Front rotary intelligent weed extractor for vegetables

Abstract

The utility model relates to an intelligent agricultural implement, in particular to a front rotary intelligent weed extractor for vegetables, which is characterized in that a plurality of plow bodies are mounted on a main beam of the weed extractor, each plow body is provided with an inter-row weeding cutter, a vision guide device is mounted above the implement, a camera of the vision guide device shoots field images, weeds are identified through an intelligent control system, and the inter-row weeding cutters are controlled to act. The weeding machine is characterized in that the weeding machine is installed in front of a tractor, a set of electric control executing mechanism is installed in front of a main beam for each row of crops, a servo motor is arranged in each electric control executing mechanism, an inter-plant weeding cutter is installed at the lower end of an output shaft of each servo motor, and the servo motors control the inter-plant weeding cutters to operate among crop plants according to instructions of an intelligent control system so as to remove weeds. The beneficial effects are that the weed extractor is installed in front of the tractor, and the camera is wide in view and clear in image. One inter-plant hoeing knife is arranged on each row of crops, can rotate around the plants for cutting, is sensitive and accurate in action, low in plant damage rate and high in weed removal rate, and is particularly suitable for hoeing operation of fragile plants such as vegetables.

Description

Technical Field

[0001] This utility model relates to an intelligent agricultural machine, namely a front-mounted rotary intelligent vegetable weeding machine. Background Technology

[0002] In the past, weeding vegetables was mainly done manually, which was labor-intensive and inefficient. In recent years, various weeding machines have been introduced to the market, reducing the burden of manual labor. However, these machines can only remove weeds between vegetable rows, not between individual plants within the rows. Therefore, our company has developed an intelligent weeding machine capable of weeding between plants. This intelligent weeding machine uses a visual navigation system to capture images of weeds, and then an intelligent control system identifies the weeds, determines their location, and controls the weeding components to move along a predetermined path to remove them. However, the blades of these intelligent weeding machines are often rigidly connected to the plow body, only able to swing left and right with the plow body, not rotate. They cannot be directly driven by a motor or other rotating power source, resulting in multiple conversion steps, complex structure, and difficult electrical control, limiting flexibility and precision, making it difficult to remove weeds near plants. To remove weeds near plants, we have introduced a finger-shaped blade disc made of a colloidal elastic material, which can dig up both plants and weeds together, removing the weeds because the vegetables are stronger than the weeds. However, this type of blade is only suitable for vegetables with deeper root systems and greater plant strength than weeds, and it is difficult to use on vegetables with fragile plants. Since most vegetable varieties have fragile plants, its intelligent weeding function is difficult to achieve.

[0003] Furthermore, large intelligent weeders are often towed by tractors because they are wide laterally and long longitudinally. Since these individual units are mostly connected by contour lines, their rigidity is low, resulting in significant sway. Therefore, most existing large intelligent weeders are towed by tractors. However, with the tractor in front of the weeder, installing a camera is very difficult. If the camera is installed in front of the tractor, the distance to the weeding components is too great to provide real-time data, drastically increasing control difficulty. If the camera is installed behind the tractor, part of the view is obstructed, leading to incomplete data collection. Therefore, the tractor's position is one of the problems that needs to be solved. Utility Model Content

[0004] The purpose of this invention is to provide an intelligent weeding machine that has a close camera device and a wide field of view, complete image acquisition, high-quality real-time video signal, and the ability for each row of weeding components to rotate around the vegetable plants within the working area, resulting in low plant damage rate and high weed removal rate, making it capable of weeding fragile vegetable plants.

[0005] The above objective is achieved by the following technical solution: A front-mounted rotary intelligent vegetable weeder is provided. The weeder is equipped with an intelligent control system. Multiple plow bodies are installed behind the main beam of the weeder, each plow body is equipped with inter-row weeding blades, and a camera with a guidance device is installed above the main beam. The intelligent control system identifies weeds based on the captured images, sets the weeding path, and controls the inter-row weeding blades to complete the row weeding action. The weeder is characterized in that it is installed in front of a tractor and is pushed by the tractor; an electrical control box is installed in front of the main beam for each row of crops, and a servo motor is installed inside the control box. The lower end of the servo motor's output shaft is equipped with an inter-row weeding blade. The servo motor drives the inter-row weeding blades to move between the crop plants and remove weeds according to the instructions of the intelligent control system.

[0006] The main beam is equipped with multiple sets of contour frames, each with an electrical control box in front and a plow body in the back.

[0007] The weeding knife between plants includes a handle and a blade. The upper end of the handle is equipped with a plate-shaped handle seat, which is connected to a connecting plate at 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 of the handle has a bent section that bends inward. The blade has an arc-shaped cutting edge, and the back of the blade is connected to the lower end of the bent section of the handle.

[0008] Each end of the main beam is equipped with a set of support rollers. The support rollers are mounted on the underside of the rotating block via mounting arms. The rear side of the rotating block is provided with a rotating block shaft. The rotating block shaft is mounted inside the support roller frame via rotating block shaft seats at the upper and lower ends. The support roller frame is a contour-following mechanism. The upper part of the support roller frame is fixedly connected to the main beam. The support roller frame is equipped with a height adjustment hydraulic device and a guide hydraulic device that can be operated under the control of an intelligent system. The cylinders of the height adjustment hydraulic device are installed vertically, and the guide hydraulic device has two cylinders installed horizontally relative to each other.

[0009] An offset sensing wheel is mounted on one side of the main beam via a contoured wheel frame. A drive sensor is mounted on one end of the wheel axle of the offset sensing wheel, and a thin rod-shaped orientation sensor is mounted on the inner side of the contoured wheel frame.

[0010] An upper pull beam is provided above the rear of the main beam. The upper pull beam tilts upward and extends backward, crossing the plow body and then tilts downward. Its rear end is fixed to the front of the connecting plate. The rear of the connecting plate is connected to the sliding box. The sliding box is slidably connected to the rear suspension frame through flange bearings. The suspension frame is equipped with a distance sensor. A mounting plate that can be attached to the tractor is provided at the rear of the suspension frame. An upper slide rail is provided at the upper front part of the suspension frame. A middle slide rail is provided at the upper front part of the suspension frame. A lower slide rail is provided at the lower front part of the suspension frame. Two sets of upper flange bearings that cooperate with the upper slide rails are installed on the top of the sliding box. Two sets of middle flange bearings that cooperate with the middle slide rails are installed at the upper rear part of the sliding box. Two sets of lower flange bearings that cooperate with the lower slide rails are installed at the lower middle part of the sliding box. A left-push cylinder that pushes the piston to the left and a right-push cylinder that pushes the piston to the right are provided below the middle slide rail of the suspension frame. The sliding box, together with the upper pull beam and the weeder, can move left and right under the push of the pistons of the left-push cylinder and the right-push cylinder.

[0011] The lower part of the electrical control box is equipped with an auxiliary weeding knife. The auxiliary blade of the auxiliary weeding knife is installed below the auxiliary blade holder. The lower end of the auxiliary blade is equipped with a blade disc. The auxiliary blade holder is opposite to the connecting plate at the lower end of the servo motor output shaft. During operation, the inter-plant weeding knife runs along a cycloidal trajectory, and the blade disc is opposite to the open side of the arched line segment of the cycloidal trajectory.

[0012] The cutter head is disc-shaped with a cutter head shaft in the middle, and the cutter head is installed at an angle.

[0013] The cutter head has multiple flexible cutting teeth made of flexible material.

[0014] The outer end of the auxiliary tool holder extends downward, and its lower end is rotatably connected to the middle part of the auxiliary tool rod through the auxiliary tool rod shaft. The upper end of the auxiliary tool rod is pulled by a tension spring, and the other end of the tension spring is fixed on the auxiliary tool holder. The lower end of the servo motor output shaft of the electrical control box is connected to the connecting plate. A cam is mounted on the connecting plate. When the front end of the cam touches the upper end of the auxiliary tool rod, it forces the auxiliary tool rod to overcome the tension of the tension spring and swing outward, driving the lower end of the cutter head to plan inward and downward. When the cam disengages from the auxiliary tool rod, the auxiliary tool rod returns to its original position, driving the cutter head to lift.

[0015] The beneficial effects of this invention are: the weeder is installed in front of the tractor, and the camera is installed above the weeding components between plants, providing a wide field of view, clear and complete images, and real-time data on the weeding components for easy intelligent control. Each row of crops has a servo motor driving a set of weeding blades that rotate and cut around the vegetable plants, resulting in sensitive and precise movements, low plant damage rate, and high weed removal rate. It is particularly suitable for weeding delicate plants such as vegetables. Attached Figure Description

[0016] Figure 1 This is a perspective view of the intelligent weeding machine of the first embodiment;

[0017] Figure 2This is a three-dimensional assembly drawing of the main beam, secondary beam, and sightseeing device of the first embodiment;

[0018] Figure 3 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;

[0019] Figure 4 This is a front view of the electrical control box in the first embodiment;

[0020] Figure 5 This is a left sectional view of the electrical control box in the first embodiment;

[0021] Figure 6 This is a perspective view of the weeding knife used in the first embodiment;

[0022] Figure 7 This is a front view of the copying frame in the first embodiment;

[0023] Figure 8 This is a flowchart of the intelligent control system of the first embodiment;

[0024] Figure 9 This is a front view of the support roller assembly in the second embodiment;

[0025] Figure 10 This is a left view of the support roller assembly in the second embodiment;

[0026] Figure 11 This is a perspective view of the support roller in the second embodiment;

[0027] Figure 12 This is an enlarged perspective view of the rotating block in the second embodiment;

[0028] Figure 13 This is a top view of the intelligent weeding machine according to the third embodiment;

[0029] Figure 14 This is a left rear-view perspective view of the bias sensing wheel in the third embodiment;

[0030] Figure 15 This is a right front perspective perspective view of the bias sensing wheel in the third embodiment;

[0031] Figure 16 This is a three-dimensional assembly drawing of the main beam, upper tie beam, suspension frame, and sliding box in the fourth embodiment;

[0032] Figure 17 This is a front view of the upper pull beam in the fourth embodiment;

[0033] Figure 18 This is a front perspective view of the suspension bracket according to the fourth embodiment;

[0034] Figure 19This is a rear perspective view of the suspension bracket according to the fourth embodiment;

[0035] Figure 20 This is a rear perspective view of the sliding compartment in the fourth embodiment;

[0036] Figure 21 This is a flowchart of the intelligent control system in the fourth embodiment;

[0037] Figure 22 This is an assembly diagram of the weeding knife and auxiliary weeding knife in the fifth embodiment;

[0038] Figure 23 This is a front view of the cutter head according to the fifth embodiment;

[0039] Figure 24 This is a left view of the cutter head in the fifth embodiment;

[0040] Figure 25 This is a schematic diagram of the working state of the weeding knife and auxiliary weeding knife in the fifth embodiment;

[0041] Figure 26 This is a front view of the cutter head in the sixth embodiment;

[0042] Figure 27 This is a left view of the cutter head in the sixth embodiment;

[0043] Figure 28 This is the main view assembly drawing of the auxiliary weeding blade in the raised state according to the seventh embodiment;

[0044] Figure 29 This is an enlarged bottom view assembly drawing of the auxiliary weeding knife in the seventh embodiment;

[0045] Figure 30 This is a front view of the auxiliary weeding knife in the seventh embodiment;

[0046] Figure 31 This is a left view of the auxiliary weeding knife in the seventh embodiment;

[0047] Figure 32 This is a front view assembly drawing of the auxiliary weeding knife in the weeding state according to the seventh embodiment;

[0048] Figure 33 This is a schematic diagram of the working state of the weeding knife and auxiliary weeding knife in the seventh embodiment.

[0049] The diagram shows: Main beam 1, guiding device 2, camera 2-1, camera frame 2-2, 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, support roller frame 4-1, height adjustment hydraulic device 4-2, guide hydraulic device 4-3, mounting arm 4-4, rotating block 4-5, rotating block shaft 4-6, upper boss 4-7, lower boss 4-8, rotating block shaft seat 4-9, electrical control box 5, servo motor 5-1, speed change mechanism 5-2, servo motor output shaft 5-3, connecting plate 5-4, inter-row weeding knife 6, knife bar seat 6-1, knife bar 6-2, bent section 6-3, blade 6-4, upper pull beam 7, front clamping plate 7-1, longitudinal beam 7-2, connecting plate 7-3, suspension frame 8, upper slide rail 8-1, middle slide rail 8-2, sliding track 8-3, mounting plate 8-4, distance sensor 8-5, left push cylinder 8-6, right push cylinder 8-7, temporary support 8-8, sub-beam 9, contour frame 10, frame plate 10-1, connecting rod 10-2, side plate 10-3, latch 10-4, front connecting plate 10-5, offset sensing wheel 11, contour wheel frame 11-1, drive sensor 11-2, orientation sensor 11-3, sliding box 12, upper flange bearing 12-1, middle flange bearing 12-2, lower flange bearing 12-3, piston end seat 12-4, auxiliary weeding knife 13, auxiliary blade holder 13-1, auxiliary blade rod 13-2, blade disc 13-3, blade disc shaft 13-4, elastic blade teeth 13-5, auxiliary blade rod rotating shaft 13-6, tension spring 13-7, cam 13-8. Detailed Implementation

[0050] First embodiment: Figure 1 This paper introduces a front-mounted rotary intelligent vegetable weeder. As shown in the diagram, the weeder has a main beam 1 at the front, with a guidance device 2 mounted on top. Multiple plow bodies 3 are installed behind the main beam, each equipped with inter-row weeding blades. Support rollers 4 are mounted at both ends of the main beam. Its key feature is that an electrical control box 5 is installed at the front of the main beam for each row of vegetables. The control box contains a servo motor, and an inter-row weeding blade 6 is mounted at the lower end of the servo motor's power output shaft. As shown in the diagram, an upper pull beam 7 is fixedly connected to the upper rear of the main beam, extending rearward and slidingly connected to a suspension frame 8. The suspension frame 8 is a component that connects to a tractor, which is mounted behind the weeder to propel it for weeding operations. Since tractors are common machinery, they are not shown in the diagram.

[0051] Combination Figure 2 The installation method of the visible guidance device 2 is as follows: a relatively short secondary beam 9 is installed on the main beam, and a camera frame 2-2 is installed on the secondary beam. The camera frame is shaped like a column, and a camera 2-1 is installed at the top of the camera frame. The output end of the camera is electrically connected to the input end of the image processing module of the intelligent control system controller. The power supply and intelligent control system required here can be set inside the tractor, which is a conventional layout and is not shown.

[0052] Combination Figure 3 The installation method of the plow body 3 and the electrical control box 5 is visible. Multiple sets of contour frames 10 are mounted on the main beam. An electrical control box 5 is installed in front of each contour frame, and a set of inter-row weeding knives 6 is installed below each electrical 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 one end of each leaf spring, and an inter-row weeding knife 3-5 is mounted below the plow column.

[0053] Combination Figure 4 , Figure 5 As can be seen, the electrical control box 5 has a cubic shell, which contains electronic components such as a servo motor 5-1. The servo motor is equipped with a speed change mechanism 5-2, and the output shaft 5-3 of the servo motor extends downward out of the shell, with a connecting plate 5-4 fixed to the lower end.

[0054] Combination Figure 6 As can be seen, the weeding knife 6 has a blade 6-2, the upper section of which extends outward at an angle, and the lower middle part of the blade has an inwardly bent section 6-3, at the lower end of which a blade 6-4 is installed. The blade has an arc-shaped cutting edge, and the back of the blade is connected to the blade 6. The upper end of the blade 6 is connected to the connecting plate 5-3 at the lower end of the servo motor output shaft via a blade 6-1.

[0055] Combination Figure 7 As can be seen, the contour frame 10 is a parallel four-bar linkage consisting of a vertically mounted frame plate 10-1, a side plate 10-3, and two horizontally placed connecting rods 10-2. Figure 3 As shown in the 3D diagram, there are two sets of parallel four-bar linkages, left and right, connected by a pivot to form a contour-following mounting frame. The front of the side plate has an opening for mounting the main beam; the opening engages with the locking buckle 10-4 to secure it to the main beam. The rear frame plate 10-1 extends downwards and then folds forward. The rear of the frame plate connects to the front end of the plow body via a plate, and the front of the frame plate connects to the electrical control box 5 via a front connecting plate 10-5.

[0056] Combination Figure 8 As can be seen, when the weeder is working, the camera of the guidance device captures images of the field, and the image signal is transmitted to the intelligent control system. The intelligent control system can identify weeds, set the weeding position, and send instructions to the electrical control box through the controller. The servo motor of the electrical control box drives the weeding blades between the crop plants to remove weeds.

[0057] Experiments show that this intelligent weeding machine has significant advantages over existing intelligent weeding machines. Due to its front-mounted design, with the weeding machine in front and the tractor behind, the camera can be mounted above the main beam, very close to the weeding blades between plants. This allows it to capture real-time images of the weeding blades and enables the intelligent control system to directly obtain weeding effect information, promptly issuing various correction commands to prevent deviations beyond the limits.

[0058] Furthermore, existing intelligent weeders typically have weeding components rigidly connected to the plow body, allowing them to move only left and right with the plow in a sawtooth pattern, representing a reciprocating linear motion. These weeding components cannot rotate and cannot be directly driven by rotating power sources like electric motors, resulting in complex transmission mechanisms, greater difficulty in electronic control, and limitations on their sensitivity. In contrast, this weeder features rotating weeding components that can move around the crop, making it more suitable for electric drive and facilitating intelligent control.

[0059] Existing intelligent weeders typically use interconnected components, requiring the entire machine to move when weeding, which is cumbersome and lacks sensitivity. In contrast, this weeder's weeding components are directly driven by a motor, allowing each unit to operate independently. This results in lower energy consumption, more sensitive movement, and thus, higher performance across all performance metrics.

[0060] According to actual measurements, the uncut distance around the plant perimeter of this intelligent weeder is less than 25mm, the weed removal rate is greater than 80%, and the plant damage rate is less than 5%. It is particularly suitable for weeding fragile plants such as vegetables, and its work efficiency is more than 800 times that of manual weeding.

[0061] The second embodiment: Based on the first embodiment, the support rollers 4 at both ends of the main beam are improved. Figure 1 It can be seen that there are two sets of support rollers 4, installed at both ends of the main beam. (Combined with...) Figure 9 , Figure 10 As can be seen, there is a support roller frame 4-1 on top of the support roller 4. The support roller frame is a parallel four-bar linkage mechanism with a contour-following function, and its upper front part is fixed to the main beam through a latch and a lock. The support roller frame contains two sets of hydraulic devices controlled by an intelligent control system. One set is a vertically installed height-adjusting hydraulic device 4-2, and the other is a horizontally placed guiding hydraulic device 4-3. The guiding hydraulic device illustrated in the figure has two cylinders, installed opposite each other. Alternatively, a single double-acting cylinder can also be used.

[0062] Combination Figure 11 As can be seen, the support roller 4 is mounted on the underside of the rotating block 4-5 via the side mounting arm 4-4.

[0063] Combination Figure 12As can be seen, a rotating block shaft 4-6 is provided on the rear side of the rotating block 4-5, and the rotating block shaft is installed inside the support roller frame through rotating block shaft seats 4-9 at both the upper and lower ends. There is an upper protrusion 4-7 extending forward on the upper part of the front side of the rotating block, and a lower protrusion 4-8 extending forward on the lower part. The mounting arm of the support roller is installed in the groove on the lower side of the lower protrusion.

[0064] The aforementioned mechanism operates as follows: When the main beam is not parallel to the working ground, the penetration depth of the weeding blades between plants becomes abnormal. At this time, the intelligent control device can adjust the hydraulic device 4-2 according to image data commands, adjusting the height of one end of the main beam to make it parallel to the ground, thus stabilizing the operation of the weeding blades. When the machine's travel path curves, the intelligent control system, based on prior image data, issues a command through the controller, guiding the piston rod of the hydraulic device 4-3 to push the upper boss of the rotating block to turn left or right, thereby adjusting the direction of the support rollers to adapt to the curved path.

[0065] Clearly, controlling the direction of travel and the working status of the weeding components through image data from the vision guidance system compensates for the lack of guidance capability of the rear-mounted tractor, thus ensuring stable operation of the implement.

[0066] The third embodiment: Based on the aforementioned embodiments, further enhance the data acquisition capability required for intelligent control. For example... Figure 13 As shown, an offset induction wheel 11 is added to the left or right side of the main beam.

[0067] Combination Figure 14 As can be seen, the offset sensing wheel 11 is hinged to the lower rear of the main beam via a contour wheel frame 11-1. A drive sensor 11-2 is mounted on the outer side of the contour wheel frame, at one end of the offset sensing wheel axle. The drive sensor is a commercially available product that can measure the distance the machine travels and its instantaneous speed by counting the rotations of the wheel axle, providing data for the intelligent control system.

[0068] Combination Figure 15 As can be seen, an orientation sensor 11-3 is installed on the inner side of the contour wheel frame 11-1. This sensor is a commercially available product, shaped like a long rod with its front end pointing forward. Its main function is to display the position of the weeding blade between plants in conjunction with image data. The left-right swing of its front end can reflect the instantaneous direction of the machine's movement, and the up-down swing of its front end can reflect the parallelism of the main beam to the ground and the depth of the blade's penetration into the soil, providing data for controlling the operation of the support roller height adjustment hydraulic device and the guide hydraulic device.

[0069] With the aforementioned sensors, the control performance of the intelligent control system is greatly improved, the requirements for operating conditions such as soil flatness and plant arrangement are significantly reduced, and the adaptability is significantly enhanced.

[0070] Fourth embodiment: Based on the aforementioned embodiments, the method of attaching the tractor and the weeder is further described. All directions mentioned here are based on the forward direction of the tractor and the weeder, from which the forward, backward, left, and right directions are deduced.

[0071] Figure 16 An example of a connection component between a smart weeder and a tractor is given. As shown in the diagram, an upper pull beam 7 is mounted behind the main beam 1 of the weeder, and the rear end of the upper pull beam connects to the suspension frame 8. Combined with... Figure 17 As can be seen, the front of the upper pull beam has a front clamping plate 7-1, which can be fixedly connected to the main beam and the secondary beam. A section behind the front clamping plate slopes upwards to a certain height, maintaining sufficient space with the plow body below, followed by a longitudinal beam 7-2 extending rearwards. The longitudinal beam crosses the plow body of the weeder and then slopes downwards, its rear end fixedly connected to a connecting plate 7-3. A sliding box 12 is connected behind the connecting plate 7-3, and the sliding box is slidably connected to the rear suspension frame 8.

[0072] Combination Figure 18 Three grooved tracks can be seen on the front side of the suspension bracket 8. The upper track 8-1 has a downward-facing groove, the middle track 8-2 has a forward-facing groove, and the lower track 8-3 has a downward-facing groove. Each track should have an inwardly convex flange at the groove opening. Two hydraulic cylinders are installed in opposite directions below the middle track: a left-push cylinder 8-6 and a right-push cylinder 8-7. (Combined...) Figure 19 As can be seen, a mounting plate 8-4 for connecting to the tractor is located on the rear side of the suspension frame. A distance sensor 8-5 is also installed in the upper right corner of the suspension frame. This distance sensor, also a commercially available product, detects the difference in ground conditions and travel direction between the implement in front and the tractor behind by measuring the difference in tension on the left and right sides of the suspension frame. This data is transmitted to the intelligent control system, whose controller instructs either the left or right hydraulic cylinder to adjust the relative position of the tractor and the weeder. This ensures that during lateral movement, the weeder's forward direction remains perpendicular to the suspension frame, thus maintaining positive drive from the tractor.

[0073] As shown in the picture, a temporary bracket 8-8 is installed at each of the left and right ends of the suspension frame, which can be used to support the suspension frame before it is coupled to the tractor.

[0074] Combination Figure 20 As can be seen, the upper rear side of the sliding chamber 12 has a frame, and above the frame are two upward-axis upper flange bearings 12-1. Below the frame, on the wall panel, are two rearward-axis middle flange bearings 12-2. In the lower middle part of the wall panel, there is a boss, on which are mounted two sets of upward-axis lower flange bearings 12-3. Below the middle flange bearings are two piston end seats 12-4.

[0075] During the connection process between the upper pull beam and the suspension frame, the upper flange bearing of the sliding box is inserted into the upper slide rail of the suspension frame, the middle flange bearing of the sliding box is inserted into the middle slide rail of the suspension frame, and the lower flange bearing of the sliding box is inserted into the lower slide rail of the suspension frame. The outer end of the piston of the left push cylinder of the suspension frame abuts against the piston end seat on the left side of the sliding box. The end of the piston of the right push cylinder of the suspension frame abuts against the piston end seat on the right side of the sliding box. In this way, the upper pull beam is connected to the suspension frame. Then, the front side wall plate of the sliding box is fixed to the connecting plate at the rear end of the upper pull beam with bolts, thus completing the connection between the suspension frame and the weeder.

[0076] During operation, the weeder is in front, and the tractor is behind. The intelligent control system's workflow is as follows: Figure 21 As shown: The image signal from the camera is transmitted to the controller of the intelligent control system. This drives the sensors—position sensor, distance sensor, and drive sensor—to transmit their respective data to the intelligent control system. The controller then sends commands to the hydraulic cylinders and the servo motors in the electrical control box. The weeding blades between vegetable plants operate according to these commands, clearing weeds. The plow at the rear drives the row-mounted weeding blades to clear weeds between rows. The hydraulic adjustment devices on the support roller frames at both ends of the main beam operate continuously to keep the main beam parallel to the ground. When the weeder needs to adjust its direction, the guide hydraulic device on the support roller frame, according to the controller's command, pushes the rotating block to deflect the support rollers. Simultaneously, the cylinders on the suspension frame, according to the controller's command, push the sliding box and the upper pull beam to make corresponding displacements. This ensures that during the change of direction, the weeder's forward direction remains perpendicular to the suspension frame through lateral translation, thus maintaining the tractor's positive drive on the weeder. In this way, the tractor and the weeder can coordinate and operate stably.

[0077] Experiments show that this intelligent weeding machine has significant advantages over existing machines, with substantial improvements in various performance indicators. 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 2%. It is particularly suitable for weeding fragile plants such as vegetables, and its efficiency is more than 1000 times that of manual weeding.

[0078] Fifth embodiment: An improvement upon the foregoing embodiments. For example... Figure 22 As shown, the electrical control box 5 houses a servo motor. The lower end of the servo motor output shaft 5-3 extends out of the electrical control box and connects to the connecting plate 5-4. The lower edge of the connecting plate is connected to the inter-plant weeding knife 6. The improvement is that the inter-plant weeding knife runs along a cycloidal trajectory driven by the servo motor, with the opening side of the arched segment of the cycloidal line in each cycle opposite a single plant. This single plant can be a single plant, a cluster, or the position of a single plant, etc. An auxiliary weeding knife 13 is installed below the electrical control box on one side of the arched segment opening. The auxiliary blade 13-2 of the auxiliary weeding knife 13 is installed below the auxiliary blade holder 13-1, and the lower end of the auxiliary blade 13-2 is fitted with a blade disc 13-3.

[0079] Combination Figure 23 , Figure 24 As can be seen, the blade disc 13-3 is disc-shaped, with a blade disc shaft 13-4 in the center. The blade disc is installed at an angle, and its lower edge edge is in contact with the running trajectory of the inter-plant weeding knife 6. During operation, the auxiliary weeding knife further cuts at the opening of the arched cycloid, enhancing the weeding effect of the inter-plant weeding knife. Below, through... Figure 25 This further explains the advantages of the cycloidal trajectory and its role in assisting the weeding knife.

[0080] like Figure 25 As shown, the weeding blade, driven by the output shaft of the servo motor, moves in a circular motion with a radius r, while simultaneously moving in a straight line along with the machine's forward movement. The combined periodic motion trajectory of these two trajectories is the cycloid e. Each cycle of the cycloid is an arched segment, the height of which is equal to the running diameter 2r of the weeding blade, and the two endpoints of each arched segment are the midpoints of the plant spacing on both sides. Since each arched segment is formed by one revolution of the weeding blade, the rotation angle is 360°. If the angular velocity of the weeding blade is ω, then the time t for forming each arched segment is 360 / ω. If the concave surface of each arched segment is opposite a crop plant a, then the distance between the two endpoints of the arched segment is equal to the plant spacing b. Strictly speaking, b = half the sum of the plant spacings on both sides of the opposite plant. Let the machine's forward speed be v, then the time t for the machine to travel one plant spacing b is t = b / v. Clearly, only when the time it takes for the weeding blades to complete one revolution between plants is equal to the time it takes for the machine to travel one plant spacing, i.e., t=360 / ω=b / v, can a weeding effect be achieved. Figure 25 The cycloidal trajectory is shown. The two variables, the instantaneous plant spacing *b* and the instantaneous machine speed *v*, are both known quantities to the intelligent control system. By controlling the starting point and rotational speed *ω* of the weeding blades between plants, the desired result can be achieved. Figure 25 The diagram shows a cycloidal trajectory. The starting point can be determined by the machine based on image data from the guidance system. The angular velocity of the weeding blade between plants can be derived from t=360 / ω=b / v, i.e., ω=360v / b. It is common knowledge that controlling ω is an essential performance characteristic of servo motors. This control is extremely easy, especially when crops are neatly arranged and the soil physicochemical properties are relatively uniform. Extensive experiments have shown that among the various trajectories of existing weeding blades between plants, the cycloidal trajectory requires no reversal, rarely stops, is relatively smooth, has low energy consumption, and requires fewer control variables, making it easy to control intelligently. The cost of the required intelligent control system and servo motor is significantly reduced, resulting in a high cost-performance ratio.

[0081] Cycloidal weeding has advantages and disadvantages. As shown in the diagram, the arched segment formed by one cycle of the cycloidal weeding system has a gap on one side that the weeding blade cannot completely cut. To eliminate this gap, the rotation radius *r* of the weeding blade can be increased to make the arched segment steeper, extending the two endpoints as far outwards from the plant rows as possible. The weeding blades then supplement the cuts with those dragged by the plow body, reducing the gap area. However, because the distance between the weeding blades and the plant blades is relatively large, the accuracy of the movement is limited. To prevent damage to the plants, a considerable distance must be maintained, thus the gap area cannot be completely eliminated.

[0082] To reduce or even eliminate the blank areas, this example provides an auxiliary weeding knife 13. This auxiliary weeding knife is installed under the same electrical control box as the inter-plant weeding knife, close to it, with good synchronization. It can closely follow the cycloidal trajectory and supplement the cutting on the opening side of the arched segment along the straight line c, greatly reducing the blank area and significantly enhancing the weeding effect.

[0083] The sixth embodiment: Based on the fifth embodiment, the blade disc of the auxiliary weeding knife is improved. For example... Figure 26 , Figure 27 As shown, the blade disc 13-3 of the auxiliary weeding knife 13 is a finger-shaped disc composed of multiple flexible blade teeth 13-5 made of flexible material, which is obliquely mounted below the auxiliary blade rod via the blade disc shaft 13-4.

[0084] The flexible material can be commercially available soft materials such as rubber, polyurethane, and synthetic fibers. It can also be composed of a composite of various flexible, high-toughness, and wear-resistant materials.

[0085] During operation, the cutting disc rotates and digs on one side of the plant. Because the flexible blades are relatively soft, even if they touch the plant, they will not cause serious damage. Therefore, it can get closer to the end of the cycloidal line, and even penetrate to the inner lower part of the end of the cycloidal line to cut close to the plant. The blank area is further reduced, and the weeding effect is significantly enhanced.

[0086] Seventh embodiment: Further optimization of the weeding method on the cycloidal opening side based on the aforementioned embodiments. For example... Figure 28 , Figure 29As shown, an auxiliary weeding knife 13 is installed below the electrical control box 5, opposite the inter-plant weeding knife 6, on the side of the cycloidal opening. The auxiliary weeding knife 13 has an auxiliary blade 13-2 and a blade disc 13-3. The auxiliary blade 13-2 is installed below the electrical control box via an auxiliary blade holder 13-1. A connecting plate 5-4 is fixedly connected to the lower end of the servo motor output shaft 5-3. The lower part of the connecting plate is connected to the blade holder 6-1 of the inter-plant weeding knife 6. The blade 6-2 is installed below the blade holder, and the blade 6-4 is installed at the lower end of the blade. The improvement is that the connecting plate 5-4 is equipped with a cam 13-8. The cam is shaped like a long rod, and preferably has a rotating wheel at the front end. The outer end of the auxiliary blade holder 13-1 extends downward and is equipped with an auxiliary blade shaft 13-6. The middle part of the auxiliary blade 13-2 is rotatably connected to the auxiliary blade shaft through a shaft hole. Of course, it can also be the other way around, with the auxiliary tool holder shaft connected to the auxiliary tool holder, and a shaft hole opened in the lower part of the auxiliary tool holder seat.

[0087] Combination Figure 30 , Figure 31 As can be seen, the upper inner side of the auxiliary tool holder 13-2 is pulled by a tension spring 13-7, and the other end of the tension spring is fixed to the auxiliary tool holder. The lower end of the auxiliary tool holder is fixedly connected to the tool disc, which is installed at an angle, and the cutting edge below it is crescent-shaped.

[0088] Figure 28 and Figure 32 These represent two working states of the auxiliary weeding blade. Figure 28 As can be seen, when the weeding blade 6 starts rotating, the cam 13-8 does not touch the auxiliary blade rod 13-2. The upper end of the auxiliary blade rod is pulled inward by the tension spring 13-7, and the lower blade disc 13-3 is raised, but it does not enter the weeding state. Figure 32 As can be seen, when the weeding blade rotates halfway, that is, when the formed cycloidal arch is at its highest position, the extended cam pushes the auxiliary blade lever, overcoming the tension of the spring and swinging it outward. This causes the lower blade disc to swing inward, inserting itself into the soil and cutting towards the opening of the cycloidal line, thus clearing the weeds near the plants. Subsequently, because the cam has disengaged, the auxiliary blade lever is quickly lifted by the tension of the spring, returning to its original position. Figure 28 The position shown. Repeat this action, and you will achieve the desired result. Figure 33 As shown, the weeding blade moves along the cycloid trajectory, clearing weeds from the three outer sides of the crop plant. The blade disc of the auxiliary weeding blade clears weeds from the opening of the cycloid, resulting in a particularly effective weeding effect.

[0089] It should be noted that the actions of the components described above are merely examples, and many other methods are possible. For instance, the mounting position of the cam and the raising and lowering position of the auxiliary weeding blade can be determined as needed. The tension spring can also be a compression spring or an electronically controlled component; as long as it achieves the aforementioned function, it constitutes an equivalent technical solution.

Claims

1. A front-mounted rotary intelligent vegetable weeding machine, wherein the weeding machine is equipped with an intelligent control system, multiple plow bodies (3) are installed behind the main beam (1) of the weeding machine, each plow body is equipped with inter-row weeding blades (3-5), and a camera (2-1) of a guidance device (2) is installed above the main beam. The intelligent control system identifies weeds based on the captured images, sets the weeding path, and controls the inter-row weeding blades to complete the row weeding action, characterized in that: The weeding machine is installed in front of the tractor and is pushed by the tractor to work; the main beam (1) is equipped with an electrical control box (5) for each row of crops. The electrical control box is equipped with a servo motor (5-1). The lower end of the output shaft (5-3) of the servo motor is equipped with a weeding blade (6) between the plants. The servo motor (5-1) drives the weeding blade (6) between the plants to remove weeds in the rows according to the instructions of the intelligent control system.

2. The front-mounted rotary intelligent vegetable weeder according to claim 1, characterized in that: The main beam (1) is equipped with multiple sets of contour frames (10), each set of contour frames has an electrical control box (5) installed in front of it, and each set of contour frames (10) has a plow body (3) installed behind it.

3. The front-mounted rotary intelligent vegetable weeder according to claim 1, characterized in that: The weeding knife (6) includes a handle (6-2) and a blade (6-4). The upper end of the handle is equipped with a plate-shaped handle seat (6-1). The handle seat (6-1) is connected to the connecting plate (5-4) at the lower end of the servo motor output shaft (5-3). The upper section of the handle extends outward at an angle. The middle and lower part of the handle has a bent section (6-3) that bends inward. The blade has an arc-shaped cutting edge. The back of the blade is connected to the lower end of the bent section of the handle.

4. The front-mounted rotary intelligent vegetable weeder according to claim 1, characterized in that: The main beam (1) is equipped with a set of support rollers (4) at each end. The support rollers (4) are installed under the rotating block (4-5) via the mounting arm (4-4). The rotating block (4-5) has a rotating block shaft (4-6) on its rear side. The rotating block shaft (4-6) is installed inside the support roller frame (4-1) via the rotating block shaft seats (4-9) at both ends. The support roller frame (4-1) is a contour-following mechanism. The upper part of the support roller frame is fixedly connected to the main beam (1). The support roller frame is equipped with a height adjustment hydraulic device (4-2) and a guide hydraulic device (4-3) that can be operated under the control of the intelligent control system. The cylinder of the height adjustment hydraulic device (4-2) is installed vertically, and the guide hydraulic device (4-3) has two cylinders installed horizontally relative to each other.

5. The front-mounted rotary intelligent vegetable weeder according to claim 1, characterized in that: One side of the main beam (1) is equipped with an offset sensing wheel (11) via a contour wheel frame (11-1). A drive sensor (11-2) is installed at one end of the wheel axle of the offset sensing wheel (11), and a thin rod-shaped orientation sensor (11-3) is installed on the inner side of the contour wheel frame (11-1).

6. The front-mounted rotary intelligent vegetable weeder according to claim 1, characterized in that: The main beam (1) has an upper pull beam (7) at its rear upper part. The upper pull beam (7) tilts upward and then extends backward, crossing the plow body (3) and then tilts downward. Its rear end is fixed to the front of the connecting plate (7-3). The rear of the connecting plate (7-3) is connected to the sliding box (12). The sliding box (12) is slidably connected to the rear suspension frame (8) through a flange bearing. The suspension frame (8) is equipped with a distance sensor (8-5). The rear of the suspension frame (8) is provided with a mounting plate (8-4) that can be attached to the tractor. The upper front part of the suspension frame (8) is provided with an upper slide rail (8-1), and the middle front part of the suspension frame is provided with a middle slide rail (8-2). The front lower part is provided with a lower slide rail (8-3), and two sets of upper flange bearings (12-1) that cooperate with the upper slide rail are installed on the upper part of the sliding box (12). Two sets of middle flange bearings (12-2) that cooperate with the middle slide rail are installed in the upper middle part of the rear of the sliding box. Two sets of lower flange bearings (12-3) that cooperate with the lower slide rail are installed in the lower middle part of the sliding box. The left push cylinder (8-6) that pushes the piston to the left and the right push cylinder (8-7) that pushes the piston to the right are provided under the middle slide rail of the suspension frame. The sliding box (12), together with the upper pull beam (7) and the weeder, can move left and right under the push of the pistons of the left push cylinder (8-6) and the right push cylinder (8-7).

7. The front-mounted rotary intelligent vegetable weeder according to claim 1, characterized in that: The electrical control box (5) is equipped with an auxiliary weeding knife (13). The auxiliary blade (13-2) of the auxiliary weeding knife (13) is installed below the auxiliary blade holder (13-1). The lower end of the auxiliary blade (13-2) is equipped with a blade disc (13-3). The auxiliary blade holder (13-1) is opposite to the connecting plate (5-4) at the lower end of the servo motor output shaft (5-3). During operation, the weeding knife (6) between plants runs along the cycloidal trajectory, and the blade disc (13-3) is opposite to the opening side of the arched line segment of the cycloidal line.

8. The front-mounted rotary intelligent vegetable weeder according to claim 7, characterized in that: The cutter head (13-3) is disc-shaped with a cutter head shaft (13-4) in the middle, and the cutter head is installed at an angle.

9. The front-mounted rotary intelligent vegetable weeder according to claim 7, characterized in that: The cutter head (13-3) has multiple flexible cutter teeth (13-5) made of flexible material.

10. The front-mounted rotary intelligent vegetable weeder according to claim 7, characterized in that: The auxiliary tool holder (13-1) extends downward from its outer end, and its lower end is rotatably connected to the middle part of the auxiliary tool rod (13-2) through the auxiliary tool rod shaft (13-6). The upper inner side of the auxiliary tool rod (13-2) is pulled by a tension spring (13-7), and the other end of the tension spring is fixed on the auxiliary tool holder. The lower end of the servo motor output shaft (5-3) of the electrical control box is connected to the connecting plate (5-4). The connecting plate (5-4) is equipped with a cam (13-8). When the front end of the cam touches the upper end of the auxiliary tool rod, it forces the auxiliary tool rod to overcome the tension of the tension spring and swing outward, driving the lower end of the cutter head to plan inward and downward. When the cam disengages from the auxiliary tool rod, the auxiliary tool rod returns to its original position, driving the cutter head to lift.

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