Intelligent inter-row and inter-plant weeding device and method

Abstract

The present invention provides an intelligent inter-row and inter-plant weeding device and method. The device comprises: a frame; an image capture assembly arranged on the frame and configured to capture image data; a plurality of inter-row weeding assemblies arranged on the frame in a first direction and configured to perform inter-row tillage and weeding; a plurality of inter-plant weeding assemblies arranged on the frame in the first direction and configured to perform intra-row weeding, wherein each inter-plant weeding assembly comprises a first driving mechanism, a second driving mechanism and a weeding mechanism, the first driving mechanism being configured to drive the weeding mechanism to move in the first direction, and the second driving mechanism being configured to drive the weeding mechanism to perform a weeding action; and a control mechanism electrically connected to the image capture assembly and the first driving mechanism and configured to control the first driving mechanism on the basis of the image data, so as to adjust the position of the weeding mechanism in the first direction. The device can perform inter-row weeding and intra-row weeding, and can automatically avoid crops during intra-row weeding, thereby reducing damages to crops.

Description

Intelligent inter-row weeding device and method Technical Field

[0001] The present invention relates to the technical field of intelligent agricultural equipment, and in particular to an intelligent inter-row weeding device and method. Background Art

[0002] During the crop growth season, weeds in the fields compete with crops for water, nutrients, and growing space, leading to reduced yield and quality. Currently, the primary method for weed control is the uniform application of herbicides over large areas. However, excessive herbicide use can lead to a range of negative impacts, such as ecological pollution and soil hardening. To address the negative effects of chemical weed control and support national policies to promote green agriculture and reduce pesticide use, mechanical weed control technology has been developed and partially implemented.

[0003] Currently, the most widely used mechanical weeding equipment is the inter-row weeder, which completes inter-row weeding by pulling the weeding device between the rows, but the device cannot remove weeds between plants. For crops with wide plant spacing, such as corn and transplanted vegetables, inter-plant weed control is equally important. Patents CN112616343A, CN112616340A, and CN112516341A respectively disclose an inter-plant weeding and fertilizing device, but the weeding and fertilizing device disclosed in the above patents achieves mechanical inter-plant weeding by rotating the weeding disk at the lower end of the weeding shaft. There are several weeding claws arranged on the lower side of the weeding disk, which makes it difficult to effectively avoid crops when weeding between plants, resulting in crop injury or damage.

[0004] Summary of the Invention

[0005] The present invention provides an intelligent inter-row weeding device and method to solve the problem in the prior art that inter-row weeding devices are difficult to effectively avoid crops and may cause damage to crops. The invention realizes an intelligent inter-row weeding device that can automatically identify weeds and crops and automatically avoid crops when weeding, thereby reducing damage to crops while performing inter-row weeding.

[0006] The present invention provides an intelligent inter-row weeding device, comprising:

[0007] frame;

[0008] An image acquisition component, the image acquisition component is arranged on the frame and is used to acquire image data of the area to be weeded;

[0009] A plurality of inter-row weeding assemblies, wherein the plurality of inter-row weeding assemblies are arranged on the frame along a first direction, and the inter-row weeding assemblies are used for performing inter-row tillage and weeding;

[0010] a plurality of inter-row weeding assemblies, the plurality of inter-row weeding assemblies being arranged on the frame along the first direction, the inter-row weeding assemblies being used for weeding within a row; the inter-row weeding assemblies comprising a first drive mechanism, a second drive mechanism, and a weeding mechanism, the first drive mechanism being connected to the weeding mechanism and being used to drive the weeding mechanism to move along the first direction, the second drive mechanism being connected to the weeding mechanism and being used to drive the weeding mechanism to perform a weeding action;

[0011] A control mechanism is electrically connected to the image acquisition component and the first driving mechanism respectively, and is used to control the first driving mechanism based on image data acquired by the image acquisition component to adjust the position of the weeding mechanism in the first direction.

[0012] According to the intelligent inter-row weeding device provided by the present invention, the first driving mechanism includes a slide rail, a slider, a crank connecting rod structure and a first driving motor;

[0013] The slide rail is arranged on the frame along the first direction, the slider is arranged on the slide rail, and the weeding mechanism is arranged on the slider;

[0014] The first end of the crank-connecting rod structure is connected to the slider, and the second end of the crank-connecting rod structure is rotatably connected to the motor shaft of the first drive motor.

[0015] According to an intelligent inter-row weeding device provided by the present invention, the second driving mechanism includes a second driving motor and a gear structure. The second driving motor is installed on the slider, and the motor shaft of the second driving motor is fixedly connected to the gear structure for driving the gear structure to rotate, thereby driving the weeding mechanism fixedly connected to the gear structure to rotate.

[0016] According to an intelligent inter-row weeding device provided by the present invention, the weeding mechanism includes a cutter and a cutter shaft, the cutter is mounted on a first end of the cutter shaft, and the second end of the cutter shaft is fixedly connected to the gear structure.

[0017] According to the present invention, an intelligent inter-row weeding device is provided, wherein the inter-row weeding assembly includes a guide rod, a spring, a mounting block, an L-shaped blade connecting plate, a blade, and a lever;

[0018] The mounting block is mounted on the frame;

[0019] The guide rod is provided with a spring pressure block, one end of which is fixedly connected to the mounting block, and the spring is passed through the guide rod;

[0020] The first free end of the L-shaped blade connecting plate is mounted on the other end of the guide rod opposite to the spring pressure block, the second free end of the L-shaped blade connecting plate is rotatably connected to the first end of the lever, and the turning portion of the L-shaped blade connecting plate is fixedly connected to the blade;

[0021] The second end of the lever is fixedly connected to the mounting block, and after installation, the lever is located below the guide rod.

[0022] According to an intelligent inter-row weeding device provided by the present invention, the image acquisition component includes a collection bracket, a rotating structure and an image acquisition part. The collection bracket is arranged on the upper surface of the frame, the rotating structure is arranged at the free end of the collection bracket, and the image acquisition part is arranged on the rotating structure.

[0023] According to the present invention, an intelligent inter-row weeding device further includes: a stabilizing member and a hanging bracket;

[0024] The stabilizing member and the suspension bracket are arranged on the upper surface of the frame, the suspension bracket is arranged in the middle of the first side of the frame, one end of the stabilizing member is connected to the second side of the frame, and the other end is connected to the suspension bracket, and the first side and the second side are arranged opposite to each other.

[0025] An intelligent inter-row weeding device provided by the present invention further includes:

[0026] A contoured wheel assembly is arranged on the lower surface of the frame and on the first side.

[0027] According to the intelligent inter-row weeding device provided by the present invention, the contour wheel assembly includes a fixing structure, a piston structure, a wheel bracket and a wheel;

[0028] The fixing structure is used to be fixedly connected to the frame, one end of the wheel bracket is fixedly connected to the fixing structure, and the wheel is rotatably connected to the other end of the wheel bracket;

[0029] The free end of the piston rod of the piston structure is rotatably connected to the fixed structure, and the free end of the hydraulic pipe of the piston structure is fixedly connected to the wheel bracket.

[0030] The present invention further provides an intelligent inter-row weeding method, which is applied to any of the intelligent inter-row weeding devices described above, and comprises:

[0031] During the movement of the intelligent row weeding device, inter-row weeding is performed through the inter-row weeding components;

[0032] Acquire image data of the area to be weeded in real time through the image acquisition component;

[0033] performing image processing on the image data based on a control mechanism to obtain an image processing result, wherein the image processing result represents position information of non-crop objects and a size of a gap between crops;

[0034] Based on the image processing result, the control mechanism controls the first driving mechanism of the inter-row weeding assembly, so as to control the movement of the weeding mechanism of the inter-row weeding assembly in the first direction through the first driving mechanism, thereby performing intra-row weeding.

[0035] The intelligent inter-row weeding device and method provided by the present invention can weed crops between rows through the inter-row weeding component, and can weed crops within rows, i.e., inter-row weeding, through the inter-row weeding component. Moreover, when weeding between rows, the control mechanism can automatically identify weeds and crops based on image data collected by the image acquisition component, and can then control the weeding mechanism so that crops can be automatically avoided during inter-row weeding, thereby reducing damage to the crops. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] FIG1 is a schematic diagram of the three-dimensional structure of the intelligent inter-row weeding device provided by the present invention;

[0038] FIG2 is a schematic structural diagram of a control mechanism provided by the present invention;

[0039] FIG3 is a schematic structural diagram of an inter-row weeding assembly provided by the present invention;

[0040] FIG4 is a schematic diagram of the structure of the slider provided by the present invention;

[0041] FIG5 is a schematic structural diagram of an inter-row weeding assembly provided by the present invention;

[0042] FIG6 is a schematic structural diagram of an image acquisition component provided by the present invention;

[0043] FIG. 7 is a schematic diagram of the top view of the intelligent inter-row weeding device provided by the present invention.

[0044] FIG8 is a schematic structural diagram of a contour wheel assembly provided by the present invention;

[0045] FIG9 is a schematic flow chart of the intelligent inter-row weeding method provided by the present invention.

[0046] Figures: 1, frame; 2, inter-row weeding assembly; 3, inter-plant weeding assembly; 4, image acquisition assembly; 5, contour wheel assembly; 6, first stabilizing beam; 7, second stabilizing beam; 8, suspension bracket; 201, shovel blade; 202, shovel blade arm; 203, L-shaped shovel blade connecting plate; 204, guide rod; 205, adjusting nut; 206, gasket; 207, spring; 208, spring pressure block; 209, mounting block; 210, lever; 301, tool; 302, tool flange; 303, tool shaft; 304, row frame; 305, slide rail; 9, slider; 306, gear structure; 307, second gear cover; 308, second drive motor; 309, connecting pin; 3 10. Connecting sleeve; 311. Connecting rod; 312. Crank; 313. Bearing; 314. Transmission shaft; 315. Transmission key; 316. First gear structure; 317. First gear cover; 318. First drive motor; 401. Bottom bracket; 402. Upper bracket; 403. Camera; 404. Rotating structure; 501. Hydraulic pipe; 502. Piston rod; 503. Fixing structure; 504. Fixing bolt; 505. Fixing part; 506. Wheel bracket; 507. Axle end cover; 508. Hollow sleeve; 509. Connecting flange; 510. Wheel; 901. Front cover; 902. Slider body; 903. Rear cover; 904. Ball. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0048] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0049] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0050] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0051] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0052] The following describes an intelligent inter-row weeding device of the present invention in conjunction with Figures 1 to 8. As shown in Figure 1, the intelligent inter-row weeding device includes: a frame 1, an image acquisition component 4, multiple inter-row weeding components 2, multiple inter-row weeding components 3, and a control mechanism (not shown).

[0053] The image acquisition component 4 is provided on the frame 1 and is used for acquiring image data of the area to be weeded.

[0054] A plurality of the inter-row weeding assemblies 2 are arranged on the frame 1 along a first direction, and the inter-row weeding assemblies 2 are used for performing inter-row tillage and weeding.

[0055] Multiple inter-row weeding components 3 are arranged on the frame 1 along the first direction, and the inter-row weeding components 3 are used for weeding within the row; the inter-row weeding components 3 include a first driving mechanism, a second driving mechanism and a weeding mechanism, the first driving mechanism is connected to the weeding mechanism, and the first driving mechanism is used to drive the weeding mechanism to move along the first direction, the second driving mechanism is connected to the weeding mechanism, and the second driving mechanism is used to drive the weeding mechanism to perform weeding action.

[0056] The control mechanism is electrically connected to the image acquisition component 4 and the first driving mechanism respectively. The control mechanism is used to control the first driving mechanism based on the image data acquired by the image acquisition component 4 to adjust the position of the weeding mechanism in the first direction.

[0057] Specifically, the frame 1 serves as the supporting structure of the intelligent inter-row weeding device and is used to install other components. The image acquisition component 4 is arranged on the frame 1 for image data acquisition. There is at least one image acquisition component 4, and there can be multiple. Multiple inter-row weeding components 2 are arranged on the frame 1 along a first direction. When the intelligent inter-row weeding device is working, the first direction is the lateral direction of the crop row. The crop can be various crops, which are not specifically limited here. When the intelligent inter-row weeding device is working, each inter-row weeding component 2 should be located between the crop rows for inter-row tillage and weeding. The spacing between the multiple inter-row weeding components 2 can be set according to the row width of the crop.

[0058] Multiple inter-row weeding components 3 are arranged on the frame 1 along the first direction. When the intelligent inter-row weeding device is working, each inter-row weeding component 3 is located in the crop row and is used for weeding within the row. It can be seen that at least one inter-row weeding component 3 will be set between two inter-row weeding components 2. When the row width of the crop is wide, in order to quickly and flexibly move the weeding mechanism to the required position, multiple inter-row weeding components 3 can also be set between the two inter-row weeding components 2.

[0059] The inter-row weeding component 3 specifically includes a first drive mechanism, a second drive mechanism and a weeding mechanism. The first drive mechanism is used to drive the weeding mechanism to move in a first direction and can control the moving speed. The second drive mechanism is used to drive the weeding mechanism to perform weeding. The first drive mechanism can be any mechanism that can make the weeding mechanism move linearly in the first direction, such as a ball screw mechanism, a gear rack mechanism, etc. The second drive mechanism is used to drive the weeding mechanism to start or stop weeding, and to control the weeding speed of the weeding mechanism. When the intelligent inter-row weeding device moves along the crop row, the movement trajectory of the weeding mechanism is a sinusoidal curve trajectory driven by the first drive mechanism, so that the weeding mechanism can move and shuttle between the crop plants, and while removing the weeds between the plants, it can bypass the crops as much as possible, thereby reducing damage to the crops.

[0060] The control mechanism is electrically connected to the image acquisition component 4 and the first drive mechanism, respectively. The control mechanism is used to control the first drive mechanism based on the image data collected by the image acquisition component 4 to adjust the position of the weeding mechanism in the first direction. As shown in Figure 2, the control mechanism includes an algorithm reasoning unit, a data transmission unit, and a weeding control unit. The algorithm reasoning unit can be an edge computing box such as Jetson NX. The algorithm reasoning unit is connected to each image acquisition component 4 and the data transmission unit respectively. The algorithm reasoning unit improves the real-time performance of image recognition and target positioning detection by optimizing the deep learning algorithm and is used to provide the data transmission unit with image processing results. The image processing results include the location information of non-crops (such as weeds) and the size of the gaps between crops. The data transmission unit can include interconnected CH340 modules, 232 to 485 modules, industrial control boards, and signal conditioning boards. The above modules work together to quickly and effectively convert information such as the target's location information into control instructions and send them to the weeding control unit. The weeding control unit is used to control the first drive mechanism based on the control instructions.

[0061] The first drive mechanism can be controlled based on the non-crop position information to control the movement position of the weeding mechanism. The movement speed of the weeding mechanism can be controlled based on the size of the gap between crops. For example, when a large gap is detected between two crop plants, the first drive mechanism can be controlled to reduce the movement speed of the weeding mechanism in the first direction. This allows the weeding mechanism to remove more weeds while avoiding the crops. The weeding mechanism can be implemented by rotating the cutter 301 to perform rotary weeding.

[0062] The intelligent inter-row weeding device and method provided by the present invention can perform inter-row tillage and weeding of crops through the inter-row weeding component, and can perform intra-row weeding, i.e., inter-row weeding, through the inter-row weeding component. Moreover, when performing inter-row weeding, the control mechanism can automatically identify weeds and crops based on image data collected by the image acquisition component, and can then control the weeding mechanism so that crops can be automatically avoided during inter-row weeding, thereby reducing damage to the crops.

[0063] In one embodiment, the first driving mechanism includes a slide rail 305, a slider 9, a crank 312 connecting rod 311 structure and a first driving motor 318;

[0064] The slide rail 305 is arranged on the frame 1 along the first direction, the slider 9 is arranged on the slide rail 305, and the weeding mechanism is arranged on the slider 9;

[0065] The first end of the crank 312 connecting rod 311 structure is connected to the slider 9 , and the second end of the crank 312 connecting rod 311 structure is rotationally connected to the motor shaft of the first drive motor 318 .

[0066] Specifically, as shown in FIG3 , the first drive mechanism includes a slide rail 305, a slider 9, a crank 312 connecting rod 311 structure, and a first drive motor 318. The slide rail 305 is arranged on the frame 1 along the first direction, and can be specifically arranged on the frame 1 via a row frame 304. The slider 9 is slidably arranged on the slide rail 305 and can move along the first direction on the slide rail 305. As shown in FIG4 , in order to enable the slider 9 to move quickly and smoothly along the first direction on the slide rail 305, a groove can be provided on the slider body 902 of the slider 9 at a position where the slider contacts the slide rail 305, and a plurality of balls 904 can be provided in the groove. In this way, after the front end cover 901 and the rear end cover 903 of the slider 9 are installed on the slider body 902, the relative installation position of the balls 904 can be fixed by squeezing the front end cover 901 and the rear end cover 903.

[0067] The crank 312-connecting rod 311 structure includes a rotatably connected crank 312 and connecting rod 311. For example, the crank 312 and connecting rod 311 can be rotatably connected via a rotating shaft, a bearing 313, and a bearing 313 cover. A first end of the crank 312-connecting rod 311 structure, i.e., the free end of the connecting rod 311, is rotatably connected to the front end cover 901 of the slider 9. For example, it can be rotatably connected to the front end cover 901 via a connecting pin 309 and a connecting sleeve 310. A second end of the crank 312-connecting rod 311 structure, i.e., the free end of the crank 312, is rotatably connected to the motor shaft of the first drive motor 318. Exemplarily, the free end of the crank 312 can be rotatably connected to the motor shaft of the first drive motor 318 via a first gear structure 316. For example, a transmission shaft 314 is fixedly connected to the free end of the crank 312. The transmission shaft 314 is disposed through the carriage 304, with a bearing 313 disposed between the transmission shaft 314 and the wall of the hole in the carriage 304. The first gear structure 316 includes a first gear cover 317, a first gear and a second gear. The first gear cover 317 is fixedly set on the rack 304. The main body of the first drive motor 318 is fixedly set on the first gear cover 317. The motor shaft of the first drive motor 318 passes through the first gear cover 317 and is fixedly connected to the first gear. The second gear is engaged with the first gear, and the second gear is fixedly connected to the transmission shaft 314 through the transmission key 315.

[0068] During operation, the power transmission process of the first driving mechanism is as follows: the first driving motor 318 is energized, the motor shaft of the first driving motor 318 rotates, thereby driving the first gear to rotate, the rotation of the first gear drives the second gear meshing with the first gear to rotate, the rotation of the second gear drives the transmission shaft 314 fixedly connected to the second gear to rotate, the rotation of the transmission shaft 314 drives the crank 312 connecting rod 311 structure to move, thereby driving the slider 9 connected to the crank 312 connecting rod 311 structure to move on the slide rail 305, and then the weeding mechanism connected to the slider 9 moves along the first direction.

[0069] For example, when the distance between two adjacent inter-row weeding assemblies 2 is small and the size of the first drive mechanism is large, as shown in Figure 1, the inter-row weeding assemblies 3 can be placed in multiple rows so that at least one inter-row weeding assembly 3 is correspondingly arranged between two adjacent inter-row weeding assemblies 2.

[0070] In the above embodiment, the weeding mechanism moves along the first direction by utilizing the crank 312 and the connecting rod 311 to drive the slider 9, which has a simple structure and is easy to control.

[0071] In one embodiment, the second driving mechanism includes a second driving motor 308 and a gear structure 306. The second driving motor 308 is installed on the slider 9. The motor shaft of the second driving motor 308 is fixedly connected to the gear structure 306 for driving the gear structure 306 to rotate, thereby driving the weeding mechanism fixedly connected to the gear structure 306 to rotate.

[0072] Specifically, as shown in Figure 3, the second drive mechanism includes a second drive motor 308 and a gear structure 306. The gear structure 306 includes a second gear cover 307, a third gear, and a fourth gear. The main body of the second drive motor 308 is fixedly mounted on the second gear cover 307. The motor shaft of the second motor passes through the second gear cover 307 and is fixedly connected to the third gear. The third gear meshes with the fourth gear, and the weeding mechanism is fixedly connected to the fourth gear.

[0073] During operation, the power transmission process of the second drive mechanism is as follows: when the second drive motor 308 is energized, the motor shaft of the second drive motor 308 rotates, thereby driving the third gear to rotate. The rotation of the third gear drives the fourth gear meshing with the third gear to rotate. The rotation of the fourth gear drives the weeding mechanism fixedly connected to the fourth gear to rotate and weed. For example, the speed of the weeding mechanism can also be controlled by controlling the speed of the second drive motor 308.

[0074] During operation, the weeding control unit controls the first drive mechanism and the second drive mechanism, specifically controlling the power on and off and the rotation speed of the first drive motor 318 and the second drive motor 308 respectively.

[0075] In one embodiment, the weeding mechanism includes a cutter 301 and a cutter shaft 303 . The cutter 301 is mounted on a first end of the cutter shaft 303 , and a second end of the cutter shaft 303 is fixedly connected to the gear structure 306 .

[0076] Specifically, as shown in Figure 3, the weeding mechanism includes a tool 301 and a tool shaft 303 for weeding between plants. The tool 301 can be connected to one end of the tool shaft 303 through a tool flange 302. The tool shaft 303 is passed through the slider 9 and the other end is fixedly connected to the fourth gear. A bearing 313 is provided between the tool shaft 303 and the hole wall on the slider 9 so that the tool shaft 303 can rotate in the slider 9.

[0077] In one embodiment, the inter-row weeding assembly 2 includes a guide rod 204, a spring 207, a mounting block 209, an L-shaped blade 201 connecting plate, the blade 201, and a lever 210;

[0078] The mounting block 209 is mounted on the rack 1;

[0079] The guide rod 204 is provided with a spring pressure block 208, one end of which is fixedly connected to the mounting block 209, and the spring 207 is passed through the guide rod 204;

[0080] The first free end of the L-shaped scraper 201 connecting plate is mounted on the other end of the guide rod 204 opposite to the spring pressure block 208, the second free end of the L-shaped scraper 201 connecting plate is rotatably connected to the first end of the lever 210, and the turning portion of the L-shaped scraper 201 connecting plate is fixedly connected to the scraper 201;

[0081] The second end of the lever 210 is fixedly connected to the mounting block 209 , and after installation, the lever 210 is located below the guide rod 204 .

[0082] Specifically, as shown in Figure 5, the inter-row weeding assembly 2 includes a guide rod 204, a spring 207, a mounting block 209, an L-shaped blade 201 connecting plate, the blade 201, and a lever 210. The blade 201 may be a double-wing blade, and the blade 201 may be fixedly connected to the turning portion of the L-shaped blade 201 connecting plate via a blade arm 202. The first free end of the L-shaped blade connecting plate 203 is mounted on the other end of the guide rod 204 opposite the spring pressure block 208, with the spring 207 positioned between the L-shaped blade connecting plate 203 and the spring pressure block 208. An adjustment nut 205 is disposed on the side of the L-shaped blade connecting plate 203 near the other end of the guide rod 204 and is used to adjust the position of the L-shaped blade connecting plate 203 on the guide rod 204. A shim 206 may also be disposed on the other side of the L-shaped blade connecting plate 203 opposite the adjustment nut 205, and this shim 206 is also disposed on the guide rod 204.

[0083] One end of a spring pressure block 208 is fixedly connected to a mounting block 209 on the guide rod 204. The mounting block 209 is mounted on the frame 1. The second free end of the L-shaped blade connecting plate 203 is rotatably connected to the first end of a lever 210. The second end of the lever 210 is fixedly connected to the mounting block 209. After installation, the lever 210 is located below the guide rod 204.

[0084] Before weeding, to improve inter-row weeding efficiency, the angle at which blade 201 enters the soil can be adjusted as needed. This adjustment is accomplished by adjusting the position of adjusting nut 205 on guide rod 204 to change the amount of spring 207 expansion and contraction, thereby altering the connection position between the first free end of L-shaped blade connecting plate 203 and guide rod 204. Because the second free end of L-shaped blade connecting plate 203 is rotatably connected to the first end of lever 210, changes in the connection position between the first free end of L-shaped blade connecting plate 203 and guide rod 204 cause the L-shaped blade connecting plate 203 to rotate about lever 210, thereby altering the angle at which blade 201 enters the soil.

[0085] In the above embodiment, the angle of the blade 201 of the inter-row weeding assembly 2 can be adjusted as needed, and the weeding efficiency can be improved by adjusting the angle of the blade 201.

[0086] In one embodiment, the image acquisition component 4 includes an acquisition bracket, a rotating structure 404 and an image acquisition unit. The acquisition bracket is arranged on the upper surface of the frame 1, the rotating structure 404 is arranged at the free end of the acquisition bracket, and the image acquisition unit is arranged on the rotating structure 404.

[0087] Specifically, as shown in Figure 6, the image acquisition component 4 includes an acquisition bracket, a rotating structure 404, and an image acquisition unit. The image acquisition unit can be a camera 403. The acquisition bracket can include a bottom bracket 401 and an upper bracket 402 that are interconnected. The bottom bracket 401 is fixedly connected to the frame 1, and the free end of the upper bracket 402 is rotatably mounted with a rotating structure 404. The rotating structure 404 can be a camera box. The camera 403 can be detachably installed in the camera box. The shooting angle of the camera 403 can be adjusted by rotating the camera box. When the shooting angle of the camera 403 is adjustable, the shooting angle of the camera 403 needs to be adjusted before weeding. According to the collection needs, multiple image acquisition components 4 can be set on the intelligent row-to-row weeding device.

[0088] In the above embodiment, the shooting angle of the camera 403 is adjustable, so that the shooting angle of the camera 403 can be adjusted as needed during weeding work, thereby improving the usability of image data obtained by shooting.

[0089] In one embodiment, it further comprises: a stabilizing member and a suspension bracket 8;

[0090] The stabilizing member and the suspension bracket 8 are arranged on the upper surface of the frame 1, the suspension bracket 8 is arranged in the middle of the first side of the frame 1, one end of the stabilizing member is connected to the second side of the frame 1, and the other end is connected to the suspension bracket 8, and the first side and the second side are arranged opposite to each other.

[0091] Specifically, as shown in Figure 7, the frame 1 can be a rectangular frame, and the intelligent inter-row weeding device can also include a stabilizing member and a suspension bracket 8, which are arranged on the upper surface of the frame 1. The suspension bracket 8 is arranged in the middle of the first side of the frame 1, and one end of the stabilizing member is connected to the second side of the frame 1, and the other end is connected to the suspension bracket 8, and the first side and the second side are arranged relative to each other. Among them, the stabilizing member can include a first stabilizing beam 6 and a second stabilizing beam 7, and the stabilizing member can be symmetrically arranged on the upper surface of the frame 1 so that the force on the frame 1 is more balanced. The suspension bracket 8 can be a three-point suspension bracket 8, and the two free ends of the suspension bracket 8 are installed on the first side, and the other free end is connected to the stabilizing member, and the other free end can also be connected to a walking device, which can be, for example, a vehicle such as a tractor. Among them, the control mechanism can also be arranged on the walking device.

[0092] In one embodiment, it further includes:

[0093] The contour wheel assembly 5 is arranged on the lower surface of the frame 1 and on the first side.

[0094] In one embodiment, the contoured wheel assembly 5 includes a fixing structure 503, a piston structure, a wheel bracket 506 and a wheel 510;

[0095] The fixed structure 503 is fixedly connected to the frame 1, one end of the wheel bracket 506 is fixedly connected to the fixed structure 503, and the wheel 510 is rotatably connected to the other end of the wheel bracket 506;

[0096] The free end of the piston rod 502 of the piston structure is rotatably connected to the fixed structure 503 , and the free end of the hydraulic pipe 501 of the piston structure is fixedly connected to the wheel bracket 506 .

[0097] Specifically, the contoured wheel assembly 5 is disposed on the lower surface of the frame 1 and on a first side of the frame 1. As shown in Figure 8, the contoured wheel assembly 5 includes a fixing structure 503, a piston structure, a wheel bracket 506, and a wheel 510. The fixing structure 503 is fixedly connected to the frame 1 via a fixing member 505 and a fixing bolt 504. One end of the wheel bracket 506 is fixedly connected to the fixing structure 503, and the wheel 510 is rotatably connected to the other end of the wheel bracket 506. For example, a connecting flange 509 is fixedly connected to the wheel 510, and a hollow shaft sleeve 508 is fixedly connected to the other end of the wheel bracket 506. Axle end caps 507 are provided at both ends of the hollow shaft sleeve 508. The wheel 510 is rotatably connected to the wheel bracket 506 through the wheel shaft end caps 507.

[0098] The free end of the piston rod 502 of the piston structure is rotatably connected to the fixed structure 503, and the free end of the hydraulic pipe 501 of the piston structure is fixedly connected to the wheel bracket 506. The piston structure can play a buffering role when the intelligent weeding machine moves between rows.

[0099] The present invention further provides an intelligent inter-row weeding method, as shown in FIG9 . The method is applied to any of the intelligent inter-row weeding devices described above, and the method includes:

[0100] S901: During the movement of the intelligent row weeding device, inter-row weeding is performed by using the inter-row weeding component;

[0101] S902: Acquire image data of the area to be weeded in real time through the image acquisition component;

[0102] S903: performing image processing on the image data based on the control mechanism to obtain an image processing result, wherein the image processing result represents position information of non-crop objects and a size of a gap between crops;

[0103] S904: Based on the image processing result, the control mechanism controls the first driving mechanism of the inter-row weeding assembly 3 to control the movement of the weeding mechanism of the inter-row weeding assembly in the first direction through the first driving mechanism, thereby performing intra-row weeding.

[0104] Specifically, the intelligent row weeding device is placed so that the inter-row weeding component 2 is located between the rows of crops, and the traveling device is started to drive the intelligent row weeding device to move along the crop rows.

[0105] During the movement of the intelligent row weeding device, image data collected by the image acquisition component 4 is acquired in real time. After the image data is acquired, image processing is performed on the image data to obtain an image processing result. The image processing result represents the location information of non-crop plants (such as weeds) and the size of the gaps between crops. Image processing includes image preprocessing, morphological feature extraction, image secondary corrosion, and image target recognition.

[0106] The first driving mechanism of the weeding assembly 3 is controlled based on the image processing result to control the movement of the weeding mechanism in the first direction, wherein the movement control of the weeding mechanism in the first direction may include movement position control and movement speed control.

[0107] The intelligent inter-row weeding method provided by the present invention can perform inter-row tillage and weeding on crops through the inter-row weeding component, and can perform intra-row weeding, i.e., inter-row weeding, on crops through the inter-row weeding component. Moreover, when performing inter-row weeding, the control mechanism can automatically identify weeds and crops based on image data collected by the image acquisition component, and can then control the weeding mechanism so that crops can be automatically avoided during inter-row weeding, thereby reducing damage to the crops.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An intelligent inter-row weeding device, characterized in that: include: frame; An image acquisition component, which is arranged on the frame and is used for acquiring image data of the area to be weeded; The image acquisition assembly includes an acquisition bracket, a rotating structure and an image acquisition unit. The acquisition bracket is arranged on the upper surface of the frame, the rotating structure is arranged at the free end of the acquisition bracket, and the image acquisition unit is arranged on the rotating structure. A plurality of inter-row weeding assemblies, wherein the plurality of inter-row weeding assemblies are arranged on the frame along a first direction, and the inter-row weeding assemblies are used for inter-row tillage and weeding; A plurality of inter-row weeding assemblies, wherein the plurality of inter-row weeding assemblies are arranged on the frame along the first direction, and the inter-row weeding assemblies are used for weeding within rows; the inter-row weeding assemblies include a first driving mechanism, a second driving mechanism and a weeding mechanism, wherein the first driving mechanism is connected to the weeding mechanism, and the first driving mechanism is used to drive the weeding mechanism to move along the first direction, and the second driving mechanism is connected to the weeding mechanism, and the second driving mechanism is used to drive the weeding mechanism to perform weeding action; the first driving mechanism includes a slide rail, a slider, a crank-connecting rod structure and a first driving motor; the slide rail is arranged on the frame along the first direction, the slider is arranged on the slide rail, and the weeding mechanism is arranged on the slider; the first end of the crank-connecting rod structure is connected to the slider, and the second end of the crank-connecting rod structure is rotationally connected to the motor shaft of the first driving motor. A control mechanism, wherein the control mechanism is electrically connected to the image acquisition component and the first driving mechanism respectively, and the control mechanism is used to control the first driving mechanism based on the image data acquired by the image acquisition component to adjust the position of the weeding mechanism in the first direction.

2. The intelligent inter-row weeding device according to claim 1, characterized in that: The second driving mechanism includes a second driving motor and a gear structure. The second driving motor is installed on the slider. The motor shaft of the second driving motor is fixedly connected to the gear structure for driving the gear structure to rotate, thereby driving the weeding mechanism fixedly connected to the gear structure to rotate.

3. The intelligent inter-row weeding device according to claim 1, characterized in that: The weeding mechanism comprises a cutter and a cutter shaft, wherein the cutter is mounted on a first end of the cutter shaft, and a second end of the cutter shaft is fixedly connected to the gear structure.

4. The intelligent inter-row weeding device according to claim 1, characterized in that: The inter-row weeding assembly includes a guide rod, a spring, a mounting block, an L-shaped blade connecting plate, a blade and a lever; The mounting block is mounted on the frame; One end of a spring pressure block is fixedly connected to the mounting block and is arranged on the guide rod, and the spring is passed through the guide rod; The first free end of the L-shaped blade connecting plate is mounted on the other end of the guide rod opposite to the spring pressure block, the second free end of the L-shaped blade connecting plate is rotatably connected to the first end of the lever, and the turning portion of the L-shaped blade connecting plate is fixedly connected to the blade; The second end of the lever is fixedly connected to the mounting block, and after installation, the lever is located below the guide rod.

5. The intelligent inter-row weeding device according to any one of claims 1 to 4, characterized in that: Also includes: Stabilizers and suspension brackets; The stabilizing member and the hanging bracket are arranged on the upper surface of the frame, the hanging bracket is arranged in the middle of the first side of the frame, one end of the stabilizing member is connected to the second side of the frame, and the other end is connected to the hanging bracket, and the first side and the second side are arranged opposite to each other.

6. The intelligent inter-row weeding device according to claim 5, characterized in that: Also includes: A contour wheel assembly is arranged on the lower surface of the frame and on the first side.

7. The intelligent inter-row weeding device according to claim 6, characterized in that: The contoured wheel assembly comprises a fixing structure, a piston structure, a wheel bracket and a wheel; The fixing structure is used to be fixedly connected to the frame, one end of the wheel bracket is fixedly connected to the fixing structure, and the wheel is rotatably connected to the other end of the wheel bracket; The free end of the piston rod of the piston structure is rotatably connected to the fixed structure, and the free end of the hydraulic pipe of the piston structure is fixedly connected to the wheel bracket.

8. An intelligent weeding method between rows and plants, characterized in that: The method is applied to the intelligent inter-row weeding device according to any one of claims 1 to 7, and the method comprises: During the movement of the intelligent row weeding device, inter-row weeding is performed through the inter-row weeding components; The image data of the area to be weeded is acquired in real time through the image acquisition component; Performing image processing on the image data based on a control mechanism to obtain an image processing result, wherein the image processing result represents position information of non-crop and a size of a gap between crops; Based on the image processing result, the control mechanism controls the first driving mechanism of the inter-row weeding assembly, so as to control the movement of the weeding mechanism of the inter-row weeding assembly in the first direction through the first driving mechanism, thereby performing intra-row weeding.

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