Device for removing wormwood in seedling stage

Abstract

The utility model belongs to the technical field of agricultural mechanical equipment, and particularly relates to a seedling stage wormwood removing device which comprises a laser weeding assembly and a mechanical weeding assembly in order to solve the existing waste problem, the laser weeding assembly is located at the front end of a machine frame in the advancing direction, and the mechanical weeding assembly is located at the tail end of the machine frame in the advancing direction. The laser weeding assembly covers the inter-plant area of the planted plants, and the mechanical weeding assembly covers the inter-row area of the planted plants. According to the utility model, a weeding structure with front and back collaboration and partitioned operation is constructed, and the laser weeding assembly positioned at the front end can safely and accurately eliminate inter-plant weeds adjacent to seedlings by utilizing the non-contact and high-precision characteristics of the laser weeding assembly, so that the crop seedlings are effectively prevented from being damaged; then, the mechanical weeding assembly at the tail end conducts physical cleaning on the space between the rows, the problem that the density of weeds in the area is high is solved, and the device can complete precise removal of the weeds between the plants and large-area treatment of the weeds between the rows in sequence.

Description

TECHNICAL FIELD

[0001] The utility model relates to a weeding device, in particular to a seedling stage artemisia herb removal device belongs to agricultural machinery equipment technical field. BACKGROUND

[0002] Alfalfa as high-quality forage is the core basic resource of the development of animal husbandry, and its yield and quality directly affect the efficiency of animal husbandry industry, but the problem of weed at seedling stage has long restricted the development of the industry, and weeds and alfalfa seedlings compete for nutrients, space and sunlight, which can lead to more than 30% reduction in yield. Under the background of rapid development of agricultural mechanization and intelligence, efficient, accurate and green prevention and control of weeds in the field at the seedling stage has always been a key problem restricting the improvement of crop yield and quality. Traditional weeding methods such as manual weeding have high labor intensity and high cost, while chemical weeding causes pesticide residues and environmental pollution problems.

[0003] In the prior art, the green leaf vegetable inter-plant weeding robot disclosed in publication No. CN119318241A mainly focuses on inter-plant physical weeding through an adjustable spacing mechanical device. Although this scheme can protect seedlings, the purely mechanical weeding has limited efficiency when facing dense or stubborn weeds, and the single operation mode is difficult to efficiently process two different characteristic areas of inter-plant and inter-row at the same time, and the functional integration degree and operation universality are insufficient. For example, the wide-width laser weeding system based on galvanometer-linear motor collaborative motion compensation disclosed in publication No. CN120858958A expands the lateral coverage width of a single laser through complex galvanometer and linear motor collaborative motion to solve the inter-row weeding problem of wide-ridge crops. However, this design has a single target scene, mainly aiming at "inter-row sparse weeds", and for "inter-plant weeds" that are highly mixed with crop seedlings and require very high positioning accuracy, the risk of seedling damage may occur due to large laser spot coverage range or positioning deviation; at the same time, the system is complex and has high cost, and does not involve cooperation with mechanical weeding, and the flexibility and economy of the overall operation strategy need to be improved. In summary, the existing technology generally has problems such as single weeding mode, poor adaptability to different planting row spacing, difficulty in considering inter-plant and inter-row weeding, and incoordination between high-precision weeding and high-efficiency operation. UTILITY MODEL CONTENT

[0004] The utility model provides a seedling stage artemisia herb removal device to solve the problems of single mode, poor row spacing adaptability and inability to realize inter-plant precision and inter-row efficient operation of the existing weeding device.

[0005] The utility model discloses a seedling stage weed removing device, including frame and integrated installation weed removing mechanism on frame, and weed removing mechanism includes laser weeding subassembly and mechanical weeding subassembly, and laser weeding subassembly is located the front end of frame advancing direction, and mechanical weeding subassembly is located the tail end of frame advancing direction, and laser weeding subassembly covers the plant's interplant area, and mechanical weeding subassembly covers the plant's interrow area, and frame still integratively is provided with weed positioning and identification unit,

[0006] Laser weeding subassembly includes two parallel laser, and the interrow spacing adjusting unit is arranged between the two laser, and the laser emission end of two laser is located the upside of two rows of plants,

[0007] Mechanical weeding subassembly includes rotating wheel and a plurality of weeding scrapers, and the weeding scrapers are annularly and equally distributed, and the middle parts of the plurality of weeding scrapers are fixedly connected with the wheel body of the rotating wheel, and the outer side of the weeding scrapers is connected with the weeding blades.

[0008] Weed positioning and identification unit includes satellite antenna, laser radar, travel camera and identification camera connected on frame, and the travel camera is located the front end of frame advancing direction, and the identification camera is separately arranged at the front end of two laser.

[0009] As a further scheme of the utility model: the frame is built by a plurality of aluminum profiles, and the frame is divided into two layers, and the upper layer of the frame is fixedly connected with a water cooler, a mobile power supply and an electric control cabinet, the cooling water of the water cooler is connected with the heat dissipation end of the laser, the mobile power supply is electrically connected with each electrical element, and the electric control cabinet is signal connected with each electrical element.

[0010] As a further scheme of the utility model: the satellite antenna and the laser radar are fixedly connected with the top of the frame in vertical shape, the shooting end of the travel camera is parallelly arranged with the advancing direction of the frame, the shooting end of the identification camera is aligned with the interplant area of the plants, and the installation part of the identification camera and the frame is provided with a protractor.

[0011] As a further scheme of the utility model: the laser weeding subassembly further includes a positioning plate, the positioning plate is movably arranged on the frame, and the laser is fixedly connected with the positioning plate, and the interrow spacing adjusting unit includes a push-pull rod arranged in a symmetrical shape, and the outer end of the push-pull rod is rotatably connected with the positioning plate.

[0012] As a further scheme of the utility model: the interrow spacing adjusting unit further includes a driving motor, a rotating rod and two threaded sleeves, the body of the driving motor is fixedly connected with the frame, the rotating rod is coaxially fixedly connected with the motor shaft of the driving motor, the rod body of the rotating rod is provided with a right and left threaded ring, the two threaded sleeves are respectively threadedly sleeved on the right and left threaded rings, and the outer wall of the threaded sleeve is rotatably connected with the push-pull rods on both sides.

[0013] As a further scheme of the utility model: the lower plate surface of the positioning plate is fixedly connected with a U-shaped limiting clamping seat, the positioning plate is clamped on the frame body, the inner cavity of the U-shaped limiting clamping seat is rotatably connected with a roller shaft, the roller shaft is tightly attached to the frame body, and the two inner sides of the U-shaped limiting clamping seat are connected with locking hydraulic bags.

[0014] As a further scheme of the utility model: the mechanical weeding assembly further comprises a support frame, the rotating wheel is rotatably connected in the support frame, the frame body of the support frame is fixedly connected with an arc baffle at the upper end, and the bottom edge of the weeding blade connected with the rotating wheel body is provided with a grass scraping tooth.

[0015] As a further scheme of the utility model: the frame body of the support frame is fixedly connected with a connecting rotating shaft, the frame body of the rack is fixedly connected with two bearing seats, and the two ends of the connecting rotating shaft are rotatably sleeved in the bearing seats.

[0016] As a further scheme of the utility model: an electric hydraulic push rod and a movable connecting rod are further arranged between the support frame and the rack, the tail end of the electric hydraulic push rod is rotatably connected to the frame body of the rack, the driving end of the electric hydraulic push rod is rotatably connected to one end of the movable connecting rod, and the other end of the movable connecting rod is rotatably connected to the support frame.

[0017] The utility model discloses the beneficial effect is:

[0018] 1, the utility model discloses a rack and integrated installation on the weeding mechanism of rack, and the weeding mechanism includes laser weeding assembly and mechanical weeding assembly, and the laser weeding assembly is located in the front end of the rack advancing direction, and the mechanical weeding assembly is located in the tail end of the rack advancing direction, and the laser weeding assembly covers the plant's interplant area, and the mechanical weeding assembly covers the plant's interrow area, and the rack still integrally sets up with the weed positioning and identification unit, through setting up the laser weeding assembly in the front end of the rack advancing direction and covering the plant's interplant area, and setting up the mechanical weeding assembly in the tail end of the rack advancing direction and covering the plant's interrow area, a kind of weed removing structure of front and rear cooperation, partition operation is constructed, the laser weeding assembly in the front end can safely, accurately eliminate the interplant weed adjacent to seedling with its non-contact, high-precision characteristics, effectively avoid damaging crop seedling, then, the mechanical weeding assembly of tail end carries out physical cleaning to interrow space, solve the problem that the weed density in this area is higher, so that the device can complete accurate removal of interplant weed and large-area treatment of interrow weed in a work flow, realize the full coverage of weeding operation, improve overall operation efficiency, and the weed positioning and identification unit makes the whole weeding process change from traditional blind coverage to targeted operation based on environmental perception, improve the precision and intelligent level of operation.

[0019] 2. The laser weeding assembly comprises two lasers arranged in parallel, a row spacing adjusting unit is arranged between the two lasers, the laser emitting ends of the two lasers are located directly above two rows of plants, two parallel lasers are arranged directly above the two rows of crops, weeds between the two rows of crops can be treated synchronously, the single operation coverage width is doubled, and the working efficiency of the laser weeding is improved; the row spacing adjusting unit can flexibly and accurately adjust the horizontal distance between the two lasers according to the actual row spacing of the crops in the field, the device can quickly adapt to the planting row spacing of different crops, the laser beam can always be projected on the target area between the plants, and the crops or the weeding blind area are prevented from being damaged by mistake;

[0020] 3. The mechanical weeding assembly comprises a rotating wheel and a plurality of weeding scrapers, the weeding scrapers are evenly distributed in a ring shape, the middle parts of the plurality of weeding scrapers are fixedly connected with the wheel body of the rotating wheel, and the outer sides of the weeding scrapers are connected with weeding blades; the weeding scrapers are evenly distributed in a ring shape and fixedly connected with the rotating wheel, a rotating cleaning disc body is formed, when the rotating cleaning disc body rotates, the plurality of weeding scrapers cyclically cut into the surface layer of soil between the rows, the weeding blades connected with the outer sides of the weeding scrapers serve as main cutting edges, can efficiently cut off weed stems, the weeding scrapers can pull weeds and loosen the surface soil, weeds between the rows can be more completely removed, and the weeds, which are relatively dense or have slightly grown, can be effectively dealt with. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a whole structure schematic view of the utility model;

[0022] Figure 2 It is a whole structure schematic view of the utility model Figure 1 It is a structure schematic view of A in the utility model;

[0023] Figure 3 It is a structure schematic view of B in the utility model Figure 1 It is a structure schematic view of B in the utility model

[0024] Figure 4 It is a rack body structure schematic view of the utility model;

[0025] Figure 5 It is a laser weeding assembly overhead structure schematic view of the utility model;

[0026] Figure 6 It is a positioning plate and rack connection structure schematic view of the utility model;

[0027] Figure 7 It is a mechanical weeding assembly structure schematic view of the utility model;

[0028] Figure 8 It is a weeding scraper structure schematic view of the utility model.

[0029] In the diagram: 1. Frame; 11. Satellite antenna; 12. LiDAR; 13. Traveling camera; 14. Angle disc; 15. Recognition camera; 2. Roller chassis; 3. Laser weeding assembly; 31. Laser; 32. Positioning plate; 33. Drive motor; 34. Rotating rod; 35. Threaded sleeve; 36. Push-pull rod; 37. U-shaped limit seat; 38. Roller; 39. Locking hydraulic bladder; 4. Mechanical weeding assembly; 41. Electro-hydraulic push rod; 42. Movable connecting rod; 43. Support frame; 44. Rotating wheel; 45. Weeding scraper; 46. Arc baffle; 47. Connecting shaft; 48. Bearing seat; 49. Scraper teeth; 410. Weeding blade; 5. Chiller; 6. Power supply; 7. Electrical control cabinet. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] Example 1

[0032] like Figures 1 to 8 As shown, a seedling weed removal device includes a frame 1 and a weeding mechanism integrated on the frame 1. The weeding mechanism includes a laser weeding component 3 and a mechanical weeding component 4. The laser weeding component 3 is located at the front end of the frame 1 in the forward direction, and the mechanical weeding component 4 is located at the rear end of the frame 1 in the forward direction. The laser weeding component 3 covers the inter-plant area of ​​the plant, and the mechanical weeding component 4 covers the inter-row area of ​​the plant. A weed positioning and identification unit is also integrated on the frame 1. By placing the laser weeding component 3 at the front end of the frame 1 in the forward direction and covering the inter-plant area of ​​the plant, and simultaneously placing the mechanical weeding component 4 at the rear end of the frame 1 in the forward direction and covering the inter-row area of ​​the plant, a front-to-back weeding mechanism is constructed. The collaborative, zoned weeding structure features a front-end laser weeding component 3 that utilizes its non-contact, high-precision characteristics to safely and accurately eliminate weeds adjacent to seedlings, effectively avoiding damage to the seedlings. Subsequently, the rear-end mechanical weeding component 4 physically clears the space between rows, addressing the issue of high weed density in this area. This allows the device to complete both precise removal of weeds between plants and large-area treatment of weeds between rows in a single operation, achieving full coverage of weeding operations and improving overall operational efficiency. The weed positioning and recognition unit transforms the entire weeding process from traditional blind coverage to targeted operation based on environmental perception, enhancing the accuracy and intelligence of the operation.

[0033] The laser weeding assembly 3 comprises two lasers 31 arranged in parallel, an inter-row spacing adjusting unit is arranged between the two lasers 31, and the laser emitting ends of the two lasers 31 are located directly above two rows of plants. The two parallel lasers 31 are arranged directly above the two rows of crops, and the inter-plant weeds of the two rows of crops can be processed synchronously, the coverage width of a single operation is doubled, and the operation efficiency of laser weeding is improved. The inter-row spacing adjusting unit can flexibly and accurately adjust the horizontal distance between the two lasers 31 according to the actual row spacing of the crops in the field, so that the device can quickly adapt to the planting row spacing of different crops, and the laser beam can always be projected on the inter-plant target area, avoiding the misoperation of the crops or the blind area of weeding. It should be noted that the laser 31 can be a semiconductor laser in a semiconductor laser pulse driving circuit based on a super capacitor disclosed in CN120090041A.

[0034] The mechanical weeding assembly 4 comprises a rotating wheel 44 and a plurality of weeding blades 45. The weeding blades 45 are evenly distributed in a ring shape, and the middle parts of the plurality of weeding blades 45 are fixedly connected to the wheel body of the rotating wheel 44. The outer side of the weeding blade 45 is connected with a weeding blade 410. The weeding blades 45 are evenly distributed in a ring shape and fixedly connected with the rotating wheel 44, forming a rotating cleaning disc body. When the rotating cleaning disc body rotates, the plurality of weeding blades 45 cyclically cut into the surface layer of the inter-row soil. The weeding blade 410 connected to the outer side of the weeding blade 45 serves as the main cutting edge, which can efficiently cut off the stems of weeds. The weeding blade 45 plays a role in pulling weeds and loosening the surface soil, and the inter-row weeds can be more completely removed, especially for weeds that are relatively dense or have slightly grown.

[0035] The weed positioning and identifying unit comprises a satellite antenna 11, a laser radar 12, a traveling camera 13 and an identifying camera 15 connected to the rack 1. The traveling camera 13 is located at the front end of the forward direction of the rack 1, and the identifying camera 15 is separately arranged at the front end of the two lasers 31. The satellite antenna 11 is combined with the laser radar 12 to provide high-precision position information, realize autonomous positioning and global path planning of the device, and ensure that the device travels along the predetermined trajectory in the field. The traveling camera 13 located at the front end is responsible for the forward field of view, providing a continuous navigation reference for the straight-line walking of the device. The identifying camera 15 is aimed at the inter-plant area responsible for it, and can identify weeds and crop seedlings in the area at close range and high resolution, providing target coordinates for the laser 31. It should be noted that the laser radar 12 is of the Mid-360 type; the traveling camera 13 is a Hikvision industrial camera; the identifying camera 15 is of the Intel RealSense D435i type; and the satellite antenna 11 can adopt the satellite antenna structure and satellite communication device satellite antenna disclosed in CN222507975U.

[0036] Embodiment two

[0037] Improved on the basis of embodiment one:

[0038] As shown in Figure 1 and Figure 4 , the rack 1 is built by multiple aluminum profiles, and the rack 1 is divided into two layers, the bottom end of the rack 1 is connected with the roller chassis 2 at the four corners, the upper layer of the rack 1 is fixedly connected with the water chiller 5, the mobile power supply 6 and the electric control cabinet 7, the cooling water circulation of the water chiller 5 is connected to the heat dissipation end of the laser 31, the mobile power supply 6 is electrically connected with each electrical element, and the electric control cabinet 7 is signal connected with each electrical element. The roller chassis 2 can facilitate the movement of the device, the aluminum profile is used to build the rack 1, so that the whole device is firm and light in weight, which is beneficial to the movement in the field and reduces the soil compaction. The two-layer design realizes the reasonable partition and space optimization of the functional modules, so that the water chiller 5 can connect the cooling circulation to the heat dissipation end of the laser 31 through the shortest path, improve the heat dissipation efficiency, and ensure the long-term stable work of the laser 31; the mobile power supply 6 as an independent power source provides stable power for all electrical elements, and enhances the mobility and working range of the device.

[0039] Further, the satellite antenna 11 and the laser radar 12 are fixedly connected in a vertical manner at the top of the rack 1, the shooting end of the traveling camera 13 is arranged in parallel with the traveling direction of the rack 1, the shooting end of the identification camera 15 is aligned with the inter-plant area, and the identification camera 15 and the mounting part of the rack 1 are provided with the angle disc 14. The satellite antenna 11 and the laser radar 12 are vertically fixed on the top of the rack 1, which ensures the best view of satellite navigation signal reception and the integrity of 360-degree environmental scanning of the laser radar, the shooting end of the traveling camera 13 is arranged in parallel with the traveling direction of the rack 1, which can clearly capture the visual features of the front crop row, and ensure the accuracy of the device walking along the straight line of the crop row. The shooting end of the identification camera 15 is aligned with the inter-plant area and provided with the angle disc 14, so that the identification camera 15 can focus on the target area to be processed by the laser weeding assembly 3 at the best angle of view, and the angle of the identification camera 15 can be adjusted flexibly according to the crop height or the field conditions through the angle disc 14.

[0040] As shown in Figures 1 to 6 , the laser weeding assembly 3 further comprises a positioning plate 32, the positioning plate 32 is movably arranged on the rack 1, and the laser 31 is fixedly connected to the positioning plate 32. The inter-row spacing adjusting unit comprises a push-pull rod 36 arranged in a symmetrical manner, and the outer end of the push-pull rod 36 is rotatably connected with the positioning plate 32.

[0041] The line spacing adjusting unit further comprises a driving motor 33, a rotating rod 34 and two threaded sleeves 35, the body of the driving motor 33 is fixedly connected to the rack 1, the rotating rod 34 is coaxially fixedly connected to the motor shaft of the driving motor 33, the rod body of the rotating rod 34 is provided with a positive and negative thread ring, the two threaded sleeves 35 are respectively threadedly sleeved on the positive and negative thread ring, the outer wall of the threaded sleeve 35 is rotationally connected to the two push-pull rods 36, the laser 31 is fixed by the movably arranged positioning plate 32, and the line spacing adjusting unit composed of the driving motor 33, the rotating rod 34 with the positive and negative thread ring, the two threaded sleeves 35 and the push-pull rod 36 is designed, the distance between the two parallel lasers 31 is synchronously and automatically adjusted, when the driving motor 33 drives the rotating rod 34 to rotate, the two threaded sleeves 35 move in opposite directions along the rotating rod 34 under the action of the positive and negative thread, and then the two positioning plates 32 are pushed or pulled through the push-pull rod 36, so that the distance between the two lasers 31 is synchronously changed, the symmetry of the adjusting process is ensured, and the laser emitting end of the laser 31 can accurately aim at different specifications of planting row spacing.

[0042] Further, the lower plate surface of the positioning plate 32 is fixedly connected with a U-shaped limiting clamping seat 37, the positioning plate 32 is clamped on the rack of the rack 1, the inner cavity of the U-shaped limiting clamping seat 37 is rotationally connected with a roller 38, and the roller 38 is tightly attached to the rack of the rack 1, and the two inner sides of the U-shaped limiting clamping seat 37 are connected with a locking hydraulic bag 39, and the locking hydraulic bag 39 is tightly attached to the rack of the rack 1 in the inflated state, and it should be noted that the locking hydraulic bag 39 is connected in communication with the hydraulic pump integrally arranged on the rack 1, so that the positioning plate 32 can slide along the rack 1 with low resistance when adjusting the line spacing, and the flexibility of the adjusting action is ensured, the locking hydraulic bag 39 in communication with the hydraulic pump is arranged on the two inner sides of the U-shaped limiting clamping seat 37, and when the spacing is adjusted to the target position, the locking hydraulic bag 39 is filled with liquid to make it expand and tightly press on the rack of the rack 1, so as to generate a large static friction force, thereby locking the positioning plate 32 and the laser 31 thereon at the target position.

[0043] As shown in Figure 1 , Figure 7 and Figure 8 , the mechanical weeding assembly 4 further comprises a support frame 43, a rotating wheel 44 is rotationally connected in the support frame 43, an arc baffle 46 is fixedly connected to the upper end of the support frame 43, a grass scraping tooth 49 is arranged on the bottom edge of the grass scraping blade 45 connected to the rotating wheel 44, and the combination of the grass scraping blade 45 and the grass cutting blade 410 can simultaneously cut, pull and remove the weeds, thereby improving the complete removal of the weeds between the rows, and the arc baffle 46 fixedly connected to the upper end of the support frame 43 can effectively block the upward splashing of the cut weed debris, prevent the weed debris from winding around the equipment or affecting the subsequent visual identification, and keep the working area clean.

[0044] Further, the frame body of the support frame 43 is fixedly connected with a connecting rotating shaft 47, the frame body of the rack 1 is fixedly connected with two bearing seats 48, and the two ends of the connecting rotating shaft 47 are rotatably sleeved in the bearing seats 48. The support frame 43 is rotatably sleeved in the two bearing seats 48 fixed to the rack 1 through the two ends of the connecting rotating shaft 47, so that the entire mechanical weeding assembly 4 can rotate around the axis of the connecting rotating shaft 47 as a whole.

[0045] Further, the support frame 43 and the rack 1 are further provided with an electric hydraulic push rod 41 and a movable connecting rod 42. The tail end of the electric hydraulic push rod 41 is rotatably connected to the frame body of the rack 1, the driving end of the electric hydraulic push rod 41 is rotatably connected to one end of the movable connecting rod 42, and the other end of the movable connecting rod 42 is rotatably connected to the support frame 43. By rotatably connecting the tail end of the electric hydraulic push rod 41 to the rack 1 and rotatably connecting the driving end to the support frame 43 through the movable connecting rod 42, the extension and retraction movement of the electric hydraulic push rod 41 can be used to drive the entire mechanical weeding assembly 4 to rotate around the connecting rotating shaft 47, so as to actively adjust the working height, the soil entering angle and even the complete lifting off the ground of the weeding blade 45 and the weeding blade 410.

[0046] Working principle: When working, the weed positioning and identifying unit of the device starts first. The satellite antenna 11 receives navigation signals, and the laser radar 12 scans the surrounding environment. The two are fused to provide accurate global positioning and terrain data for the rack 1, realizing autonomous path planning. At the same time, the forward camera 13 located at the front end of the rack 1 continuously shoots forward, and the crop row line is extracted in real time, guiding the rack 1 to stably move along the planting row in a straight line. The identification cameras 15 arranged at the front ends of the two lasers 31 accurately focus their fields of view on the inter-planting area between the two crop rows, and identify the seedlings and weeds in the field of view, and calculate the accurate position coordinates of the weeds.

[0047] After obtaining clear weed target information, the device enters the cooperative weeding operation stage. The laser weeding assembly 3 located at the front end of the rack 1 first acts. The inter-row spacing adjusting unit can automatically adjust the spacing of the two parallel lasers 31 according to the actual planting row spacing, so as to ensure that the laser emitting end is accurately located above the crop row. According to the coordinate data transmitted by the identification camera 15, the laser 31 emits a high-energy laser beam to instantaneously and accurately burn and remove the weeds locked in the inter-planting area. This process is non-contact and residue-free, which can effectively protect the fragile seedlings adjacent to the weeds.

[0048] The mechanical weeding assembly 4 at the tail end of the frame 1 starts to work, the rotating wheel 44 drives the annularly distributed weeding blades 45 and the weeding knives 410 outside the weeding blades 45 to rotate synchronously, the physical cleaning is performed on the inter-row area treated by the laser, the rotating weeding knives 410 cut the inter-row weed stems that are left or newly appeared, and the weeding blades 45 further push the weed residues away and comb the soil surface; through the cooperation of the electric hydraulic push rod 41 and the movable connecting rod 42, the working height and angle of the whole mechanical weeding assembly 4 can be dynamically adjusted to adapt to uneven terrains and ensure the optimal weeding depth.

[0049] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0050] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A seedling stage weed removing device, comprising a frame (1) and a weeding mechanism integrally installed on the frame (1), characterized in that: The weeding mechanism comprises a laser weeding assembly (3) and a mechanical weeding assembly (4), the laser weeding assembly (3) is located at the front end of the machine frame (1) in the advancing direction, the mechanical weeding assembly (4) is located at the tail end of the machine frame (1) in the advancing direction, the laser weeding assembly (3) covers the inter-plant area of the plants, the mechanical weeding assembly (4) covers the inter-row area of the plants, and a weed positioning and identifying unit is further integrated on the machine frame (1); The laser weeding assembly (3) comprises two parallel laser devices (31), an inter-row spacing adjusting unit is arranged between the two laser devices (31), and the laser emitting ends of the two laser devices (31) are located directly above the two rows of plants. The mechanical weeding assembly (4) comprises a rotating wheel (44) and a plurality of weeding blades (45), the weeding blades (45) are evenly distributed in a ring shape, the middle parts of the weeding blades (45) are fixedly connected with the wheel body of the rotating wheel (44), and the outer sides of the weeding blades (45) are connected with weeding blades (410). The weed positioning and identifying unit comprises a satellite antenna (11), a laser radar (12), a traveling camera (13) and an identifying camera (15) connected to the machine frame (1), the traveling camera (13) is located at the front end of the machine frame (1) in the advancing direction, and the identifying camera (15) is separately arranged at the front end of the two laser devices (31).

2. The seedling stage grass weed removal device according to claim 1, characterized in that: The machine frame (1) is built by a plurality of aluminum profiles, the machine frame (1) is divided into two layers, a roller chassis (2) is connected to the bottom corners of the machine frame (1), a cold water machine (5), a mobile power supply (6) and an electric control cabinet (7) are fixedly connected to the upper layer of the machine frame (1), the cold water circulation of the cold water machine (5) is connected to the heat dissipation end of the laser device (31), the mobile power supply (6) is electrically connected with each electrical element, and the electric control cabinet (7) is signal connected with each electrical element.

3. The seedling stage grass weed removal device of claim 2, wherein: The satellite antenna (11) and the laser radar (12) are fixedly connected to the top of the machine frame (1) in a vertical manner, the shooting end of the traveling camera (13) is arranged in parallel with the advancing direction of the machine frame (1), the shooting end of the identifying camera (15) is aligned with the inter-plant area of the plants, and an angle disc (14) is arranged at the mounting position of the identifying camera (15) and the machine frame (1).

4. The seedling stage grass weed removal device of claim 1, wherein: The laser weeding assembly (3) further comprises a positioning plate (32), the positioning plate (32) is movably arranged on the machine frame (1), the laser device (31) is fixedly connected to the positioning plate (32), and the inter-row spacing adjusting unit comprises a push-pull rod (36) arranged in a symmetrical manner, and the outer end of the push-pull rod (36) is rotatably connected with the positioning plate (32).

5. The seedling stage grass weed removal device of claim 4, wherein: The line spacing adjusting unit further comprises a driving motor (33), a rotating rod (34) and two threaded sleeves (35), the body of the driving motor (33) is fixedly connected to the rack (1), the rotating rod (34) is coaxially fixedly connected to the motor shaft of the driving motor (33), the rod body of the rotating rod (34) is provided with positive and negative threaded rings, and the two threaded sleeves (35) are respectively threaded on the positive and negative threaded rings; the outer wall of the threaded sleeve (35) is rotationally connected to the push-pull rods (36) on both sides.

6. The seedling stage grass weed removal device of claim 5, wherein: The lower plate surface of the positioning plate (32) is fixedly connected with a U-shaped limiting clamping seat (37), the positioning plate (32) is clamped on the rack (1), the inner cavity of the U-shaped limiting clamping seat (37) is rotationally connected with a roller (38), and the roller (38) is tightly attached to the rack (1), and the two inner sides of the U-shaped limiting clamping seat (37) are connected with locking hydraulic bags (39), which are tightly attached to the rack (1) in the inflated state.

7. The seedling stage grass weed removal device of claim 1, wherein: The mechanical weeding assembly (4) further comprises a support frame (43), the rotating wheel (44) is rotationally connected in the support frame (43), the upper end of the rack of the support frame (43) is fixedly connected with an arc baffle (46), and the bottom edge of the weeding blade (45) connected to the rotating wheel (44) is provided with a grass scraping tooth (49).

8. The seedling stage grass weed removal device of claim 7, wherein: The rack of the support frame (43) is fixedly connected with a connecting rotating shaft (47), the rack of the rack (1) is fixedly connected with two bearing seats (48), and the two ends of the connecting rotating shaft (47) are rotationally sleeved in the bearing seats (48).

9. The seedling stage grass weed removal device of claim 8, wherein: The support frame (43) and the rack (1) are further provided with an electric hydraulic push rod (41) and a movable connecting rod (42), the tail end of the electric hydraulic push rod (41) is rotationally connected to the rack of the rack (1), the driving end of the electric hydraulic push rod (41) is rotationally connected to one end of the movable connecting rod (42), and the other end of the movable connecting rod (42) is rotationally connected to the support frame (43).

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