Laser weeding robot

Abstract

The invention discloses a laser weeding robot and relates to the field of agricultural robots. The laser weeding robot consists of an autonomous mobile vehicle, a transverse motion device, a laser weeding device and a control system (1). A primary vision system (2) detects forward information so as to guide the autonomous mobile vehicle to move forward along the row direction of crops and a secondary vision system (9) identifies and positions grass at the same time; the control system (1) controls the forward motion of the autonomous mobile vehicle along the row direction of the crops according to the position information of grass; and at the same time, the transverse motion device controls a focus lens (10) to move transversely in a direction perpendicular to the row direction of the crops to focus a laser beam on the grass accurately to cut or burn the grass by the heat effect generated by the laser on the grass. The laser weeding robot is accurate and quick in action and suitable for weeding between rows and around crop seedlings, avoids plowed earth covering the seedlings, greatly reduces the rate of damage to the crop seedlings, and is low in energy consumption and high in universality.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to a laser weeding robot. Background technique [0002] The artificial chemical weeding methods widely used at present have caused serious threats to the ecological environment, agricultural product safety and human health, and non-chemical automatic weeding methods have begun to receive more and more attention. Among the three types of areas, inter-row, in-row and around crop seedlings, inter-row weeding is easy to implement mechanization, while weeding in-row and around crop seedlings has extremely high requirements on the intelligence of the machine and the performance of the actuator, and there is no mature solution so far. . Denmark has developed a rotary tooth weeding device (Griepentrog. Autonomous intra-row rotor weeding based on GPS. Proceedings of CIGR World Congress Agricultural Engineering for a Better World, 2006.), Germany has developed a vertical rotary weeding dev...

AI Technical Summary

Problems solved by technology

[0003] (1) The damage rate of crop seedlings is high due to mechanical damage caused by the limitation of motion control precision of mechanical devices, plowed soil clods pressing seedlings, etc.;

[0004] (2) The closer to the crop seedlings, the grass is blocked by the crop canopy and cannot be found by the vertical vision system; at the same time, due to the limitation of motion control accuracy, the grass in the area around the crop seedlings cannot be removed;

[0005] (3) The plow (hoe) problem existing in the mechanical device requires higher control, and the work efficiency is affected;

[0006] (4) The specific size structure of the mechanical device cannot adapt to the changes in row spacing and plant spacing under different crops and different cultivation methods

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