CN117158136B

CN117158136B - Real-time weeding equipment in line based on machinery-laser cooperation type

Info

Publication number: CN117158136B
Application number: CN202311239347.7A
Authority: CN
Inventors: 苏文浩; 胡睿; 彭彦昆
Original assignee: China Agricultural University
Current assignee: China Agricultural University
Priority date: 2023-09-25
Filing date: 2023-09-25
Publication date: 2024-07-09
Anticipated expiration: 2043-09-25
Also published as: CN117158136A

Abstract

The invention provides a real-time weeding device in a line based on mechanical-laser cooperation, which comprises: the weeding vehicle comprises a weeding vehicle body, a three-degree-of-freedom passive damping walking system, a retractable solar energy conversion system, a solar energy storage battery, a four-degree-of-freedom camera stabilizing system, a mechanical-laser combined weeding device, a control box and a touch screen, wherein the three-degree-of-freedom passive damping walking system is connected with the weeding vehicle body; the three-degree-of-freedom passive damping walking system is arranged at four ends of the weeding vehicle body respectively and used for keeping the weeding vehicle body stable, the retractable solar energy conversion system is used for converting solar energy into electric energy and storing the electric energy in the storage battery, the four-degree-of-freedom camera stabilizing system is used for stabilizing cameras on the vehicle body and acquiring field crop images, the mechanical-laser combined weeding device is used for weeding, and the touch screen is used for interacting with a user. The invention has low cost, does not increase the complexity of control and can help small traction equipment adapt to fields with complex and changeable road conditions.

Description

Real-time weeding equipment in line based on machinery-laser cooperation type

Technical Field

The invention relates to the technical field of intelligent agricultural machinery equipment, in particular to a real-time weeding device in a row based on mechanical-laser cooperation.

Background

Weeds growing in the field compete with crops for nutrients, sunlight, moisture and space, so that the yield of the crops is reduced, and the quality of the crops is affected. At present, the agricultural weeding is mainly performed by manual pesticide spraying or mechanical weeding modes and large pesticide spraying vehicles which consume a great deal of manpower, and the modes are low in efficiency.

At present, the intelligent weeding device at home and abroad is mostly pulled by a large tractor, and the power source of the tractor is mainly fossil fuel. Meanwhile, the tractor compacts the soil to reduce the porosity of the soil, increase the volume density, reduce the air permeability, reduce the water permeability and the like, thereby further causing the soil degradation and the soil environmental destruction. Based on the above situation, some small traction devices are researched at home and abroad, but due to small size, light weight and simple design of a vehicle body damping structure, the vehicle body jolts obviously in the moving process, and the stability of the weeding device in the weeding process is affected; the oversized solar panel for converting solar energy can result in oversized overall dimensions of the vehicle body, while the undersized solar panel can result in insufficient overall vehicle usage of converted solar energy per unit time.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a real-time weeding device in a row based on mechanical-laser cooperation.

In order to achieve the above object, the present invention provides the following solutions:

an in-line real-time weeding device based on mechanical-laser cooperation, comprising:

The weeding vehicle comprises a weeding vehicle body, a three-degree-of-freedom passive damping walking system, a retractable solar energy conversion system, a solar energy storage battery, a four-degree-of-freedom camera stabilizing system, a mechanical-laser combined weeding device, a control box and a touch screen, wherein the three-degree-of-freedom passive damping walking system is connected with the weeding vehicle body;

the weeding vehicle body comprises: a rectangular aluminum plate, a plurality of aluminum profiles with different lengths, two battery bottom plates and a control box bottom plate; the aluminum profiles with different lengths are used for building two battery cabinets and a control cabinet, the two battery cabinets are symmetrically fixed on two short sides of the rectangular aluminum plate through aluminum corner brackets, and the control cabinet is fixed in the middle of the rectangular aluminum plate through the aluminum corner brackets;

The solar energy battery is installed respectively in the left and right sides of control box for the electric energy after the storage solar energy conversion, three degree of freedom passive shock attenuation running system sets up respectively at the four ends of weeding car main part for keep weeding car main part stable, but the solar energy conversion system of contraction and expansion is used for converting solar energy into electric energy and stores in solar energy battery, four degree of freedom camera stabilizing system is used for stabilizing the camera on the car body and acquires field crop image, machinery-laser combination formula weeding device is used for weeding, the control box is used for controlling the weeding mode of machinery-laser combination formula weeding device according to the information of field crop image, the touch-sensitive screen is connected with the host computer in the control box for with the user is mutual, carries out initialization setting and parameter's setting to the procedure.

Preferably, the three-degree-of-freedom passive shock absorbing walking system comprises:

Damping mechanism and in-wheel motor tire all are connected with weeding car main part, wherein, damping mechanism includes: the device comprises a first torsion spring guide shaft, a second torsion spring guide shaft, a shaft fixing seat, a first damping connecting piece, a second damping connecting piece, a third damping connecting piece, a hub motor fixing frame, four torsion springs and four damping springs;

the first torsional spring guiding shaft is connected with the weeding vehicle body through the shaft fixing seat and the first torsional spring guiding shaft is rotationally connected with the shaft fixing seat, the second torsional spring guiding shaft is connected with the first shock absorption connecting piece, the first torsional spring guiding shaft and the second torsional spring guiding shaft are both rotationally connected with the first shock absorption connecting piece, the first shock absorption connecting piece and the second shock absorption connecting piece are fixed through screw nuts, the second shock absorption connecting piece is contacted with the third shock absorption connecting piece through square shaft holes, the second shock absorption connecting piece is contacted with the third shock absorption connecting piece through a sliding surface, the third shock absorption connecting piece is connected with a wheel hub motor tire fixing frame through screw nuts, the wheel hub motor tire fixing frame is fixed with a wheel hub motor tire through screw nuts, four torsional springs are symmetrically distributed on the first torsional spring guiding shaft and the second torsional spring guiding shaft respectively, and two ends of the four shock absorption springs are connected with the second shock absorption connecting piece and the third shock absorption connecting piece through screw nuts respectively.

Preferably, the retractable solar energy conversion system comprises:

Three solar photovoltaic panels, four solar photovoltaic panel contraction and expansion mechanisms based on crank sliding blocks, four support rods, four hinge hinges, sixteen sliding block connecting pieces, a first controller and a solar charging controller;

the motor in the solar photovoltaic panel stretching mechanism is connected with the first controller, and the first controller is connected with the upper computer; the solar photovoltaic panel is connected with the solar charging controller; the solar charging controller is connected with the solar storage battery; the upper computer is used for sending an instruction to the first controller so as to control the movement of the solar photovoltaic panel contraction and expansion mechanism;

The solar photovoltaic panel contraction and expansion mechanism is used for contracting or expanding the solar photovoltaic panels on the left side and the right side, and comprises:

a stepping motor, a stepping motor reducer and a sliding table guide rail module;

The stepping motor is connected with the stepping motor reducer, and the stepping motor reducer is connected with the ball screw of the sliding table guide rail module; the four solar photovoltaic panel contraction and expansion mechanisms based on the crank blocks are symmetrically arranged on the left side and the right side of the weeding vehicle main body through screws and nuts, and are respectively positioned in the middle of the four three-degree-of-freedom passive damping traveling systems; the three solar photovoltaic panels are symmetrically connected with the weeding vehicle body through four hinge hinges, and the two solar photovoltaic panels are positioned on the left side and the right side of the weeding vehicle body; one end of the support rod piece is connected with a sliding table of the sliding table guide rail module through two sliding block connecting pieces, the other end of the support rod piece is connected with the solar panel through two sliding block connecting pieces, the support rod piece is rotationally connected with the sliding block connecting pieces, and the sliding block connecting pieces are fixedly connected with the solar panel and the sliding table through screw nuts;

The stepping motor is used for driving the stepping motor reducer to rotate, and the stepping motor reducer is used for driving the ball screw to rotate so as to drive the crank sliding block to conduct linear motion.

Preferably, the four-degree-of-freedom camera stabilization system comprises:

the device comprises a first concave connecting piece, a second concave connecting piece, a camera bracket, a camera module, a first motor bracket, a second motor bracket, a third motor bracket, a fourth motor bracket, a flange plate coupler, a second controller, a first brushless motor, a second brushless motor, a third brushless motor, an electric putter and a three-dimensional angle sensor, wherein the first brushless motor, the second brushless motor, the third brushless motor, the electric putter are connected with the second controller;

The three-dimensional angle sensor is fixed in the control box, the electric push rod is fixedly connected with the weeding vehicle main body through the first concave connecting piece, the telescopic rod of the electric push rod is fixedly connected with the first motor bracket through the second concave connecting piece, the first brushless motor is fixedly connected with the first motor bracket, the output shaft of the first brushless motor is fixedly connected with the second motor bracket through the flange plate coupler, the second brushless motor is fixedly connected with the second motor bracket, the output shaft of the second brushless motor is vertical to the output shaft of the first brushless motor, and the second brushless motor is fixedly connected with the third motor bracket through the flange plate output shaft; the third motor bracket is fixedly connected with the fourth motor bracket; the third brushless motor is fixedly connected with the fourth motor bracket, an output shaft of the third brushless motor is respectively and vertically connected with the first brushless motor and the second brushless motor, and the third brushless motor is fixedly connected with the camera bracket through a flange plate output shaft; the camera is fixedly connected with the camera bracket, and a lens of the camera module is vertically and downwards connected with the telescopic rod of the electric push rod; the three-dimensional angle sensor is used for measuring tilt rotation data of the camera.

Preferably, the mechanical-laser combined weeding device comprises:

The weeding device comprises a mechanical weeding module, a laser weeding module, an upper supporting plate, a lower supporting plate, a weeding device connecting plate, a supporting plate fixing frame and a third controller; the upper support plate and the lower support plate are fixedly connected with the support plate fixing frames, wherein the support plate fixing frames are symmetrically distributed on two sides of the upper support plate and two sides of the lower support plate; one end of the weeding device connecting plate is fixedly connected with a control cabinet on the weeding vehicle, and the other end of the weeding device connecting plate is fixedly connected with the supporting plate fixing frame; the third controller is positioned in the control box and is connected with an upper computer in the control box;

The mechanical weeding module is used for weeding in a mechanical mode, and the laser weeding module is used for weeding in a laser mode

The mechanical weeding module comprises:

The weeding device comprises a mechanical weeding servo motor, a mechanical weeding servo motor driver, a servo motor speed reducer, a crank slide block mechanism, a mechanical weeding motor supporting plate, a mechanical weeding linear guide rail slide block module, a weeding cutter slide block connecting plate and a weeding cutter mechanism;

The mechanical weeding servo motor is connected with the mechanical weeding motor supporting plate, and an output shaft of the mechanical weeding servo motor is fixedly connected with the servo motor reducer; the servo motor speed reducer is fixedly connected with the input end of the crank block mechanism; the mechanical weeding motor support plate is fixedly connected with the weeding device connecting plate; the mechanical weeding linear guide rail slide block modules are symmetrically arranged on the long side of the upper support plate in a centering manner, and the direction of the slide rail is in the same direction as the long side of the upper support plate; the weeding cutter mechanism is fixed on the sliders of the two mechanical weeding linear guide rail slider modules through weeding cutter slider connecting plates, and the weeding cutter mechanism is vertically downward in direction; the mechanical weeding servo motor is connected with a mechanical weeding servo motor driver; the mechanical weeding servo motor driver is connected with the third controller;

The weeding cutter mechanism includes:

The first weeding cutter bar, the second weeding cutter bar and the weeding cutter; the first weeding cutter bar passes through the rectangular grooves of the upper support plate and the lower support plate and is fixedly connected with the weeding cutter slider connecting plate; one end of the second weeding cutter bar is fixedly connected with the first weeding cutter bar; the other end of the second weeding cutter bar is fixedly connected with the weeding cutter;

The crank block mechanism comprises:

the device comprises a first input shaft, a second input shaft, a plurality of bearings, a crank connecting rod, a first crank, a second crank, a plurality of fixed discs, a rotating shaft and a plurality of shaft sleeves;

The first input shaft is fixedly connected with the servo motor speed reducer and the first crank respectively and is connected with the upper supporting plate through one of the bearings, the first crank is fixedly supported with one of the bearings through one of the bearings in the shaft sleeves, the second input shaft is fixedly connected with the second crank, the second input shaft is connected with the lower supporting plate through another bearing, the second crank is supported and connected with the other bearing through another shaft sleeve, the first crank and the second crank are fixedly connected with two ends of the rotating shaft, two ends of the rotating shaft are respectively connected with the fixed disc, one end of the crank connecting rod is connected with the rotating shaft through another two bearings, the bearings are supported and connected with the first crank and the second crank through gaskets, and the other end of the crank connecting rod is rotatably connected with the first weeding cutter rod through another two bearings;

the laser weeding module comprises:

The device comprises a plurality of L-shaped connecting pieces, a plurality of motor supporting frames, a plurality of servo motors, a plurality of laser weeding servo motor drivers, a plurality of racks, a plurality of gears, a plurality of laser transmitters, a plurality of laser transmitter fixing plates and a laser weeding linear guide rail slide block module;

the L-shaped connecting piece is fixedly connected with the lower supporting plate, and the motor supporting frame is fixedly connected with the L-shaped connecting piece; the servo motor is fixedly connected with the motor support frame, an output shaft of the servo motor is fixedly connected with a gear, the gear is meshed with a rack for transmission, and the rack and the laser emitter fixing plate are both fixed on a slide block of the laser weeding linear guide rail slide block module; the laser transmitter is fixed on the laser transmitter fixing plate.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

The invention provides a real-time weeding device in a row based on mechanical-laser cooperation, which comprises a weeding vehicle main body, a three-degree-of-freedom passive damping walking system, a retractable solar energy conversion system, a solar energy storage battery, a four-degree-of-freedom camera stabilizing system, a mechanical-laser combined weeding device, a control box, a touch screen and a camera, wherein the weeding vehicle main body is provided with a plurality of solar energy storage batteries; the four three-degree-of-freedom passive damping walking systems, the retractable solar energy conversion system, the solar storage battery, the four-degree-of-freedom camera stabilizing system, the mechanical-laser combined weeding device, the control box and the touch screen are all arranged on the weeding vehicle main body; the three-degree-of-freedom passive damping walking system is used for adapting to complex road conditions in the field and guaranteeing stability of the weeding vehicle main body; the solar energy conversion system capable of being contracted is used for expanding or contracting the solar panel timely according to the working environment conditions; the four-degree-of-freedom camera stabilizing system is used for ensuring that a camera can stably shoot crops and weeds, and provides a reliable information source for a weeding method based on the distribution condition of inter-plant weed; the mechanical-laser combined weeding device is used for removing weeds according to a weeding method; the controller and the upper computer used in the method are both arranged in the control box and are used for receiving information and sending out instructions; the camera is used for shooting crop and weed videos, transmitting the videos to the upper computer, analyzing and judging the video content by the upper computer, and sending an instruction to control the mechanical-laser combined weeding device to weed according to the judging result; the solar storage battery is used for receiving the electric energy converted by the solar energy conversion system, directly charging the electric energy through the interface and supplying energy to the equipment; the touch screen is connected with the upper computer, and a user can interact with the weeding equipment through the touch screen.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of the overall structure of a real-time in-line weeding device based on mechanical-laser cooperation according to an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a weeding vehicle according to an embodiment of the present invention;

FIG. 3 is a first schematic view of a three-degree-of-freedom passive shock absorbing walking system according to an embodiment of the present invention;

Fig. 4 is a second schematic diagram of a structure of a three-degree-of-freedom passive shock absorbing walking system according to an embodiment of the present invention;

FIG. 5 is a simplified schematic diagram of a three-degree-of-freedom passive shock absorbing walking system adapted to road conditions according to an embodiment of the present invention;

FIG. 6 is a schematic view of a retractable solar energy conversion system according to an embodiment of the present invention;

FIG. 7 is a schematic view of a retractable solar energy conversion system according to an embodiment of the present invention;

FIG. 8 is a bottom view of a retractable solar energy conversion system according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a four-degree-of-freedom camera stabilization system according to an embodiment of the present invention;

Fig. 10 is a schematic structural diagram of a mechanical-laser combined weeding device according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a slider-crank mechanism according to an embodiment of the present invention;

FIG. 12 is a cross-sectional view of a crank in a slider-crank mechanism provided by an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a laser transmitter module according to an embodiment of the present invention.

Reference numerals illustrate:

1-weeding vehicle body, 2-three-degree-of-freedom passive shock-absorbing traveling system, 3-retractable solar energy conversion system, 4-four-degree-of-freedom camera stabilizing system, 5-mechanical-laser combined weeding device, 6-touch screen, 7-control box, 8-solar storage battery, 9-battery cabinet, 10-control cabinet, 11-solar photovoltaic panel, 201-rectangular aluminum plate, 202-20 aluminum profile, 203-battery bottom plate, 204-40 aluminum profile, 205-control box bottom plate, 301-wheel hub motor tire, 302-wheel hub motor fixing frame, 303-third shock-absorbing connecting piece, 304-shock-absorbing spring, 305-second shock-absorbing connecting piece, 306-first shock-absorbing connecting piece, 307-fixed flange plate, 308-shaft fixing seat, 309-first torsion spring guide shaft, 310-second torsion spring guide shaft, 311-torsion spring, 501-slider connector, 502-hinge, 503-support bar, 504-slider, 505-step motor reducer, 506-step motor, 507-slip table guide rail module, 508-ball screw, 801-first female connector, 802-electric push rod, 803-second female connector, 804-first motor bracket, 805-first brushless motor, 806-flange coupler, 807-second motor bracket, 808-second brushless motor, 809-third motor bracket, 810-fourth motor bracket, 811-third brushless motor, 901-mechanical weeding motor support plate, 902-weeding device connecting plate, 903-support plate holder, 904-upper support plate, 905-crank slider mechanism, 906-lower support plate, 907-mechanical weeding linear guide slider module, 908-first weeding cutter bar, 909-second weeding cutter bar, 910-weeding cutter, 911-laser weeding module, 912-weeding cutter slider connecting plate, 913-servo motor reducer, 914-mechanical weeding servo motor, 915-adjusting screw, 1001-F6903 ZZ flange disc bearing, 1002-crank connecting rod, 1003-F6904ZZ flange disc bearing, 1004-fixed disc, 1005-second crank, 1006-second input shaft, 1007-shaft sleeve, 1008-first crank, 1009-first input shaft, 1101-rotating shaft, 1201-laser weeding linear guide slider module, 1202-laser transmitter fixed plate, 1203-laser transmitter, 1204-rack, 1205-gear, 1206-motor support frame, 1207-L type connecting piece.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

Fig. 1 is a schematic diagram of an overall structure of an in-line real-time weeding device based on mechanical-laser cooperation, as shown in fig. 1, and as shown in fig. 1, the invention provides an in-line real-time weeding device based on mechanical-laser cooperation, which comprises:

the weeding vehicle comprises a weeding vehicle body 1, a three-degree-of-freedom passive damping walking system 2, a retractable solar energy conversion system 3, a solar energy storage battery 8, a four-degree-of-freedom camera stabilizing system, a mechanical-laser combined weeding device 5, a control box 7 and a touch screen 6, wherein the three-degree-of-freedom passive damping walking system is connected with the weeding vehicle body 1; the weeding vehicle body 1 is used for organically connecting the systems together;

The three-degree-of-freedom passive damping walking system 2 is used for adapting to the complex road conditions in the field and ensuring the stability of the weeding vehicle main body 1; the retractable solar energy conversion system 3 is used for timely expanding or contracting the solar panel according to the working environment condition; the four-degree-of-freedom camera stabilizing system 4 is used for ensuring that a camera can stably shoot crops and weeds, and provides a reliable information source for a weeding method based on the distribution condition of inter-plant weed; the mechanical-laser combined weeding device 5 is used for removing weeds according to a weeding method; the controller and the upper computer used in the method are both arranged in the control box 7 and are used for receiving information and sending out instructions; the camera is used for shooting crop and weed videos, transmitting the videos to the upper computer, analyzing and judging the video content by the upper computer, and sending an instruction to control the mechanical-laser combined weeding device 5 to weed according to the judging result of the inter-plant weed distribution condition; the solar storage battery 8 is used for receiving the electric energy converted by the solar energy conversion system and directly charging the electric energy through the interface and supplying energy to the equipment; the touch screen 6 is connected with an upper computer, and a user can interact with the weeding device through the touch screen 6.

The command is sent according to the judging result of the distribution situation of the weed among plants to control the mechanical-laser combined weeding device 5 to weed, namely the distribution situation of the weed among plants is judged by presetting a weed quantity threshold value and obtaining the maximum adjacent weed slope according to the advancing initial speed of the equipment and the transverse moving speed of the laser transmitter 1203 in advance, and the mechanical or laser weeding device is called according to the judging structure to weed.

Fig. 2 is a schematic structural view of the herbicidal vehicle body 1, as shown in fig. 2, the herbicidal vehicle body 1 includes: a rectangular aluminum plate 201, a plurality of aluminum profiles with different lengths, two battery bottom plates 203 and a control box bottom plate 205; the aluminum profiles with different lengths are used for building two battery cabinets 9 and a control cabinet 10, the two battery cabinets 9 are symmetrically fixed on two short sides of the rectangular aluminum plate 201 through aluminum corner brackets, and the control cabinet 10 is fixed in the middle of the rectangular aluminum plate 201 through aluminum corner brackets;

Specifically, the aluminum profile and the bottom plate are built into two battery cabinets 9 and a control cabinet 10 by using aluminum corner brackets, wherein the two small battery cabinets 9 are symmetrically fixed on two short sides of the rectangular aluminum plate 201 through the aluminum corner brackets, and the control cabinet 10 is fixed in the middle of the rectangular aluminum plate 201 through the aluminum corner brackets and the long sides are parallel to the rectangular short sides. Preferably, the rectangular aluminum plate 201 has a thickness of 20 mm,20 aluminum profile 202 (202) of 20×20 mm, and 40 aluminum profile 204 of 20×20 MM.

The solar storage batteries 8 are respectively arranged at the left side and the right side of the control box 7 and used for storing electric energy after solar energy conversion, and the three-degree-of-freedom passive damping traveling systems are respectively arranged at the four ends of the weeding vehicle main body 1 and have the function of counteracting the angle change of the weeding vehicle traveling in a rugged field through the deformation of the torsion springs 311 and the damping springs so as to keep a dynamic balance of the vehicle body on the rugged road surface; the retractable solar energy conversion system 3 is used for converting solar energy in the solar storage battery 8 into electric energy, the four-degree-of-freedom camera stabilizing system is used for stabilizing cameras on a vehicle body and acquiring field crop images, the mechanical-laser combined weeding device 5 is used for weeding, the control box 7 is used for controlling a weeding mode of the mechanical-laser combined weeding device 5 according to information of the field crop images, the touch screen 6 is connected with an upper computer in the control box 7 and used for interacting with a user, and setting of some parameters, program initialization and the like are performed.

As shown in fig. 3-4, further, the three-degree-of-freedom passive shock absorbing walking system 2 includes:

A damper mechanism and in-wheel motor tire 301 (10 inches) each connected to the herbicidal vehicle body 1, wherein the damper mechanism comprises: a first torsion spring guide shaft 309, a second torsion spring guide shaft 310, a shaft fixing base 308, a first damper connector 306, a second damper connector 305, a third damper connector 303, a hub motor fixing frame 302, four torsion springs 311, and four damper springs 304;

The first torsion spring guide shaft 309 is connected with the weeding vehicle body 1 through a shaft fixing seat 308, the first torsion spring guide shaft 309 is rotationally connected with the shaft fixing seat 308, the installation direction of the first torsion spring guide shaft 309 is perpendicular to the advancing direction of weeding equipment, the first torsion spring guide shaft 309 and the shaft fixing seat 308 are provided with relative rotation of the second torsion spring guide shaft 310 and the first shock absorbing connecting piece 306, the first torsion spring guide shaft 309 and the second torsion spring guide shaft 310 are rotationally connected with the first shock absorbing connecting piece 306, the first shock absorbing connecting piece 306 and the second shock absorbing connecting piece 305 are fixed through screw nuts, the second shock absorbing connecting piece 305 is in contact with the third shock absorbing connecting piece 303 through square shaft holes, the second shock absorbing connecting piece 305 is in contact with the third shock absorbing connecting piece 303 through sliding surfaces, the third shock absorbing connecting piece 303 is connected with a hub motor tire 301 fixing frame through screw nuts, the hub motor tire 301 is fixed through screw nuts, the four torsion springs 311 are symmetrically distributed on the first guide shaft 309 and the second torsion spring guide shaft 310 and the two ends of the third shock absorbing connecting piece 303 are respectively connected with the fourth torsion spring connecting piece 303 through screw nuts.

Specifically, the first torsion spring guiding shaft 309 vertically passes through the central hole of the first torsion spring guiding shaft and is connected with the first shock-absorbing connecting part by using the fixed flange 307, wherein the second torsion spring guiding shaft 310 has relative rotation with the first torsion spring guiding shaft 309 and the first shock-absorbing connecting part; the first shock absorbing connector 306 and the second shock absorbing connector 305 are fixed by screws and nuts; the second shock absorbing connector 305 is matched with the third shock absorbing connector 303 through a square shaft hole, and has relative sliding; the third damping connecting piece 303 is connected with the wheel hub motor tire 301 fixing frame through screws and nuts; the hub motor tire 301 fixing frame is fixed with the 10-inch hub motor wheel through screws and nuts; the four torsion springs 311 are symmetrically distributed on the first torsion spring guide shaft 309 and the second torsion spring guide shaft 310, the axes of the four torsion springs 311 are respectively overlapped with the axes of the first torsion spring guide shaft 309 and the second torsion spring guide shaft 310, two ends of the four shock absorption springs 304 are respectively connected to the second shock absorption connecting piece 305 and the third shock absorption connecting piece 303 through screw nuts, and the four ends of the four shock absorption springs are symmetrically positioned on four sides of the second shock absorption connecting piece 305 and the third shock absorption connecting piece 303; the installation direction is perpendicular to the weeding vehicle body 1.

Any spatial rigid body has six degrees of freedom, the tire placed on the ground has movement along the X and Y axis directions and rotation around the Z axis direction, and the three-degree-of-freedom passive shock absorbing walking system 2 has rotation around the X and Y axes and movement along the Z axis, so that the three degrees of freedom of the tire placed on the ground can be exactly compensated, and the three-degree-of-freedom passive shock absorbing walking system 2 can help the tire to be suitable for any ground condition.

The torsion spring 311 is made of hot rolled spring steel, the screw nuts are standard components, the first torsion spring guide shaft 309 and the second torsion spring guide shaft 310 are made of carbon steel 45, and the first damping connecting piece 306, the second damping connecting piece 305 and the third damping connecting piece 303 are made of Q235 stainless steel.

Further, as shown in fig. 5-7, the retractable solar energy conversion system 3 comprises:

Three solar photovoltaic panels 11, four crank slider-based solar photovoltaic panel retracting mechanisms, four support rods 503, four hinge hinges 502, sixteen slider connectors 501, a first controller and a solar charging controller;

the motor in the solar photovoltaic panel stretching mechanism is connected with the first controller, and the first controller is connected with the upper computer; the solar photovoltaic panel 11 is connected with the solar charging controller; the solar charging controller is connected with the solar storage battery 8; the upper computer is used for sending an instruction to the first controller so as to control the movement of the solar photovoltaic panel contraction and expansion mechanism;

Specifically, a 57-step motor 506 in the solar photovoltaic panel stretching mechanism is connected with a first controller, and the first controller is connected with an upper computer; the solar photovoltaic panel 11 is connected with a solar charging controller; the solar charging controller is connected with the solar storage battery 8; the upper computer is used for sending an instruction to the first controller to control the rotation of a 57 stepping motor 506 in the solar photovoltaic panel contraction and expansion mechanism, so as to control the contraction and expansion of the solar photovoltaic panel 11;

The solar photovoltaic panel contraction and expansion mechanism is used for contracting or expanding the solar photovoltaic panels 11 on the left side and the right side, and comprises:

a stepping motor 506, a stepping motor reducer 505, and a slide table guide rail module 507;

The stepping motor 506 is connected with the stepping motor reducer 505, and the stepping motor reducer 505 is connected with the ball screw 508 of the sliding table guide rail module 507; the four solar photovoltaic panel contraction and expansion mechanisms based on the crank blocks are symmetrically arranged on the left side and the right side of the weeding vehicle main body through screws and nuts, and are respectively positioned in the middle of the four three-degree-of-freedom passive damping traveling systems; the three solar photovoltaic panels 11, wherein one solar photovoltaic panel 11 is arranged right above the weeding vehicle main body 1 by using screws and nuts, the other two solar photovoltaic panels 11 are symmetrically connected with the weeding vehicle main body through four hinge hinges 502, and the two solar photovoltaic panels 11 are positioned at the left side and the right side of the weeding vehicle main body; one end of the support rod member 503 is connected with a sliding table of the sliding table guide rail module 507 through two sliding block connecting pieces 501, and the other end of the support rod member 503 is connected with the solar panel through two sliding block connecting pieces 501, wherein the support rod member 503 is rotationally connected with the sliding block connecting pieces 501, and the sliding block connecting pieces 501 are fixedly connected with the solar panel and the sliding table through screws and nuts;

the step motor 506 is used for driving the step motor reducer 505 to rotate, the step motor reducer 505 is used for driving the ball screw 508 to rotate so as to drive the crank slider to perform linear motion, and the crank slider is a combination of a slider connecting piece and a sliding table of the sliding table guide rail module.

Specifically, a 57 stepping motor 506 with a brake, a stepping motor reducer 505 with a reduction ratio of 10 and a sliding table guide rail module 507, wherein the 57 stepping motor 506 is connected with the stepping motor reducer 505, and the stepping motor reducer 505 is connected with a ball screw 508 of the sliding table guide rail module; the four solar photovoltaic panel contraction and expansion mechanisms based on the crank sliding blocks are symmetrically arranged on the left side and the right side of a rectangular aluminum plate 201 in the weeding vehicle main body through screws and nuts, and are positioned in the middle of the four three-degree-of-freedom passive damping traveling systems; the three solar photovoltaic panels 11 are arranged right above the rectangular aluminum plate 201 of the weeding vehicle body 1 by screws and nuts, and the other two solar photovoltaic panels are symmetrically connected with the rectangular aluminum plate 201 in the weeding vehicle body through four hinge hinges 502 and are positioned on the left side and the right side of the vehicle body; one end of the support rod member 503 is connected with a sliding block 504 of the sliding table guide rail module 507 through two sliding block connecting pieces 501, and the other end of the support rod member 503 is connected with the solar photovoltaic panel 11 through two sliding block connecting pieces 501, wherein the support rod member 503 and the sliding block connecting pieces 501 rotate relatively, the sliding block connecting pieces 501 are fixedly connected with the solar photovoltaic panel 11 and the sliding blocks 504 through screw nuts, and the connection modes of the four support rod members 503 are completely the same; the 57 step motor 506 rotates to drive the speed reducer to rotate, the step motor speed reducer 505 drives the ball screw 508 to drive the sliding block 504 to perform linear motion, and the sliding block 504 drives the supporting rod to move.

The support rod member 503 is made of carbon fiber, the sliding block connecting piece 501 is made of aluminum alloy, the first controller is installed in the control box 7, and the first controller is an STM32F407ZGT6 single chip microcomputer.

The four-degree-of-freedom camera stabilizing system is used for precisely stabilizing the camera, namely the car body is jolt, the camera is always vertical to the ground and the height of the camera and the ground is kept unchanged, so that the quality of a picture shot by the camera is stable, and reliable data are provided for subsequent weed and crop identification and in-line positioning of the weeding device.

Further, the four-degree-of-freedom camera stabilization system includes:

a first concave connecting piece 801, a second concave connecting piece 803, a camera bracket, a camera module, a first motor bracket 804, a second motor bracket 807, a third motor bracket 809, a fourth motor bracket 810, a flange coupler 806, a second controller, and a first brushless motor 805, a second brushless motor 808, a third brushless motor 811, an electric putter 802, and a three-dimensional angle sensor connected to the second controller;

The three-dimensional angle sensor is fixed in the control box 7, the electric push rod 802 is fixedly connected with the weeding vehicle body 1 through the first concave connecting piece 801, a telescopic rod of the electric push rod 802 is fixedly connected with the first motor bracket 804 through the second concave connecting piece 803, the first brushless motor 805 is fixedly connected with the first motor bracket 804, an output shaft of the first brushless motor 805 is fixedly connected with the second motor bracket 807 through the flange coupling 806, the second brushless motor 808 is fixedly connected with the second motor bracket 807, an output shaft of the second brushless motor 808 is vertical to an output shaft of the first brushless motor 805, and the second brushless motor 808 is fixedly connected with the third motor bracket 809 through a flange output shaft; the third motor bracket 809 is fixedly connected with the fourth motor bracket 810; the third brushless motor 811 is fixedly connected with the fourth motor bracket 810, the output shaft of the third brushless motor 811 is respectively and vertically connected with the first brushless motor 805 and the second brushless motor 808, and the third brushless motor 811 is fixedly connected with the camera bracket through a flange output shaft; the camera is fixedly connected with the camera bracket, and a lens of the camera module is vertically and downwards connected with a telescopic rod of the electric push rod 802; the three-dimensional angle sensor is used for measuring tilt rotation data of the camera.

Specifically, a first brushless motor 805, a second brushless motor 808, a third brushless motor 811, an electric push rod 802, a first concave connecting member 801, a second concave connecting member 803, a camera bracket, a camera module, a first motor bracket 804, a second motor bracket 807, a third motor bracket 809, a fourth motor bracket 810, three flange couplers 806, a second controller and an MPU6050 three-dimensional angle sensor; the three motors, the electric push rod 802 and the MPU6050 three-dimensional angle sensor are connected with a second controller; the MPU6050 three-dimensional angle sensor is fixed in the control box 7; the electric push rod 802 is close to the motor end and is vertically and downwards fixedly connected with the rectangular aluminum plate 201 of the weeding vehicle body through a first concave connecting piece 801, and the telescopic rod of the electric push rod 802 is fixedly connected with a first motor bracket 804 through a second concave connecting piece 803; the first brushless motor 805 is fixedly connected with the first motor bracket 804, the output shaft of the first brushless motor 805 is vertically downward with the telescopic rod of the electric push rod 802, and the output shaft of the first brushless motor 805 is fixedly connected with the second motor bracket 807 through the flange coupling 806; the second brushless motor 808 is fixedly connected with the second motor bracket 807, and an output shaft of the second brushless motor 808 is perpendicular to an output shaft of the first brushless motor 805, and the second brushless motor 808 is fixedly connected with the third motor bracket 809 through a flange plate output shaft; the third motor bracket 809 is fixedly connected with the fourth motor bracket 810; the third brushless motor 811 is fixedly connected with the fourth motor bracket 810, the output shaft of the third brushless motor 811 is perpendicular to the first brushless motor 805 and the second brushless motor 808, and the third brushless motor 811 is fixedly connected with the camera bracket through the flange output shaft; the camera is fixedly connected with the camera support, and the lens of the camera module and the telescopic rod of the electric push rod 802 are vertically downward. The MPU6050 three-dimensional angle sensor is used for measuring the inclination rotation condition of the camera and sending the measurement result to the second controller, and the second controller respectively controls the negative numbers of the rotation measurement results of the motors with the corresponding degrees of freedom to keep the camera stable all the time after receiving the change of the four degrees of freedom;

The second controller adopts a Raspberry Pi 4B development board, the three-dimensional angle sensor adopts an MPU6050 three-dimensional angle sensor, the sensor has the functions of triaxial acceleration and a triaxial gyroscope and can meet the use requirements, the first concave connecting piece 801, the second concave connecting piece 803, the camera support, the first motor support 804, the second motor support 807, the third motor support 809 and the fourth motor support 810 are all manufactured by adopting a 3D printing technology, and the pushing distance of the electric push rod 802 is 50 MM, and the camera module is an RGB camera with the frame rate of 120 HZ.

Preferably; the camera is connected with the upper computer and is used for collecting field pictures and transmitting the field pictures to the upper computer for next target detection and positioning;

Further, as shown in fig. 9, the mechanical-laser combined weeding apparatus 5 is installed right under the control cabinet 10, and is characterized in that: the weeding device comprises two weeding devices, namely mechanical weeding and laser weeding, wherein the weeding device is used for judging the weed conditions according to a weeding method based on weed density, and the mechanical weeding device or both are intelligently allocated to work together;

The mechanical-laser combined weeding apparatus 5 includes:

A mechanical weeding module, a laser weeding module 911, an upper support plate 904, a lower support plate 906, a weeding device connecting plate 902, a support plate fixing frame 903 and a third controller; the upper support plate 904 is fixedly connected with the lower support plate 906 fixing frame 903, wherein the support plate fixing frames 903 are symmetrically distributed on two sides of the upper support plate 904 and two sides of the lower support plate 906; one end of the weeding device connecting plate 902 is fixedly connected with the control cabinet 10 on the weeding vehicle, and the other end is fixedly connected with the supporting plate fixing frame 903; the third controller is positioned in the control box 7 and is connected with an upper computer in the control box 7;

the mechanical weeding module is used for mechanical mode weeding, and the laser weeding module 911 is used for laser mode weeding

The mechanical weeding module comprises:

A mechanical weeding servo motor 914, a mechanical weeding servo motor 914 driver, a servo motor speed reducer 913, a crank slider mechanism 905, a mechanical weeding motor support plate 901, a mechanical weeding linear guide rail slider module 907, a weeding cutter slider connection plate 912 and a weeding cutter 910 mechanism;

The mechanical weeding servo motor 914 is connected with the mechanical weeding motor support plate 901, and an output shaft of the mechanical weeding servo motor 914 is fixedly connected with the servo motor speed reducer 913; the servo motor speed reducer 913 is fixedly connected with the input end of the crank block mechanism 905; the mechanical weeding motor support plate 901 is fixedly connected with the weeding device connecting plate 902; the mechanical weeding linear guide rail slide block modules 907 are symmetrically arranged on the long side of the upper support plate 904 in the middle, and the direction of the slide rail is in the same direction as the long side of the upper support plate 904; the weeding cutter 910 mechanism is fixed on the sliding blocks 504 of the two mechanical weeding linear guide rail sliding block modules 907 through weeding cutter sliding block connecting plates 912, and the weeding cutter 910 mechanism direction is vertically downward; the mechanical weeding servo motor 914 is connected with a mechanical weeding servo motor 914 driver; the mechanical weeding servo motor 914 driver is connected with the third controller;

the weeding cutter 910 mechanism includes:

A first weeding cutter bar 908, a second weeding cutter bar 909, and a weeding cutter 910; the first weeding cutter bar 908 passes through the rectangular grooves of the upper support plate 904 and the lower support plate 906 and is fixedly connected with the weeding cutter slide block connecting plate 912; one end of the second weeding cutter bar 909 is fixedly connected with the first weeding cutter bar 908; the other end of the second weeding cutter bar 909 is fixedly connected with the weeding cutter 910;

the crank block mechanism 905 includes:

a first input shaft 1009, a second input shaft 1006, a plurality of bearings, a crank link 1002, a first crank 1008, a second crank 1005, a plurality of fixed disks 1004, a rotating shaft 1101, and a plurality of shaft sleeves 1007;

The first input shaft 1009 is fixedly connected with the servo motor speed reducer 913 and the first crank 1008 respectively and is connected with the upper support plate 904 through one bearing among the plurality of bearings, the first crank 1008 and the one bearing are fixedly supported by one shaft sleeve 1007 among the plurality of shaft sleeves 1007, the second input shaft 1006 is fixedly connected with the second crank 1005, the second input shaft 1006 is connected with the lower support plate 906 through another bearing, the second crank 1005 is fixedly connected with the other bearing through another shaft sleeve 1007, the first crank 1008 and the second crank 1005 are both fixedly connected with two ends of the rotating shaft 1101, two ends of the rotating shaft 1101 are respectively connected with the fixed disc 1004, one end of the crank connecting rod 1002 is fixedly connected with the rotating shaft 1101 through another two bearings, the plurality of bearings are both fixedly connected with the first crank 1008 and the second crank 1005 through gaskets, and the other end of the crank connecting rod 1002 is rotatably connected with the first weeding cutter bar 908 through another two bearings;

The laser weeding module 911 includes:

A plurality of L-shaped connecting pieces 1207, a plurality of motor supporting frames 1206, a plurality of servo motors, a plurality of laser weeding servo motor drivers, a plurality of racks 1204, a plurality of gears 1205, a plurality of laser transmitters 1203, a plurality of laser transmitter fixing plates 1202 and a laser weeding linear guide rail slide block module 1201;

The L-shaped connecting member 1207 is fixedly connected to the lower support plate 906, and the motor support 1206 is fixedly connected to the L-shaped connecting member 1207; the servo motor is fixedly connected with the motor support frame 1206, an output shaft of the servo motor is fixedly connected with the gear 1205, the gear 1205 is meshed with the rack 1204 for transmission, and the rack 1204 and the laser emitter fixing plate 1202 are both fixed on the slide block 504 of the laser weeding linear guide rail slide block module 1201; the laser transmitter 1203 is fixed to a laser transmitter fixing plate 1202.

Specifically, a mechanical weeding module, a laser weeding module 911, an upper support plate 904, a lower support plate 906, two weeding device connecting plates 902, four support plate fixing frames 903 and a third controller; the upper support plate 904 and the lower support plate 906 are fixedly connected through support plate fixing frames 903, wherein the support plate fixing frames 903 are symmetrically distributed on two sides (short sides) of the upper support plate 906 and the lower support plate 906, and two support plate fixing frames 903 are arranged on one side; one end of the weeding device connecting plate 902 is fixedly connected with the aluminum profile of the control cabinet 10, the other end of the weeding device connecting plate is fixedly connected with the supporting plate fixing frame 903, and the weeding device connecting plate is symmetrically distributed on two sides of the supporting plate; the third controller and the fourth controller are positioned in the control box 7 and are connected with the upper computer;

Preferably, the mechanical weeding module comprises: two mechanical weeding servo motors 914, two mechanical weeding servo motor 914 drivers, two servo motor speed reducers 913, two crank slide block mechanisms 905, two mechanical weeding motor support plates 901, two mechanical weeding linear guide rail slide block modules 907, two weeding cutter slide block connecting plates 912 and two weeding cutter 910 mechanisms;

preferably, the structure in the mechanical weeding module is a symmetrical structure, only the construction of a single structure is described below, and the other structure is the same as the description below;

The mechanical weeding servo motor 914 is fixedly connected with the mechanical weeding motor support plate 901, and an output shaft of the mechanical weeding servo motor 914 is fixedly connected with the servo motor speed reducer 913; the servo motor speed reducer 913 is fixedly connected with the input end of the crank block mechanism 905, and the direction is vertical downwards; the mechanical weeding motor support plate 901 is fixedly connected with the weeding device connecting plate 902; the two linear slide rail modules are symmetrically arranged on the long side of the upper support plate 904 in the middle, and the slide rail direction is in the same direction as the long side of the upper support plate 904; the weeding cutter 910 mechanism is fixed on the sliding blocks 504 of the two linear sliding rail modules through a weeding cutter sliding block connecting plate 912, and the weeding cutter 910 mechanism direction is vertically downward; the mechanical weeding servo motor 914 is connected with a mechanical weeding servo motor 914 driver; the mechanical weeding servo motor 914 driver is connected with a third controller; the third controller is connected with the upper computer;

Optionally, the upper support plate 904, the lower support plate 906, the weeding device connecting plate 902 and the weeding cutter sliding block connecting plate 912 are made of aluminum alloy plates in a laser cutting mode; the supporting plate fixing frame 903 is manufactured by adopting a 3D printing method, and the material is resin; the sliding blocks 504 of the linear guide rail sliding block module adopt HGH20CC, and the two guide rails and 4 sliding blocks 504 can be used under the bearing of less than 200KG, thereby meeting the field weeding requirement; the speed reducer adopts a servo motor speed reducer 913 with a speed reduction ratio of 5 so as to increase the output torque; and the third controller adopts an STM32F407ZGT6 singlechip.

The weeding cutter 910 mechanism has the function of adjusting the depth of the weeding cutter 910 into the soil in a small range according to the actual conditions in the field; the adjusting mode is as follows: the adjusting screw 915 is unscrewed, the weeding cutter 910 is unscrewed to a proper position, then the adjusting screw 915 is screwed down, the adjusting range is (0, 40 MM), and the heights of the left side and the right side can be independently adjusted to adapt to the field inclination condition;

Preferably, the weeding cutter 910 mechanism includes: a first weeding cutter bar 908, a weeding cutter 910 bar, a second weeding cutter 909, and a fixing screw; the first weeding cutter bar 908 is fixedly connected with a weeding cutter slider connecting plate 912 and penetrates through the rectangular grooves of the upper and lower supporting plates 906; the second weeding cutter bar 909 is fixedly connected with the first weeding cutter bar 908 in a manner of supporting the first weeding cutter bar 908 by a screw; the other end of the second weeding cutter bar 909 is fixedly connected with the weeding cutter 910;

optionally, the materials of the first weeding cutter bar 908, the second weeding cutter bar 909 and the weeding cutter bar 910 are plain carbon steel.

As shown in fig. 10-12, fig. 10 and 11 are schematic structural views of a crank block mechanism 905 comprising: a first input shaft 1009, a second input shaft 1006, two F6903ZZ flange bearings 1001, four F6904ZZ flange bearings 1003, a crank link 1002, a first crank 1008, a second crank 1005, a rotating shaft 1101, two fixed disks 1004, and two bushings 1007; the first input shaft 1009 is fixedly connected with the servo motor speed reducer 913, is fixedly connected with the first crank 1008, is connected with the upper support plate 904 through an F6903ZZ flange disc bearing 1001, the flange end of the F6903ZZ flange disc bearing 1001 is close to the first crank 1008, and the middle of the first crank 1008 and the F6903ZZ flange disc bearing 1001 is supported by a shaft sleeve 1007; the second input shaft 1006 is fixedly connected with the second crank 1005, and is connected with the lower support plate 906 through an F6903ZZ flange bearing 1001, the flange end of the F6903ZZ flange bearing 1001 is close to the second crank 1005, and the middle of the second crank 1005 and the F6903ZZ flange bearing 1001 is supported by a shaft sleeve 1007; the first crank 1008 and the second crank 1005 are fixedly connected with two ends of the rotating shaft 1101, and two ends of the rotating shaft 1101 are fixedly connected with the fixed disc 1004; one end of the crank connecting rod 1002 is rotationally connected with the rotating shaft 1101 through two F6904ZZ flange bearings 1003; a gasket support is arranged between the F6904ZZ flange disc bearing 1003 and the first crank 1008 and the second crank 1005; fig. 11 shows a connection method of the rotation shaft 1101, which is sequentially from top to bottom: fixed disk 1004, first crank 1008, spacer, F6904ZZ flange disk bearing 1003, crank link 1002, F6904ZZ flange disk bearing 1003, spacer, second crankshaft, and fixed disk 1004; the other end of the crank connecting rod 1002 is rotatably connected with a first weeding cutter bar 908 through two F6904ZZ flange bearings 1003;

Alternatively, to reduce cost, the crank portion of the slider crank mechanism 905 is split into multiple easily machined parts and finally assembled together. Wherein, the first crank 1008, the second crank 1005, the rotating shaft 1101, the fixed disk 1004 and the shaft sleeve 1007 are made of aluminum alloy materials; the first input shaft 1009, the second input shaft 1006, and the crank link 1002 are made of steel materials, and the flange disc bearing and the gasket are standard components. The working principle of the mechanical weeding module is as follows: the upper computer sends an instruction to the third controller, the third controller sends an instruction to the servo motor driver, the servo motor driver sends an instruction to rotate to the servo motor, the servo motor drives the crank block mechanism 905 to rotate through the servo motor speed reducer 913, after the crank block laser drives the weeding cutter 910 to enter the row, the servo motor stops rotating, the weeding cutter 910 works in the same principle when entering the row from the row, and the only difference is that the servo motor reversely rotates;

in a specific example, the single-side crank slider mechanism 905 can drive the weeding cutter 910 to move transversely by 100MM, and the parameters of the other side are the same;

Preferably, the laser weeding module 911 includes: two L-shaped connecting pieces 1207, two motor supporting frames 1206, two small-sized servo motors, two laser weeding servo motor drivers, two racks 1204, two gears 1205, two laser transmitters 1203, two laser transmitter fixing plates 1202 and a laser weeding linear guide rail slide block module 1201; the laser transmitter 1203 module is composed of two laser transmitters 1203 and related components, and the structures are completely identical, so a single laser transmitter is taken as an example for explanation below; the L-shaped connecting member 1207 is fixedly connected with the lower supporting plate 906; the motor support 1206 is fixedly connected with the L-shaped connecting piece 1207; the small servo motor is fixedly connected with the motor support 1206, and the direction of the small servo motor is vertically downward; an output shaft of the small servo motor is fixedly connected with a gear 1205; the gear 1205 is meshed with the rack 1204 for transmission; the rack 1204 and the laser emitter fixing plate 1202 are jointly fixed on a slide block 504 of the laser weeding linear guide rail slide block module 1201; the laser transmitter 1203 is fixed on the laser transmitter fixing plate 1202, and the direction is vertically downward; the guide rail of the laser weeding linear guide rail slide block module 1201 is fixed at the rear edge of the middle of the lower support plate 906; the small servo motor is connected with the fourth controller; the laser transmitter 1203 is connected with a fourth controller, and the fourth controller is connected with an upper computer;

Optionally, the fourth controller adopts an STM32F407ZGT6 single-chip microcomputer, the L-shaped connecting piece 1207, the motor support 1206, the laser emitter fixing plate 1202 adopt 3D printing, the material is resin, the slider 504 of the laser weeding linear guide rail slider module 1201 adopts HGH15CC, the laser emitter 1203 is a 150W CO ₂ laser emitter 1203, and the modules of the racks 1204 of the gear 1205 are the same; the small servo motor is a 42 servo motor; the working principle of the laser weeding module 911 is as follows: the upper computer sends an instruction to the fourth controller, the fourth controller sends an instruction to the servo motor driver, the servo motor driver sends an instruction to rotate to the servo motor, and the servo motor drives the laser transmitter 1203 to move left and right on the linear guide rail slider module through meshing transmission of the gear 1205 and the rack 1204.

Preferably, the mechanical weeding module is positioned directly in front of the laser weeding module 911, based on the advancing direction of the weeding apparatus;

Preferably, the control box 7 includes: the device comprises a controller, a mechanical weeding servo motor 914 driver, a laser weeding servo motor driver, an upper computer and a solar charging controller; the upper computer interacts with the human through the touch screen 6.

The beneficial effects of the invention are as follows:

(1) The invention designs a three-degree-of-freedom passive damping walking system by using the torsion spring and the spring, which has low cost, does not increase the complexity of control and can help small traction equipment to adapt to fields with complex and changeable road conditions.

(2) The invention designs a retractable solar energy conversion system based on a crank block mechanism principle, which has simple control and low manufacturing cost, and can adjust the extension condition of a solar panel according to the working environment condition of weeding equipment so as to increase the conversion efficiency of solar energy.

(3) The invention designs a four-degree-of-freedom camera stabilizing system by utilizing the principle of a serial mechanical arm, and the system can control the rotation of a motor to ensure the stability of a camera in the working process according to the inclination condition of a vehicle body fed back by an MPU6050 three-dimensional angle sensor, so that reliable images are provided for the identification and positioning of follow-up crop weeds, and the problem that the identification and positioning of follow-up crops and weeds are influenced due to unstable quality of pictures shot by camera shake is greatly reduced.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims

1. An in-line real-time weeding device based on mechanical-laser cooperation, which is characterized by comprising:

The solar storage battery is respectively arranged at the left side and the right side of the control box and used for storing electric energy after solar energy conversion, the three-degree-of-freedom passive damping walking system is respectively arranged at the four ends of the weeding vehicle body and used for keeping the weeding vehicle body stable, the retractable solar energy conversion system is used for converting solar energy into electric energy and storing the electric energy in the solar storage battery, the four-degree-of-freedom camera stabilizing system is used for stabilizing cameras on the vehicle body and acquiring field crop images, the mechanical-laser combined weeding device is used for weeding, the control box is used for controlling the weeding mode of the mechanical-laser combined weeding device according to the information of the field crop images, and the touch screen is connected with an upper computer in the control box and used for interacting with a user so as to perform initialization setting and parameter setting on a program;

The scalable solar energy conversion system comprises:

the stepping motor is connected with the stepping motor reducer, and the stepping motor reducer is connected with the ball screw of the sliding table guide rail module; the four solar photovoltaic panel contraction and expansion mechanisms based on the crank blocks are symmetrically arranged on the left side and the right side of the weeding vehicle main body through screws and nuts, and are respectively positioned in the middle of the four three-degree-of-freedom passive damping traveling systems; the three solar photovoltaic panels are symmetrically connected with the weeding vehicle body through four hinge hinges, and the two solar photovoltaic panels are positioned on the left side and the right side of the weeding vehicle body; one end of the support rod piece is connected with a sliding table of the sliding table guide rail module through two sliding block connecting pieces, the other end of the support rod piece is connected with the solar photovoltaic panel through two sliding block connecting pieces, the support rod piece is rotationally connected with the sliding block connecting pieces, and the sliding block connecting pieces are fixedly connected with the solar photovoltaic panel and the sliding table through screw nuts;

the stepping motor is used for driving the stepping motor reducer to rotate, and the stepping motor reducer is used for driving the ball screw to rotate so as to drive the crank sliding block to perform linear motion;

The four-degree-of-freedom camera stabilization system includes:

The three-dimensional angle sensor is fixed in the control box, the electric push rod is fixedly connected with the weeding vehicle main body through the first concave connecting piece, the telescopic rod of the electric push rod is fixedly connected with the first motor bracket through the second concave connecting piece, the first brushless motor is fixedly connected with the first motor bracket, the output shaft of the first brushless motor is fixedly connected with the second motor bracket through the flange plate coupler, the second brushless motor is fixedly connected with the second motor bracket, the output shaft of the second brushless motor is vertical to the output shaft of the first brushless motor, and the second brushless motor is fixedly connected with the third motor bracket through the flange plate output shaft; the third motor bracket is fixedly connected with the fourth motor bracket; the third brushless motor is fixedly connected with the fourth motor bracket, an output shaft of the third brushless motor is respectively and vertically connected with the first brushless motor and the second brushless motor, and the third brushless motor is fixedly connected with the camera bracket through a flange plate output shaft; the camera is fixedly connected with the camera bracket, and a lens of the camera module is vertically and downwards connected with the telescopic rod of the electric push rod; the three-dimensional angle sensor is used for measuring inclination rotation data of the camera;

the mechanical-laser combined weeding device comprises:

the mechanical weeding module is used for weeding in a mechanical mode; the laser weeding module is used for weeding in a laser mode;

The mechanical weeding module comprises:

The weeding cutter mechanism includes:

The crank block mechanism comprises:

the laser weeding module comprises:

2. The real-time weeding apparatus in a row based on mechanical-laser cooperation according to claim 1, wherein the three-degree-of-freedom passive shock absorbing traveling system comprises: