41 results about "Mechanical weed control" patented technology

The invention relates to a small paddy field intelligent weeding machine and a weeding method thereof. The small paddy field intelligent weeding machine comprises a satellite navigation system, a master control box, a three-wheel type chassis, a rice row guide device, a rice seedling robustness evaluation device, a weeding and detection integrated plant protection device and a pressing and swinging device. The satellite navigation system and the main control box are mounted above the three-wheel type chassis, and the rice row guide device for detecting the transverse position of rice seedlings, the rice seedling robustness evaluation device, the removal and detection integrated plant protection device and the pressing and swinging device are sequentially mounted below the three-wheel type chassis from front to back; the removing and detecting integrated plant protection device inclines from the front upper part to the rear lower part, and the pressing and swinging device presses the inclined part above the inclined part or further presses the inclined part downwards, so that the removing and detecting integrated plant protection device enters a seedling protection mode or a weeding mode; the three-wheel type chassis adopts a front wheel driving mode to realize steering or straight movement through differential control of a pair of driving wheels. According to the invention, high-quality mechanical weed control in the rice field is realized, and the seedling damage rate is reduced.

This hydraulically driven, intelligent paddy field weeding and cultivation unit is an agricultural machine. The unit is equipped with a pressure-fluid source system consisting of a herbicide liquid tank, a pump assembly, a towerless liquid supply unit, a hydraulic sensor, a safety valve, and a hydraulic solenoid valve; a mechanical weeding and cultivation system consisting of flexible hoses, fixed pipe clamps, rigid pipes, a cylindrical shaft, a sleeve, fixed blades, moving blades, a barrel-type nozzle, and spiral blades; a positioning and adjustment mechanism consisting of a micro-screw linear module, a Π-shaped frame, a transverse track, a slider, a motor, cylindrical gears, a base plate, and a rack; a weed identification and positioning system consisting of a weed identification sensor; and an automatic control box assembly. This unit achieves an intelligent combination of hydraulically driven shearing and pulverizing mechanical weeding and chemical weeding through liquid flow delivery. It features a novel, unique, and reasonable structure, excellent weed control effect, low pesticide residue on crops, and minimal environmental pollution.

The application relates to an intelligent weeding device based on visual navigation and a weeding method, and relates to the technical field of intelligent weeding devices. In order to solve the problems in the prior art that the transverse movement of a weeding machine in a field and the increase and decrease of the number of weeding components need to be manually adjusted during use, the working process is easy to cause damage to the field ridge, the use convenience of the weeding machine is reduced, mechanical weeding is mostly inter-row weeding, the effect on inter-plant weeds is not ideal, weeds cannot be intelligently identified, the working path of the weeding machine cannot be planned for efficient weeding and the like, the application comprises a connecting frame, a translation mechanism, a turnover mechanism and a visual navigation mechanism; one side of the connecting frame is movably connected with a weeding mechanism, and the other side is connected with a supporting wheel; the weeding mechanism comprises a rack, weeding shovels and weeding fingers; the rack is movably connected to the connecting frame; the rear side of the rack is provided with a plurality of weeding shovels and a plurality of weeding fingers; and the upper end of the rack is provided with the visual navigation mechanism. The application is used for farmland weeding.

The invention discloses an intelligent weeding robot for dry soil crops, and relates to the technical field of agricultural intelligent equipment. According to the robot, a solution integrating edge intelligent vision and self-adaptive control is disclosed for the requirements for accuracy and adaptability of weeding operation in a dry soil complex environment. The robot comprises a moving trolley, a weeding device, a weed recognition control module and a power battery, and the control module automatically controls the moving trolley to walk forwards according to a planned path and position information provided by a satellite navigation module and receives dry soil crop and weed photos shot by a camera in real time. The main control unit intelligently recognizes coordinate information of weeds and crops relative to the moving trolley and timely controls the laser weeding device or the mechanical weeding device to efficiently remove the weeds. The problems that a traditional weeding mode is low in efficiency and high in seedling damage rate are solved, and intelligent, environment-friendly and efficient weeding is achieved.

The utility model relates to a paddy field weeding machine combined with mechanical and pesticide liquid force driving, which belongs to agricultural machinery, and is characterized in that: a weeding liquid tank, a liquid pump assembly, a towerless liquid supply device, a hydraulic electromagnetic valve and an automatic control box assembly are sequentially installed on the upper part of a walking frame, a weed recognizer is arranged on the upper end of the hydraulic electromagnetic valve, the two ends of a liquid pipe A are connected with the liquid outlet of the weeding liquid tank and the liquid inlet of the liquid pump assembly respectively, the two ends of a liquid pipe B are connected with the liquid outlet of the liquid pump assembly and the liquid inlet of the towerless liquid supply device respectively, the two ends of a liquid pipe C are connected with the liquid outlet of the towerless liquid supply device and the liquid inlet of the hydraulic electromagnetic valve respectively, and a liquid-driven weeding unit is installed on the rear end of the walking frame; the machine realizes intelligent combination of liquid force driving shearing and smashing mechanical weeding and chemical weeding of liquid flow transportation, has novel, unique and reasonable structure, and has good weeding and weeding effect, less crop medicine residue and light environmental pollution.

The utility model belongs to agricultural machinery, and the rigid pipe and the sleeve are coaxial, the fixed blade is fixed on the outside of the sleeve, the cylindrical shaft is radially and axially positioned in the coaxial cavity of the rigid pipe and the sleeve and is peripherally rotatable, the lower end of the cylindrical shaft is located outside the lower end of the sleeve, the bucket-shaped nozzle is fixed on the lower end of the cylindrical shaft, the moving blade and the spiral blade are fixed on the outer wall of the bucket-shaped nozzle from top to bottom, the moving blade is located below the fixed blade and is in shearing cooperation with each other, the tangential through hole is opened on the tangent direction of the bottom end side wall of the bucket-shaped nozzle, and the tangential through hole is inclined upward from inside to outside as a whole.

The invention provides a farmland comprehensive planting method based on crop diversity and an ecological buffer zone, which comprises the following steps: firstly, constructing a crop strip relay intercropping and multi-variety mixed sowing system, carrying out intercropping or relay intercropping and inter-variety mixed sowing on different crops in a farmland, and then, constructing a layered vegetation and filter material coupled farmland ecological buffer zone, according to the method, ecological buffer zones of arbor, shrub and herbaceous composite vegetation are constructed on the boundary of a farmland or the two sides of a ditch, then ecological prevention and control measures of double-lamp double-wave-band trap lamps and natural enemy release are deployed, and by combining sex pheromone trapping, measures of release of natural enemy including trichogramma, biological preparation and botanical pesticide spraying and frequency vibration type insecticidal lamps, the natural enemy release and the natural enemy release are combined, so that the ecological buffer zones of the arbor, the shrub and the herbaceous composite vegetation are obtained. Finally, filter material recycling and farmland soil improvement measures are carried out, organic fertilizer and microbial agents are combined to be applied to soil, the use of chemical herbicides is reduced in a mechanical weeding mode, and in a word, the method has the advantages of being environmentally friendly, increasing and stabilizing the yield and not damaging the ecological environment.

The invention discloses an inter-row mechanical and inter-plant laser combined weeding device, which relates to the technical field of agricultural intelligent equipment and specifically comprises a field walking chassis, a mechanical weeding system, a laser weeding system and a weed collecting system. The mechanical weeding system can accurately remove weeds between rows, and by means of a drawing mode and cooperation with negative pressure adsorption of the weed collection system, weed collection is achieved, and weed residue breeding is avoided; according to the laser weeding system, the types and positions of weeds are positioned through visual recognition, laser energy is precisely regulated and controlled in a non-contact scanning mode, weeds of different types and maturity are selectively ablated, and economic crops are prevented from being damaged while inter-plant weed inactivation is achieved; by means of mechanical-laser synergistic weeding operation, the problems that traditional inter-plant mechanical weeding operation is poor in environment adaptability, soil and crops are prone to damage, single laser weeding is large in energy consumption, efficiency is difficult to improve and the like are effectively solved, and cost reduction and efficiency improvement of complex farmland weeding operation are expected to be achieved.

The invention discloses an intelligent weeding robot for vegetable planting, which comprises a skeleton structure, a sliding table module mounted on the inner side of the skeleton structure, an electric push rod mounted through the sliding table module, a manipulator mounted at the telescopic end of the electric push rod, and an equipment supporting plate mounted at the top of the skeleton structure. A crushing device is installed at the position, close to the bottom, of the inner side of the framework structure, weeds grabbed by the mechanical arm are fed into the crushing device, driving motors capable of independently running are installed at the four corners of the bottom of the framework structure, driving wheels are installed at the output ends of the driving motors, and a control panel is installed at the front end of the framework structure; according to the equipment, independent moving devices can be arranged in three-dimensional directions to control the mechanical claws to move, the problem that the seedling damage rate is high due to irregular mechanical weeding can be solved, and intelligent and accurate weed removal is achieved.

The invention relates to the technical field of image recognition, and discloses an intelligent recognition weed prevention and control system. The system comprehensively obtains images and environmental parameters of field crops and weeds through a data acquisition unit by using an unmanned aerial vehicle and a ground camera in combination with an environmental sensor, an image analysis unit carries out denoising and enhancement processing on the acquired images, and precise weed recognition and positioning are realized through a deep learning convolutional neural network. The weed recognition and classification unit classifies the types and growth states of weeds according to analysis results, the prevention and control strategy making unit automatically generates a targeted prevention and control scheme according to the growth characteristics and environmental conditions of the weeds and sends out control instructions, and the strategy execution unit drives a pesticide spraying and mechanical weeding system according to the instructions. Precise operation is achieved, the monitoring unit tracks the system state in real time in the whole execution process, and therefore the purposes of reducing weeding labor cost and labor intensity and optimizing agricultural resource allocation are achieved.

The present application relates to the technical field of agricultural weeding equipment, and aims to provide a mechanical-laser collaborative weeding vehicle, which has the characteristics of precise weeding, no damage to crops and no chemical pollution. The technical scheme is a mechanical-laser collaborative weeding vehicle, characterized in that the weeding vehicle comprises a vehicle body, a laser weeding unit, a mechanical weeding unit, a navigation lighting unit and a controller.

The invention discloses a machinery and pesticide weeding mixed operation single body and belongs to agricultural machinery. A herbicide liquid tank, a tower-free liquid supply device, an automatic controller assembly and an electromagnetic valve are sequentially and fixedly mounted on an operating frame, a pesticide liquid pump is fixedly mounted on the automatic controller assembly, an actuator assembly is mounted on the lower side portion of the middle of the operating frame through a delta parallel mechanical arm, and a weed recognition sensor is mounted on the lower portion of the inner side of the operating frame through a support. The actuator assembly is mainly composed of a liquid conveying pipe, a hollow shaft stepping motor, a coupler, an upper planet belt wheel, a lower planet belt wheel, an n-shaped rotating shaft base, a planet wheel shaft, cow tongue texture imitating arc trapezoid outer rubbing plates A and B, stalk cutting movable blades A and B, a root cutting fixed blade, a stalk cutting fixed blade, a root cutting movable blade, a cow upper jaw texture imitating cylinder type center rubbing column, a fixing base, a nozzle, an upper sun belt wheel, a lower sun belt wheel and the like. According to the single body, mechanical weeding and pesticide weeding are combined into a whole through the bionic technology, the weeding effect is good, pesticide liquid is saved, pesticide residues in crops are reduced, and pollution to the environment is reduced.

The invention relates to the technical field of agricultural weeding equipment, and provides a crop visual row control device and a control method, and the device comprises a visual sensor which is arranged in front of a machine tool and is used for identifying crop rows; the strain sensors are arranged on the spring teeth of the intertillage single bodies and used for monitoring deformation; the attitude sensors are respectively arranged on the vehicle body and / or the machine tool and are used for monitoring relative attitudes; and the control unit is in communication connection with the visual sensor, the plurality of strain sensors and the attitude sensor and is used for receiving and processing sensor data. The device breaks through the limitation that a traditional mechanical weeding device depends on a passive structure or operator experience. The strain and attitude data are analyzed, judged and decided in real time through a fusion control algorithm, the lifting action of the electric push rod can be actively triggered under potential risks, passive damage is changed into active avoidance, the damage rate of components such as an intertillage shovel and spring teeth is remarkably reduced, the reliability of equipment is improved, and the service life of the equipment is prolonged.

The present application relates to the technical field of agricultural machinery, in particular to a mechanical weeding machine capable of lateral offset adjustment and a use method thereof. The mechanical weeding machine capable of lateral offset adjustment comprises a lateral offset adjustment device carried on a moving device; a weeding frame connected to the lateral offset adjustment device; an inter-row weeding device and an inter-plant weeding device installed on the weeding frame; an image acquisition assembly installed on the weeding frame, the image acquisition assembly being used to acquire relative position information of a working assembly and crop rows in a region to be weeded; and a control system electrically connected to the image acquisition assembly and used to control at least one of the lateral offset adjustment device, the inter-row weeding device and the inter-plant weeding device based on acquisition information of the image acquisition assembly. The mechanical weeding machine capable of lateral offset adjustment can simultaneously weed between and within crop rows, plays a role of loosening soil and weeding while protecting crops, and provides technical support for field weed management, reduction of pesticide use amount and development of green agriculture.

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.

The invention discloses an active profiling mechanical weeding device between rice rows and plants, and the device comprises a profiling unit which comprises a boat-type floating plate and an adjusting mechanism in linkage with the boat-type floating plate, and is used for sensing the elevation change of a paddy field and a mud surface hardness signal; the inter-row weeding unit is arranged behind the profiling unit and comprises a frame body, a power source and inter-row weeding wheels driven by the power source, and the inter-row weeding wheels are rotationally installed on the frame body; the inter-plant weeding unit is arranged on the side of the inter-row weeding unit and comprises a chain and an adjustable elastic wire, one end of the adjustable elastic wire is connected with the frame body, and the other end of the adjustable elastic wire is connected with the chain. And a flexible chain is connected in series at the bending part of the buried end of the adjustable elastic wire. The device is high in profiling adaptability, efficient and thorough in synergistic weeding between rows and plants, and capable of self-adapting to the hardness of a mud surface to achieve balance of weeding and seedling protection; the structure is reasonable, adaptability is wide, mechanical weeding is green and environmentally friendly, cost can be reduced, and rice planting benefits are improved.

The invention relates to an active rotary-cut pressing and burying type paddy field inter-row weeding device. The weeding device comprises a suspension frame body, a grass pressing and seedling protecting part and a weeding part; the weeding component comprises a power transmission assembly, a rotary-cutting pressing-burying assembly and a soil-penetrating fixed cutter; when the weeding device moves forwards along with the machine tool, the weed pressing and seedling protecting component presses down weeds and then the weeds are attached to the ground, the rotary cutting pressing and burying assembly and the soil entering fixed cutter are matched to form supporting cutting, and after the weeds are cut and smashed, the cut weed segments are pressed and buried or picked out, so that re-growth of the weeds is avoided. According to the device, effective cutting and smashing of weeds can be achieved, meanwhile, the design of the rotary cutting, pressing and burying assembly is optimized, equal-sliding-cutting-angle cutting is kept when root systems, stems and leaves of weeds with different depths are cut after being pressed down, and the cutting quality is guaranteed; the supporting cutting mode can reduce the rotating speed of the rotary-cutting pressing and burying assembly, and soil hilling in the operation process is reduced; the high-efficiency mechanical weeding device for the paddy field can prevent weeds from growing again.

The utility model provides an automatic high -efficient environmental protection weeding device, including beam frame, three point suspension frame is installed on the beam frame, and the left and right sides of the front side of beam frame are symmetrically installed with land wheel frame, and land wheel is installed on land wheel frame, and a plurality of groups of weeding assembly are arranged on the rear side of beam frame, and all weeding assembly is arranged side by side interval, the utility model discloses above -mentioned, adopt modularization weeding assembly cooperation parallel four bar linkage profiling mechanism, ensure that the weeding rate of 95% or above is realized under 3cm standard depth, the combination of articulated beam frame and hydraulic steering system solves the tracking problem of non - straight crop line, controls seedling damage rate, the innovative three -section folding rear beam body design makes the transportation width reduce, and the work state conversion can be completed in a short time, the utility model discloses weeding device is suitable for large -scale farm continuous operation, and can satisfy the fine demand of small plot, and the whole course mechanical weeding prevents the use of pesticide, and the comprehensive operation and maintenance cost is reduced by 25% or more than traditional scheme, is the ideal equipment of modern green agriculture.

The invention relates to a method for weeding soil (S) on which a plant (V) has grown, the method being implemented by passing a weeding device towed by an agricultural machine along a direction of travel (A), the method comprising the following steps: b) twisting the plant by rolling it on the soil; c) simultaneously with step b), pulling the plant to one side relative to the direction of travel. Figure: no abbreviated figure

The invention discloses a laser and mechanical combined weeding device and a weeding method thereof, and belongs to the technical field of agricultural machinery, the weeding device comprises a walking unit, a weeding unit and a detection unit, the walking unit comprises a walking vehicle body, and a light shield is arranged at the vehicle head end of the walking vehicle body; the weeding unit comprises a laser weeding module and a mechanical weeding module, the laser weeding module comprises a two-dimensional laser galvanometer system, and the mechanical weeding module comprises a manipulator; the detection unit comprises an illumination module and a visual identification module, and the illumination module and the visual identification module are installed in the light shield. The weeding method comprises the steps that under the load of the walking vehicle body, the illumination module illuminates; the visual recognition module recognizes crops and weeds and carries out positioning and category distinguishing on the weeds, the two-dimensional laser galvanometer system irradiates laser to remove the weeds, and the mechanical arm pulls out the mechanically-removed weeds. By combining laser weeding and mechanical arm weeding, the effects of high weeding efficiency and no chemical pollution in the weeding process are achieved.

The invention discloses a corn field weeding machine and a weeding collection method thereof, and relates to the technical field of field mechanical weeding. The main components comprise wheel type advancing mechanisms arranged on the two sides of a vehicle body and an image recognition device arranged on a machine frame. Judging whether weeds exist in the region or not; the weeding disc device is arranged below the image recognition mechanism; when the image contains the target crop, the weeding disc is rotated, and the weeding disc avoids the target crop; when the image does not contain the target crop, the weeding disc is rotated to remove weeds; a driving device is connected behind the weeding disc, and a filter sieve is installed below the weeding disc. By means of simple mechanical equipment and an intelligent control system, mechanical automatic weeding and weed collection can be achieved, the weeding efficiency is high, labor input is effectively saved, and the problem that an existing weeding device cannot collect the removed weeds to enable the weeds to grow repeatedly is solved.

The invention discloses a clamping type mechanical and pesticide synergistic weeding device which comprises a mechanical weeding mechanism and a chemical weeding mechanism. The mechanical weeding mechanism comprises a fixed clamping plate, a movable clamping plate and a swing driving mechanism, and the swing driving mechanism is used for driving the movable clamping plate to swing to get close to the fixed clamping plate so as to clamp weeds; the chemical weeding mechanism comprises a pesticide box and a pesticide conveying pipe, pesticide applying holes are formed in the fixed clamping plate, and the pesticide conveying pipe is communicated between the pesticide box and the pesticide applying holes. According to the weeding device, multiple disciplinary perspectives are fused, two weeding modes are cooperatively integrated, weeds are clamped, positioned and mechanically pretreated firstly, and then a trace amount of herbicide is supplemented to achieve accurate, efficient and low-environmental-risk weed prevention and control.

The invention discloses an intelligent mechanical weeding execution method and a matched intelligent mechanical weeding machine, belongs to the field of agricultural machinery, and is used for solving the problems that existing equipment is difficult to accurately avoid seedlings, low in adjustment flexibility and poor in agricultural adaptability. The intelligent mechanical weeding machine comprises a moving platform, a high-strength alloy anti-sticking inter-plant weeding claw, a triangular ground breaking blade inter-row weeding shovel, a modularized weeding unit connecting and adjusting frame, a machine vision system, a hydraulic row spacing stepless adjusting mechanism and a central control system with a touch screen. The device can simultaneously perform inter-plant and inter-row weeding, and is strong in adaptability and high in working efficiency. The execution method comprises the following steps: training a deep learning model to identify crop seedlings, after a camera obtains a picture and analyzes, positioning the seedlings by the model, converting a coordinate system to determine machine coordinates of the seedlings, controlling corresponding inter-plant weeding claws to open to avoid the seedlings, adjusting the opening rate of the inter-plant weeding claws according to the number of seedling detection frames, and continuously weeding until no seedlings exist.

The invention discloses an intelligent laser-mechanical combined weeding device, and belongs to the field of agricultural intelligent equipment. The device comprises a field walking chassis, a laser weeding system and a mechanical weeding system. According to the laser weeding system, a servo motor drives a transverse movement module and a reflector deflection module to work cooperatively, and precise scanning and burning of field weeds by laser beams are achieved; the mechanical weeding system is provided with a lifting and rotating mechanical arm, wedge-shaped fingers at the tail end of the mechanical arm can grab and pull out roots of weeds burnt through laser, and the grabbed weeds are conveyed to a smashing device through a conveying mechanism to be processed. Through cooperative operation of laser pre-burning, mechanical grabbing and smashing, the limitation of a single weeding mode is effectively overcome, the weeding accuracy, thoroughness and operation efficiency are remarkably improved, and reliable technical equipment support is provided for green agriculture.

The invention belongs to the technical field of fluorescent tracer agent application, and particularly relates to application of a proline derivative-rhodamine B conjugate as a fluorescent tracer agent in crop and weed recognition. The structural formula of the proline derivative-rhodamine B conjugate is as follows: after the proline derivative-rhodamine B conjugate obtained by the invention is directionally applied to crop plants as a fluorescent tracer, the crop plants can be labeled by fluorescence, and a machine vision system is assisted to distinguish crops and weeds; precise pesticide spraying or mechanical weeding is carried out according to spatial distribution of weeds, automatic and intelligent weed control is achieved, and the usage amount of herbicide is reduced.

The invention discloses a paddy field weeding device and method, and belongs to the technical field of mechanical weeding, the paddy field weeding device comprises a rack, and further comprises an inter-plant weeding mechanism, an inter-row weeding mechanism and a self-propelled driving mechanism, the front side of the rack is provided with the inter-plant weeding mechanism for weeding transverse inter-plant areas of rice seedlings in a paddy field, and the inter-row weeding mechanism is provided with the self-propelled driving mechanism; an inter-row weeding mechanism for weeding vertical inter-row areas of rice seedlings in a rice field is mounted on the middle side of the rack, a self-propelled driving mechanism for driving the equipment to move is mounted on the rack, and the inter-row weeding mechanism comprises a first driving assembly and a self-adjusting weeding assembly. A first driving assembly with the output end moving up and down is installed on the middle side of the rack. In this way, the weeding width can be adjusted in real time according to the left-right distance of rice seedlings, the rotating speed of the L-shaped tool bit can be adjusted in real time according to the weeding width, the weeding efficiency is improved, and the telescopic plate can be rapidly adjusted so that the equipment can adapt to different road conditions.

The embodiment of the utility model discloses a laser assembly for laser weeding, relates to the technical field of agricultural weeding equipment, and aims to cool a laser and improve the output efficiency of the laser assembly. The laser assembly comprises at least one group of laser modules, and each group of laser modules comprises a shell, a laser and a galvanometer; the laser is arranged in the shell, and the galvanometer is arranged on a line corresponding to the orientation of a laser emitting tube of the laser; each laser module further comprises a cooling pipe, and the cooling pipes are arranged on the laser emitting pipes of the lasers in the same group in a surrounding mode. The laser assembly further comprises a cooling-water machine, and the cooling-water machine is connected with the water inlet and the water outlet of the cooling pipe in each laser module. The weeding device is suitable for mechanical weeding operation.

The application discloses a kind of efficient high-quality cultivation methods of citrus, it is related to fruit tree cultivation technical field.The cultivation method of the application includes the following steps: soil deep ploughing and deep ripping treatment, planting citrus virus-free seedlings, mechanical weeding, disease and pest control, compound beneficial microorganism bacterial agent is leached and applied, biological organic fertilizer is applied, water, fertilizer and medicine are combined and managed and pre-market treatment;The compound beneficial microorganism bacterial agent is mainly composed of 10-20 parts of sinodelta weissella, 2-10 parts of nitrogen-producing pseudomonas, 15-25 parts of lactobacillus helveticus and 1-10 parts of pedioccoccus pentosaceus;The pre-market treatment is to alternately apply glucose powder and molasses powder to the roots two months before marketing.The application realizes the improvement of citrus in coloring, quality and yield through a series of technical means such as soil deep ploughing and deep ripping treatment, planting citrus virus-free seedlings, mechanical weeding, disease and pest control, compound beneficial microorganism bacterial agent is leached and applied, biological organic fertilizer is applied, water, fertilizer and medicine are combined and managed and pre-market treatment, and has efficient and high-quality planting effect.

The invention discloses a method, a system and equipment for row-control weeding based on visual identification, and solves the problem of seedling damage caused by deviation of a driving track of a tractor in traditional mechanical weeding, and the core of the method is as follows: front seedling strip images are acquired in real time through a camera mounted on a weeding machine; preprocessing the image and generating a binary feature map; based on the feature map, identifying and tracking the straight line position of the seedling strip in real time by adopting an initialized wide search and iterative tracking algorithm; according to the identification result, through coordinate transformation and geometric calculation, the transverse position deviation relative to the center of the seedling strip is accurately calculated; and finally, on the basis of the deviation, a hydraulic transverse moving mechanism drives a weeding tool rigidly connected with the camera to transversely move, so that the weeding tool can still be automatically kept to accurately align to the center of the seedling belt to advance under the condition that the tractor has driving deviation, and high-quality automatic weeding without artificial seedling injury is realized.