CN115918364A

CN115918364A - Self-propelled farmland weeding and topdressing all-in-one machine based on image processing

Info

Publication number: CN115918364A
Application number: CN202211350748.5A
Authority: CN
Inventors: 张银萍; 汪强; 周可金; 夏利娟; 张付贵; 张祎; 赵莉; 林勇翔
Original assignee: Institute Of Crops Anhui Academy Of Agricultural Sciences
Current assignee: Institute Of Crops Anhui Academy Of Agricultural Sciences
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2023-04-07

Abstract

The invention relates to a self-propelled farmland weeding and top dressing all-in-one machine based on image processing, which comprises a rack, a chassis, a power mechanism, two traveling mechanisms, a weeding mechanism, a top dressing mechanism and a control system, wherein the chassis is arranged on the rack; the power mechanism drives the two walking mechanisms symmetrically arranged on the left side and the right side of the chassis to walk; the weeding mechanism is arranged at the front part of the frame; the multiple top application mechanisms are arranged at the rear part of the rack side by side and comprise first furrow openers and second furrow openers which are staggered from front to back, the multiple first furrow openers are arranged at intervals, and the multiple second furrow openers which are arranged at intervals are staggered with the first furrow openers behind the interval positions of the front row of first furrow openers; a fertilizer outlet is arranged at the rear of the first furrow opener and is positioned in front of the spacing position of every two second furrow openers in the rear row; the control system is respectively connected with the power mechanism, the weeding mechanism and the topdressing mechanism. The invention integrates ploughing, weeding and topdressing, and has high automation degree and high operating efficiency.

Description

Self-propelled farmland weeding and topdressing all-in-one machine based on image processing

Technical Field

The invention relates to the technical field of sesame weeding and topdressing machines, in particular to a self-propelled farmland weeding and topdressing all-in-one machine based on image processing.

Background

Sesame is used as a traditional crop in China, is an important characteristic oil crop in China, has an area of 700 ten thousand mu throughout the year, and is mainly planted in regions with double cropping in one year, such as Huang-Huai region and Jiang-Huai region. The sesame seeds are generally sown in wide and narrow rows, the seedling stage is from the emergence of seedlings to the bud stage, the sesame seeds grow slowly, the height of the seedlings is less than 20 centimeters, row weeds of the sesame seeds grow extremely fast, the normal growth of the sesame seeds in the seedling stage is influenced, and the later-stage yield is greatly reduced. Weeding is mainly carried out in a mode of hoeing by manpower or spraying pesticides at present; the manual hoeing effect is very slow, the labor intensity is very high, the seedlings are very easy to be injured by spraying pesticides, and in addition, negative influences are caused on the environment, the soil and the growth of sesame seedlings. However, no sesame special intertillage weeding machine exists in the current market, only part of small herbicides are mainly prepared by modifying production machines of crops such as cotton, sunflower and the like, the small herbicides are not matched with agricultural technologies of sesame agricultural machines, and the small intertillage weeding machine is easy to be entangled and blocked in operation and has lower weeding efficiency. The reformed small sesame intertillage weeder has the following defects: the small sesame intertillage weeder can only be provided with a single dedusting reamer, weeds in a wide row cannot be completely removed, and sesame seedlings are fragile and more weeds can exist around the sesame seedlings, namely the weeds in a narrow row of sesame cannot be weeded; most of weeding reamer on the weeder is fixed mounting on the machine, can not carry out artificial regulation according to the height of sesame to the height of weeding reamer, cause the phenomenon of weeding effect not good even hindering the seedling.

Therefore, the current sesame planting is mainly performed manually, the labor cost of production links such as weeding and harvesting accounts for about 60% of the whole production cost, the sesame planting cost in China is as high as 500 yuan/mu, and the American sesame planting cost with low labor cost and high mechanization degree is only 100-200 yuan/mu. The production mode with high cost and low benefit causes a plurality of farmers to abandon sesame production, thus leading the comprehensive productivity and competitiveness of the sesame in China to be stricken greatly.

In recent years, along with the improvement of living standard of people, the health care function of sesame (especially the black sesame) is more and more emphasized by people, so that the demand of the sesame is increased year by year, the productivity and the competitiveness of sesame raw materials are directly related to the stability and the durability of sesame product supply in China, but the domestic sesame production can not meet the market demand far away.

In view of the fact that sesame is used as a special health-care agricultural product, the structure adjustment of the planting industry of China is increased, the planting area of the sesame is gradually recovered, but the industrial development is still restricted due to the low mechanization degree and the high production cost of the sesame. Therefore, in sesame planting, the lack of key technologies and equipment for efficient intertillage weeding is a bottleneck problem to be solved urgently at present.

Disclosure of Invention

Aiming at the problems existing in the current sesame planting, the invention provides a self-propelled farmland weeding and topdressing integrated machine based on image processing, which integrates farmland, weeding and topdressing, is suitable for field management of sesame in different areas, is particularly suitable for efficient weeding in a sesame seedling period, has a good weeding effect, greatly reduces labor intensity, reduces manpower input, and greatly reduces negative influences on environment, soil and sesame seedling growth.

In order to achieve the purpose, the invention provides the following technical scheme:

a self-propelled farmland weeding and top application all-in-one machine based on image processing is characterized by comprising a rack, a chassis, a power mechanism, two traveling mechanisms, a weeding mechanism, a top application mechanism and a control system; the frame is fixed above the chassis, the power mechanism is arranged on the chassis, and the power mechanism drives the two travelling mechanisms symmetrically arranged on the left side and the right side of the chassis to travel; the weeding mechanism is arranged at the front part of the frame; the top application mechanisms are arranged at the rear part of the rack side by side and comprise first furrow openers and second furrow openers which are staggered from front to back, a plurality of first furrow openers are arranged at intervals, and a plurality of second furrow openers which are arranged at intervals are staggered with the first furrow openers behind the interval positions of the first furrow openers in the front row; a fertilizer outlet is arranged at the rear of the first furrow opener and is positioned in front of the spacing position of every two second furrow openers in the rear row; the control system is installed on the rack and is respectively connected with the power mechanism, the weeding mechanism and the topdressing mechanism.

Further, a plurality of the weeding mechanisms are arranged in parallel at the front part of the frame.

Furthermore, the weeding mechanism comprises a weeding knife, a knife rest, a transmission device, a speed reducer and a second motor; the second motor and the speed reducer are integrated and integrally arranged on a bearing plate at the front end of the rack, the speed reducer is connected with the knife rest through the transmission device, and the weeding knife is arranged at the bottom end of the knife rest; the second motor drives the knife rest and the weeding knife to rotate through the transmission device.

Further, a preset angle alpha exists between the plane where the weeding knife is located and the ground.

Furthermore, the weeding knife is an arc weeding knife.

Furthermore, the cutting edge of the weeding knife is provided with densely distributed sawteeth.

Furthermore, the top application mechanism also comprises a fertilizer box, a fixed supporting device and a height adjusting device; the fertilizer box is arranged on the frame behind the weeding mechanism; the height adjusting device is fixed on the rack below the fertilizer box, and the first furrow opener and the second furrow opener are respectively fixed on the height adjusting device through the fixed supporting device; the fertilizer outlet is connected with the fertilizer box through the fertilizer pipe.

Further, the fixed supporting device is an S-shaped bent plate.

Furthermore, the control system comprises an image acquisition device and a main controller, wherein the main controller determines an area to be weeded according to image information acquired by the image acquisition device, and controls the farmland weeding and topdressing all-in-one machine to walk, weed the weeding mechanism and the topdressing mechanism to ditch and fertilize according to the information of the area to be weeded.

Furthermore, the control system also comprises a plurality of sub-controllers which are respectively arranged on the weeding mechanism, and the main controller is connected with the weeding mechanism through the sub-controllers.

The invention has the beneficial effects that:

the self-propelled farmland weeding and topdressing all-in-one machine based on image processing is compact in overall structure, integrates farmland, weeding and topdressing, and greatly reduces production cost. The invention further improves the weeding effect and the topdressing effect through the plurality of furrow openers distributed in the shape of the saw teeth.

The invention adopts a ditching mode of double rows of ditchers, ditches and turns soil by adopting a plurality of ditchers arranged at intervals, then arranges a fertilizer outlet at the rear of the front row of first ditchers, utilizes the second ditchers arranged at intervals to formally ditch, and formally ditches and turns up soil to cover the applied fertilizer, thereby not only ensuring that the fertilizer enters the soil, but also effectively controlling the distance between the fertilizer and the seeds or seedlings to be sown in the future and avoiding the phenomenon of burning seeds or seedlings. Meanwhile, as the fertilizer is turned over and pressed at the position of the furrow, when the sowing is finished and the seeds are covered with soil, the furrow-type covering soil is preferably adopted, so that the fertilizer applied during the plowing and the covering soil can be brought to the furrow where the seeds are located together to form a ridge, the stirring and mixing effects between the fertilizer and the soil are realized, the fertilizer is more uniformly distributed, meanwhile, because the soil exists above the fertilizer before the furrowing and covering soil, the covering soil covers the seeds firstly after the furrowing, and the direct contact of the fertilizer seeds is avoided. In addition, the drainage of the ridge with the seeds or the seedlings is greatly increased by adopting the ditching type soil covering.

The weeding machine automatically walks, the weeding mechanism weeds and the additional fertilizer mechanism fertilizes under the control of the control system, the control system acquires image information in front of the rack through the image acquisition device to determine an area to be weeded, and the weeding knife rotates under the driving of the second motor to accurately weed the area to be weeded.

The multiple weeding mechanisms can perform multi-ridge synchronous weeding operation, promote the field management production mode to be changed from the extensive type to the intensive type, liberate more labor force, are easy to operate, have the weeding rate of 95 percent in a wide row and obviously improve the weeding effect. Compared with the existing sesame weeding mode, the sesame weeding machine has the advantages of high automation degree, simplicity and convenience in operation and high operation efficiency, can continuously operate for 20-30 mu per hour, greatly reduces the labor cost and the input of pesticide cost, realizes high-efficiency weeding of sesame crops, greatly reduces the negative influence on the environment, soil and growth of sesame seedlings, and solves the actual production problem that no proper farmland weeding machine exists in sesame cultivation.

Drawings

FIG. 1 is a perspective view of a self-propelled integrated machine for weeding and topdressing based on image processing;

FIG. 2 is a front view of the self-propelled tillage, weeding and top application all-in-one machine based on image processing of the invention;

FIG. 3 is a side view of the self-propelled tilling, weeding and top dressing all-in-one machine based on image processing according to the invention;

FIG. 4 is a schematic view of the construction of the weeding mechanism according to the present invention;

FIG. 5 is a schematic view of the top dressing mechanism of the present invention.

Wherein: 1-a frame, 2-a walking mechanism, 21-a tire, 22-a transmission shaft, 23-a steel ring, 24-a connecting rod, 3-a weeding mechanism, 31-a weeding knife, 32-a knife rest, 33-a transmission device, 34-a speed reducer, 35-a second motor, 4-a topdressing mechanism, 41-a fertilizer box, 42-a fixed supporting device, 43-a first furrow opener, 44-a second furrow opener, 45-a fertilizer discharging port, 5-a control system, 51-an image acquisition device, 52-a bracket, 53-a main controller and 6-a battery.

Detailed Description

The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the present specification, terms of orientation or positional relationship such as up, down, left, right, inside, outside, front, rear, head, and tail are established based on the orientation or positional relationship shown in the drawings. Different drawings may also change the corresponding positional relationship, so the protection scope should not be construed as being limited thereby.

In the present invention, the terms "mounted," "connected," "fixed," and the like are to be understood in a broad sense, and for example, may be fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected or capable of communicating with each other, directly connected, indirectly connected through an intermediate medium, or communicated between two components, or interacting between two components. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The embodiment describes a self-propelled farmland weeding and topdressing all-in-one machine based on image processing, which not only can realize efficient weeding, but also can carry out topdressing, ditching and ridge making. In the embodiment, the forward weeding direction of the integrated machine for weeding and topdressing is taken as the front, and the opposite direction is taken as the back.

As shown in fig. 1, the integrated machine for weeding and topdressing for farmland comprises a frame 1, a chassis, a power mechanism, a transmission mechanism, two traveling mechanisms 2, a weeding mechanism 3, a topdressing mechanism 4 and a control system 5. Frame 1 is fixed in the chassis top, power unit installs on the chassis, the left and right sides on the chassis is installed to two running gear 2 symmetries, weeding mechanism 3 installs in the front portion of frame 1, top application mechanism 4 installs the rear portion in frame 1, control system 5 installs in frame 1, control system 5 and power unit, weeding mechanism 3 and top application mechanism 4 link to each other respectively, under control system 5 control, power unit drives 2 actions of running gear through drive mechanism and makes the all-in-one that cultivates weeding and top application and walk, weeding mechanism 3 and top application mechanism 4 fertilize.

The power mechanism comprises a first motor and a speed reducer, and the speed reducer of the embodiment is provided with an electromagnetic clutch. The first motor is connected with the transmission mechanism through the speed reducer, and the transmission mechanism is respectively connected with the two walking mechanisms 2. The transmission mechanism of this embodiment can adopt the combined mechanism of linear drive and steering component in the current two driving cars, and first motor passes through transmission mechanism and drives two running gear 2 rotation actions, and then realizes advancing, retreating and turning to of ploughing weeding topdressing all-in-one.

As shown in fig. 1 and 3, the traveling mechanism 2 includes a tire 21, a transmission shaft 22, a steel ring 23 and a connecting rod 24, the tire 21 is sleeved on the outer circumference of the steel ring 23, the transmission shaft 22 passes through the center of the steel ring 23, one end of the transmission shaft 22 is connected with the transmission mechanism, the other end is installed inside a rolling bearing, the outer side of the rolling bearing is connected with the bottom end of the connecting rod 21, and the top end of the connecting rod 24 is connected with the frame 1.

The front part of frame 1 sets up a plurality of weeding mechanisms 3 side by side, can plant the interval that grows to require to set up between the weeding monomer according to the sesame, improves herbicidal efficiency greatly.

As shown in fig. 1, 2 and 4, the weeding mechanism 3 includes a weeding blade 31, a blade holder 32, a transmission 33, a speed reducer 34 and a second motor 35. Second motor 35 is as an organic whole with reduction gear 34, integral erection is on the bearing plate of frame 1 front end portion, reduction gear 34 links to each other with transmission 33 top, it rotates to drive transmission 33, reduction gear 34 can set up different speed reduction ratios in order to adapt to different field operating modes according to field sesame weeding actual conditions, knife rest 32 top and transmission 33 bottom bolted connection, the welding is in knife rest 32 bottom in the middle part of weeding sword 31, this embodiment will weed sword 31 and knife rest 32 fixed connection, can make weeding sword 31 more firm in structure when weeding, avoid weeding sword 31 not hard up, the circumstances such as drop reduces the weeding effect. The plane where the weeding knife 31 is located is inclined towards the ground from the fixed end of the knife rest 32, a certain angle alpha is formed between the plane and the ground, preferably, the angle alpha is 5-10 degrees, and the angle between the weeding knife 31 and the ground can be adjusted through a universal joint arranged at the connecting part of the knife rest 32 and the transmission device 33 according to the field working conditions, so that the weeding effect can be further improved. The second motor 35 drives the knife rest 32 and the weeding knife 31 to rotate through the transmission device 33, so that the weeding knife 31 turns to an area to be weeded to accurately weed, and the rotation frequency of the weeding knife 31 is adjusted through the speed reducer 34, so that the weeding knife 31 can weed like a sickle, and can weed by cutting back and forth. In this embodiment, the weeding knife 31 is an inward concave arc weeding knife, and the cutting edge of the weeding knife 31 is provided with densely distributed sawteeth, which is convenient for improving weeding efficiency. The knife rest 32 is of a bending structure, is bent towards the front of the integrated machine for tillage, weeding and topdressing, and is beneficial to reducing the stress at the joint of the knife rest 32 and the transmission device 33, and the bending structure is also convenient for adjusting the included angle between the plane of the weeding knife 31 and the ground. The second motor 35 can adopt a stepping motor, and the reliable and stable operation of the weeding mechanism 3 can be ensured under the control of the control system 5, and the control is simple and accurate.

The multiple top dressing mechanisms 4 are arranged side by side at the rear part of the frame 1 and are arranged corresponding to the multiple weeding mechanisms 3. As shown in fig. 3 and 5, the top dressing mechanism 4 includes a fertilizer box 41, a fixed support device 42, a first furrow opener 43, a second furrow opener 44, a height adjusting device and a fertilizer outlet 45. Behind the weeding mechanism 3, a fertilizer box 41 is mounted on the frame 1 for holding fertilizer. The height adjusting device is welded and fixed on the rack 1 below the fertilizer box 41, the first furrow opener 43 and the second furrow opener 44 are fixedly arranged on the height adjusting device through the fixed supporting device 42 respectively, and the second furrow opener 44 is positioned at the rear side of the first furrow opener 43, so that the first furrow opener 43 and the second furrow opener 44 are staggered front and back, and a preset distance is reserved between two ditches which are opened by the first furrow opener 43 and the second furrow opener 44. The first furrow opener 43 and the second furrow opener 44 can be driven by the height adjusting device to adjust the height of the pitches from the ground. The whole first furrow opener 43 of weeding topdressing all-in-one is ploughed to this embodiment and second furrow opener 44 is two rows of arrangements of zigzag branch, and when weeding, the grass root that stretches into the soil is eradicateed to accessible ditching form, and sets up two rows of furrow openers around and be favorable to reducing the ditching interval, improves weeding effect.

The first furrow opener 43 and the second furrow opener 44 are respectively composed of a support cylinder and a plowshare, and the plowshare is welded and fixed at the bottom end of the support cylinder.

The upper end and the lower end of the support cylinder of the first furrow opener 43 are closed, and the inner side surface of the closed end at the lower end is an inclined surface inclining downwards from the forward direction to the backward direction, so that the fertilizer can be prevented from remaining in the support cylinder. An opening is formed in the upper portion of the side portion of the supporting cylinder and used for being connected with a valve at a fertilizer outlet at the bottom end of the fertilizer box 41 through a fertilizer discharging pipe (not shown in the figure), the fertilizer outlet 45 is formed in the rear end of the joint of the supporting cylinder and the plowshare, fertilizer in the fertilizer box 41 is discharged from the fertilizer outlet 45 through the supporting cylinder, the fertilizer is applied, and the fertilizer applying efficiency is high. The fertilizer outlet 45 of this embodiment can also be directly connected with the valve of the fertilizer outlet at the bottom end of the fertilizer box 41 through a fertilizer pipe, and the fertilizer pipe can be fixed outside the branch cylinder or can penetrate through the inner side of the branch cylinder to the fertilizer outlet 45.

During fertilization, the fertilizer discharging port 45 is opened, a valve at the bottom end of the fertilizer box 41 is opened for fertilization, the second furrow opener 44 is utilized for formal ditching, the covering soil formed by ditching of the second furrow opener 44 covers the fertilized seeds, so that not only is the fertilizer buried, but also the distance between the fertilizer and the seeds or seedlings sowed in the future is effectively controlled, the phenomena of seed burning or seedling burning are avoided, and the fertilizer loss is also avoided.

In this embodiment, the fixing and supporting device 42 is an S-shaped curved plate, one end of which is connected with the height adjusting device, and the other end of which is sleeved on the supporting cylinder, and the S-shaped curved plate is beneficial to reducing the vibration of the trencher 43 in the trenching process.

Set up adjusting part at fertilizer outlet 45, adjusting part includes tube barrel structure and bolt, and tube barrel structure welded fastening is in the fertilizer outlet 45 outsides, and is equipped with the opening corresponding with fertilizer outlet 45 on the tube barrel structure lateral wall, and fertilizer falls to ground by tube barrel structure lower extreme opening. The bolt is inserted into the pipe barrel structure, and the opening and closing of the fertilizer outlet 45 can be realized by adjusting the insertion depth of the bolt in the pipe barrel structure, and the opening size of the fertilizer outlet 45 can be adjusted, so that the fertilizing amount is further adjusted.

In addition, a battery 6 is arranged on the frame 1 at the rear side of the fertilizer box 41 and is used for supplying power to electric equipment in the integrated machine for ploughing, weeding and topdressing, such as a control system 5, a power mechanism, a speed reducer 34, a second motor 35, a valve, a height adjusting device and the like.

As shown in fig. 1 and 2, the control system 5 includes an image pickup device 51, a bracket 52, and a main controller 53. The image capturing device 51 is mounted on the gantry 1 via a bracket 52 and faces the front of the gantry 1, and is configured to capture an image of the front of the gantry 1. The main controller 53 is installed on the frame 1, and is connected with the image acquisition device 51, the power mechanism, the speed reducer 34, the second motor 35, the valve and the height adjusting device are respectively in data connection, the main controller 53 acquires image information of weeds and sesames in front of the frame 1 through the image acquisition device 51, a digital signal processing module is arranged in the main controller 53, the image information acquired by the image acquisition device 51 is analyzed and processed through the digital signal processing module to obtain an area to be weeded, the main controller 53 controls the power mechanism, the speed reducer 34 and the second motor 35 to act according to the area information to be weeded, the weeding knife 31 is driven to weed, when land needs to be cultivated, and weeds are sowed or matched with weeds, the main controller 53 controls the height adjusting device to descend the furrow opener to a preset position, and when fertilizer needs to be applied, the main controller 53 opens the valve of the corresponding topdressing mechanism 4.

The image capturing device 51 in this embodiment may be a high definition camera. In addition, control system 5 still is equipped with a plurality of branch controllers, sets up respectively on weeding mechanism 3, and main control unit 53 links to each other with second motor 35 through dividing the controller, and main control unit 53 drives weeding sword 31 through dividing corresponding second motor 35 of controller control and rotates, can make each weeding sword 31 weed respectively to improve weeding efficiency.

While the principles of the invention have been described in detail in connection with the preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing embodiments are merely illustrative of exemplary implementations of the invention and are not limiting of the scope of the invention. The details in the examples are not to be construed as limitations on the scope of the invention, and any obvious modifications, equivalent alterations, simple substitutions, etc. based on the technical solution of the present invention are intended to fall within the scope of the present invention without departing from the spirit and scope of the present invention.

Claims

1. A self-propelled farmland weeding and top application all-in-one machine based on image processing is characterized by comprising a rack (1), a chassis, a power mechanism, two traveling mechanisms (2), a weeding mechanism (3), a top application mechanism (4) and a control system (5); the frame (1) is fixed above the chassis, the power mechanism is arranged on the chassis, and the power mechanism drives the two travelling mechanisms (2) symmetrically arranged on the left side and the right side of the chassis to travel; the weeding mechanism (3) is arranged at the front part of the frame (1); the multiple top application mechanisms (4) are arranged side by side and are installed at the rear part of the rack (1), each top application mechanism (4) comprises a first furrow opener (43) and a second furrow opener (44) which are staggered from front to back, the multiple first furrow openers (43) are arranged at intervals, and the multiple second furrow openers (44) which are arranged at intervals are staggered with the first furrow openers (43) behind the intervals of the first furrow openers (43) in the front row; a fertilizer outlet (45) is arranged behind the first furrow opener (43) and is positioned in front of the spacing position of every two second furrow openers (44) in the rear row; the control system (5) is installed on the rack (1), and the control system (5) is connected with the power mechanism, the weeding mechanism (3) and the topdressing mechanism (4) respectively.

2. The all-in-one machine for self-propelled farmland weeding and topdressing based on image processing according to claim 1 is characterized in that a plurality of weeding mechanisms (3) are arranged side by side in the front of the frame (1).

3. The integrated self-propelled farmland weeding and topdressing machine based on image processing according to claim 1 or 2, characterized in that the weeding mechanism (3) comprises a weeding knife (31), a knife rest (32), a transmission device (33), a speed reducer (34) and a second motor (35); the second motor (35) and the speed reducer (34) are integrated and are integrally installed on a bearing plate at the front end of the rack (1), the speed reducer (34) is connected with the knife rest (32) through the transmission device (33), and the weeding knife (31) is installed at the bottom end of the knife rest (32); the second motor (35) drives the knife rest (32) and the weeding knife (31) to rotate through the transmission device (33).

4. The integrated self-propelled farmland weeding and topdressing machine based on image processing as claimed in claim 3, characterized in that a predetermined angle α exists between the plane of the weeding blade (31) and the ground.

5. The integrated self-propelled farmland weeding and topdressing machine based on image processing as claimed in claim 3, wherein the weeding knife (31) is an arc-shaped weeding knife.

6. The self-propelled farmland weeding and topdressing all-in-one machine based on image processing as claimed in claim 5, wherein the cutting edge of the weeding knife (31) is provided with densely distributed sawteeth.

7. The self-propelled integrated machine for tilling, weeding and topdressing based on image processing as claimed in claim 1, wherein the topdressing mechanism (4) further comprises a fertilizer box (41), a fixed supporting device (42) and a height adjusting device; the fertilizer box (41) is arranged on the frame (1) behind the weeding mechanism (3); the height adjusting device is fixed on the rack (1) below the fertilizer box (41), and the first furrow opener (43) and the second furrow opener (44) are respectively fixed on the height adjusting device through the fixed supporting device (42); the fertilizer discharging port (45) is connected with the fertilizer box (41) through the fertilizer discharging pipe.

8. The integrated self-propelled tilling, weeding and top application machine based on image processing according to claim 7, wherein the fixed support device (42) is an S-shaped curved plate.

9. The self-propelled farmland weeding and topdressing all-in-one machine based on image processing as claimed in claim 2, wherein the control system (5) comprises an image acquisition device (51) and a main controller (53), the main controller (53) determines an area to be weeded according to image information acquired by the image acquisition device (51), and controls the farmland weeding and topdressing all-in-one machine to travel, the weeding mechanism (3) to weed, and the topdressing mechanism (4) to ditch and fertilize according to the information of the area to be weeded.

10. The integrated self-propelled farmland weeding and fertilizing machine based on image processing as claimed in claim 9, characterized in that the control system (5) further comprises a plurality of sub-controllers respectively provided on the weeding mechanism (3), the main controller (53) being in data connection with the weeding mechanism (3) through the sub-controllers.