CN213755586U

CN213755586U - Hillside orchard weeder

Info

Publication number: CN213755586U
Application number: CN202022357202.5U
Authority: CN
Inventors: 赵明龙; 袁作彬; 谢知音; 胡有财; 张之卓; 季林龙
Original assignee: Hubei University for Nationalities
Current assignee: Hubei University for Nationalities
Priority date: 2020-10-21
Filing date: 2020-10-21
Publication date: 2021-07-23
Anticipated expiration: 2030-10-21

Abstract

The utility model provides a hillside orchard weeding machine, which comprises a vehicle body, a walking device positioned at the bottom of the vehicle body, a front weeding device positioned in front of the vehicle body, and side wing weeding devices respectively arranged at one side or two sides of the vehicle body; the side wing weeding device comprises a rotating mechanism, a connecting rod, a side wing weeding mechanism, a distance measuring sensor and an obstacle avoidance control module, wherein the rotating mechanism, the connecting rod, the side wing weeding mechanism, the distance measuring sensor and the obstacle avoidance control module are arranged on the side part of the vehicle body; the first end of the connecting rod is arranged on the rotating part of the rotating mechanism, and the second end of the connecting rod is connected with the side wing weeding mechanism; the distance measuring sensor is arranged at the second end of the connecting rod; the input end of the obstacle avoidance control module is connected with the output end of the distance measuring sensor. Weeds in tree rows are cut through the front weeding device, weeds in tree rows are cleared through the side wing weeding device, the rotating mechanism is controlled to rotate or be static according to the distance between the second end of the connecting rod and the trees in front, the obstacle is automatically avoided, the trees are prevented from being injured, weeds in the tree rows and around the trees can be effectively cleared, and the operation effect is improved.

Description

Hillside orchard weeder

Technical Field

The utility model relates to the field of agricultural machinery, concretely relates to hillside orchard weeder.

Background

Weeds and trees in the orchard compete for nutrition and moisture, and the weeds and the trees are also places where diseases and pests breed and inhabit, so that the yield of the orchard is reduced, and the quality of orchard products is reduced. At present, a common weeder only can weed in rows, is difficult to weed in plants, particularly weeds around trees, reduces the operation effect of mechanical weeding, and needs to artificially supplement and weed for the second time. In addition, the topography of current orchard is various, and the topography is complicated, if the southern orchard of china is mostly hilly land topography, a lot of weeders that have now can't well adapt to the topography.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, the utility model aims to provide a hillside orchard weeder.

In order to achieve the above purpose of the utility model, the utility model provides a hillside orchard weeding machine, which comprises a vehicle body, a walking device positioned at the bottom of the vehicle body, a front weeding device positioned in front of the vehicle body, and side wing weeding devices respectively arranged at one side or two sides of the vehicle body; the flank weeding device comprises a rotating mechanism, a connecting rod, a flank weeding mechanism, a distance measuring sensor and an obstacle avoidance control module, wherein the rotating mechanism, the connecting rod, the flank weeding mechanism, the distance measuring sensor and the obstacle avoidance control module are arranged on the side part of the vehicle body; the first end of the connecting rod is arranged on the rotating part of the rotating mechanism, and the second end of the connecting rod is connected with the side wing weeding mechanism; the distance measuring sensor is arranged at the second end of the connecting rod; the input end of the obstacle avoidance control module is connected with the output end of the distance measuring sensor, the output end of the obstacle avoidance control module is connected with the control signal input end of the rotating mechanism, and the obstacle avoidance control module controls the rotating mechanism to rotate or be static according to the distance between the second end of the connecting rod output by the distance measuring sensor and the tree.

The technical scheme is as follows: this hillside orchard weeder cuts off the weeds between the trees row through leading weeding device, weed is clear away between the trunk in every row of trees through flank weeding device, and utilize range sensor to measure the second end of connecting rod and the distance of the place ahead trees of traveling, and rotate or static realization flank weeding device keeps away the barrier to the automation of trees according to this distance value control slewing mechanism, can carry out effectual trunk weeding and clear away the weeds around the trees, avoid hindering trees, the operation effect of hillside orchard weeder has been improved, need not the manual work and carry out the secondary and mend the weeding.

In a preferred embodiment of the present invention, the wing weeding mechanism includes a motor fixed to the second end of the connecting rod and a blade cutter sleeved on a rotating shaft of the motor.

The technical scheme is as follows: the motor is adopted to drive the cutter to rotate, the implementation is easy, the cost is lower, the control is convenient, and the blade cutter is adopted, so that the mowing effect is good.

In a preferred embodiment of the present invention, the rotating mechanism is a steering engine component, and the first end of the connecting rod is fixed on a steering engine table-board of the steering engine component.

The technical scheme is as follows: the connecting rod is convenient to rotate, the rotation transmission mechanisms are reduced, and the structure is simplified.

In a preferred embodiment of the present invention, the obstacle avoidance control module includes a first PWM signal generating unit, a second PWM signal generating unit, a first switch, a second switch, a first comparator, a first reference power source, and a not gate; the output end of the first PWM signal generating unit and the output end of the second PWM signal generating unit are respectively connected with the control signal input end of the steering engine component, the first switch is connected in series in a connecting passage between the output end of the first PWM signal generating unit and the control signal input end of the steering engine component, the second switch is connected in series in a connecting passage between the output end of the second PWM signal generating unit and the control signal input end of the steering engine component, the steering engine is located at 0 position through the PWM signal output by the second PWM signal generating unit, the projection line segment of the connecting rod on the ground is horizontal when the steering engine is located at 0 position, the steering engine is rotated to a forward first angle through the PWM signal output by the first PWM signal generating unit, and the value interval of the first angle is 0-90 degrees; the first input end of the first comparator is connected with the output end of the first reference power supply, the second input end of the first comparator is connected with the output end of the distance measuring sensor, and the output end of the first comparator is respectively connected with the on-off control end of the first switch and the input end of the NOT gate; the output end of the NOT gate is connected with the on-off control end of the second switch; the output voltage of the first reference power supply is a signal value output by the ranging sensor when the distance between the second end of the connecting rod and the tree is a preset first distance threshold value, and the first distance threshold value is smaller than the plant spacing.

The technical scheme is as follows: in the process of driving the mower between rows of trees, the side wing weeding device periodically executes the following steps: the steering engine is at 0 position, when the distance measuring sensor detects that the distance between the second end of the connecting rod and the tree is smaller than a first distance threshold value, the first comparator outputs high level to enable the first switch to be conducted, the NOT gate outputs low level to enable the second switch to be disconnected, the steering engine is rotated to a first angle through the PWM signal output by the first PWM signal generating unit, meanwhile, the vehicle body is superposed to move forwards, automatic obstacle avoidance and weed removal around the tree are achieved, along with the forward movement of the vehicle body, when the second end of the connecting rod passes through the tree, the distance output by the distance measuring sensor is larger than the first distance threshold value, at the moment, the first comparator outputs low level to enable the first switch to be disconnected, the NOT gate outputs high level to enable the second switch to be conducted, the steering engine returns to 0 position through the PWM signal output by the second PWM signal generating unit, and after the distance signal output by the distance measuring sensor returns to 0 position, the distance signal output by the distance measuring sensor is continuously larger than the first distance threshold value, as the mower continues to advance, the distance signal output by the range sensor gradually decreases until less than the first distance threshold. The obstacle avoidance control module adopts a hardware circuit structure, an algorithm and a program do not need to be designed, automatic obstacle avoidance can be realized only by a simple hardware logic circuit, and a complex mechanical structure is not needed.

The utility model discloses an among the preferred embodiment, running gear includes that the symmetry is located four wheels, two tracks of automobile body axis both sides to and drive wheel pivoted power unit two wheels around every side of automobile body axis is equipped with, just is in a track is established to the outside cover of two wheels around, track and the meshing of wheel surface tooth.

The technical scheme is as follows: the walking device adopts the track to travel, can adapt to the complicated regional operations such as mountain region hills of topography, has reduced the operation degree of difficulty, has improved work efficiency.

In a preferred embodiment of the present invention, the front-end weeding device includes a roller-blade mowing mechanism and a connecting mechanism for connecting the roller-blade mowing mechanism and the front end of the vehicle body.

The technical scheme is as follows: the roller blade mowing mechanism can clear weeds, and the cleared weeds can directly return to the field, so that the green and environment-friendly effects are achieved.

In a preferred embodiment of the present invention, the vehicle further comprises a camera device and a path planning module, which are arranged at the front end of the vehicle body; the camera device is connected with the path planning module, and the path planning module is further connected with the control end of the walking device.

The technical scheme is as follows: automatic path planning and automatic operation mowing can be realized.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic view of a preferred embodiment of the present invention of a Zhongshan orchard mower;

FIG. 2 is a left side view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

fig. 4 is a schematic diagram of an obstacle avoidance process according to a preferred embodiment of the present invention;

fig. 5 is a schematic diagram of a hardware circuit of an obstacle avoidance control module according to a preferred embodiment of the present invention.

Reference numerals:

1, a hillside orchard weeding machine; 2, a vehicle body; 3, a walking device; 31 wheels; 32 tracks; 4, a front weeding device; 41 roller blade mowing mechanism; 42 a connection mechanism; 5a side wing weeding device; a 51 connecting rod; 52 side wing weeding mechanisms; a 521 motor; 522 fan blade cutters; 53 a distance measuring sensor; 6, a camera device; 7, a path planning module; and (8) a tree.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, mechanically or electrically connected, or may be connected between two elements through an intermediate medium, or may be directly connected or indirectly connected, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.

The utility model discloses a hillside orchard weeder, in a preferred embodiment, its structure is as shown in fig. 1-3, including automobile body 2, the running gear 3 that is located the automobile body 2 bottom, the leading weeding device 4 that is located automobile body 2 the place ahead and be equipped with flank weeding device 5 respectively in one side or both sides of automobile body 2. The flank weeding device 5 comprises a rotating mechanism arranged on the side part of the vehicle body 2, a connecting rod 51, a flank weeding mechanism 52, a distance measuring sensor 53 and an obstacle avoidance control module; a first end of the connecting rod 51 is arranged on a rotating part of the rotating mechanism, and a second end of the connecting rod 51 is connected with the side wing weeding mechanism 52; the distance measuring sensor 53 is mounted to the second end of the link 51. The input end of the obstacle avoidance control module is connected with the output end of the distance measuring sensor 53, the output end of the obstacle avoidance control module is connected with the control signal input end of the rotating mechanism, and the obstacle avoidance control module controls the rotating mechanism to rotate or be static according to the distance between the second end of the connecting rod 51 and the tree 8, which is output by the distance measuring sensor 53.

In the present embodiment, the running gear 3 is preferably, but not limited to, an existing wheel running gear, and may be a power wheel gear (such as an existing gasoline power wheel gear or an existing electric power wheel gear), or may be an existing cart type hand-push type wheel gear, such as a handle push type structure disclosed in chinese patent publication No. CN 106538505A. The vehicle body 2 is preferably of a cavity structure and is provided with no waterproof cover. The front weeding device 4 can adopt the existing weeding device, such as the front weeding device structure disclosed in Chinese patent with the publication number CN111183785A or CN106538505A or CN 108901206A.

In the present embodiment, the hillside orchard weeder 1 travels between rows in an orchard, weeds between rows are removed by the leading weeding device 4, weeds between trees in each row and weeds near the trees are removed by the side-wing weeding device 5, and therefore the second end of the link 51 extends in a direction away from the vehicle body 2. Preferably, as shown in fig. 1-3, the wing weeding mechanisms 52 are vertically arranged, and the height of the distance measuring sensor 53 from the ground is greater than the height of the weeds, so as to avoid the influence of weeds among plants on the measuring accuracy of the distance measuring sensor 53. The ranging sensor 53 should be installed toward the front tree 8 while the hillside orchard herbicide 1 is running to test the distance between the second end of the link 51 and the front tree 8.

In this embodiment, preferably, the rotating mechanism is a steering engine component, and the first end of the connecting rod 51 is fixed on a steering engine table top of the steering engine component, that is, the rotating part of the rotating mechanism is the steering engine table top of the steering engine component, and the specific connection mode is preferably, but not limited to, bolt connection. The steering engine component is preferably but not limited to an existing product with the model number of MG995, the rotation angle of the steering engine can be realized by inputting PWM signals with different duty ratios into a control signal input end of the steering engine, for example, when the PWM pulse width is 1.5ms, the steering engine is located at 0 position, namely the middle position, the PWM pulse width is less than 1.5ms, the steering engine rotates counterclockwise by a certain angle, the PWM pulse width is greater than 1.5ms, and the steering engine rotates clockwise by a certain angle, and the specific principle and circuit connection refer to the technical contents disclosed in the websites https:// b l og.csdn.net/weixi _38907560/art ic l e/detai l s/81546006, which is not described herein again.

In the present embodiment, the distance measuring sensor 53 is preferably, but not limited to, an infrared distance measuring instrument, such as an infrared distance measuring sensor of model GP2Y0a21YK0F from sharp corporation, which outputs an analog quantity, and is small in volume and easy to install; or a laser distance measuring instrument, such as HZH-K50 laser distance measuring sensor of Hangzhou brightness thickness technology ltd, and outputs 4-20MA analog current signal.

In the present embodiment, the obstacle avoidance control module receives the distance signal output by the distance measuring sensor 53, determines the magnitude of the distance signal, and when the distance signal is smaller than the preset first distance threshold, the obstacle avoidance control module controls the rotation mechanism to rotate so as to drive the wing weeding mechanism 52 to rotate to avoid the tree 8, because the vehicle body 2 is traveling forward at this time, the final movement track of the wing weeding mechanism 52 moves around the tree 8 as shown in fig. 4, weeds around the tree 8 can be cut off, and the arrow direction in fig. 4 indicates the traveling direction of the vehicle body 2. When the distance signal is greater than a preset first distance threshold, the obstacle avoidance control module controls the rotating mechanism to rotate to a state D in fig. 4 or to be still at a position of 0.

In this embodiment, preferably, the obstacle avoidance control module adopts a hardware structure as shown in fig. 5, and can implement the obstacle avoidance function without an algorithm program, and specifically, the obstacle avoidance control module includes a first PWM signal generation unit, a second PWM signal generation unit, a first switch, a second switch, a first comparator, a first reference power supply, and a not gate; as shown in fig. 5, an output end of the first PWM signal generating unit and an output end of the second PWM signal generating unit are respectively connected to a control signal input end of the steering engine assembly, the first switch is connected in series to a connection path between the output end of the first PWM signal generating unit and the control signal input end of the steering engine assembly, the second switch is connected in series to a connection path between the output end of the second PWM signal generating unit and the control signal input end of the steering engine assembly, the steering engine is located at 0 position by the PWM signal output by the second PWM signal generating unit, a projection line segment of the connecting rod 51 on the ground is horizontal when the steering engine is located at 0 position, the steering engine is rotated to a forward first angle by the PWM signal output by the first PWM signal generating unit, and a value interval of the first angle is 0 ° to 90 °, preferably, the first angle is 30 ° to 60 °; as shown in fig. 5, a first input terminal of the first comparator is connected to an output terminal of the first reference power supply, a second input terminal of the first comparator is connected to an output terminal of the distance measuring sensor 53, and output terminals of the first comparator are respectively connected to an on-off control terminal of the first switch and an input terminal of the not gate; the output end of the NOT gate is connected with the on-off control end of the second switch; the output voltage of the first reference power source is a signal value output by the ranging sensor 53 when the distance between the second end of the connecting rod 51 and the tree 8 is a preset first distance threshold, and the first distance threshold is smaller than the distance between plants.

In this embodiment, it is preferable that the clockwise direction is defined as a positive rotation direction of the steering engine, and the pulse width of the PWM signal output from the first PWM signal generation unit is larger than the pulse width of the PWM signal output from the second PWM signal generation unit. Preferentially, rotate the in-process at the steering wheel, under the prerequisite of guaranteeing not injuring trees 8, steerable steering wheel rotates first angle as far as possible slowly, and how to reduce the slew velocity of steering wheel is prior art, is not the improvement point of this application, no longer gives unnecessary details here.

In this embodiment, preferably, the first PWM signal generating unit and the second PWM signal generating unit can select a PWM module inside the single chip, and output two paths of PWM signals with different duty ratios through one single chip, which is not described herein for the prior art. The first PWM signal generating unit and the second PWM signal generating unit may also be independently arranged, and may be formed by selecting one PWM chip and its peripheral circuit, for example, the model of the PWM chip SG3525 may be selected, and the specific circuit structure may refer to the technical manual of the PWM chip, which is not described herein again.

In this embodiment, the first switch and the second switch are preferably, but not limited to, MOS switch tubes. The first comparator is preferably, but not limited to, LM 324. The not gate is preferably, but not limited to, CD 4069. The first reference power source is preferably, but not limited to, composed of a reference voltage chip manufactured by T I company and a resistor voltage divider network, and the voltage divider coefficient of the resistor voltage divider network is set according to the output voltage of the reference voltage chip and the signal value output by the ranging sensor when the distance between the second end of the connecting rod 51 and the tree 8 reaches the first distance threshold, and the selected resistance values are conventional technologies and will not be described herein again.

In this embodiment, since the infrared range finder, the laser range finder, and the like mostly adopt the reflective detection range, the larger the distance is, the smaller the signal value output from the range sensor is, and the larger the signal value output from the range sensor is, and therefore, when the range sensor selects the infrared range finder or the laser range finder, the first input terminal of the first comparator is a negative input terminal, and the second input terminal of the first comparator is a positive input terminal.

In this embodiment, as can be seen from fig. 4, the rudder machine is in the 0 position in states a and D in fig. 4. Fig. 4 shows A, B, C, D four states in the weeding process of the side-wing weeding device 5 of the hillside orchard weeding machine 1 avoiding the trees 8. In the state A, the steering engine is at the 0 position, when the distance between the second end of the connecting rod 51 and the tree 8, which is detected by the distance measuring sensor 53, is smaller than a first distance threshold, the first comparator outputs a high level to enable the first switch to be connected, the NOT gate outputs a low level to enable the second switch to be disconnected, the steering engine is enabled to rotate to a first angle through the states B and C through the PWM signal output by the first PWM signal generating unit, meanwhile, the forward driving of the hillside orchard weeding machine 1 is superposed, the distance values detected by the distance measuring sensor 53 are smaller than the first distance threshold, the automatic obstacle avoidance and the weed removal around the tree 8 are realized, along with the forward driving of the hillside orchard weeding machine 1, when the second end of the connecting rod 51 passes through the tree 8 (after passing through the state C), the distance value output by the distance measuring sensor 53 is suddenly larger than the first distance threshold, at the moment, the first comparator outputs a low level to enable the first switch to be disconnected, the NOT gate outputs a high level to enable the second switch to be connected, the steering engine is enabled to return to the 0 position (for example, the state D) through the PWM signal output by the second PWM signal generating unit, after the steering engine returns to the 0 position, the distance signal output by the distance measuring sensor 53 is continuously larger than the first distance threshold value, and the distance signal output by the distance measuring sensor 53 is gradually reduced until the distance signal is smaller than the first distance threshold value along with the continuous advancing of the mower, and the process is repeatedly executed.

In a preferred embodiment, as shown in fig. 1-3, the wing weeding mechanism 52 includes a motor 521 fixed on the second end of the link 51, and a blade knife 522 sleeved on the rotating shaft of the motor 521.

In a preferred embodiment, as shown in fig. 1-3, the traveling device 3 includes four wheels 31 symmetrically disposed on both sides of the central axis of the vehicle body 2, two caterpillar tracks 32, and a power mechanism for driving the wheels 31 to rotate, wherein two front and rear wheels 31 are disposed on each side of the central axis of the vehicle body 2, and one caterpillar track 32 is sleeved outside the front and rear wheels 31, and the caterpillar tracks 32 are in toothed engagement with the outer surfaces of the wheels 31.

In a preferred embodiment, as shown in fig. 1 to 3, the front weeding device 4 includes a roller-blade mowing mechanism 41, and a connecting mechanism 42 connecting the roller-blade mowing mechanism 41 and the front end of the vehicle body 2.

In a preferred embodiment, as shown in fig. 1, the vehicle further comprises a camera device 6 and a path planning module 7 which are arranged at the front end of the vehicle body 2; the camera device 6 is connected with the path planning module 7, and the path planning module 7 is also connected with the control end of the walking device 3.

In the present embodiment, the camera device 6 is preferably, but not limited to, a monocular camera or a binocular camera, and the path planning module 7 plans a path according to the image information output by the camera device 6 and controls the hillside orchard weeding machine 1 to drive according to the planned path, where the algorithm involved is the prior art, which is not an improvement point of the present application, and preferably, but not limited to, the technical solution disclosed in chinese patent with publication number CN108901206A and named as an orchard automatic driving weeding tractor is referred to, and is not described herein again.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A hillside orchard weeding machine is characterized by comprising a vehicle body (2), a walking device (3) positioned at the bottom of the vehicle body (2), a front weeding device (4) positioned in front of the vehicle body (2), and side wing weeding devices (5) respectively arranged on one side or two sides of the vehicle body (2);

the flank weeding device (5) comprises a rotating mechanism, a connecting rod (51), a flank weeding mechanism (52), a distance measuring sensor (53) and an obstacle avoidance control module, wherein the rotating mechanism, the connecting rod (51), the flank weeding mechanism, the distance measuring sensor (53) and the obstacle avoidance control module are arranged on the side part of the vehicle body (2); the first end of the connecting rod (51) is arranged on the rotating part of the rotating mechanism, and the second end of the connecting rod (51) is connected with the side wing weeding mechanism (52); the distance measuring sensor (53) is arranged at the second end of the connecting rod (51);

the input end of the obstacle avoidance control module is connected with the output end of the distance measuring sensor (53), the output end of the obstacle avoidance control module is connected with the control signal input end of the rotating mechanism, and the obstacle avoidance control module controls the rotating mechanism to rotate or be static according to the distance between the second end of the connecting rod (51) output by the distance measuring sensor (53) and the tree.

2. The hillside orchard herbicide defined in claim 1, wherein the side wing herbicide mechanism (52) comprises a motor (521) fixed to the second end of the link (51) and a blade cutter (522) sleeved on a rotating shaft of the motor (521).

3. The hillside orchard herbicide of claim 1, wherein the rotating mechanism is a steering engine assembly, and the first end of the connecting rod (51) is fixed to a steering engine table top of the steering engine assembly.

4. The hillside orchard weeder of claim 3, wherein the obstacle avoidance control module comprises a first PWM signal generation unit, a second PWM signal generation unit, a first switch, a second switch, a first comparator, a first reference power supply and a NOT gate;

the output end of the first PWM signal generating unit and the output end of the second PWM signal generating unit are respectively connected with the control signal input end of the steering engine component, the first switch is connected in series in a connecting passage of the output end of the first PWM signal generating unit and the control signal input end of the steering engine component, the second switch is connected in series in a connecting passage of the output end of the second PWM signal generating unit and the control signal input end of the steering engine component, the steering engine is located at 0 position through the PWM signal output by the second PWM signal generating unit, the projection line section of the connecting rod (51) on the ground is horizontal when the steering engine is located at 0 position, the steering engine is rotated to a forward first angle through the PWM signal output by the first PWM signal generating unit, and the interval of the first angle is 0-90 degrees;

the first input end of the first comparator is connected with the output end of the first reference power supply, the second input end of the first comparator is connected with the output end of the distance measuring sensor (53), and the output end of the first comparator is respectively connected with the on-off control end of the first switch and the input end of the NOT gate; the output end of the NOT gate is connected with the on-off control end of the second switch;

the output voltage of the first reference power supply is a signal value output by the distance measuring sensor (53) when the distance between the second end of the connecting rod (51) and the tree is a preset distance threshold value, and the first distance threshold value is smaller than the distance between plants.

5. The hillside orchard weeder according to claim 1, wherein the walking device (3) comprises four wheels (31) and two tracks (32) symmetrically arranged on two sides of a central axis of the vehicle body (2), and a power mechanism for driving the wheels (31) to rotate, a front wheel (31) and a rear wheel (31) are arranged on each side of the central axis of the vehicle body (2), one track (32) is sleeved outside the front wheel (31) and the rear wheel (31), and the tracks (32) are meshed with outer surface teeth of the wheels (31).

6. The hillside orchard herbicide defined in claim 1, wherein the front weed removal device (4) comprises a roller-blade mowing mechanism (41) and a connecting mechanism (42) connecting the roller-blade mowing mechanism (41) and the front end of the vehicle body (2).

7. The hillside orchard herbicide defined in claim 1, further comprising a camera (6) and a path planning module (7) provided at the front end of the vehicle body (2);

the camera device (6) is connected with the path planning module (7), and the path planning module (7) is further connected with the control end of the walking device (3).