioned cycloid.

[0059] Depend on Figure 1 , Figure 2 , Figure 10 As can be seen, two sets of weeding blades 6 are installed below the electrical control box 5. That is, there are two blades 6-1 and two blades 6-2. (This is observed from an upward view.) Figure 11 As can be seen, the upper ends of the blades 6-1 of these two inter-plant weeding blades are respectively mounted on the edges of two rotating wheels, namely rotating wheel A 10 and rotating wheel B 11, both of which are mounted below the electrical control box via rotating shafts. Rotating wheel A 10 is a gear that meshes with the central gear 12 at the lower end of the servo motor output shaft. Rotating wheel B has no teeth on its outer circumference, but a wheel hub gear 13 is fixedly connected to its upper side. The wheel hub gear is coaxial with rotating wheel B and its diameter is smaller than that of rotating wheel B. A shaft hub gear 15 is also fixedly connected to the upper side of the central gear. The shaft hub gear is coaxial with the central gear and its diameter is smaller than that of the central gear. An intermediate gear 14 is located between the shaft hub gear and the wheel hub gear. The intermediate gear is also mounted below the electrical control box via a rotating shaft, meshing with the shaft hub gear and the wheel hub gear on both sides. In this way, the central gear directly drives rotating wheel A to rotate, and also drives rotating wheel B to rotate through three small gears. Clearly, through the above transmission method, rotating wheels A and B can rotate in opposite directions. At the same time, by selecting an appropriate transmission ratio, such as a 1:1 transmission ratio between all meshing gears, it is possible to make wheel A and wheel B rotate at the same speed. In addition, the tool holders on wheel A and wheel B are symmetrical components with the same radius of rotation.

[0060] Figure 10 As can be seen, the aforementioned wheels are installed in three layers: the central gear and wheel A are installed in the outer layer, wheel B is in the middle layer, and the shaft gear, intermediate gear, and wheel hub gear are in the inner layer. This arrangement prevents the wheels from colliding with each other. It should be noted that, for ease of understanding, Figure 11 The perspective drawing method was used to draw the three inner gears that were not visible in the bottom view.

[0061] Figure 12 This paper describes the workflow of the intelligent control system for this weeding machine. As shown in the diagram, the image signal acquired by the camera and the speed data from the speed measuring device are transmitted to the intelligent control system. The intelligent control system then identifies and locates weeds, determines the weeding path, and determines the rotation speed of the weeding blades based on the speed provided by the speed measuring device. The controller of the intelligent control system sends instructions to the electrical control box, and the servo motor in the electrical control box drives the blade and the blade to move, thereby clearing the weeds between the plants.

[0062] For ease of understanding, Figure 13This diagram illustrates the operation of two sets of inter-plant weeding blades along conjugate double cycloids within the same row. Each plant in the diagram has a plus sign at its center; this is the plant's midpoint (a) determined by the intelligent control system based on the image provided by the guidance device. The plant spacing (b) can be determined from the plant's midpoint. Two closely spaced imaginary baselines (c) lie between the plants, pointing in the same direction as the weeder's movement. The circle at one end of each baseline is the parent circle (d) of the cycloid, which is also the trajectory drawn by the inter-plant weeding blades with their rotation radius. During weeding, both sets of inter-plant weeding blades move in circular motion while simultaneously moving in a straight line along with the weeder. The combination of these circular and straight-line trajectories creates two periodically changing arched cycloids (e). These two cycloids form closed loops from both sides of the crop plant, completely eliminating gaps at the openings of each arched line and significantly improving weed removal efficiency.

[0063] Figure 14 The weeding method is further explained when the plant spacing b is uneven: When the plant spacing b' has an error, the intelligent control system checks it according to the limited plant spacing error value. When the error (b'-b) / b is within the set range, the plant spacing value of the current plant is taken as the average of the two plant spacings b and b' before and after it. That is, half of the sum of the distances between the current plant and the adjacent plants before and after it, which is half the distance between the two plants before and after it, i.e., (b+b') / 2. According to this value, the intelligent control system can combine the control program generated by the basic algorithm t=2π / ω=b / v, take the midpoint of the distance between the current plant and the previous plant as the starting point, take the actual traveling speed of the machine as the instantaneous speed v, and control the rotation speed output of the servo motor to make the weeding blade between the plants rotate at an angular velocity ω, thus forming the cycloidal trajectory e in the figure, and achieving a relatively optimized weeding effect.

[0064] Similarly, the above algorithm still applies when the actual plant spacing is less than b.

[0065] When the plant spacing error b'' exceeds the set limit, the servo motor stops rotating, and the weeding blades between plants move forward along with the tool to cut the weeds in the area until they reach the vicinity of the next plant before resuming rotation.

[0066] If one or more plants are missing between two plants, and the actual plant spacing b''' is an integer multiple of the standard plant spacing b, the weeding knife between plants can still operate at the original rotation speed to remove as many weeds as possible from the gaps.

[0067] Experiments show that, due to the use of a conjugate double cycloidal operating mode, the two weeding blades completely cut the outer perimeter of the plant, eliminating the gaps on the arched opening side of the cycloidal blades, thus significantly improving the weed removal rate. Actual measurements show that the uncut distance around the plant perimeter is less than 15mm, the weed removal rate is greater than 90%, and the plant damage rate is less than 3%. It is particularly suitable for weeding fragile plants such as vegetables, and its efficiency is more than 1000 times that of manual weeding.

[0068] The second embodiment: Based on the first embodiment, the transmission structure between the weeding blade and the output shaft of the servo motor is improved. For example... Figure 15 , Figure 16 As shown, two rotating wheels, namely wheel A 10 and wheel B 11, are mounted on the bottom of the electrical control box 5 via a rotating shaft. Wheels A and B are identical gears that mesh with each other and rotate in opposite directions. A coaxial transmission gear 16 is fixed to the top of wheel A, and the transmission gear meshes with the central gear 12 at the lower end of the output shaft of the servo motor. In this way, the servo motor can drive wheels A and B, along with two sets of inter-plant weeding blades, to rotate in opposite directions, performing inter-plant weeding operations along a conjugate bicycloid.

[0069] Clearly, the gears described above are assembled in two layers: gears A and B are in the outer layer, and the central gear and transmission gear are in the inner layer. For ease of understanding, the diagram uses perspective to show the gears in the inner layer. Compared to the first embodiment, there are two fewer gears and one less layer, resulting in a simpler structure.

[0070] The third embodiment: Based on the aforementioned embodiments, the transmission structure between the inter-plant weeding blade and the servo motor output shaft is improved. For example... Figure 17 , Figure 18 As shown, two rotating wheels, namely wheel A 10 and wheel B 11, are mounted on the bottom of the electrical control box 5 via a rotating shaft. Wheels A and B are identical gears that mesh with each other and rotate in opposite directions, driving two sets of inter-plant weeding blades to perform inter-plant weeding operations along a conjugate double cycloid. Its characteristic is that wheel A 10 is mounted at the lower end of the servo motor output shaft 5-2 and is the same gear as the original central gear 12.

[0071] As can be seen, although the position of the electrical control box is slightly offset, this structure only has two gears installed on the same layer, further simplifying the structure. Other working principles and performance remain unchanged, making it a technical solution with high practical value.

[0072] Fourth embodiment: Based on the third embodiment, the structure of the servo motor output shaft is improved. For example... Figure 19 , Figure 20 As shown, the servo motor output shaft 5-2 enters the gearbox from the center of the servo motor downwards, and extends out from a position off-center from the servo motor via gear transmission. The lower end is fitted with wheel A 10. That is, the servo motor output shaft is driven by a gear and another gear shaft within the gearbox, effectively causing a positional deviation of the original servo motor output shaft within the gearbox. It extends out of the control box from an off-center position and serves as the shaft for wheel A 10. The distance from the center of the servo motor to the lowest point of this output shaft should be equal to the radius of wheel A. Thus, wheel A 10 and wheel B 11 are symmetrically installed relative to the center of the servo motor, thereby avoiding the servo motor position misalignment problem that occurs in the third embodiment.

[0073] Fifth embodiment: Based on the third or fourth embodiment, the relative positions of the two wheels are further improved. In the previous embodiments, the two wheels are side by side, and theoretically the line connecting their centers is perpendicular to the machine's forward direction. In this example, the two wheels, namely wheel A 10 and wheel B 11, are installed in staggered positions. There are many ways to stagger them; an optimized method is recommended below:

[0074] like Figure 21 As shown, the two wheels, namely wheel A and wheel B, are offset by an angle γ, meaning the angle between the line connecting the centers of wheels A and B and the left-right direction line is γ. Since the left-right direction line is difficult to determine, the angle θ between the line connecting the centers of wheels A and B and the forward direction line of the weeder is ∠90° - γ.

[0075] The purpose of offsetting the two rotating wheels is to prevent the two weeding blades from colliding. As described in the previous embodiment, the two rotating wheels drive two sets of weeding blades, which run along two conjugate cycloids. The endpoints of each cycle of the two cycloids are opposite each other, meaning the blades of the weeding blades are very close together and prone to collision. To avoid collision, the two blades must be separated by a small distance, that is, the baselines of the two cycloids must be kept at a distance. Obviously, this will result in gaps where the weeding blades cannot reach their designated positions.

[0076] Because the two rollers are staggered, the time it takes for the two sets of weeding blades to reach the endpoint of the cycloidal cycle will differ, resulting in a gap between the endpoints of the same cycle of the two cycloidal axes. Figure 22 The distance δ is shown. The distance corresponding to the arched line during one cycle of the cycloid is exactly the plant spacing b, or more precisely, the current plant spacing indicated by the weeding knife, which is half the distance between the two plants before and after the plant indicated by the arched line. One cycle of the cycloid is also one rotation of the wheel. According to relevant mathematical knowledge, δ / b = γ / 360, that is, δ = bγ / 360.

[0077] As can be seen, by selecting an appropriate γ value, the weeding blades will be spaced apart at the endpoints of the cycloids, thus avoiding collisions. Furthermore, the baselines of the two cycloids can be made to completely overlap, or their endpoints can be interlocked, resulting in even better weeding performance.

[0078] Sixth embodiment: A novel blade is provided based on the foregoing embodiments. For example... Figure 23 As shown, blade 6-2 is disc-shaped. Clearly, this blade shape allows for multi-directional cutting, without a distinct edge and back, making it more adaptable. However, the round shape makes it easy for weeds to slip off, thus requiring a high-quality blade material with strong wear resistance to maintain its sharpness and prevent weeds from slipping off.

[0079] Seventh embodiment: A novel blade is provided based on the foregoing embodiments. For example... Figure 24 As shown, blade 6-2 is disc-shaped with many sharp serrations along its edge. Clearly, this blade shape allows for multi-directional cutting, eliminating the distinction between the blade edge and back, and also prevents weeds from slipping away, resulting in better cutting performance.

[0080] Eighth embodiment: A novel blade is provided based on the foregoing embodiments. For example... Figure 25 As shown, the edge of blade 6-2 is formed by multiple concave curves forming a star shape. Clearly, this blade shape allows for multi-directional cutting without a distinct blade edge and back, prevents weeds from slipping off, provides excellent cutting performance, and exhibits good wear resistance, allowing for extended use.

Claims

1. A conjugate double cycloidal intelligent weeding machine, wherein the weeding machine is driven by a tractor, multiple plow bodies (3) are installed behind the main beam (1) of the weeding machine, each plow body (3) is equipped with inter-row weeding blades (3-5), a speed measuring device is provided on the weeding machine or tractor, and a guidance device (2) is installed above the weeding machine. The images captured by the guidance device and the data collected by the speed measuring device are input into the intelligent control system, which identifies weeds, sets the weeding path, and controls the inter-row weeding components to complete the inter-row weeding action, characterized in that: The main beam (1) is equipped with an electrical control box (5) for each row of crops. The electrical control box (5) is equipped with a servo motor (5-1). Two rotating wheels are mounted on the bottom of the electrical control box (5) via a rotating shaft. Each rotating wheel is equipped with a set of weeding blades (6) between plants. During operation, the two rotating wheels rotate in opposite directions under the drive of the output shaft (5-2) of the servo motor, which drives the two sets of weeding blades (6) between plants to run along two conjugate cycloids on both sides of the crop plants, thereby making closed-loop cuts around the crop plants and removing weeds around the plants.

2. The conjugate bicycloidal intelligent weeding machine according to claim 1, characterized in that: The main beam (1) is equipped with a contour frame (9), an electrical control box (5) is installed in front of the contour frame (9) relative to the position inside the crop row, and a plow body (3) is installed behind the contour frame (9).

3. The conjugate bicycloidal intelligent weeding machine according to claim 1, characterized in that: The weeding knife (6) between plants includes a handle (6-1) and a blade (6-2). The upper end of the handle (6-1) is located on one side of the lower end of the servo motor output shaft (5-2). The upper section of the handle (6-1) extends outward at an angle, and the middle and lower part has a bent section (6-3) that bends inward. The lower end of the bent section (6-3) is connected to the blade (6-2).

4. The conjugate bicycloidal intelligent weeding machine according to claim 1, characterized in that: The two rotating wheels are A rotating wheel (10) and B rotating wheel (11). The gear on the periphery of A rotating wheel (10) meshes with the central gear (12) at the lower end of the output shaft (5-2) of the servo motor. A wheel core gear (13) is fixedly connected to the upper side of B rotating wheel (11). The wheel core gear (13) is coaxial with B rotating wheel (11) and its diameter is smaller than that of B rotating wheel (11). A shaft core gear (15) is fixedly connected to the upper side of the central gear (12). The shaft core gear (15) is coaxial with the central gear (12) and its diameter is smaller than that of the central gear (12). There is an intermediate gear (14) between the shaft core gear (15) and the wheel core gear (13). The intermediate gear (14) is installed under the electrical control box (5) through a rotating shaft. The two sides of the intermediate gear (14) mesh with the wheel core gear (13) and the shaft core gear (15) respectively.

5. The conjugate bicycloidal intelligent weeding machine according to claim 1, characterized in that: The two rotating wheels, namely A rotating wheel (10) and B rotating wheel (11), are two gears of the same specifications that mesh with each other and rotate in opposite directions. A coaxial transmission gear (16) is fixed on the top of A rotating wheel (10), and the transmission gear (16) meshes with the center gear (12) at the lower end of the servo motor output shaft (5-2).

6. The conjugate bicycloidal intelligent weeding machine according to claim 1, characterized in that: The two rotating wheels, namely A rotating wheel (10) and B rotating wheel (11), are gears of the same specification that mesh with each other and rotate in opposite directions. A rotating wheel (10) is installed at the lower end of the output shaft (5-2) of the servo motor.

7. The conjugate bicycloidal intelligent weeder according to claim 6, characterized in that: The two wheels, namely wheel A (10) and wheel B (11), are symmetrically installed relative to the center position of the servo motor. The output shaft (5-2) of the servo motor enters the gearbox from the center of the servo motor downwards and extends out from a position away from the center of the servo motor through gear transmission. Wheel A (10) is installed at the lower end.

8. The conjugate bicycloidal intelligent weeder according to claim 6 or 7, characterized in that: The two wheels, namely wheel A (10) and wheel B (11), are installed in staggered positions.

9. The conjugate bicycloidal intelligent weeding machine according to claim 8, characterized in that: The two wheels, namely wheel A (10) and wheel B (11), are offset by an angle γ, that is, the angle θ between the line connecting the centers of wheel A (10) and wheel B (11) and the forward direction line of the weeder is ∠90°-γ. When the plant spacing between the weeding blades is equal to b, the distance between the two cycloids of the two sets of weeding blades driven by wheel A (10) and wheel B (11) at the opposite endpoints in the same period is δ=bγ / 360.

10. The conjugate bicycloidal intelligent weeder according to claim 3, characterized in that: The blade (6-2) has a crescent shape, a disc shape, a serrated shape surrounded by multiple sharp angles, or a star shape surrounded by multiple concave curves.

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