CN218681465U

CN218681465U - Weeding robot

Info

Publication number: CN218681465U
Application number: CN202222281366.3U
Authority: CN
Inventors: 金小俊; 刘旭东; 于佳琳
Original assignee: Institute Of Modern Agriculture Peking University
Current assignee: Shandong Provincial Laboratory Of Weifang Modern Agriculture
Priority date: 2022-08-29
Filing date: 2022-08-29
Publication date: 2023-03-24
Anticipated expiration: 2032-08-29

Abstract

The utility model provides a weeding robot. The weeding robot includes: fixed plate and the running gear who is connected with the fixed plate, weeding robot still includes: the pesticide spraying device is arranged on the fixing plate; a mechanical end effector configured to enable weeding by cutting; the laser emitter is arranged on the fixing plate; the visual recognition device comprises a first camera arranged below the fixing plate, and is used for recognizing weeds and crops in the target area and acquiring position information of the weeds in the target area; and the controller is electrically connected with the visual recognition device, receives the information transmitted by the visual recognition device and controls the mechanical end effector or the pesticide spraying device or the laser emitter to act so that the weeding robot has a mechanical weeding mode, a chemical herbicide weeding mode and a laser weeding mode. The technical scheme of the utility model can use machinery, chemical herbicide and three kinds of modes of laser to weed to be applicable to multiple environment.

Description

Weeding robot

Technical Field

The utility model relates to an intelligent grass technical field that removes particularly, relates to a weeding robot.

Background

Weeds compete with crops for moisture, nutrients and illumination, plant diseases and insect pests are bred, and the yield of grains is reduced. The weeds in the field grow randomly and are of various varieties. The weed control method mainly comprises artificial weeding, chemical herbicide weeding and mechanical weeding. Wherein, the labor intensity of manual weeding is high, and the efficiency is low; the chemical herbicide weeding mode is implemented by spraying the herbicide, and excessive application of the herbicide is easy to cause drug resistance of weeds and pollute the environment; mechanical weeding is environment-friendly, but crops with similar weed growth are easily injured by mistake; the laser weeding method can be performed by using laser, but the laser irradiation range is limited, so that the laser weeding method is difficult to be used when weeding is performed on a large area.

At present, the existing weeding robot mainly adopts a single mode of chemical herbicide weeding, mechanical weeding, laser weeding and the like to weed, and the applicable scene is single.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a weeding robot, which integrates mechanical weeding, chemical weeding and laser weeding, and can be applied to different scenes.

In order to achieve the above object, according to an aspect of the present invention, there is provided a weeding robot, including: fixed plate and the running gear who is connected with the fixed plate, weeding robot still includes: the pesticide spraying device is arranged on the fixing plate and comprises a pesticide conveying system and a spray head connected with the pesticide conveying system; a mechanical end effector configured to enable weeding by cutting; a laser emitter disposed on the fixing plate, the laser emitter configured to be capable of weeding with laser; the visual recognition device comprises a first camera arranged below the fixing plate, and is used for recognizing weeds and crops in the target area and acquiring position information of the weeds in the target area; and the controller is electrically connected with the visual recognition device, receives the information transmitted by the visual recognition device and controls the mechanical end effector or the pesticide spraying device or the laser emitter to act so that the weeding robot has a mechanical weeding mode, a chemical herbicide weeding mode and a laser weeding mode.

Further, the weeding robot still includes: the parallel mechanism comprises a static platform connected with the fixed plate and a movable platform used for installing the spray head, the mechanical end effector and the laser emitter, wherein the movable platform is connected with the static platform through three or more mechanical arm structures so as to realize the movement in the vertical direction and/or the horizontal direction; the rotating mechanism is arranged on the movable platform and comprises a first driving piece connected with the movable platform and a rotating piece in driving connection with an output shaft of the first driving piece, the spray head, the mechanical end effector and the laser emitter are all connected with the rotating piece, the spray head, the mechanical end effector and the laser emitter are arranged around the rotating piece at intervals in the circumferential direction, and the first driving piece is used for driving the weeding robot to switch among a mechanical weeding mode, a chemical herbicide weeding mode and a laser weeding mode.

Furthermore, an avoiding through hole corresponding to the rotating piece is formed in the movable platform, the rotating piece is located in the avoiding through hole, the central axis of the rotating piece is perpendicular to the central line of the movable platform, and the spray head, the mechanical end effector and the laser emitter extend in the radial direction of the rotating piece.

Furthermore, the weeding robot still includes a plurality of position memory devices, and a plurality of position memory devices set up on moving the platform, and a plurality of position memory devices correspond the setting with laser emitter, shower nozzle and mechanical end effector respectively to detect laser emitter, shower nozzle and mechanical end effector and move the position of platform for.

Furthermore, the weeding robot includes the mounting panel of being connected with the movable platform, and position memory device includes detection piece and detected piece, and the weeding robot includes at least three detection piece and at least three detected piece, and at least three detection piece sets up on the mounting panel, and at least three detected piece is located the rotating member and corresponds the setting with laser emitter, shower nozzle and mechanical end effector, and each detection piece is connected with the controller electricity, and the detection piece is according to the detected piece that corresponds confirms the position of laser emitter, shower nozzle or mechanical end effector.

Furthermore, the detection piece is a proximity switch or a microswitch, and the detected piece is a cylinder.

Furthermore, spout medicine device still including being located the medical kit on the fixed plate, liquid medicine conveying system includes the conveyer pipe and sets up the delivery pump on the conveyer pipe, the one end of conveyer pipe and the export intercommunication of medical kit, the other end and the shower nozzle intercommunication of conveyer pipe.

Furthermore, weeding robot still includes the pneumatic rotating head, and the pneumatic rotating head includes stator and the rotor of being connected with the stator rotation, is equipped with at least one nozzle on the rotor, and at least one nozzle communicates with the shower nozzle, the one end and the stator intercommunication of conveyer pipe.

Further, a plurality of mechanical arm structures are arranged around the circumference of the movable platform at intervals, and the mechanical arm structures are configured to be capable of driving the movable platform to move along the vertical direction and/or the horizontal direction; each mechanical arm structure comprises a second driving piece positioned on the static platform, a driving arm in driving connection with the second driving piece, and an execution arm in rotary connection with the driving arm through a spherical hinge, wherein one end of the execution arm is in rotary connection with the dynamic platform.

Further, the weeding robot includes a plurality of mechanical end effectors, and the plurality of mechanical end effectors are different in structure, and the controller is selectively connected to one of the plurality of mechanical end effectors.

By applying the technical scheme of the utility model, the first camera can acquire the image below the fixed plate, the visual recognition device can recognize the types of weeds and crops in the target area according to the image acquired by the first camera, and the position information of the weeds in the target area, and the visual recognition device can transmit the information to the controller, the controller judges the weeding mode which is adopted by the target area according to the information, and controls the laser emitter, the pesticide spraying device or the mechanical end effector to weed, so that three weeding modes of laser weeding, mechanical weeding and chemical herbicide weeding can be realized, and thus, a user can select the most appropriate weeding mode according to the actual environment; meanwhile, the traveling mechanism can drive the fixing plate to move, so that weeding is carried out in different places.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural view of an embodiment of a weeding robot according to the present invention;

fig. 2 shows a partial structural schematic view of the weeding robot of fig. 1 (wherein the fixing plate and a partial structure mounted on the fixing plate are not shown);

fig. 3 shows an enlarged view of the weeding robot of fig. 2 at a;

fig. 4 shows a left side view of the weeding robot of fig. 3;

fig. 5 shows a partially enlarged view of the weeding robot of fig. 4;

fig. 6 shows a schematic structural view of a pneumatic rotary head of the weeding robot of fig. 3;

fig. 7 shows a schematic view of another angle of the weeding robot of fig. 3;

fig. 8 shows a structural schematic view of various forms of a mechanical end effector of the weeding robot of fig. 1;

fig. 9 shows a schematic structural view of a traveling mechanism of the weeding robot of fig. 1; and

fig. 10 shows a top view of the weeding robot of fig. 1.

Wherein the figures include the following reference numerals:

1. a fixing plate; 5. a driving wheel motor; 6. a driving wheel; 8. an electromagnetic valve; 11. a medicine chest; 12. a delivery pump; 13. a wheel seat; 14. A driving wheel shaft; 15. a flange cover; 16. a bearing; 17. a static platform; 18. a second driving member; 19. a drive arm; 20. spherical hinge; 21. an actuator arm; 2. a controller; 22. a movable platform; 221. avoiding the through hole; 23. a spray head; 24. a delivery pipe; 26. a first driving member; 27. a position memory device; 271. a detection member; 272. a detected piece; 28. a rotating member; 3. a first camera; 32. A four-claw type; 33. a fan blade type; 34. a mechanical end effector; 35. mounting a plate; 36. pneumatically rotating the head; 361. a stator; 362. A rotor; 363. a nozzle; 37. bending a sheet; 39. a hook type; 42. a blade type; 43. a laser emitter.

Detailed Description

It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It should be noted that the way of weeding with chemical herbicides is generally to weed by spraying herbicides, but excessive application of herbicides causes resistance to weeds, resulting in reduced herbicidal effects, and herbicides cause environmental pollution problems; the mechanical weeding mode is environment-friendly, but aiming at weeds which are too close to the growth of crops, the mechanical weeding mode can cause accidental injury to the crops; the laser weeding mode can utilize laser to weed, and the laser selectively transfers high-density energy to weeds, so that the moisture and the temperature of weed cells are increased, the growth of the weeds is delayed and even stopped, but the laser weeding mode is difficult to utilize when large-area weeding is carried out due to the limited irradiation range of the laser. Therefore, for different environments, a corresponding weeding mode should be selected, so that the problems of environmental pollution and crop accidental injury can be avoided while the weeding effect and the weeding efficiency are ensured.

As shown in fig. 1 to 3, an embodiment of the present invention provides a weeding robot. The weeding robot includes: the weeding robot comprises a fixed plate 1 and a travelling mechanism connected with the fixed plate 1, and further comprises a pesticide spraying device, a mechanical end effector 34, a visual recognition device and a controller 2, wherein the pesticide spraying device is arranged on the fixed plate 1 and comprises a liquid medicine conveying system and a spray head 23 connected with the liquid medicine conveying system; the mechanical end effector 34 is configured to be able to weed by cutting; a laser emitter 43 provided on the fixing plate 1, the laser emitter 43 being configured to be capable of weeding with laser light; the visual recognition device comprises a first camera 3 arranged below the fixing plate 1, and is used for recognizing weeds and crops in a target area and acquiring position information of the weeds in the target area; the controller 2 is electrically connected with the visual recognition device, receives the information transmitted by the visual recognition device, and controls the mechanical end effector 34 or the pesticide spraying device or the laser emitter 43 to act, so that the weeding robot has a laser weeding mode, a mechanical weeding mode and a chemical herbicide weeding mode.

Through the arrangement, the first camera 3 can collect images below the fixing plate 1, the visual recognition device can recognize types of weeds and crops in a target area and position information of the weeds in the target area according to the images collected by the first camera 3, the visual recognition device can transmit the information to the controller 2, the controller 2 judges a weeding mode to be adopted by the target area according to the information, and controls the laser emitter 43, the pesticide spraying device or the mechanical end effector 34 to weed, so that three weeding modes of laser weeding, mechanical weeding and chemical herbicide weeding can be realized, and a user can select the most appropriate weeding mode according to actual environment, so that the device is suitable for various environments; meanwhile, the traveling mechanism can drive the fixing plate 1 to move, so that weeding can be performed in different places.

In the application, after the first camera 3 collects the position information of the weeds in the target area and transmits the information to the controller 2, an operator can judge the weeding mode required to be adopted by the target area according to the obtained image and own experience, for example, a chemical herbicide weeding mode is adopted for the weeds which are too close to the growth of crops; otherwise, a mechanical weeding mode is adopted.

In an embodiment of the present invention, the controller 2 controls and executes a corresponding weeding mode according to the information collected by the visual recognition device, and when the proportion of weeds in the target area is greater than 1/3, the controller 2 controls the mechanical end effector 34 to perform mechanical weeding; when the proportion of weeds in the target area is less than 1/3, the controller 2 controls the laser transmitter 43 to carry out laser weeding; when the weeds and crops in the target area are interlaced, the controller 2 controls the chemical herbicide weeding device.

As shown in fig. 2 and 3, in the embodiment of the present invention, the weeding robot further includes a parallel mechanism, the parallel mechanism includes a static platform 17 connected to the fixing plate 1 and a movable platform 22 for installing the laser emitter 43, the spray head 23 and the mechanical end effector 34, and the movable platform 22 is connected to the static platform 17 through three or more mechanical arm structures to realize the movement in the vertical direction and/or the horizontal direction.

In the above technical solution, the mechanical arm structure can move the movable platform 22 in the vertical direction and the horizontal direction relative to the stationary platform 17, so that the movable platform 22 is moved to the position of the weeds by operating the mechanical arm structure, thereby realizing an accurate weeding effect; three or more robot arm structures are provided at intervals in the circumferential direction of the orbiting table 22, and the orbiting table 22 can be stably supported.

As shown in fig. 2 and 3, in the embodiment of the present invention, a plurality of mechanical arm structures are arranged around the circumferential direction of the movable platform 22 at intervals, each mechanical arm structure includes a second driving member 18 located on the stationary platform 17, a driving arm 19 in driving connection with the second driving member 18, and an actuating arm 21 rotatably connected with the driving arm 19 through a spherical hinge 20, and one end of the actuating arm 21 is rotatably connected with the movable platform 22.

Through the arrangement, the second driving part 18 can drive the driving arm 19 to rotate around the central axis of the second driving part 18, and the actuating arm 21 and the driving arm 19 can rotate relatively, so that the movable platform 22 can be driven to move in the vertical direction and the horizontal direction relative to the static platform 17.

As shown in fig. 3, 4 and 7, in the embodiment of the present invention, the weeding robot further includes a rotating mechanism, the rotating mechanism is disposed on the movable platform 22, the rotating mechanism includes a first driving member 26 connected to the movable platform 22 and a rotating member 28 drivingly connected to an output shaft of the first driving member 26, the laser emitter 43, the spray head 23 and the mechanical end effector 34 are all connected to the rotating member 28, and the laser emitter 43, the spray head 23 and the mechanical end effector 34 are arranged around the circumference of the rotating member 28 at intervals, and the first driving member 26 is used for driving the weeding robot to switch between the laser weeding mode, the mechanical weeding mode and the chemical herbicide weeding mode.

In the above technical solution, the movable platform 22 is provided with the avoidance through hole 221 corresponding to the rotating member 28, so that under the driving of the first driving member 26, the rotating member 28 can rotate around the central axis thereof, and drive the laser emitter 43, the spray head 23 and the mechanical end effector 34 to rotate synchronously, so as to rotate the laser emitter 43, the spray head 23 or the mechanical end effector 34 to the position corresponding to the avoidance through hole 221, and one end of the laser emitter 43, the spray head 23 or the mechanical end effector 34 can pass through the avoidance through hole 221 and weed under the movable platform 22, thereby achieving the effect of switching among three modes of laser weeding, mechanical weeding and chemical herbicide weeding.

As shown in fig. 3 and 4, in the embodiment of the present invention, the rotating member 28 is disposed perpendicular to the movable platform 22, and the spray head 23, the mechanical end effector 34, and the laser emitter 43 extend in a radial direction of the rotating member 28.

In the above technical solution, the laser emitter 43, the spray head 23 and the mechanical end effector 34 are radially distributed on the rotary member 28, the rotary member 28 is similar to a "fan" structure, and the rotary member 28 rotates on a vertical surface, thereby switching between three modes of laser weeding, mechanical weeding and chemical herbicide weeding.

As shown in fig. 3 to 5, in the embodiment of the present invention, the weeding robot further includes a plurality of position memory devices 27, the plurality of position memory devices 27 are disposed on the movable platform 22, and the plurality of position memory devices 27 are respectively disposed corresponding to the laser emitter 43, the spray head 23, and the mechanical end effector 34 to detect the positions of the laser emitter 43, the spray head 23, and the mechanical end effector 34 relative to the movable platform 22.

In the above technical solution, the weeding robot includes three mounting plates 35 connected with the movable platform 22, and three position memory devices 27 are provided, which correspond to the spray head 23, the laser emitter 43 and the mechanical end effector 34 respectively; each position memory device 27 includes a detecting member 271 and a detected member 272 corresponding to the detecting member 271, wherein the detecting member 271 is provided on the mounting plate 35 and electrically connected to the controller 2, and the detected member 272 is provided on the rotary member 28; the three detecting members 271 are arranged in order in the radial direction of the rotary member 28, the distances from the three detected members 272 to the central axis of the rotary member 28 are different, and each detected member 272 is the same as the distance from the corresponding detecting member 271 to the central axis of the rotary member 28.

With the above arrangement, the detector 271 detects the corresponding object 272, and can thereby specify the position of the head 23, the laser transmitter 43, or the mechanical end effector 34 corresponding to the object 272.

In the embodiment of the present invention, the detecting element 271 is a proximity switch or a micro switch, and the detected element 272 is a cylinder.

In an embodiment of the present invention, as shown in fig. 5, the detecting member D, the detecting member E and the detecting member F are sequentially disposed from the center to the edge of the mounting plate 35, the detected member G corresponds to the laser emitter 43, and the distance between the detected member G and the detecting member E to the central axis of the mounting plate 35 is the same (it means that the distance between the center of the detected member G and the central axis of the mounting plate 35 is equal to the distance between the center of the detecting member E and the central axis of the mounting plate 35); the object I corresponds to the nozzle 23, and the distance from the object I and the detecting element F to the central axis of the mounting plate 35 is the same; the object H corresponds to the mechanical end effector 34, and the distance from the object H and the object D to the central axis of the mounting plate 35 is the same. Thus, when the detected part H moves to the detection stroke range of the detection part D, the detection part D triggers to close; the other two detecting members E and F do not send signals, and the controller 2 only detects the trigger signal of the detecting member D, so that the position information of the mechanical end effector 34 can be acquired, and because the spray heads 23, the laser transmitters 43 and the mechanical end effector 34 are arranged at intervals around the circumference of the rotating member 28, the controller 2 can obtain the signal that the mechanical end effector 34 faces the ground at the moment, so as to perform corresponding weeding subsequently.

As shown in fig. 10, in the embodiment of the present invention, the pesticide spraying device further includes a pesticide box 11 located on the fixing plate 1, the pesticide conveying system includes a conveying pipe 24 and a conveying pump 12 disposed on the conveying pipe 24, one end of the conveying pipe 24 is communicated with an outlet of the pesticide box 11, and the other end of the conveying pipe 24 is communicated with the spray head 23.

In the above solution, the laser emitters 43, the spray head 23 and the mechanical end effector 34 are arranged at intervals around the circumference of the rotating member 28.

Preferably, the laser emitter 43, the spray head 23 and the mechanical end-effector 34 are arranged uniformly on the rotary member 28, that is to say with an angle of 120 ° between each other.

As shown in fig. 2 and fig. 6, the weeding robot further includes a pneumatic rotating head 36 (in the embodiment of the present invention, the type of the pneumatic rotating head 36 is: 4 in/out +6 way 2A electrical signals of the pneumatic rotating head 36), the pneumatic rotating head 36 includes a stator 361 and a rotor 362 rotatably connected with the stator 361, at least one nozzle 363 is provided on the rotor 362, the at least one nozzle 363 is communicated with the spray head 23, and one end of the conveying pipe 24 is communicated with the stator 361.

In the above technical solution, the rotor 362 can rotate synchronously with the rotating member 28, so that the liquid medicine delivered by the delivery pipe 24 can enter the spray head 23 through the nozzle 363 after passing through the stator 361 and the rotor 362 in sequence.

Since the air-rotating head 36 is prior art, the detailed structure of the air-rotating head 36 will not be described herein.

As shown in fig. 3 and 4, in the embodiment of the present invention, the weeding robot further includes an electromagnetic valve 8 provided at the spray head 23.

With the above arrangement, the solenoid valve 8 can control the connection and disconnection of the spray head 23 and the pneumatic rotary head 36 according to the signal transmitted from the controller 2.

As shown in fig. 1, in the embodiment of the present invention, the weeding robot further includes a second camera disposed above the fixing plate 1, and the second camera is used for identifying the path.

Through the arrangement, the second camera is electrically connected with the controller 2, and the controller 2 can control the walking path of the walking mechanism according to the image collected by the second camera.

As shown in fig. 8, in the embodiment of the present invention, the weeding robot includes a plurality of mechanical end effectors 34, the plurality of mechanical end effectors 34 are different in structure, and the controller 2 is selectively connected to one of the plurality of mechanical end effectors 34.

In the above solution, the mechanical end effector 34 has four-jaw 32, fan blade 33, hook 39, blade 42 and bent blade 37.

With the above arrangement, different mechanical end effectors 34 can be selected for use according to the actual environment to perform mechanical weeding.

As shown in fig. 1 and 9, in the embodiment of the present invention, the traveling mechanism includes two driving wheels 6, and is driven by one driving wheel motor 5 respectively, the driving wheels 6 are installed on the driving wheel shaft 14, the two ends of the driving wheel shaft 14 are connected to the wheel base 13 through the bearing 16 and the flange cover 15 respectively, the driving wheel shaft 14 is connected to the output shaft of the driving wheel motor 5, so that the driving wheel 6 is driven to move by the rotation of the driving wheel motor 5.

In the above technical scheme, in order to facilitate the installation of the driving wheel 6, the two ends of the wheel seat 13 are opened with notches and connected by the flange cover 15, and the two sides of the wheel seat 13 are respectively connected with the flange cover 15 by bolts and nuts. A bearing 16 is provided in the flange cover 15 for connection with the drive axle 14. The two ends of the driving wheel shaft 14 adopt stepped shafts for fixing the inner ring of a bearing 16, and the outer ring of the bearing 16 is fixed by a flange cover 15, so that the installation of the driving wheel is completed.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the first camera can collect images below the fixing plate, the visual recognition device can recognize types of weeds and crops in a target area and position information of the weeds in the target area according to the images collected by the first camera, the visual recognition device can transmit the information to the controller, an operator can judge weeding modes to be adopted by the target area according to the obtained images and self experience, and the controller controls the laser emitter or the pesticide spraying device or the mechanical end effector to weed, so that three weeding modes including laser weeding, mechanical weeding and chemical herbicide weeding can be realized, and a user can select the most appropriate weeding mode according to actual environment, so that the device is suitable for various environments; meanwhile, the traveling mechanism can drive the fixing plate to move, so that weeding is carried out in different places.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a weeding robot which characterized in that, including fixed plate (1) and with the running gear that fixed plate (1) is connected, weeding robot still includes:

the pesticide spraying device is arranged on the fixing plate (1) and comprises a pesticide conveying system and a spray head (23) connected with the pesticide conveying system;

a mechanical end effector (34) configured to enable weeding by cutting;

a laser emitter (43) provided on the fixing plate (1), the laser emitter (43) being configured to be capable of weeding with laser;

the visual recognition device comprises a first camera (3) arranged below the fixing plate (1), and is used for recognizing weeds and crops in a target area and acquiring position information of the weeds in the target area;

and the controller (2) is electrically connected with the visual recognition device, and the controller (2) receives the information transmitted by the visual recognition device and controls the mechanical end effector (34) or the pesticide spraying device or the laser emitter (43) to act so as to enable the weeding robot to have a mechanical weeding mode, a chemical herbicide weeding mode and a laser weeding mode.

2. A weeding robot as claimed in claim 1, further comprising:

the parallel mechanism comprises a static platform (17) connected with the fixed plate (1) and a movable platform (22) used for mounting the spray head (23), the mechanical end effector (34) and the laser emitter (43), and the movable platform (22) is connected with the static platform (17) through three or more mechanical arm structures so as to realize movement in the vertical direction and/or the horizontal direction;

the rotating mechanism is arranged on the movable platform (22) and comprises a first driving piece (26) connected with the movable platform (22) and a rotating piece (28) in driving connection with an output shaft of the first driving piece (26), the spray head (23), the mechanical end effector (34) and the laser emitter (43) are all connected with the rotating piece (28), the spray head (23), the mechanical end effector (34) and the laser emitter (43) are arranged at intervals in the circumferential direction of the rotating piece (28), and the first driving piece (26) is used for driving the weeding robot to switch among the mechanical weeding mode, the chemical weeding mode and the laser weeding mode.

3. The weeding robot according to claim 2, wherein the movable platform (22) is provided with an avoidance through hole (221) corresponding to the rotating member (28), the rotating member (28) is located in the avoidance through hole (221), the central axis of the rotating member (28) is perpendicular to the central axis of the movable platform (22), and the spray head (23), the mechanical end effector (34), and the laser emitter (43) extend in the radial direction of the rotating member (28).

4. A weeding robot according to claim 2, further comprising a plurality of position memory devices (27), wherein a plurality of the position memory devices (27) are provided on the movable platform (22), and wherein a plurality of the position memory devices (27) are provided in correspondence with the laser emitter (43), the spray head (23), and the mechanical end effector (34), respectively, to detect the positions of the laser emitter (43), the spray head (23), and the mechanical end effector (34) relative to the movable platform (22).

5. The weeding robot according to claim 4, wherein the weeding robot includes a mounting plate (35) connected to the movable platform (22), the position memory device (27) includes detecting members (271) and detected members (272), the weeding robot includes at least three detecting members (271) and at least three detected members (272), at least three detecting members (271) are provided on the mounting plate (35), at least three detected members (272) are provided on the rotating member (28) and are provided corresponding to the laser emitter (43), the spray head (23), and the mechanical end effector (34), each detecting member (271) is electrically connected to the controller (2), and the detecting members (271) determine the position of the laser emitter (43), the spray head (23), or the mechanical end effector (34) based on the corresponding detected member (272).

6. A weeding robot according to claim 5, wherein the detecting member (271) is a proximity switch or a micro-switch, and the detected member (272) is a cylinder.

7. A weeding robot according to any one of claims 1 to 6, wherein the spraying device further comprises a medicine box (11) on the stationary plate (1), and the liquid medicine conveying system comprises a conveying pipe (24) and a conveying pump (12) provided on the conveying pipe (24), one end of the conveying pipe (24) communicates with an outlet of the medicine box (11), and the other end of the conveying pipe (24) communicates with a spray head (23).

8. A weeding robot according to claim 7, further comprising an air rotating head (36), wherein the air rotating head (36) comprises a stator (361) and a rotor (362) rotatably connected to the stator (361), at least one nozzle (363) is provided on the rotor (362), at least one nozzle (363) is in communication with the spraying head (23), and one end of the conveying pipe (24) is in communication with the stator (361).

9. A weeding robot according to claim 2, wherein a plurality of said robot arm structures are arranged at intervals around the circumference of the mobile platform (22), and the robot arm structures are configured to be able to bring the mobile platform (22) to move in the vertical and/or horizontal direction;

each mechanical arm structure comprises a second driving part (18) positioned on the static platform (17), a driving arm (19) in driving connection with the second driving part (18), and an execution arm (21) in rotary connection with the driving arm (19) through a spherical hinge (20), wherein one end of the execution arm (21) is in rotary connection with the dynamic platform (22).

10. A weeding robot according to any one of claims 1-6, wherein the weeding robot comprises a plurality of the mechanical end-effectors (34), the plurality of the mechanical end-effectors (34) being structurally different, the controller (2) being selectively connectable to one of the plurality of the mechanical end-effectors (34).