Active profiling paddy field weeding device

Abstract

The utility model discloses an active profiling paddy field weeding device which comprises an active profiling mechanism, an inter-row and inter-plant weeding mechanism and a terrain and weed recognizing and monitoring device. The active profiling mechanism comprises a fixed connecting frame, an active profiling electric cylinder and a supporting telescopic rod; the inter-row and inter-plant weeding mechanism comprises a rotatable mounting plate, a mounting plate supporting frame, an inter-row weeding wheel, an inter-plant weeding mechanism and the like; the terrain and weed recognition monitoring device detects the distance from the terrain to the ground, and the two active profiling electric cylinders extend or retract together, so that active profiling adjustment weeding according to the terrain is realized; in combination with the obtained inter-plant weed information, the active profiling electric cylinder on one side extends to enable the inter-plant weeding mechanism to be in contact with the ground to complete weeding; according to the utility model, active profiling operation according to terrains is realized, inter-plant weeding operation which is not influenced by inter-row profiling weeding operation is realized, the weeding efficiency is improved, and the seedling damage rate is reduced.

Description

Technical Field

[0001] This utility model patent belongs to the field of agricultural machinery, and specifically relates to an active contour-following paddy field weeding device. Background Technology

[0002] Paddy field agriculture plays a crucial role in my country's agricultural production system. Over the past five years, my country's paddy field rice production has remained at approximately 210 million tons, accounting for roughly half of the total annual grain output. However, weeds in paddy fields often compete with crops for nutrients, severely impacting their normal growth and development. Currently, mainstream contour-following weeding devices on the market primarily employ passive contour-following mechanisms, which are insufficient in their contour-following effect and fail to effectively remove weeds. Therefore, there is an urgent need to develop an active contour-following paddy field weeding device that can improve the contour-following effect through the combination of ultrasonic sensors, electric cylinders, and push rods. Utility Model Content

[0003] To address the aforementioned problems, this utility model provides an active contour-following paddy field weeding device, which enables active contour-following operation and active inter-plant weeding operation in paddy fields.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] An active contour-following paddy field weeding device includes an active contour-following mechanism, a row-to-row weeding mechanism, and a terrain and weed identification and monitoring device.

[0006] The inter-row weeding mechanism is installed on the lower side of the active contouring mechanism, and the terrain and weed identification and monitoring device 3 is fixed to the front end of the active contouring mechanism.

[0007] The active contouring mechanism includes a fixed connecting frame, an active contouring electric cylinder, and a support telescopic rod.

[0008] There are two active contouring electric cylinders, which are fixedly connected side by side to the lower rear end of the fixed connecting frame; the upper end of the support telescopic rod is connected and installed to the lower rear end of the fixed connecting frame via a hinge.

[0009] The inter-row weeding mechanism is connected and installed at the lower end of the active contour electric cylinder and the support telescopic rod via a hinge, and includes a rotatable mounting plate, a mounting plate support frame, an inter-row weeding wheel, and an inter-plant weeding mechanism.

[0010] The rotatable mounting plate includes a mounting plate body and a mounting plate pivot, with the mounting plate pivot located in the middle of the mounting plate body; the upper left and right ends of the mounting plate body are respectively connected to the lower ends of two active contouring electric cylinders via hinges.

[0011] The mounting plate support frame includes an F-type cage and a rotating shaft bearing; there are two sets of rotating shaft bearings, which are installed on the front and rear sides of the mounting plate rotating shaft and fixed to the rear end of the F-type cage through bearing seats, so that the rotatable mounting plate can rotate left and right about the mounting plate rotating shaft; the lower end of the support telescopic rod is connected to the front end of the F-type cage through a hinge.

[0012] The inter-row weeding wheel is rotatably mounted on the underside of the F-type retainer. There are two sets of inter-plant weeding mechanisms, which are symmetrically mounted on the rear end of the rotatable mounting plate.

[0013] The terrain and weed identification and monitoring device includes a sensor adjustment cylinder, an ultrasonic sensor, a visual recognition device, and a travel statistics and controller.

[0014] The sensor adjustment cylinder is installed on the lower front side of the fixed connecting frame, the ultrasonic sensor is installed at the end of the telescopic rod of the sensor adjustment cylinder, the visual recognition device is installed on the left and right sides of the front of the fixed connecting frame, and is located directly above the ultrasonic sensor in the vertical direction; the stroke statistics and controller are installed on the fixed connecting frame.

[0015] The vertical distance between the bottom of the ultrasonic sensor and the axle of the weeding wheel is the weeding installation distance H1, which ranges from 20 to 25 mm. When the active contour-following paddy field weeding device moves forward with the attached implement, the ultrasonic sensor monitors the real-time distance H between itself and the ground. Based on the difference between the real-time distance H and the weeding installation distance H1, the stroke statistics and the controller control the active contour-following electric cylinders on both sides to extend or retract together, so that the axle of the weeding wheel maintains a constant height with the ground.

[0016] The vertical distance between the bottom of the inter-row weeding mechanism and the axle of the inter-row weeding wheel is the inter-row weeding installation distance H2, which ranges from 8 to 10 mm. Based on the inter-row weed situation identified by the visual recognition device, the stroke statistics and controller control the extension of the active contouring electric cylinder on one side, so that the inter-row weeding mechanism on that side contacts the ground, thereby realizing the inter-row weeding operation.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] This invention enables simultaneous operation of active contouring and active weeding between plants on both sides. After the ultrasonic sensor measures the real-time distance to the ground, two active contouring electric cylinders extend or retract together, raising or lowering the rotatable mounting plate to adjust the distance between the weeding wheels and the weeding mechanism between the rows and plants and the ground. The stroke statistics and controller, based on the visual recognition device's identification of weeds between plants, controls the extension of one active contouring electric cylinder, tilting the rotatable mounting plate to one side. The weeding mechanism installed on that side then contacts the ground to remove weeds. Simultaneously, the height of the rotatable mounting plate's central axis remains unchanged, and the weeding by the row-to-row weeding wheel is unaffected. This invention reduces the complexity of the device structure, improves weeding efficiency, reduces seedling damage, and ensures that row-to-row weeding and active inter-plant weeding during contouring operations do not interfere with each other. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention and the active contouring mechanism 1;

[0020] Figure 2 This is a schematic diagram of the inter-row weeding mechanism 2 of this utility model;

[0021] Figure 3 This is a schematic diagram of the rotatable mounting plate 2-1 of this utility model;

[0022] Figure 4 This is a schematic diagram of the mounting plate support frame 2-2 of this utility model;

[0023] Figure 5 This is a schematic diagram of the structure of the terrain and weed identification and monitoring device 3 of this utility model;

[0024] Figure 6 This is a schematic diagram of the real-time distance H, the inter-row weeding installation distance H1, and the inter-plant weeding installation distance H2 of this utility model;

[0025] Figure 7 This is a schematic diagram of the operation of multiple sets of active contour-following paddy field weeding devices of this utility model, which are hung in parallel at the rear of the paddy field power chassis.

[0026] The meanings of the reference numerals in the figure are as follows: Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0028] like Figure 1 As shown, an active contour-following paddy field weeding device includes an active contour-following mechanism 1, a row-to-row weeding mechanism 2, and a terrain and weed identification and monitoring device 3.

[0029] The inter-row weeding mechanism 2 is installed on the lower side of the active contouring mechanism 1, and the terrain and weed identification and monitoring device 3 is fixed to the front end of the active contouring mechanism 1.

[0030] The active contouring mechanism 1 includes a fixed connecting frame 1-1, an active contouring electric cylinder 1-2, and a support telescopic rod 1-3.

[0031] There are two active contouring electric cylinders 1-2, which are fixedly connected side by side to the lower rear end of the fixed connecting frame 1-1; the upper end of the support telescopic rod 1-3 is connected and installed to the lower rear end of the fixed connecting frame 1-1 via a hinge.

[0032] like Figure 2 As shown, the inter-row weeding mechanism 2 is connected and installed at the lower end of the active contour electric cylinder 1-2 and the support telescopic rod 1-3 by a hinge, and includes a rotatable mounting plate 2-1, a mounting plate support frame 2-2, an inter-row weeding wheel 2-3 and an inter-plant weeding mechanism 2-4;

[0033] The inter-row weeding wheel 2-3 is rotatably mounted on the underside of the F-type retainer 2-2-1. There are two sets of inter-plant weeding mechanisms 2-4, which are symmetrically mounted on the rear end of the rotatable mounting plate 2-1.

[0034] like Figure 3 As shown, the rotatable mounting plate 2-1 includes a mounting plate body 2-1-1 and a mounting plate pivot 2-1-2. The mounting plate pivot 2-1-2 is located in the middle of the mounting plate body 2-1-1. The upper left and right ends of the mounting plate body 2-1-1 are respectively connected to the lower ends of two active contouring electric cylinders 1-2 via hinges.

[0035] like Figure 4 As shown, the mounting plate support frame 2-2 includes an F-type retainer 2-2-1 and a rotating shaft bearing 2-2-2; there are two sets of rotating shaft bearings 2-2-2, which are installed on the front and rear sides of the mounting plate rotating shaft 2-1-2 and fixed to the rear end of the F-type retainer 2-2-1 through bearing seats, so that the rotatable mounting plate 2-1 can rotate left and right about the mounting plate rotating shaft 2-1-2 as the axis; the lower end of the support telescopic rod 1-3 is connected to the front end of the F-type retainer 2-2-1 through a hinge.

[0036] like Figure 5 As shown, the terrain and weed identification and monitoring device 3 includes a sensor adjustment cylinder 3-1, an ultrasonic sensor 3-2, a visual recognition device 3-3, and a travel statistics and controller 3-4;

[0037] The sensor adjustment cylinder 3-1 is installed on the lower front side of the fixed connecting frame 1-1, the ultrasonic sensor 3-2 is installed at the end of the telescopic rod of the sensor adjustment cylinder 3-1, the visual recognition device 3-3 is installed on the left and right sides of the front of the fixed connecting frame 1-1, and is located directly above the ultrasonic sensor 3-2 in the vertical direction; the stroke statistics and controller 3-4 is installed on the fixed connecting frame 1-1.

[0038] like Figure 6 As shown, the vertical distance between the bottom of the ultrasonic sensor 3-2 and the rotating shaft of the weeding wheel 2-3 is the weeding installation distance H1, which ranges from 20 to 25 mm. When the active contour-following paddy field weeding device moves forward with the attached implement, the ultrasonic sensor 3-2 monitors the real-time distance H between itself and the ground. Based on the difference between the real-time distance H and the weeding installation distance H1, the stroke statistics and controller 3-4 control the active contour-following electric cylinders 1-2 on both sides to extend or retract together, so that the rotating shaft of the weeding wheel 2-3 maintains a constant height with the ground.

[0039] The vertical distance between the bottom end of the inter-row weeding mechanism 2-4 and the rotating shaft of the inter-row weeding wheel 2-3 is the inter-row weeding installation distance H2, which ranges from 8 to 10 mm. According to the inter-row weed situation identified by the visual recognition device 3-3, the stroke statistics and controller 3-4 controls the extension of the active contour electric cylinder 1-2 on one side, so that the inter-row weeding mechanism 2-4 on that side contacts the ground, thereby realizing the inter-row weeding operation.

[0040] like Figure 7 As shown, multiple sets of active contour-following paddy field weeding devices can be mounted side by side at the rear of the paddy field power chassis, and perform active contour-following weeding operations as the paddy field power chassis moves forward.

[0041] according to Figures 1-7 The active contour-following paddy field weeding device shown in this embodiment provides a method for weeding between rows and plants in paddy fields based on the active contour-following paddy field weeding device:

[0042] S1. The paddy field power chassis moves forward, and the ultrasonic sensor 3-2 emits and collects monitoring signals. Based on the sensor signals, the real-time distance H between the bottom of the ultrasonic sensor 3-2 and the ground is calculated. The relationship between the real-time distance H and the inter-row weeding installation distance H1 includes the following situations:

[0043] S1 Case 1: If the real-time distance H > the inter-row weeding installation distance H1 + 3mm, then the two active contour electric cylinders 1-2 extend together to reduce the distance between the rotatable mounting plate 2-1 and the mounting plate support frame 2-2 and the ground.

[0044] S1 Case 2: If the real-time distance H < the inter-row weeding installation distance H1 - 3mm, then the two active contour electric cylinders 1-2 retract together, increasing the distance between the rotatable mounting plate 2-1 and the mounting plate support frame 2-2 and the ground.

[0045] S1 Case 3: If the real-time distance H is within the range of the weeding installation distance H1 ± 3mm between rows, then the two active contouring electric cylinders 1-2 remain stationary.

[0046] S2. If the real-time distance H measured by the ultrasonic sensor 3-2 is greater than 50mm above the normal water level of the paddy field, it is determined that the ultrasonic sensor 3-2 is located above the ruts or footprints. At this time, the real-time distance H is ignored. The stroke statistics and controller 3-4 controls the active contouring electric cylinder 1-2 to make adjustments based on the real-time distance H measured by the ultrasonic sensor 3-2 of the weeding device on the other side.

[0047] S3. The visual recognition devices 3-3 on both sides detect weeds between plants. When the visual recognition device 3-3 on the left or right side detects weeds between plants, the stroke statistics and controller 3-4 controls the active contouring electric cylinder 1-2 on that side to extend, so that the rotatable mounting plate 2-1 rotates on that side with the mounting plate pivot 2-1-2 as the axis. The weeding mechanism 2-4 on that side comes into contact with the soil and completes the weeding operation between plants. If weeds exist on both sides of the rotatable mounting plate 2-1 at the same time, the active contouring electric cylinder 1-2 on the side closer to the starting point of the current operation on the paddy field power chassis will extend first.

[0048] The above embodiments are merely preferred embodiments of the present utility model and are not intended to limit the implementation of the present utility model. For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the scope of protection of the claims of the present utility model.

Claims

1. An active type profiling paddy field weeding device characterized by comprising: It includes an active contour-following mechanism (1), a row-to-row weeding mechanism (2), and a terrain and weed identification and monitoring device (3). The inter-row weeding mechanism (2) is installed on the lower side of the active contouring mechanism (1), and the terrain and weed identification and monitoring device (3) is fixed to the front end of the active contouring mechanism (1). The active contouring mechanism (1) includes a fixed connecting frame (1-1), an active contouring electric cylinder (1-2), and a support telescopic rod (1-3). There are two active contouring electric cylinders (1-2), which are fixedly connected side by side to the lower rear end of the fixed connecting frame (1-1); the upper end of the support telescopic rod (1-3) is connected and installed to the lower rear end of the fixed connecting frame (1-1) via a hinge. The inter-row weeding mechanism (2) is connected and installed at the lower end of the active contour electric cylinder (1-2) and the support telescopic rod (1-3) by a hinge, and includes a rotatable mounting plate (2-1), a mounting plate support frame (2-2), an inter-row weeding wheel (2-3) and an inter-plant weeding mechanism (2-4). The rotatable mounting plate (2-1) includes a mounting plate body (2-1-1) and a mounting plate pivot (2-1-2). The mounting plate pivot (2-1-2) is located in the middle of the mounting plate body (2-1-1). The upper left and right ends of the mounting plate body (2-1-1) are respectively connected to the lower ends of two active contouring electric cylinders (1-2) via hinges. The mounting plate support frame (2-2) includes an F-type retainer (2-2-1) and a rotating shaft bearing (2-2-2). There are two sets of rotating shaft bearings (2-2-2), which are installed on the front and rear sides of the mounting plate rotating shaft (2-1-2) and fixed to the rear end of the F-type retainer (2-2-1) through bearing seats, so that the rotatable mounting plate (2-1) can rotate left and right about the mounting plate rotating shaft (2-1-2) as the axis. The lower end of the support telescopic rod (1-3) is connected to the front end of the F-type retainer (2-2-1) through a hinge. The inter-row weeding wheel (2-3) is rotatably mounted on the underside of the F-type retainer (2-2-1), and there are two sets of inter-plant weeding mechanisms (2-4), which are symmetrically mounted on the rear end of the rotatable mounting plate (2-1).

2. The active profiling paddy field weeding device according to claim 1, characterized by The terrain and weed identification and monitoring device (3) includes a sensor adjustment cylinder (3-1), an ultrasonic sensor (3-2), a visual recognition device (3-3), and a stroke statistics and controller (3-4). The sensor adjustment cylinder (3-1) is installed on the lower front end of the fixed connecting frame (1-1), the ultrasonic sensor (3-2) is installed at the end of the telescopic rod of the sensor adjustment cylinder (3-1), the visual recognition device (3-3) is installed on the left and right sides of the front end of the fixed connecting frame (1-1), and is located directly above the ultrasonic sensor (3-2) in the vertical direction; the stroke statistics and controller (3-4) is installed on the fixed connecting frame (1-1).

3. The active contour-following paddy field weeding device according to claim 2, characterized in that, The vertical distance between the bottom of the ultrasonic sensor (3-2) and the shaft of the weeding wheel (2-3) is the weeding installation distance H1, which ranges from 20 to 25 mm. When the active contour paddy field weeding device moves forward with the attached implement, the ultrasonic sensor (3-2) monitors the real-time distance H between itself and the ground. Based on the difference between the real-time distance H and the weeding installation distance H1, the stroke statistics and controller (3-4) control the active contour electric cylinders (1-2) on both sides to extend or retract together, so that the shaft of the weeding wheel (2-3) remains at a constant height with the ground.

4. The active contour-following paddy field weeding device according to claim 3, characterized in that, The vertical distance between the bottom end of the inter-row weeding mechanism (2-4) and the rotating shaft of the inter-row weeding wheel (2-3) is the inter-row weeding installation distance H2, which ranges from 8 to 10 mm. According to the inter-row weed situation identified by the visual recognition device (3-3), the stroke statistics and controller (3-4) controls the extension of the active contour electric cylinder (1-2) on one side, so that the inter-row weeding mechanism (2-4) on that side contacts the ground to realize the inter-row weeding operation.

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