CN115943763A - Agricultural mechanical weeding device - Google Patents

Abstract

The invention discloses an agricultural mechanical weeding device, which comprises a rack, a control box and a transverse fine adjustment mechanism arranged on the lower side of the rack, wherein the transverse fine adjustment mechanism comprises a left-handed rotating mechanism and a right-handed rotating mechanism; a binocular camera is arranged at the top of the control box; the transverse fine adjustment mechanism comprises two transmission shafts, a plurality of connecting seats are fixedly arranged on the transmission shafts at equal intervals, and the bottom end of each connecting seat is connected with a lifting driving mechanism; the lower end of the lifting driving mechanism is fixedly connected with one end of the driving seat, and a damping mechanism is connected between the other end of the driving seat and the rack; the bottom end of the driving seat is provided with a servo motor and a weeding cutter which is in transmission connection through a transmission universal joint; the control box is respectively electrically connected with the binocular camera, the reciprocating driving motor, the lifting driving mechanism and the servo motor and transmits control signals. According to the invention, the type and position of weeds are calibrated in real time through the binocular camera, the control system controls the operation of the transverse fine adjustment mechanism, the lifting driving mechanism and the servo motor, the operation time and the pause gap of the weeding cutter between the plants are driven, and the weeding precision and efficiency are improved.

Description

Agricultural mechanical weeding device

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to an agricultural mechanical weeding device.

Background

Farmland weeds are always an important influence factor for harming the sound growth of seedlings, and the farmland weeds grow in a cluster to compete with farmland crops for soil nutrients, and capture limited growth space and solar light, so that the growth of the farmland crops is seriously influenced, and the yield of crops such as paddy fields is reduced. During the growth of crops, people usually use two hands to pull out weeds or hoe up weeds, and during the process of pulling out or hoeing weeds, on one hand, the tops of the weeds are easily removed, while the roots of the weeds are still in the soil; on the other hand, the weeds are easy to scratch, and a lot of dust and bacteria are adhered to the weeds, so that the wounds can cause infection. In addition, there are the low in labor efficiency, and labour cost is high, the big problem of amount of labour in artifical weeding.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide an agricultural mechanical weeding device, which is used for meeting the field weeding of various crops and improving the weeding efficiency of weeds.

The technical scheme is as follows: the invention relates to an agricultural mechanical weeding device, which comprises a rack, a control box fixedly arranged in the center of the top of the rack, and a transverse fine adjustment mechanism fixedly arranged on the lower side of the rack along the length direction of the rack; the top of the control box is provided with at least two groups of binocular cameras;

the horizontal fine adjustment mechanism comprises two transmission shafts arranged in parallel and a reciprocating drive motor in transmission connection with the transmission shafts, a plurality of connecting seats are fixedly arranged on the transmission shafts at equal intervals, the bottom end of each connecting seat is connected with a lifting drive mechanism, and the horizontal fine adjustment mechanism controls the lifting drive mechanism to swing in the horizontal direction;

the lower end of the lifting driving mechanism is fixedly connected with one end of a driving seat, a damping mechanism is connected between the other end of the driving seat and the rack in a pressing mode, and the lifting driving mechanism controls the driving seat to lift longitudinally;

the bottom end of the driving seat is provided with a servo motor which is longitudinally arranged and a transmission universal joint which is connected with a rotating shaft of the servo motor, and the bottom end of the transmission universal joint is in transmission connection with the weeding cutter; the periphery of the servo motor and the transmission universal joint is provided with a limiting frame, the lower end of the limiting frame is provided with a limiting ring sleeved outside the transmission universal joint, and the limiting ring limits the swinging freedom degree of the weeding cutter in the horizontal plane;

the control box is electrically connected with the binocular camera, the reciprocating driving motor, the lifting driving mechanism and the servo motor respectively and transmits control signals.

Preferably, horizontal fine-tuning includes the mounting groove that sets up along frame length direction, the transmission shaft rotates and locates in the mounting groove, reciprocating drive motor locates mounting groove one end and is connected with the transmission shaft transmission through the worm gear subassembly.

Preferably, the lifting driving mechanism comprises a fixed plate and a lifting plate which are arranged oppositely up and down, a lifting driving motor is arranged in the center of the top end of the fixed plate, the lower end of the lifting driving motor is connected with a transmission screw rod, a threaded sleeve is arranged on the lifting plate in a matching way with the transmission screw rod, and the lifting plate is lifted along the transmission screw rod through the threaded sleeve;

four corners of the bottom end of the lifting plate are correspondingly provided with driving rods, and the bottom ends of the driving rods are fixedly connected with the driving seat.

Preferably, one end of the lifting plate is provided with a site sensor corresponding to the fixed plate, the site sensor is positioned on the bottom surface of the lifting plate and connected with one end of the connecting strip, and the other end of the connecting strip is in transmission connection with a screwing handle positioned on the lifting plate; the lower middle part of the transmission screw is connected with a distance measuring instrument in a transmission way.

Preferably, the weeding cutter comprises a mounting disc, a plurality of cutter shaft seats distributed on the circumferential direction of the bottom surface of the mounting disc and a weeding cutting edge inserted at the lower end of each cutter shaft seat; the center of the top end of the mounting disc is detachably provided with a driving shaft.

Preferably, the weeding cutting edge comprises a knife handle and a first cutting edge formed by inwards inclining the lower end of the knife handle; the second cutting edge is obliquely arranged inwards on the inner side of the first cutting edge, and a loosening groove is formed between the first cutting edge and the second cutting edge.

Preferably, the driving seats are provided with through connecting holes in the width direction, and the driving seats are connected into a whole through the connecting holes by connecting rods; a limiting block is fixedly sleeved on the connecting rod between two adjacent driving seats.

Preferably, the damping mechanism comprises a support sleeve, a guide post slidably arranged in the support sleeve and a support spring sleeved outside the support sleeve and the guide post, the outer ends of the support sleeve and the guide post are respectively and fixedly connected with the frame and the driving seat, and two ends of the support spring are respectively pressed between the frame and the driving seat.

Preferably, the two ends of the rear side of the rack are respectively provided with a depth wheel assembly, and the depth wheel assembly comprises a depth wheel bracket fixedly connected with the rack and a depth wheel arranged at the bottom end of the depth wheel bracket; and a suspension frame connected with the tractor is arranged between the two depth limiting wheel assemblies on the frame.

Preferably, a control system, a power supply system and a vision processing system are arranged in the control box, and the power supply system and the vision processing system are connected with the control system; the vision processing system is in communication connection with the binocular camera;

the weed identification model established by the visual processing system is based on the color characteristics and the shape characteristics of weeds, and different weed species are obtained through analysis and comparison; wherein the shape characteristics include circularity, slenderness ratio, and concavity-convexity:

(1) The circularity (Form factor) is calculated as:

in the formula: area is the weed target area, i.e. the total number of pixels of the target; perimeter is the target perimeter, i.e. the outermost contour length of the target;

(2) The slenderness ratio (Eiongateless) is calculated as:

in the formula: area is the weed target area, i.e. the total number of pixels of the target; thiclness is the width of the target minimum external moment;

(3) The formula for calculating the roughness (roughness) is:

in the formula: the constant _ perimeter is the perimeter of the target minimum convex polygon; perimeter is the target perimeter, i.e. the outermost contour length of the target.

Has the advantages that: compared with the prior art, the invention has the following outstanding advantages:

1. according to the agricultural mechanical weeding device, the weed types and the weed positions are calibrated in real time through the binocular camera, the image information is transmitted to the control system, the control system controls the reciprocating driving motor of the transverse fine adjustment mechanism, the lifting driving motor of the lifting driving mechanism and the servo motor to operate, and the weeding cutter operates for a time and a pause gap between fixed row distances or plant distances, so that accurate weeding is realized for farmlands, and the accidental injury probability is reduced;

2. according to the invention, the transverse fine adjustment mechanism is matched with the lifting driving mechanism, so that the precise control of the transverse movement and the lifting movement of the weeding cutter is realized, the wide-range movement of the weeding cutter in the transverse direction and the vertical direction is met, and the weeding efficiency is improved;

3. the weeding cutter drives the driving shaft to rotate through the servo motor with the sensor to drive the mounting disc to rotate at a high speed, and drives the weeding cutting edge to rotate in the circumferential direction for weeding, so that the weeding efficiency is further improved; in addition, the Z-shaped weeding cutting edge plays a role of soil loosening in the weeding process.

Drawings

FIG. 1 is a first perspective view of a weeding apparatus according to the present invention;

FIG. 2 is a perspective view of a second perspective of the weeding apparatus of the present invention;

FIG. 3 is a schematic view of the back side of the rack of FIG. 2

FIG. 4 is a schematic view of the driving seat and the upper and lower ends thereof in FIG. 1 or FIG. 2

FIG. 5 is a schematic view of the lower structure of the driving seat in FIG. 4;

FIG. 6 is a first perspective view of the weeding cutter shown in FIG. 5;

FIG. 7 is a second perspective view of the weeding cutter shown in FIG. 5;

FIG. 8 is a first perspective view of the lift driving mechanism of FIG. 1;

FIG. 9 is a second perspective view of the lift driving mechanism of FIG. 1;

fig. 10 is a schematic view of a visual processing system and a weeding process according to the present invention.

Reference numerals:

100. a weeding device; 1. a frame; 2. a control box; 21. a heat radiation fan;

3. a depth wheel assembly; 31. a depth wheel bracket; 32. a depth wheel;

4. a binocular camera; 5. suspending the frame;

6. a transverse fine adjustment mechanism; 61. mounting grooves; 62. a reciprocating drive motor; 63. a drive shaft; 64. a connecting seat;

7. a lifting drive mechanism; 71. a lifting drive motor; 72. a fixing plate; 73. limiting a guide rail; 74. a lifting plate; 75. supporting the concave block; 76. a drive rod; 77. a drive screw; 78. a range finder; 79. a site sensor; 710. screwing the handle; 711. a threaded sleeve; 712. a connecting strip;

8. a damping mechanism; 81. a support sleeve; 82. a guide post; 83. a support spring;

9. a driving seat; 10. connecting holes;

11. a servo motor; 12. a drive gimbal; 13. a weeding cutter; 131. a drive shaft; 132. installing a disc; 133. a cutter shaft seat; 134. a weeding blade; 1341. a knife handle; 1342. a first cutting edge; 1343. a second cutting edge; 1344. loosening the groove;

14. a limiting frame; 141. a limiting ring;

15. a connecting rod; 16. and a limiting block.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 10 of the embodiments of the present invention. It should be apparent that the described embodiments are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the description of the embodiments of the invention given above, are within the scope of protection of the invention.

As shown in fig. 1 and 10, the weeding device 100 of the agricultural machinery of the invention comprises a frame 1, a control box 2 fixedly arranged at the center of the top of the frame 1, and a transverse fine adjustment mechanism 6 fixedly arranged at the lower side of the frame 1 along the length direction of the frame; the top of the control box 2 is provided with at least two groups of binocular cameras 4, the number of the binocular cameras 4 is set according to requirements, a control system and a power supply system are arranged in the control box 2, the power supply system comprises a battery assembly (not shown) for supplying electric energy to the weeding device 100, and the battery assembly can be a mature battery pack in the prior art; the control box 2 is provided with the heat radiation fans 21 at both ends, the control box 2 is used as the electric energy supply heart of the weeding device 100, and the control box with good heat radiation effect is necessary. The control system comprises a vision processing system which is in communication connection with the binocular camera 4; the visual processing system adopts a CNN model based on deep learning to establish a convolutional neural network for small sample data acquisition, namely, video signals are input from a binocular camera 4, characteristic parameters are extracted through the CNN, the weight of the weight percentage of SEnet is calibrated through an attention mechanism, then the parameters are selected through a classifier, finally a weed identification technology based on machine vision is optimized by adopting an identification and classification method, and a weed identification model established based on two methods of YOLO V4 and YOLO V5 is comprehensively analyzed; the weed identification model established by the visual processing system is based on the color characteristics and the shape characteristics of weeds, and different weed species are obtained through analysis and comparison; wherein the shape characteristics include circularity, slenderness ratio, and concavity-convexity:

(1) The circularity (Form factor) is calculated as:

in the formula: area is the weed target area, i.e. the total number of pixels of the target; perimeter is the target perimeter, i.e. the outermost contour length of the target;

(2) The slenderness ratio (Eiongateless) is calculated as:

in the formula: area is the weed target area, i.e. the total number of pixels of the target; thiclness is the width of the target minimum external moment;

(3) The formula for the relief (conformance) is:

in the formula: the constant _ perimeter is the perimeter of the target minimum convex polygon; perimeter is the target perimeter, i.e. the outermost contour length of the target;

taking paddy field planting as an example, six types of associated weeds (alligator alternanthera, ludwigia prostrata, eclipta prostrata, edible tulip, barnyard grass and moleplant seeds) are used as research objects through a feature extraction network, a visual processing system identifies the weeds, a plant protection area and a weeding area are determined, and a control system controls each executing mechanism of a weeding device to perform synergistic action to realize weeding operation in the weeding area.

As shown in fig. 1-2, the two ends of the rear side of the frame 1 are respectively provided with a depth wheel assembly 3, the depth wheel assembly 3 comprises a depth wheel bracket 31 fixedly connected with the frame and a depth wheel 32 arranged at the bottom end of the depth wheel bracket, and the depth wheel 32 can be used for limiting the depth of the weeding device 100 sunk into the soil; in addition, a counting sensor (not shown) can be arranged in cooperation with the depth wheel, the number of the travelling turns of the depth wheel can be measured by the counting sensor, and the travelling distance of the weeding device 100 can be obtained through the number of the travelling turns and the perimeter of the depth wheel. Frame 1 is located and is equipped with the frame 5 that hangs of being connected with the tractor between two sets of limit deep wheel subassemblies, hangs frame 5 and hangs the frame for the hydraulic pressure three point suspension of taking off and land of connecting the tractor, and it has the cooperation of a plurality of hydraulic pumps, according to the originated, the end of weeding operation process, controls weeding device's whole rising and descends.

As shown in fig. 3, the horizontal fine adjustment mechanism 6 includes a mounting groove 61 arranged along the length direction of the rack 1, two transmission shafts 63 arranged in parallel in the mounting groove 61, a reciprocating drive motor 62 in transmission connection with the transmission shafts 63 through a worm and gear assembly is arranged at one end of the mounting groove 61, the ends of the two sets of transmission shafts 63 are respectively provided with a worm gear, a worm gear is arranged at the shaft end of the reciprocating drive motor 62, and the reciprocating drive motor 62 is controlled to rotate forward and backward so as to drive the transmission shafts 63 to swing back and forth in the horizontal direction through the worm and gear assembly; the transmission shaft 63 is fixedly provided with a plurality of connecting seats 64 at equal intervals, the bottom end of each connecting seat 64 is connected with a lifting driving mechanism 7, the transmission shaft 63 swings in the horizontal direction to drive the connecting seats and the lifting driving mechanisms 7 connected with the connecting seats to swing in the horizontal direction, and the lifting driving mechanisms 7 can horizontally and transversely swing in a reciprocating mode under the driving of the transverse fine adjustment mechanism 6, so that the transverse movement of the weeding cutter 13 in the horizontal plane is met, and the root cutting of weeds is facilitated to be removed.

As shown in fig. 4 and fig. 8-9, the lower end of the lifting driving mechanism 7 is fixedly connected with one end of the driving seat 9, a damping mechanism 8 is connected between the other end of the driving seat 9 and the frame 1 in a pressing manner, and the lifting driving mechanism 7 controls the driving seat 9 to lift in the longitudinal direction. The lifting driving mechanism 7 comprises a fixing plate 72 and a lifting plate 74 which are oppositely arranged up and down, the center of the top end of the fixing plate 72 is provided with a lifting driving motor 71, and the top end of the lifting driving motor 71 is fixedly connected with the connecting seat 64; the lower end of the lifting driving motor 71 is connected with a transmission screw 77, a threaded sleeve 711 is arranged on the lifting plate 74 and matched with the transmission screw 77, the lifting driving motor 71 drives the transmission screw 77 to rotate in the forward direction or the reverse direction, and the lifting plate 74 can do lifting motion along the transmission screw 77 through the threaded sleeve 711; the four corners of the bottom end of the lifting plate 74 are correspondingly provided with driving rods 76, the bottom end of each driving rod 76 is fixedly connected with the driving seat 9, and the lifting plate can move up and down along the driving screw 77 to push the driving seat 9 to move up and down through the driving rods 76. One end of the lifting plate 74 is provided with a site sensor 79 corresponding to the fixed plate 72, the site sensor 79 is positioned on the bottom surface of the lifting plate and is connected with one end of a connecting strip 712, the other end of the connecting strip 712 is in transmission connection with a screwing handle 710 positioned on the lifting plate, the lifting plate is provided with long holes corresponding to the screwing handle 710 and the site sensor 79 so as to adjust the relative position of the site sensor and the fixed plate 72 by screwing the handle, one end of the fixed plate 72 is provided with a slotted hole corresponding to the site sensor, the site sensor is in communication connection with a control system, when the site sensor rises to the fixed plate 72 along with the lifting plate, the in-place signal is fed back to the control system, and the control system controls the lifting driving motor 71 to stop running; in order to further prevent the distance between the lifting plate and the fixing plate from being too close, two sets of limiting guide rails 73 are arranged at the bottom of the fixing plate 72 in parallel, a supporting concave block 75 for supporting the limiting guide rails 73 is installed on the lifting plate 74, and when the lifting plate is lifted to a preset position, the limiting guide rails 73 are correspondingly clamped into the supporting concave block 75 to form limiting. The lower middle part of the transmission screw 77 is connected with a distance measuring instrument 78 in a transmission manner, the distance measuring instrument 78 is in communication connection with the control system, the distance measuring instrument 78 performs lifting movement along with the rotation of the transmission screw 77, and the lifting movement of the distance measuring instrument and the lifting plate is consistent, so that the lifting height of the lifting plate can be measured through the distance measuring instrument 78. The lifting driving mechanism 7 can adjust the distance between the lower end of the weeding cutter 13 and the soil and adjust the soil penetration depth of the weeding cutter 13.

As shown in fig. 4, the damping mechanism 8 includes a supporting sleeve 81, a guiding post 82 slidably disposed in the supporting sleeve, and a supporting spring 83 sleeved outside the supporting sleeve and the guiding post, the outer ends of the supporting sleeve 81 and the guiding post 82 are respectively fixedly connected with the frame 1 and the driving seat 9, and two ends of the supporting spring 83 are respectively pressed between the frame 1 and the driving seat 9; the damping mechanism is connected with the frame 1 and the driving seat 9, and when the lifting driving mechanism 7 pushes the driving seat 9 to move vertically, the damping mechanism 8 can reduce the vibration of the driving seat 9, so that the stability of the driving seat 9 and a weeding executing part at the bottom of the driving seat 9 is improved; in addition, the damping mechanism 8 serves as a connecting piece with a certain degree of freedom, and flexible connection between the frame 1 and the driving seat 9 is achieved.

As shown in fig. 4-5, a servo motor 11 longitudinally mounted and a transmission universal joint 12 connected with a rotating shaft of the servo motor are arranged at the bottom end of the driving seat 9, and the bottom end of the transmission universal joint 12 is in transmission connection with a weeding cutter 13; the peripheries of the servo motor 11 and the transmission universal joint 12 are provided with a limiting frame 14, the lower end of the limiting frame 14 is provided with a limiting ring sleeved outside the transmission universal joint 12, and the limiting ring limits the swinging freedom degree of the weeding cutter 13 in the horizontal plane; the servo motor 11 is connected with a sensor which can sense the number of the rotation cycles of the servo motor; the servo motor 11 is electrically connected with the control system, and the weeding cutter 13 is driven to rotate at a high speed in a horizontal plane by controlling the rotation of the servo motor, so that the root of weeds is cut; because the terrain and the flatness in the field have certain difference, the servo motor 11 is in transmission connection with the weeding cutter 13 through the transmission universal joint 12, the transmission universal joint 12 allows the weeding cutter 13 to have certain deviation freedom degree in the vertical axial direction, and the limit ring 141 at the lower end of the limit frame 14 limits the swing range of the weeding cutter 13 in the vertical axial direction; when the weeding cutter 13 works, the weeding cutter is driven by the servo motor to form pendulum-like motion, so that the weed roots are cut conveniently.

As shown in fig. 8-9, the weeding cutter 13 comprises a mounting disc 132, a plurality of cutter shaft seats 133 distributed on the circumference of the bottom surface of the mounting disc, and a weeding blade 134 inserted at the lower ends of the cutter shaft seats; a driving shaft 131 is detachably arranged at the center of the top end of the mounting disc 132; specifically, the number of the cutter shaft seats 133 is three, and the number of the corresponding weeding blades is also three; after the vision processing system identifies the weed type, the control system can control the servo motor 11 to intermittently rotate, and the weeding cutter 13 can intermittently weed to avoid rice to weed. The weeding blade 134 comprises a handle 1341 and a first cutting edge 1342 formed by inclining the lower end of the handle inwards; a second cutting edge 1343 is obliquely arranged inwards on the inner side of the first cutting edge 1342, and a loose groove 1344 is formed between the first cutting edge 1342 and the second cutting edge 1343; the first cutting edge 1342 and the second cutting edge 1343 form a Z-shaped structure, the radius of an inner ring formed by the second cutting edge is smaller, and the second cutting edge can cut the root of the weed in the rotating process and the swinging process of the weeding cutter; the radius of the inner ring of the first cutting edge 1342 is larger than that of the inner ring of the second cutting edge 1343, and in the rotating process along with the installation disc 132, the first cutting edge 1342 and the inner side loosening groove 1344 thereof can loosen soil in the weeding process, thereby improving the oxygen content and the looseness of the roots of the seedlings.

As shown in fig. 2, a through connection hole 10 is formed in the width direction of the driving seat 9, and a plurality of driving seats 9 are connected into a whole through the connection hole 10 by a connection rod 15; a limiting block 16 is fixedly sleeved on the connecting rod 15 between two adjacent driving seats 9; the driving seat and the weeding executing part at the bottom of the driving seat are integrated, so that the consistency, the stability and the cooperativity of the weeding cutter in the transverse and vertical motion are met.

The working principle or the working method of the invention is as follows:

when the device works, the binocular camera 4 can transmit video signals to the vision processing system, the vision processing system identifies weeds by comparing the video signals, and a seedling plant protection area and a weeding area are determined; the control system controls each actuating mechanism of the weeding device to act in a coordinated manner. The weeding cutter 13 adopts a Z-shaped weeding cutting edge, the shape drives the weeding cutting edge to move in the horizontal direction through the transverse reciprocating movement of the transverse fine adjustment device 6 in the operation process of the weeding cutting edge, the weeding cutting edge can be driven to move in the vertical direction through the lifting driving mechanism 7, the intermittent rotary motion of the weeding cutter 13 along the axial direction of the weeding cutting edge is controlled through the servo motor 11, the weeds in the circumferential direction of the rice can be removed in all directions, and the weeds can be removed from the root; meanwhile, the loosening groove of the weeding blade 134 is beneficial to loosening soil in the weeding process, thinning soil particles, keeping the oxygen content and the looseness of the soil and improving the fertility of the soil.

The foregoing is a preferred embodiment of the present invention, and it should be noted that it would be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the principles of the invention, and such modifications and enhancements are also considered to be within the scope of the invention.

Claims (10)

1. An agricultural mechanical weeding device is characterized by comprising a rack (1), a control box (2) fixedly arranged in the center of the top of the rack (1) and a transverse fine adjustment mechanism (6) fixedly arranged on the lower side of the rack (1) along the length direction of the rack; the top of the control box (2) is provided with at least two groups of binocular cameras (4);

the transverse fine adjustment mechanism (6) comprises two transmission shafts (63) which are arranged in parallel and a reciprocating drive motor (62) which is in transmission connection with the transmission shafts, a plurality of connecting seats (64) are fixedly arranged on the transmission shafts (63) at equal intervals, the bottom end of each connecting seat (64) is connected with a lifting drive mechanism (7), and the transverse fine adjustment mechanism (6) controls the lifting drive mechanism (7) to swing in the horizontal direction;

the lower end of the lifting driving mechanism (7) is fixedly connected with one end of a driving seat (9), a damping mechanism (8) is connected between the other end of the driving seat (9) and the rack (1) in a pressing mode, and the lifting driving mechanism (7) controls the driving seat (9) to lift in the longitudinal direction;

the bottom end of the driving seat (9) is provided with a servo motor (11) which is longitudinally arranged and a transmission universal joint (12) which is connected with a rotating shaft of the servo motor, and the bottom end of the transmission universal joint (12) is in transmission connection with a weeding cutter (13); the periphery of the servo motor (11) and the transmission universal joint (12) is provided with a limiting frame (14), the lower end of the limiting frame (14) is provided with a limiting ring (141) sleeved outside the transmission universal joint (12), and the limiting ring limits the swinging freedom degree of the weeding cutter (13) in the horizontal plane;

wherein, control box (2) respectively with binocular camera (4), reciprocal driving motor (62), lift actuating mechanism (7) and servo motor (11) electric connection and transmission control signal.

2. An agricultural mechanical weeding device according to claim 1, wherein the lateral fine adjustment mechanism (6) comprises an installation groove (61) arranged along the length direction of the frame (1), the transmission shaft (63) is rotatably arranged in the installation groove (61), and the reciprocating drive motor (62) is arranged at one end of the installation groove (61) and is in transmission connection with the transmission shaft (63) through a worm and gear assembly.

3. The agricultural mechanical weeding device according to claim 1, wherein the lifting driving mechanism (7) comprises a fixed plate (72) and a lifting plate (74) which are arranged oppositely, a lifting driving motor (71) is arranged in the center of the top end of the fixed plate (72), a transmission screw (77) is connected to the lower end of the lifting driving motor (71), a threaded sleeve (711) is arranged on the lifting plate (74) in a matching manner with the transmission screw (77), and the lifting plate (74) moves up and down along the transmission screw (77) through the threaded sleeve (711);

four corners of the bottom end of the lifting plate (74) are correspondingly provided with driving rods (76), and the bottom end of each driving rod (76) is fixedly connected with the driving seat (9).

4. The agricultural mechanical weeding device according to claim 3, wherein one end of the lifting plate (74) is provided with a position sensor (79) corresponding to the fixing plate (72), the position sensor (79) is located on the bottom surface of the lifting plate and is connected with one end of the connecting strip (712), and the other end of the connecting strip (712) is in transmission connection with the screwing handle (710) located on the lifting plate; the middle lower part of the transmission screw rod (77) is connected with a distance measuring instrument (78) in a transmission way.

5. An agricultural mechanical weeding apparatus according to claim 1, wherein said weeding cutter (13) comprises a mounting disc (132), a plurality of cutter shaft seats (133) distributed on the circumference of the bottom surface of the mounting disc, and a weeding blade (134) inserted at the lower ends of the cutter shaft seats; the center of the top end of the mounting disc (132) is detachably provided with a driving shaft (131).

6. An agricultural mechanical weeding device according to claim 4, wherein said weeding blade (134) includes a handle (1341) and a first cutting edge (1342) formed by inclining the lower end of the handle inward; first blade (1342) inboard leanin is equipped with second blade (1343), and forms between first blade (1342) and second blade (1343) and dredges loose groove (1344).

7. The agricultural mechanical weeding device according to claim 1, wherein the driving seats (9) are provided with through connection holes (10) in the width direction, and the plurality of driving seats (9) are connected into a whole through the connection holes (10) by connecting rods (15); a limiting block (16) is fixedly sleeved on the connecting rod (15) between two adjacent driving seats (9).

8. The agricultural mechanical weeding device according to claim 1, wherein the damping mechanism (8) comprises a support sleeve (81), a guide post (82) slidably disposed in the support sleeve, and a support spring (83) sleeved outside the support sleeve and the guide post, the outer ends of the support sleeve (81) and the guide post (82) are respectively and fixedly connected with the frame (1) and the driving seat (9), and two ends of the support spring (83) are respectively pressed between the frame (1) and the driving seat (9).

9. The agricultural mechanical weeding device according to claim 1, wherein the depth wheel assemblies (3) are respectively arranged at two ends of the rear side of the machine frame (1), and each depth wheel assembly (3) comprises a depth wheel bracket (31) fixedly connected with the machine frame and a depth wheel (32) arranged at the bottom end of the depth wheel bracket; and a suspension frame (5) connected with a tractor is arranged between the two depth limiting wheel assemblies of the frame (1).

10. An agricultural mechanical weeding apparatus according to claim 1, wherein a control system and a power supply system and a vision processing system connected to the control system are provided in the control box (2), and the power supply system comprises a battery pack for supplying electric power to the weeding apparatus (100); the vision processing system is in communication connection with the binocular camera (4);

the visual processing system establishes a weed identification model based on the color characteristics and the shape characteristics of weeds, and obtains different weed species through analysis and comparison; wherein the shape characteristics include circularity, slenderness ratio, and concavity and convexity:

(1) The circularity (Form factor) is calculated as:

in the formula: area is the weed target area, i.e. the total number of pixels of the target; perimeter is the target perimeter, i.e. the outermost contour length of the target;

(2) The slenderness ratio (Eiongateless) is calculated as:

in the formula: area is the weed target area, i.e. the total number of pixels of the target; thiclness is the width of the target minimum external moment;

(3) The formula for calculating the roughness (roughness) is:

in the formula: the constant _ perimeter is the perimeter of the target minimum convex polygon; perimeter is the target perimeter, i.e. the outermost contour length of the target.

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