Mechanical-laser cooperative weeding vehicle

Abstract

The present application relates to the technical field of agricultural weeding equipment, and aims to provide a mechanical-laser collaborative weeding vehicle, which has the characteristics of precise weeding, no damage to crops and no chemical pollution. The technical scheme is a mechanical-laser collaborative weeding vehicle, characterized in that the weeding vehicle comprises a vehicle body, a laser weeding unit, a mechanical weeding unit, a navigation lighting unit and a controller.

Description

Technical Field

[0001] This invention relates to the field of agricultural weeding equipment technology, specifically a mechanical-laser collaborative weeding vehicle. Background Technology

[0002] Weeds, as an important part of the agricultural ecological environment, directly affect agricultural output. Weeds compete with crops for soil nutrients and water, influencing crop growth. Currently, weeding methods in my country mainly consist of manual and chemical weeding. Manual weeding consumes a large amount of manpower and resources, and is labor-intensive and inefficient. Among various weeding methods, chemical weeding, with its high efficiency and labor-saving characteristics, has gradually replaced traditional manual weeding, resulting in the current situation where chemical weeding is the primary method. While chemical weeding has solved the weed problem to some extent, the long-term use of large amounts of chemical herbicides has caused a series of problems, including soil pollution, increased weed resistance, pesticide residues, and food safety issues caused by exceeding standards.

[0003] Currently used traditional mechanical weeding methods are only suitable for large-scale, indiscriminate operations and cannot achieve precise weed removal, especially during the seedling stage, where they cannot achieve precise weed removal without damaging the crop. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings in the above-mentioned background technology and provide a mechanical-laser collaborative weeding vehicle that has the characteristics of precise weeding, no damage to crops, and no chemical pollution.

[0005] The technical solution of this invention is:

[0006] A mechanical-laser collaborative weeding vehicle, characterized in that: the weeding vehicle includes a vehicle body, a laser weeding unit, a mechanical weeding unit, a navigation and lighting unit, and a controller;

[0007] The vehicle body includes a frame, a running mechanism on both sides of the frame, and an adjustment mechanism connecting the frame and the running mechanism; the laser weeding unit and the mechanical weeding unit are located at the bottom of the frame; the navigation lighting unit is located at the front and bottom of the frame.

[0008] The traveling mechanism includes a longitudinal beam square tube that can be pivotally positioned on the side of the frame, and wheels that are respectively located at the front and rear of the longitudinal beam square tube and equipped with motors.

[0009] The adjustment mechanism includes a piston cylinder that is oscillatingly and rotatably positioned on the side of the frame, and a piston cylinder connecting frame that is oscillatingly positioned on the longitudinal beam square tube and connected to the piston cylinder push rod.

[0010] The swing axis of the longitudinal beam square tube is parallel to the width direction of the frame; each longitudinal beam square tube swing axis is provided with an adjusting mechanism in front and back; the swing axis of the piston cylinder is parallel to the length direction of the frame, the rotation axis of the piston cylinder is perpendicular to the swing axis of the piston cylinder, and the swing axis of the piston cylinder connecting frame is perpendicular to the rotation axis of the piston cylinder.

[0011] The laser weeding unit comprises a fiber laser, an external modulator, a dynamic focusing mirror, a concave lens, a two-dimensional galvanometer, a galvanometer box, a field mirror and a visual camera; the bottom of the frame is provided with two laser weeding units arranged in front and back.

[0012] The mechanical weeding unit comprises a weeding cutter head and a weeding motor for driving the weeding cutter head to rotate; the bottom of the frame is provided with two mechanical weeding units arranged in left and right.

[0013] The navigation lighting unit comprises front light lamps and navigation cameras arranged in up and down at the front end of the frame and four laser working lighting lamps arranged between the two laser weeding units at the bottom of the frame.

[0014] The controller is arranged in the frame and is electrically connected with the walking mechanism, the adjusting mechanism, the laser weeding unit, the mechanical weeding unit and the navigation lighting unit respectively.

[0015] The beneficial effects of the present application are:

[0016] The present application provides a mechanical-laser collaborative weeding vehicle, which utilizes laser (laser weeding unit) and mechanical (mechanical weeding unit) cutting cooperation, and realizes accurate laser irradiation on the weeds in the surrounding area of crops through visual recognition technology, and utilizes mechanical cutting to achieve weeding for weeds in the ridge area without crops; during operation, the crops are not damaged, no pollution is generated, the use of herbicides can be reduced, the environment is protected, the harm of pesticides to human body is avoided, green agriculture is realized; the vehicle can also replace human operation and save high labor cost. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is one of the schematic diagrams of the three-dimensional structure of the present application.

[0019] Figure 2 is the second schematic diagram of the three-dimensional structure of the present application.

[0020] Figure 3It is the main view structural schematic diagram of the application.

[0021] Figure 4 It is the three-dimensional structural schematic diagram of the walking mechanism of the application (omitting part of the motor protective cover).

[0022] Figure 5 It is the three-dimensional structural schematic diagram of the frame and the adjusting mechanism of the application.

[0023] Figure 6 It is the three-dimensional structural schematic diagram of the adjusting mechanism of the application.

[0024] Figure 7 It is the three-dimensional structural schematic diagram of the frame, the laser weeding unit, the mechanical weeding unit and the navigation lighting unit of the application.

[0025] Figure 8 It is the three-dimensional structural schematic diagram of the laser weeding unit of the application.

[0026] Figure 9 It is the working schematic diagram of the application.

[0027] Figure 10 It is the working schematic diagram of the laser weeding unit of the application.

[0028] Figure 11 It is the flow chart of the weeding operation of the application.

[0029] Reference signs:

[0030] Wheel 1, wheel hub 1-1, rubber tire 1-2, motor 1-3, motor protective cover 1-4, wheel connecting plate 1-5, upper end plate 1-5-1, lower end plate 1-5-2;

[0031] Walking mechanism 2, longitudinal beam square tube 2-1, piston rod connecting frame bearing 2-10, piston rod connecting base 2-11, cross beam bearing 2-2, cross beam 2-3, frame flange 2-4, piston cylinder 2-5, piston cylinder connecting seat 2-6, piston cylinder connecting seat bearing 2-7, piston cylinder connecting base 2-8, piston cylinder connecting frame 2-9;

[0032] Frame 3, front head 3-1, tail 3-2, front boss 3-3, lower boss 3-4;

[0033] Laser weeding unit 4, optical fiber 4-1, galvanometer box 4-10, laser head mounting seat 4-11, field lens 4-12, visual camera mounting seat 4-13, visual camera 4-14, concave lens hole 4-15, external modulator 4-2, laser head 4-3, dynamic focusing mirror 4-4, sliding chute 4-5, concave lens 4-6, X-axis galvanometer motor 4-7, Y-axis galvanometer motor 4-8, coated mirror 4-9;

[0034] Mechanical weeding unit 5, weeding motor 5-1, weeding blade shaft 5-2, weeding blade head 5-3, motor fixing plate 5-4, laser working illumination lamp 6, LED lamp 6-1, lamp holder 6-2, front headlamp 7, illumination part 7-1, front headlamp holder 7-2, navigation camera 8; DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0036] The embodiments of the present application are further described below in combination with the drawings.

[0037] As shown in Figure 1 , Figure 2 , Figure 3 , a mechanical-laser cooperative weeding vehicle includes a vehicle body, a laser weeding unit 4, a mechanical weeding unit 5, a navigation illumination unit, and a controller (omitted in the figure).

[0038] The vehicle body includes a vehicle frame 3, a walking mechanism 2, and an adjusting mechanism. Two walking mechanisms are respectively arranged on the left and right sides of the vehicle frame, and the vehicle frame and the walking mechanisms are connected through the adjusting mechanism. The laser weeding unit 4 and the mechanical weeding unit 5 are arranged at the bottom of the vehicle frame. The navigation illumination unit is arranged at the front and bottom of the vehicle frame.

[0039] As shown in Figure 3 , the shape of the vehicle frame 3 is a cuboid (the left side is the front 3-1 of the vehicle frame, and the right side is the tail 3-2 of the vehicle frame), the front 3-1 of the vehicle frame 3 is outwardly convex to form a front convex platform 3-3, the lower surface of the front convex platform is an inclined surface, and the vehicle frame bottom is provided with two downward convex platforms 3-4 arranged front and back and outwardly convex downward, and the two downward convex platforms are symmetrical about the central axis of the cross beam 2-3. The controller and the power supply for power supply are arranged inside the vehicle frame.

[0040] The walking mechanism includes a longitudinal beam square tube 2-1, a motor 1-3, a wheel 1, a motor protection cover 1-4, and a wheel connecting plate 1-5.

[0041] As shown in Figure 4 , Figure 5As shown, each side of the frame is swingably positioned with a longitudinal beam square tube 2-1, which is perpendicular to the width direction of the frame. The front and rear of each longitudinal beam square tube is respectively provided with a wheel 1 driven by a motor 3. The wheel includes a hub 1-1 and a rubber tire 1-2 mounted on the hub. The output shaft of the motor 3 is coaxially connected with the hub center to form a coaxial driving pair.

[0042] Further, the lower end plate 1-5-2 of the wheel connecting plate 1-5 is vertically arranged and parallel to the end surface of the hub. The shell of the motor 3 is fixed on the inner side of the lower end plate 1-5-2 of the wheel connecting plate 1-5 through screw connection. The motor 3 is externally provided with a motor protective cover 1-4, which is fixed on the wheel connecting plate 1-5 through screw connection. The rotation speed and torque of each wheel motor are controlled to realize the forward movement, turning, stopping and uphill and downhill of the mechanical-laser collaborative weeding vehicle.

[0043] Further, the upper end plate 1-5-1 of the wheel connecting plate 1-5 is fixed on the lower end surface of the longitudinal beam square tube 2-1 through screw connection.

[0044] Further, each side of the frame is provided with a longitudinal beam square tube 2-1. The middle part of the upper end surface of the longitudinal beam square tube 2-1 is screw-connected with a cross beam bearing 2-2. A cross beam 2-3, which is a circular shaft, transversely penetrates the middle part of the frame 3. The outer walls of the frame 3 on both sides are screw-connected with a frame flange 2-4. The cross beam penetrates the frame flange 2-4 to be fixed with the frame. The two ends of the cross beam 2-3 are matched with the shaft holes of the cross beam bearings 2-2 on the longitudinal beam square tubes on both sides of the frame 3 to form a rotating pair.

[0045] The swing axis of the longitudinal beam square tube is parallel to the width direction of the frame. The upper end surface of the longitudinal beam square tube 2-1 is further screw-connected with two piston rod connecting bases 2-11, which are respectively arranged at the front and rear of the longitudinal beam square tube 2-1 and located on both sides of the cross beam bearing 2-2.

[0046] The adjusting mechanism includes a piston cylinder 2-5 and a piston cylinder connecting frame 2-9. The piston cylinder 2-5 is swingably and rotatably positioned on the side of the frame. The piston cylinder connecting frame 2-9 is swingably positioned on the longitudinal beam square tube 2-1 and connected with the piston cylinder push rod. Each side of the swing axis of the longitudinal beam square tube is provided with an adjusting mechanism. The front and rear of the longitudinal beam square tube are respectively connected with the frame through an adjusting mechanism.

[0047] Further, the piston cylinder 2-5 is rotatably positioned on the piston cylinder connecting base 2-6, the cylinder body of the piston cylinder 2-5 is installed in the shaft hole in the middle of the piston cylinder connecting base 2-6 and forms a rotary pair with the piston cylinder connecting base 2-6, the rotary axis of the piston cylinder is perpendicular to the swing axis of the piston cylinder, and the piston cylinder 2-5 can rotate around its own central axis.

[0048] Further, the piston cylinder connecting base 2-8 is fixed on the side of the vehicle frame, the piston cylinder connecting base 2-6 is swingably positioned on the piston cylinder connecting base 2-8, each end of the piston cylinder connecting base 2-6 is provided with a piston cylinder connecting base bearing 2-7 and forms a rotary pair with the piston cylinder connecting base bearing 2-7, the piston cylinder connecting base bearing 2-7 is fixed on the piston cylinder connecting base 2-8, the middle of the piston cylinder connecting base 2-8 is provided with a concave part to ensure that the piston cylinder connecting base 2-6 with the piston cylinder 2-5 installed therein can rotate smoothly, and the swing axis of the piston cylinder is parallel to the length direction of the vehicle frame.

[0049] Further, one end of the piston rod of the piston cylinder is connected to the piston of the piston cylinder and forms a moving pair with the piston cylinder 2-5, the other end of the piston rod of the piston cylinder is connected to the piston cylinder connecting frame 2-9, each end of the swing axis of the piston cylinder connecting frame 2-9 is provided with a piston rod connecting frame bearing 2-10 and forms a rotary pair with the piston rod connecting frame bearing 2-10, the piston rod connecting frame bearing 2-10 is fixed on the piston rod connecting base 2-11, and the swing axis of the piston cylinder connecting frame 2-9 is perpendicular to the rotary axis of the piston cylinder. By controlling the extension length of the piston rod of the piston cylinder of each side adjusting mechanism, the front and rear pitch angle of the vehicle frame can be changed.

[0050] As shown in Figure 7 , Figure 8 , two laser weeding units are installed on the vehicle frame, and one laser weeding unit is arranged on the bottom surface of each lower boss. The laser weeding unit comprises a fiber laser, an external modulator 4-2, a dynamic focusing mirror 4-4, a concave lens 4-6, a two-dimensional galvanometer, a galvanometer box 4-10, a field lens 4-12, and a vision camera 4-14.

[0051] Further, the fiber laser is a high-power red laser with an optical power of more than 50W, which comprises a laser pumping source, an optical fiber 4-1, and a laser head 4-3. The laser pumping source is placed in the vehicle frame 3, and the laser pumping source is provided with a cooling device. One end of the optical fiber 4-1 is connected to the laser pumping source, and the other end of the optical fiber 4-1 is connected to the external modulator 4-2 through a small hole in the bottom of the vehicle frame 3.

[0052] Further, the galvanometer box 4-10 is fixed with a laser head mounting seat 4-11 on one side, and the outer modulator 4-2 is optically connected with the laser pumping source at one end and the laser head 4-3 at the other end. The outer modulator 4-2 and the laser head 4-3 are mounted on the laser head mounting seat 4-11, and a dynamic focusing mirror 4-4 is mounted in front of the output end of the laser head 4-3. The dynamic focusing mirror 4-4 can move back and forth in the laser head mounting seat 4-11.

[0053] The outer wall (the side facing the laser head mounting seat) of the galvanometer box 4-10 is provided with a sliding groove 4-5, and a concave lens hole 4-15 matched with the dynamic focusing mirror is arranged in the sliding groove. The concave lens 4-6 is mounted in the sliding groove 4-5 and can slide up and down along the sliding groove 4-5. When the concave lens moves to the bottom end of the sliding groove, it blocks the concave lens hole 4-15.

[0054] Further, the two-dimensional galvanometer includes an X-axis galvanometer motor 4-7 and a Y-axis galvanometer motor 4-8 fixed in the galvanometer box 4-10, and a coated mirror 4-9 is connected to the output shafts of the two galvanometer motors. The output shaft of the X-axis galvanometer motor 4-7 is arranged horizontally, and the output shaft of the Y-axis galvanometer motor 4-8 is arranged vertically.

[0055] The laser beam output by the laser head 4-3 is irradiated into the coated mirror 4-9 on the Y-axis galvanometer motor 4-8 in the galvanometer box 4-10 after passing through the dynamic focusing mirror 4-4, and the light beam is reflected into the coated mirror 4-9 on the X-axis galvanometer motor 4-7, and then the reflected light beam passes through the field lens 4-12 mounted below the galvanometer box 4-10 to focus the light beam and irradiate it to the ground target.

[0056] Further, the other side (the side away from the laser head mounting seat) of the galvanometer box 4-10 is provided with a visual camera mounting seat 4-13, and the visual camera 4-14 is in a cylindrical shape and is mounted on the visual camera mounting seat 4-13. The visual camera 4-14 takes pictures around the crops on the working ground and inputs the acquired image information to the controller.

[0057] Further, as shown in Figure 7 Two mechanical weeding units are mounted on the vehicle frame, which are arranged symmetrically left and right at the bottom of the vehicle frame. Figure 7 As shown in

[0058] The mechanical weeding unit comprises a weeding motor 5-1 and a weeding cutter head 5-3, and an L-shaped motor fixing plate 5-4 is threadedly connected to the front and rear of the weeding motor 5-1, and the motor fixing plate 5-4 is fixed to the bottom of the frame by thread connection.

[0059] Further, the weeding cutter shaft 5-2 can be replaced, and the length of the weeding cutter shaft can be replaced according to the different heights of the field ridge.

[0060] The navigation lighting unit comprises a navigation camera 8, a front light 7 and four laser working lighting lamps 6.

[0061] Further, the four laser working lighting lamps 6 are arranged between the two lower protrusions (laser weeding units 4), and the four laser working lighting lamps are arranged symmetrically about the central axis of the length direction of the frame and are also arranged symmetrically about the front and rear of the cross beam 2-3, the laser working lighting lamp is an LED lamp 6-1, the LED lamp is installed on the bottom of the frame 3 through a respective lamp holder 6-2, the front light 7 and the navigation camera 8 are installed on the front protrusion of the frame and are arranged vertically, the illumination part 7-1 of the front light is installed on the upper surface of the front protrusion of the frame through the front light holder 7-2, and the front light 7 illuminates the ground in the forward direction of the weeding vehicle when it works, and the navigation camera 8 is installed on the center of the inclined surface of the lower surface of the front protrusion of the frame, and the navigation camera 8 faces the ground in the forward direction of the mechanical-laser cooperative weeding vehicle, obtains the path information in the forward direction and transmits it to the controller.

[0062] Further, the controller is arranged in the frame 3, and the controller is electrically connected with the walking mechanism, the adjusting mechanism, the laser weeding unit, the mechanical weeding unit, the navigation camera 8, the front light 7 and the laser working lighting lamp.

[0063] The components of the present application are all prior art and can be purchased.

[0064] The working principle of the present application is as follows:

[0065] As Figure 9 As shown in the drawings, the general row ridge planting farmland has no crops between the rows, and the mechanical weeding unit 5 is used for indiscriminate weeding operation, and the laser weeding unit 4 is used for precise weeding operation for weeds near the crops to avoid damage to the crops.

[0066] The controller controls the weeding vehicle to advance to the first weeding area of the working site and stop, at which time the laser weeding unit 4 is located above the crops.

[0067] The visual camera 4-14 takes a first photo of the area around the crop weeding area and inputs the photo information to the controller, which performs machine vision recognition on the photo to determine whether the lower surface of the vehicle frame 3 is parallel to the ground of the working area; if so, the visual camera 4-14 takes a second photo of the area around the crops; if not, the controller activates the piston cylinder 2-5 of the adjusting mechanism, and the push rod of the piston cylinder 2-5 extends or retracts, thereby driving the vehicle frame 3 to rotate around the beam 2-3 axis to adjust the pitch angle of the vehicle frame 3, so that the lower surface of the vehicle frame 3 is parallel to the ground of the working area, and the controller locks the moving pair composed of the piston cylinder 2-5 and the push rod of the adjusting mechanism at this position, and the visual camera 4-14 takes a second photo of the area around the crops.

[0068] The visual camera 4-14 takes a second photo of the area around the crops and inputs the photo information to the controller, which performs machine vision recognition on the photo to identify which are weeds and which are crops, analyzes the plant center position of the weeds and the distance between the laser head and the plant center position of the weeds, the plant size, and the plant type, and converts the camera coordinates of the plant center position of the weeds into laser working coordinates and outputs the coordinate signals to the dynamic focusing mirror 4-4 and the two galvanometer motors, at which time the laser is turned on and outputs laser, the dynamic focusing mirror 4-4 moves to the corresponding position on the laser head mounting seat 4-11 according to the distance between the laser head and the plant center position of the weeds input by the controller, so that the focal point falls on the plant center of the weeds, at which time the laser output by the laser is most efficiently applied to the weeds; the X-axis galvanometer motor 4-7 and the Y-axis galvanometer motor 4-8 deflect by a certain angle according to the signals input by the controller to drive the coated mirror 4-9 to reflect the laser emitted by the laser head 4-3 to the field lens 4-12, and the laser beam passes through the field lens 4-12 and focuses on the target position, the high-temperature laser beam irradiates the plant center of the weeds and burns the weeds, so that the weeds lose activity; the pump source of the fiber laser selects appropriate irradiation time for the weeds according to the information of the plant size and the plant type of the weeds, so as to achieve effective weeding effect.

[0069] As Figure 10As shown, after the first weed in the area is removed, the X-axis galvanometer motor 4-7 and the Y-axis galvanometer motor 4-8 quickly deflect at the corresponding angle according to the position of the next weed given by the controller, so that the laser spot moves to the next weeding point. Due to the working characteristics of the galvanometer, when there are crops between two weeds, the laser output will briefly sweep across the crops. To avoid laser damage to the crops and damage to the laser from frequent switching, the laser remains in output mode as the laser spot moves to the next weeding point. At this time, the controller controls the external modulator 4-2 to modulate the output laser intensity, minimizing the output laser intensity. Simultaneously, the concave lens 4-6 falls along the slide 4-5 (blocking the concave lens hole for laser input in the galvanometer box), further reducing the laser intensity and ensuring that the laser sweeping across the crops will not damage them in this state. After the two galvanometer motors complete their deflection, the concave lens 4-6 rises (leaving the concave lens hole for laser input in the galvanometer box); and the external modulator 4-2 modulates the laser output intensity to the size previously used for burning weeds. The dynamic focusing lens 4-4 moves again to focus, causing the laser spot to fall on the center of the second weed plant and burn the weed. The above process is repeated until all weeds in the area are completely removed.

[0070] After the laser weeding unit 4 completes the removal of all weeds around the crop, the controller plans a suitable path based on the field position information input by the navigation camera 8 at the front of the vehicle frame, and feeds back to the motors 1-3 of the four wheels to drive the wheels to rotate, so that the weeding vehicle can travel along the path that the mechanical weeding unit can sweep over the rows without crops. At the same time, the controller controls the weeding motor 5-1 at the rear of the vehicle frame to start, driving the weeding head 5-3 to rotate, so as to achieve indiscriminate cutting and weeding between the rows without crops.

[0071] like Figure 10 As shown, the area directly below the frame is the laser weeding range, and the areas on both sides of the laser weeding range are the mechanical weeding ranges. To prevent any omissions in the laser weeding area and the mechanical weeding area and to ensure complete weed removal, the weeding area of ​​the laser weeding unit 4 and the weeding area of ​​the mechanical weeding unit 5 have a small overlap.

[0072] When the trolley enters the next laser component working area, the controller controls the weeding trolley to stop again and the weeding motor 5-1 at the rear of the frame stops. At this time, the weeding trolley has completed all the weeding work in the previous working area and starts the weeding work in the next working area. This cycle continues until the weeding of all working areas is completed.

[0073] When the trolley works at night or on cloudy days with insufficient light, the controller simultaneously turns on the four laser working illumination lamps 6 at the bottom of the frame and the front headlamp 7 at the front end of the frame. The four laser working illumination lamps 6 illuminate the working area at the bottom of the frame 3, ensuring that the visual camera 4-14 can work normally, and the front headlamp 7 illuminates the ground in the forward direction of the weeding trolley, ensuring that the navigation camera 8 can work normally.

[0074] Compared with the prior art, the advantages of the present application are that the mechanical weeding and laser heat weeding are combined and work together. For weeds in the row and ridge without crops, the weeding cutter head of the mechanical weeding unit 5 rotates without discrimination for cutting weeding operation. For fields with different heights, the length of the weeding cutter shaft can be replaced to adapt to different heights. For fields with different row and ridge spacings, the weeding cutter head with a cutting radius suitable for the spacing can also be replaced. Thus, the weeding trolley can adapt to different operation requirements. For weeds around crops, the laser weeding unit can achieve accurate irradiation of weeds through visual identification and appropriate irradiation time, and can achieve scanning through crops without causing damage to crops when the laser point shifts the working position without frequently turning on and off the laser. Moreover, the frame of the trolley body can be leveled according to different land conditions, so that the laser weeding unit can more reliably perform weeding operation. The weeding trolley also plans the working path through the navigation camera. Since the front headlamp and the laser working illumination lamp are provided, the weeding trolley can work at night or on cloudy days with insufficient light, and the weeding operation does not require personnel throughout the operation. In summary, the present application realizes high operation efficiency without damaging crops and causing any chemical pollution, saves a lot of manpower and resources, and realizes the concept of green agriculture.

[0075] It should be noted that, in the present application, relational terms such as "first" and "second", and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0076] The foregoing detailed description of the application has been presented for purposes of illustration and description. Various modifications and changes can be made to these embodiments without departing from the spirit and scope of the application. It is intended that the scope of the application should not be limited by the particular representative embodiments described above.

Claims

1. A mechanical-laser collaborative weeding vehicle, characterized in that: The weeding vehicle includes a vehicle body, a laser weeding unit (4), a mechanical weeding unit (5), a navigation and lighting unit, and a controller; The vehicle body includes a frame (3), a walking mechanism (2) disposed on both sides of the frame, and an adjustment mechanism connecting the frame and the walking mechanism; the laser weeding unit and the mechanical weeding unit are disposed at the bottom of the frame; the navigation lighting unit is disposed at the front and bottom of the frame; The walking mechanism includes a longitudinal beam square tube (2-1) that is pivotally positioned on the side of the frame and wheels (1) that are respectively located at the front and rear of the longitudinal beam square tube and equipped with motors (1-3). The adjustment mechanism includes a piston cylinder (2-5) that is oscillatingly and rotatably positioned on the side of the frame, and a piston cylinder connecting bracket (2-9) that is oscillatingly positioned on the longitudinal beam square tube (2-1) and connected to the piston cylinder push rod. The swing axis of the longitudinal beam square tube is parallel to the width direction of the frame; an adjustment mechanism is provided in front of and behind each swing axis of the longitudinal beam square tube; the swing axis of the piston cylinder is parallel to the length direction of the frame, the rotation axis of the piston cylinder is perpendicular to the swing axis of the piston cylinder, and the swing axis of the piston cylinder connecting frame is perpendicular to the rotation axis of the piston cylinder. The laser weeding unit includes a fiber laser, an external modulator (4-2), a dynamic focusing lens (4-4), a concave lens (4-6), a two-dimensional galvanometer, a galvanometer box (4-10), a field lens (4-12), and a vision camera (4-14); the bottom of the vehicle frame is equipped with two laser weeding units arranged front and rear. The outer wall of the galvanometer box (4-10) is provided with a sliding groove (4-5), and a concave lens hole (4-15) for cooperating with the dynamic focusing lens is provided in the sliding groove. The concave lens (4-6) is installed in the sliding groove (4-5). The concave lens (4-6) can slide up and down along the sliding groove (4-5). When the concave lens moves to the bottom of the sliding groove, it blocks the concave lens hole (4-15). The visual camera (4-14) takes the first picture of the area around the crop weeding area to determine whether the lower surface of the frame (3) is parallel to the ground of the working area. If it is not parallel, the controller starts the piston cylinder (2-5) of the adjustment mechanism. The push rod of the piston cylinder (2-5) extends or retracts, thereby driving the frame (3) to rotate around the axis of the crossbeam (2-3) to adjust the pitch angle of the frame (3) so that the lower surface of the frame (3) is parallel to the ground of the working area.

2. The mechanical-laser collaborative weeding vehicle according to claim 1, characterized in that: The mechanical weeding unit includes a weeding blade (5-3) and a weeding motor (5-1) that drives the weeding blade to rotate; the bottom of the frame is provided with two mechanical weeding units arranged on the left and right.

3. The mechanical-laser collaborative weeding vehicle according to claim 2, characterized in that: The navigation lighting unit includes a headlight (7) and a navigation camera (8) located at the front of the vehicle frame and arranged vertically, and four laser working lights (6) located at the bottom of the vehicle frame and between the two laser weeding units.

4. The mechanical-laser collaborative weeding vehicle according to claim 3, characterized in that: The controller is located inside the vehicle frame and is electrically connected to the walking mechanism, adjustment mechanism, laser weeding unit, mechanical weeding unit, and navigation lighting unit.

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