CN114451082A - Inline real-time mechanical weeding equipment and weeding method - Google Patents
Inline real-time mechanical weeding equipment and weeding method Download PDFInfo
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- CN114451082A CN114451082A CN202111534202.0A CN202111534202A CN114451082A CN 114451082 A CN114451082 A CN 114451082A CN 202111534202 A CN202111534202 A CN 202111534202A CN 114451082 A CN114451082 A CN 114451082A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/08—Other machines specially adapted for working soil on which crops are growing with rotating tools such as weeding machines
- A01B39/085—Other machines specially adapted for working soil on which crops are growing with rotating tools such as weeding machines the rotating tools being actively driven
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
- A01B39/22—Tools; Mounting tools
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Working Implements (AREA)
Abstract
The invention belongs to the technical field of agricultural mechanical equipment, and relates to inline real-time mechanical weeding equipment and a weeding method, wherein the inline real-time mechanical weeding equipment comprises: weeding car body, weeding car body downside have four electric drive wheels, and there is crop identification system weeding car body bottom, contains RGB camera, darkroom and halogen lamp, and the halogen lamp is installed in the darkroom four corners, and crop identification system rear sets up weeding sword system, and the control box is installed to weeding car body top, establishes real-time orientation module, weeding sword drive module and power in the control box. The invention mainly aims at the short and small commercial crops such as beet, lettuce and the like, the weeding equipment in the four to six leaf period of the crops can realize automatic control in the weeding process, can move forward along the crops, simultaneously clear weeds and realize accurate weeding, improves the weeding efficiency, reduces the labor intensity of workers, saves the labor cost and improves the working efficiency.
Description
Technical Field
The invention belongs to the technical field of agricultural mechanical equipment, relates to farmland weeding equipment and a working method thereof, and particularly relates to inline real-time mechanical weeding equipment and an inline real-time weeding method.
Background
During the growth process of crops, the weeds with strong vitality in the farmland compete with the crops for nutrients, water and space; particularly, in the four to six leaf stage, the vitality of crops is weaker than that of weeds and is easy to eliminate, so weeding is an essential process. Traditional weeding is accomplished with a hoe: the hoe head goes deep into the soil, the handle of the hoe is manually pulled to enable the hoe to move in the soil, grass roots are cut off under the ground surface, meanwhile, the farmland is loosened, the soil in blocks is smashed by the hoe, and finally the effects of weeding, loosening the soil, retaining water and preventing soil scabbing are achieved. The above-mentioned artificial weeding method is required to be low, but it is labor-intensive, low in work efficiency, and unable to prevent and kill weeds in a large area in time. Mechanical weeding is therefore currently the predominant physical mode of weeding designed specifically to control weeds within a row of crops, i.e. those in the middle of a row but outside the safe area, without damaging the precisely planted row crop.
Disclosure of Invention
At present, a lot of weeding equipment aiming at short economic crops can not be selected in the market, early weeding (particularly 4-6 in leaf period) is particularly critical in the weeding link of the short economic crops, the application provides the early weeding equipment and the weeding method aiming at the short economic crops, and the invention aims to provide a weeding vehicle and the weeding method thereof aiming at the defects of the weeding technology of numerous economic crops in rows and solve the problem of low operation efficiency caused by complex operation conditions, operation omission and the like in the rows and the peripheries of the crops.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an inline real-time mechanical weeding apparatus, comprising: the weeding vehicle comprises a weeding vehicle body 1, two side wings 6, a weeding knife system, a crop recognition system and a control system;
the herbicidal knife system comprising: the pneumatic weeding machine comprises a first pneumatic cylinder 7, two connecting rods 8, two small motors 9, two weeding knives 10, a second pneumatic cylinder 16, two connecting blocks 17 and a transmission mechanism;
the transmission mechanism includes: two sliders 18 and two slide rails 19;
the crop identification system includes: an RGB camera 11, a darkroom 12, and four halogen lamps 13;
the control system includes: a processor 5 and a weeding cutter driving module;
the left side and the right side of the position, which is one third away from the rear end of the weeding vehicle body 1, below the top of the weeding vehicle body 1 are symmetrically provided with an L-shaped side wing 6 respectively;
the side wing 6 positioned on the left side is connected with the fixed end of a first pneumatic cylinder 7, and the movable end of the first pneumatic cylinder 7 is connected with one end of a connecting block 17;
the connecting rod 8 is vertically arranged, and the other end of the connecting block 17 is connected with the upper end, close to the connecting rod 18; the small motor 9 is fixed at the lower end of the connecting rod 18; the output shaft of the small motor 9 faces downwards vertically, and the output shaft of the small motor 9 is fixedly connected with the center of the weeding knife 10;
the stroke direction of the first pneumatic cylinder 7 is perpendicular to the connecting rod 8, so that the stress increase of the connecting part caused by the inclination angle in the movement process is avoided;
the side wing 6 positioned on the right side is connected with the fixed end of a second pneumatic cylinder 16, and the movable end of the second pneumatic cylinder 16 is connected with one end of another connecting block 17;
the other connecting rod 8 is vertically arranged, and the other end of the other connecting block 17 is connected with the upper end, close to the other connecting rod 18; the other small motor 9 is fixed at the lower end of the other connecting rod 18; the output shaft of the other small motor 9 faces downwards vertically, and the output shaft of the other small motor 9 is fixedly connected with the center of the other weeding knife 10;
the stroke direction of the second pneumatic cylinder 16 is perpendicular to that of the other connecting rod 8, so that the stress increase of a connecting part caused by the inclination angle in the movement process is avoided;
the processor 5 is connected with a weeding cutter driving module, and the weeding cutter driving module is connected with both the two small motors 9;
the weeding knife driving module drives the two small motors 9 to rotate under the control of the processor 5, so as to drive the two weeding knives 10 to rotate, and the weeding knives 10 cut into soil and push forwards to eradicate weeds in the inter-row and out-of-row safe area ranges, so that the weeding process is completed;
the upper ends of the two connecting rods 8 are respectively fixedly connected with a sliding block 18;
two sliding rails 9 which are transversely arranged and are positioned on the same straight line are arranged at the bottom of the weeding vehicle body 1 and are one third away from the rear end of the weeding vehicle body 1;
the two sliding blocks 18 are respectively positioned in the two sliding rails 9 and can respectively freely slide in the two sliding rails 9 left and right;
the darkroom 12 is arranged in front of the bottom of the weeding vehicle body 1;
the RGB camera 11 is connected with the processor 5, and the RGB camera 11 is installed in the darkroom 12;
the four halogen lamps 13 are respectively arranged at four corners of the top in the darkroom 12;
the four halogen lamps 13 light the whole darkroom 12 by adjusting the angles thereof, provide a light source for the RGB camera 11, and eliminate the shadows of plants entering the darkroom 12;
the RGB camera 11 takes a picture, after time delay, image information is transmitted to the processor 5 to be processed, the processor 5 identifies the inter-row and intra-row safety zone ranges, the pneumatic cylinder I7 and the pneumatic cylinder II 16 are controlled to drive the weeding cutter 10 to move left and right, and weeds outside the inter-row and intra-row safety zone ranges are eradicated;
the safety zone range is as follows: a circular area with a crop as the center and a radius of about 6 cm.
On the basis of the technical scheme, a control box 2 is arranged on the weeding vehicle body 1;
the processor 5 and the weeding cutter driving module are both arranged in the control box 2.
On the basis of the technical scheme, the inline real-time mechanical weeding equipment further comprises: four electric drive wheels 14;
the control system further comprises: the weeding vehicle comprises a weeding vehicle driving module and a real-time positioning module; the weeding vehicle driving module and the real-time positioning module are both arranged in the control box 2;
the processor 5 is connected with a weeding vehicle driving module and a real-time positioning module, and the weeding vehicle driving module is connected with four electric driving wheels 14;
the two electric driving wheels 14 are symmetrically arranged on the left side and the right side of the front end of the bottom of the weeding vehicle body 1, and the two electric driving wheels 14 are symmetrically arranged on the left side and the right side of the rear end of the bottom of the weeding vehicle body 1;
the real-time positioning module positions the field position and sends the field position information to the processor 5; the processor 5 controls the weeding vehicle driving modules to drive the four electric driving wheels 14 to rotate according to the field position information, so that the weeding vehicle body 1 moves in the field along the crop rows.
On the basis of the technical scheme, the diameters of the four electric driving wheels 14 are as follows: 50cm, width: 20cm, can better pass through the row space, and simultaneously avoids the conditions of soil compaction and the like. The larger electric drive wheels 14 allow the herbicidal vehicle body 1 to easily ride over short commercial crops such as beets and lettuce.
On the basis of the technical scheme, the stroke of the first pneumatic cylinder 7 and the stroke of the second pneumatic cylinder 16 are as follows: 15 cm.
On the basis of the technical scheme, the weeding vehicle body 1 and the two side wings 6 are integrally manufactured.
On the basis of the technical scheme, the side wing 6 positioned on the left side is connected with the fixed end of the first pneumatic cylinder 7 through welding, and the side wing 6 positioned on the right side is connected with the fixed end of the second pneumatic cylinder 16 through welding.
On the basis of the technical scheme, the movable end of the first pneumatic cylinder 7 is riveted and connected with one end of the connecting block 17 through a rivet; the other end of the connecting block 17 is riveted and connected with the upper end of the connecting rod 18;
the movable end of the second pneumatic cylinder 16 is riveted with one end of another connecting block 17 by a rivet, and the other end of the another connecting block 17 is riveted with the upper end of another connecting rod 18 by a rivet.
On the basis of the technical scheme, the inline real-time mechanical weeding equipment further comprises: a power supply 3;
the power supply 3 is arranged in the control box 2;
the power supply 3 is connected with the processor 5;
the power supply 3 supplies power to the processor 5.
On the basis of the technical scheme, the inline real-time mechanical weeding equipment further comprises: a receiving antenna 15 and a remote controller;
the receiving antenna is installed at the rear end of the top of the weeding vehicle body 1, the receiving antenna 15 is in wireless connection with the remote controller, and the receiving antenna 15 is connected with the processor 5;
the remote controller sends a control signal to the processor 5 through the receiving antenna 15, and then controls the operation of the inline real-time mechanical weeding apparatus.
On the basis of the above technical solution, the weeding knife 10 includes: a herbicidal cutter body 20 and a plurality of herbicidal cutter blades 21;
the body 20 of the weeding knife is: disc type;
the plurality of weeding knife blades 21 are uniformly distributed and fixed on the edge of the weeding knife body 20.
On the basis of the technical scheme, the weeding cutter body 20 is made of pre-hardened tool steel.
On the basis of the technical scheme, the thickness of the body 20 of the weeding knife is 6.4 mm.
On the basis of the technical scheme, the shapes of the plurality of weeding cutter blades 21 are approximately in a bent trapezoid shape; the beveled edges of the plurality of herbicidal knife blades 21 at the soil entry end are angled at 30 degrees from the plane of the herbicidal knife body 20.
On the basis of the technical scheme, the thicknesses of the plurality of weeding knife blades 21 are as follows: 5 mm; the height of the plurality of herbicidal blade blades 21 is: 2 cm; the width of the plurality of weeding knife blades 21 in the horizontal plane projection is as follows: 3 cm.
On the basis of the technical scheme, the number of the weeding cutter blades 21 is four.
On the basis of the technical scheme, the darkroom 12 is surrounded by shading cloth;
the shading cloth on the front and back sides of the darkroom 12 is cut into cloth strips to facilitate the plants to pass through the darkroom 12.
On the basis of the technical scheme, the real-time positioning module comprises: the Beidou real-time positioning module 4 and the GPS real-time positioning module.
On the basis of the technical scheme, the Beidou real-time positioning module 4 comprises: big dipper RTK high accuracy orientation module.
On the basis of the above technical solution, the processor 5 is: raspberry Pi.
On the basis of the technical scheme, the output shaft of the small motor 9 is fixedly connected with the center of the weeding knife 10 through a coupler.
On the basis of the technical scheme, when the weeding knives 10 weed, the weeding knives 10 on the left side rotate clockwise, and the weeding knives 10 on the right side rotate anticlockwise.
A weeding method applying the inline real-time mechanical weeding equipment comprises the following steps:
s1, the RGB camera 11 takes a picture, and after a delay (because the weeding knife 10 is behind the RGB camera 11), transmits the image information to the processor 5;
s2, identifying crops by the processor 5, extracting features, and classifying a safe area range and a non-safe area range;
the safety zone range is as follows: a circular area with a crop as the center and a radius of about 6 cm;
the range of the non-safety zone is as follows: outside the safe area range in the crop row;
s3, the processor 5 adopts a control algorithm and combines real-time positioning to control the left and right transverse moving positions of the two weeding knives 10;
the processor 5 combines real-time positioning and controls the weeding vehicle body 1 to move forwards and the two weeding knives 10 to rotate for weeding;
the control algorithm is as follows: and (3) selecting the classified areas by using a rectangular frame, cutting and extracting a target crop after the classified areas are covered by a mask, taking the center of the rectangular frame as the coordinate of the main stalk, and further controlling the opening and closing of the two weeding knives 10 to avoid the crop to finish the weeding process.
The invention has the following beneficial technical effects:
the invention mainly aims at the short economic crops such as beet, lettuce and the like, realizes automatic control in the weeding process of weeding equipment in the four to six leaf stage of the crops, can move forward along the crops, and simultaneously realizes clear weeds and accurate weeding. The inline real-time mechanical weeding equipment really realizes inline weeding in the field through the crop identification system, provides an effective inline weeding means for economic crops in the field, greatly improves inline weeding efficiency, does not need personnel to carry out high-intensity operation, greatly reduces labor intensity of operators while improving weeding efficiency, saves labor cost and improves working efficiency. The working mode of bypassing the crops in the technical scheme of the application is as follows: the blade 10 is pulled to both sides of the crop without lifting the blade 10, or the blade 10 may be changed to a lifted structure, but the weeds on both sides of the crop cannot be removed.
Drawings
The invention has the following drawings:
FIG. 1 is a schematic diagram of an inline real-time mechanical weeding apparatus according to the present invention;
FIG. 2 is a schematic structural view of a herbicidal blade system of the present invention;
FIG. 3 is a schematic diagram of a crop identification system according to the present invention;
FIG. 4 is a schematic structural diagram of the transmission mechanism of the present invention;
fig. 5 is a schematic perspective view of the weeding knife 10 according to the present invention;
fig. 6 is a schematic bottom view of the weeding knife 10 according to the present invention;
FIG. 7 is a schematic block diagram of the connections of the control system of the present invention;
fig. 8 is a schematic flow diagram of a inline real-time mechanical weeding method according to the present invention.
Reference numerals:
1. a weeding vehicle body; 2. a control box; 3. a power source; 4. a Beidou real-time positioning module; 5. a processor; 6. a side wing; 7. a first pneumatic cylinder; 8. a connecting rod; 9. a small motor; 10. weeding knives; 11. an RGB camera; 12. a darkroom; 13. a halogen lamp; 14. an electric drive wheel; 15. a receiving antenna; 16. a second pneumatic cylinder; 17. connecting blocks; 18. a slider; 19. a slide rail; 20. a body of a weeding cutter; 21. a weeding knife blade.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof; for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate that the directions of movement are consistent with those of the drawings, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. The term interpretation section: the terms "mounting," "connecting," and "fixing" in the present invention should be understood in a broad sense, for example, they may be fixed, detachable, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As described in the background, the following serious problems exist in the prior art: in order to solve the technical problems, the invention provides inline weeding equipment and a weeding method (namely inline real-time mechanical weeding equipment and a weeding method) based on dynamic identification.
In a typical embodiment of the present invention, as shown in fig. 1-7, a commercial crop inline weeding apparatus (i.e., inline real-time mechanical weeding apparatus) comprises: weeding car automobile body 1, 1 side wall symmetry of weeding car automobile body is provided with four around evenly distributed's electric drive wheel 14, be provided with in weeding car automobile body 1 with 14 assorted weeding car drive module of electric drive wheel, be provided with control box 2 in the top of weeding car automobile body 1, be provided with power 3, big dipper real-time orientation module 4 and treater 5 in control box 2. Weeding sword system sets up apart from 1 rear end third department of weeding car body, comprises pneumatic cylinder 7, connecting rod 8, small motor 9, weeding sword 10, two 16 of pneumatic cylinder and connecting block 17, the one end of weeding sword 10 is passed through the shaft coupling and is connected with small motor 9, and the weeding sword blade 21 that the other end stretches out invades soil, weeding sword 10 is at the time of starting working, and small motor 9 drives weeding sword 10 and rotates, and weeding sword 10 cuts into soil and forwards propulsion, will go and except that the weed shovel of safety zone scope in the line, accomplishes the weeding process. In the weeding process of the in-row field weeding equipment (in-row real-time mechanical weeding equipment), the weeding knife system is matched with the crop recognition system, field crops can be effectively avoided, weeding is carried out on the way outside the in-row and in-row safe areas, the crops are prevented from being injured in the weeding process, the weeding efficiency is improved, the labor intensity of workers is reduced, and automatic weeding outside the in-row and in-row safe areas is realized. The safe area refers to the situation that when a worker encounters weeds close to plants in the weeding process by using the hoe, the weeds cannot be continuously and normally cleaned by using a tool and need to be stooped down and manually pulled out by the worker, and the weeds are called as weeds in the safe area, otherwise, the weeds are called as weeds outside the safe area. The security zone may be assumed to be a circular area of about 6cm in diameter.
The flank 6 of weeding equipment (real-time mechanical weeding equipment in row promptly) is connected on weeding car body 1 for fixed pneumatic cylinder 7, and pneumatic cylinder 7 promotes the connecting rod 8 of weeding sword 10 top, connecting rod 8 moves along slide rail 17, and left side small motor 9 drives left side weeding sword 10 clockwise rotation simultaneously, and right side weeding sword 9 drives right side small motor 10 anticlockwise rotation, and the weeding sword 10 that is moving exerts pressure to soil to cut into soil. The Beidou real-time positioning module 4 comprises: big dipper RTK high accuracy orientation module, processor 5 is: the Raspberry Pi is characterized in that a receiving antenna 15 is arranged on one side, close to the rear end of the weeding vehicle body 1, of the weeding vehicle body, the receiving antenna 15 is used for receiving a control signal of a remote controller, transmitting the control signal to the processor 5 and then sending the control signal out through the processor 5, and the Raspberry Pi belongs to the mature prior art and does not describe the specific working principle in detail in the invention. The weeding knife system clears away the weeds between rows of the cash crops in the mode, not only improves the in-row weeding efficiency, but also reduces the labor intensity of workers, saves the labor cost, greatly reduces the pollution of chemical reagents to the environment, and avoids the change of the physical properties of the soil.
In the invention, when weeding, a crop recognition system positioned at the middle rear part of a weeding vehicle body 1 realizes weed distinguishing so as to realize the recognition of a single plant, the crop recognition system consists of an RGB camera 11, a darkroom 12 and halogen lamps 13, the halogen lamps 13 are used for preventing the negative influence of direct sunlight, four halogen lamps 13 are used for lighting on site and are arranged at four corners at the top of the darkroom 12, one is arranged at each corner, and the darkroom 12 consists of shading cloth and is used for preventing the RGB camera 11 from being influenced by natural light in the recognition process.
In the invention, when the in-row real-time mechanical weeding equipment walks along the crop row, the in-row real-time mechanical weeding equipment takes a picture by the RGB camera 11, sends the picture to the processor 5 for processing, completes the distinguishing of the plants and weeds, and further completes the positioning of the plants, and after the positioning is completed, the weeding knife 10 completes the actions of opening and closing the knife, thereby avoiding the crop and realizing the in-row weeding without damaging the crop.
As shown in fig. 8, a weeding method using the inline real-time mechanical weeding apparatus includes the following steps:
s1, the RGB camera 11 takes pictures and transmits image information to the processor 5;
s2, identifying crops by the processor 5, extracting features, and classifying a safe area range and a non-safe area range;
s3, the processor 5 adopts a control algorithm and combines real-time positioning to control the left and right transverse moving positions of the two weeding knives 10;
the processor 5 combines real-time positioning and controls the weeding vehicle body 1 to move forwards and the two weeding knives 10 to rotate for weeding;
the control algorithm is as follows: and (3) selecting the classified areas by using a rectangular frame, cutting and extracting a target crop after the classified areas are covered by a mask, taking the center of the rectangular frame as the coordinate of the main stalk, and further controlling the opening and closing of the two weeding knives 10 to avoid the crop to finish the weeding process.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive faculty, based on the technical solution of the present invention.
Those not described in detail in this specification are within the knowledge of those skilled in the art.
Claims (10)
1. An inline real-time mechanical weeding apparatus, comprising: the weeding vehicle comprises a weeding vehicle body (1), two side wings (6), a weeding knife system, a crop recognition system and a control system;
the herbicidal knife system comprising: the weeding machine comprises a first pneumatic cylinder (7), two connecting rods (8), two small motors (9), two weeding knives (10), a second pneumatic cylinder (16), two connecting blocks (17) and a transmission mechanism;
the transmission mechanism includes: two sliding blocks (18) and two sliding rails (19);
the crop identification system includes: an RGB camera (11), a darkroom (12) and four halogen lamps (13);
the control system includes: a processor (5) and a weeding knife driving module;
the left side and the right side of the position, which is one third away from the rear end of the weeding vehicle body (1), below the top of the weeding vehicle body (1) are symmetrically provided with an L-shaped side wing (6) respectively;
the side wing (6) positioned on the left side is connected with the fixed end of the first pneumatic cylinder (7), and the movable end of the first pneumatic cylinder (7) is connected with one end of the connecting block (17);
the connecting rod (8) is vertically arranged, and the other end of the connecting block (17) is connected with the upper end of the connecting rod (18) close to the connecting rod; the small motor (9) is fixed at the lower end of the connecting rod (18); the output shaft of the small motor (9) faces downwards vertically, and the output shaft of the small motor (9) is fixedly connected with the center of the weeding knife (10);
the stroke direction of the first pneumatic cylinder (7) is perpendicular to the connecting rod (8);
the side wing (6) positioned on the right side is connected with the fixed end of a second pneumatic cylinder (16), and the movable end of the second pneumatic cylinder (16) is connected with one end of another connecting block (17);
the other connecting rod (8) is vertically arranged, and the other end of the other connecting block (17) is connected with the position, close to the upper end, of the other connecting rod (18); the other small motor (9) is fixed at the lower end of the other connecting rod (18); the output shaft of the other small motor (9) faces downwards vertically, and the output shaft of the other small motor (9) is fixedly connected with the center of the other weeding knife (10);
the stroke direction of the second pneumatic cylinder (16) is perpendicular to the other connecting rod (8);
the processor (5) is connected with a weeding knife driving module, and the weeding knife driving module is connected with two small motors (9);
the weeding knife driving module drives the two small motors (9) to rotate under the control of the processor (5), so that the two weeding knives (10) are driven to rotate, the weeding knives (10) cut into soil and are pushed forward, weeds outside safety area ranges in rows and between rows are eradicated, and the weeding process is completed;
the upper ends of the two connecting rods (8) are respectively fixedly connected with a sliding block (18);
two sliding rails (9) which are transversely arranged and are positioned on the same straight line are arranged at the bottom of the weeding vehicle body (1) and are one third away from the rear end of the weeding vehicle body (1);
the two sliding blocks (18) are respectively positioned in the two sliding rails (9) and can respectively freely slide left and right in the two sliding rails (9);
the darkroom (12) is arranged in front of the bottom of the weeding vehicle body (1);
the RGB camera (11) is connected with the processor (5), and the RGB camera (11) is installed in the darkroom (12);
the four halogen lamps (13) are respectively arranged at four corners of the top in the darkroom (12);
the four halogen lamps (13) light the whole darkroom (12) by adjusting the angles thereof, provide light sources for the RGB camera (11), and eliminate the shadows of plants entering the darkroom (12) at the same time;
the RGB camera (11) takes pictures, after time delay, image information is transmitted to the processor (5) for processing, the processor (5) identifies inter-row and intra-row safety zone ranges, the pneumatic cylinder I (7) and the pneumatic cylinder II (16) are controlled to drive the weeding cutter (10) to move left and right, and weeds outside the inter-row and intra-row safety zone ranges are eradicated;
the safety zone range is as follows: a circular area with a radius of 6cm centered on the crop.
2. Inline real-time mechanical weeding apparatus as claimed in claim 1, wherein: a control box (2) is arranged on the weeding vehicle body (1);
the processor (5) and the weeding cutter driving module are both arranged in the control box (2).
3. Inline real-time mechanical weeding apparatus as claimed in claim 2, wherein: the inline real-time mechanical weeding apparatus further comprises: four electric drive wheels (14);
the control system further comprises: the weeding vehicle comprises a weeding vehicle driving module and a real-time positioning module; the weeding vehicle driving module and the real-time positioning module are both arranged in the control box (2);
the processor (5) is connected with the weeding vehicle driving module and the real-time positioning module, and the weeding vehicle driving module is connected with the four electric driving wheels (14);
the weeding vehicle is characterized in that two electric driving wheels (14) are symmetrically arranged on the left side and the right side of the front end of the bottom of the weeding vehicle body (1), and two electric driving wheels (14) are symmetrically arranged on the left side and the right side of the rear end of the bottom of the weeding vehicle body (1);
the real-time positioning module positions the field position and sends the field position information to the processor (5); the processor (5) controls the weeding vehicle driving module to drive the four electric driving wheels (14) to rotate according to the field position information, so that the weeding vehicle body (1) moves in the field along the crop rows.
4. Inline real-time mechanical weeding apparatus as claimed in claim 2, wherein: the inline real-time mechanical weeding apparatus further comprises: a power supply (3);
the power supply (3) is arranged in the control box (2);
the power supply (3) is connected with the processor (5);
the power supply (3) supplies power to the processor (5).
5. Inline real-time mechanical weeding apparatus as claimed in claim 1, wherein: the inline real-time mechanical weeding apparatus further comprises: a receiving antenna (15) and a remote controller;
the receiving antenna is installed at the rear end of the top of the weeding vehicle body (1), the receiving antenna (15) is in wireless connection with a remote controller, and the receiving antenna (15) is connected with the processor (5);
the remote controller sends a control signal to the processor (5) through the receiving antenna (15), and then the operation of the in-line real-time mechanical weeding equipment is controlled.
6. Inline real-time mechanical weeding apparatus as claimed in claim 1, wherein: the weeding knife (10) comprises: a weeding cutter body (20) and a plurality of weeding cutter blades (21);
the body (20) of the weeding knife is as follows: disc type;
the edge of the weeding knife body (20) is uniformly and fixedly provided with the plurality of weeding knife blades (21).
7. Inline real-time mechanical weeding apparatus as claimed in claim 6, wherein: the body (20) of the weeding knife is made of pre-hardened tool steel.
8. Inline real-time mechanical weeding apparatus as claimed in claim 6, wherein: the shapes of the plurality of weeding knife blades (21) are approximately in a bent trapezoid shape; the bevel edge of the plurality of weeding blade blades (21) at the soil entering end forms an angle of 30 degrees with the plane of the weeding blade body (20).
9. Inline real-time mechanical weeding apparatus as claimed in claim 1, wherein: the darkroom (12) is surrounded by shading cloth;
the shading cloth on the front and the back surfaces of the darkroom (12) is cut into cloth strips so as to facilitate the plants to pass through the darkroom (12).
10. A weeding method using the inline real-time mechanical weeding apparatus according to any one of claims 1 to 9, comprising the steps of:
s1, the RGB camera (11) takes a picture, and transmits the image information to the processor (5) after time delay;
s2, identifying crops by the processor (5), extracting features, and classifying a safe area range and a non-safe area range;
the safety zone range is as follows: a circular area with a crop as the center and a radius of 6 cm;
the range of the non-safety zone is as follows: outside the safe area range in the crop row;
s3, the processor (5) adopts a control algorithm and combines real-time positioning to control the left and right transverse moving positions of the two weeding knives (10);
the processor (5) is combined with real-time positioning and controls the weeding vehicle body (1) to move forwards and the two weeding knives (10) to rotate so as to carry out weeding operation;
the control algorithm is as follows: and (3) selecting the classified areas by using a rectangular frame, cutting and extracting a target crop after the classified areas are covered by a mask, taking the center of the rectangular frame as the coordinate of the main stalk, and further controlling the opening and closing of the two weeding knives (10) so as to avoid the crop to finish the weeding process.
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