Field laser intelligent weeding and thinning robot

Abstract

The invention discloses a field laser intelligent weeding and thinning robot which comprises four sets of wheel leg assemblies driven by servo motors, a front telescopic swing bridge, a rear telescopic fixed bridge, a base assembly, a liftable laser striking platform and electric control equipment such as a power generator and a three-dimensional laser terrain scanning radar. A plurality of modularized high-power carbon dioxide laser modules, four groups of laser range finders and five groups of double-axis tilt angle sensors are respectively mounted on and around a laser striking platform, each laser module comprises a digital galvanometer, a pseudo-coaxial camera and a miniature windscreen wiper dust removal system, and a digital galvanometer, a pseudo-coaxial camera and a miniature windscreen wiper dust removal system are mounted below the laser striking platform. A plurality of AI intelligent identification and positioning cameras and lighting devices are installed. Therefore, the robot can automatically identify and position weeds and seedlings through the AI intelligent camera and guide the laser to accurately strike the target, has the advantages of easy realization of modularization, universalization and standardization in the later period, is beneficial to cost saving, and is suitable for large-scale popularization and application in the later period.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a field laser intelligent weeding and thinning robot. Background Art

[0002] Carbon dioxide glass tube lasers are widely used in production and life fields such as laser marking and laser cutting of clothing fabrics due to their relatively low manufacturing cost and selling price. In particular, a large number of practices at home and abroad in recent years have proved that the 10.6-micron laser wavelength of carbon dioxide lasers is more easily absorbed by field weeds and the stems and leaves of crops. Therefore, a 150w high-power carbon dioxide laser beam is used to accurately lock and irradiate field weeds or the top meristem of crop seedlings that need to be topped or the roots of crops that need to be thinned through machine vision technology and AI intelligent algorithms. By accurately giving them a certain irradiation time and intensity, a striking laser flame can be instantly formed, or the top of the weeds and the top of the crop that needs to be toppled and the roots of the crop that needs to be thinned can be burned to ashes, or the top of the seedlings can be burned and withered, which can not only have a significant damage and inactivation effect on field weeds, but also efficiently complete crop thinning or topping operations. Therefore, the use of high-power carbon dioxide lasers for weeding, thinning or topping has a high cost-effectiveness and work efficiency compared to manual and other mechanical operations. In the emerging field of mobile robot laser weeding or thinning and topping, high-power carbon dioxide lasers are therefore very popular and have become the only choice.

[0003] However, existing laser weeding and thinning robots are mostly hydraulically driven, with complex structures, low precision, poor reliability, high maintenance costs, and short cruising range. Therefore, a more suitable robot structure is urgently needed. Summary of the invention

[0004] The purpose of this application is to provide an innovative field laser intelligent weeding and thinning robot to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, this application provides the following technical solutions: A field laser intelligent weeding and thinning robot, comprising a base assembly, a laser striking platform assembly, four sets of driving wheel and leg assemblies, and a vehicle-mounted device; The vehicle-mounted equipment is installed on the base assembly, the laser strike platform assembly is suspended below the base assembly, and two sets of driving wheel leg assemblies are fixed on both sides of the base assembly; The vehicle-mounted equipment is connected to the laser striking platform assembly and the driving wheel leg assembly respectively; The driving wheel leg assembly comprises a driving wheel leg box and a gear assembly; The driving wheel leg box is provided with a bearing mounting hole adapted to the gear assembly; The gear assembly comprises: a gear, a gear expansion sleeve, a gear shaft, a double-row self-aligning ball bearing with a tightening sleeve, and a bearing bushing; The bearing bushing is sleeved in the bearing mounting hole, the double-row self-aligning ball bearing with an adapter sleeve is sleeved in the bearing bushing, and the gear shaft passes through the inner ring of the double-row self-aligning ball bearing with an adapter sleeve; The gear shaft has a positioning shoulder, the gear and the gear shaft are fixedly connected via the gear expansion sleeve, and the gear and the gear expansion sleeve are limited by the positioning shoulder.

[0006] Preferably, the laser striking platform assembly includes a frame assembly and a plurality of laser modules installed on the frame assembly.

[0007] Preferably, a laser obstacle avoidance radar is provided at the front end of the frame assembly.

[0008] Preferably, laser ranging sensors are provided at the four corners of the frame assembly.

[0009] Preferably, inclination sensors are provided at the four corners and the center of the frame assembly.

[0010] Preferably, the frame assembly comprises a frame, a laser module pad is provided on the frame, the laser module pad is provided with guide grooves, and the number of the guide grooves is adapted to the number of laser tubes of the laser module.

[0011] Preferably, a guide flat key is provided at the front end of the frame assembly.

[0012] Preferably, an underbody camera and lighting assembly is provided at the bottom of the laser strike platform assembly, and the underbody camera and lighting assembly include an underbody camera and a lighting frame, and the underbody camera and lighting frame are provided with a strobe light, a front remote coarse prediction camera, a flash light bar and a near-field precise prediction camera.

[0013] Preferably, the vehicle-mounted equipment includes a variable frequency gasoline generator, a laser power supply, an electric control box, a chiller, a UPS and an industrial computer.

[0014] Compared with the prior art, the beneficial effects achieved by the present application are: a field laser intelligent weeding and thinning robot, on the one hand, adopts a modular high-power carbon dioxide laser module, the laser module includes a carbon dioxide laser tube and a digital galvanometer and a pseudo-coaxial camera and a matching micro-wiper dust removal system, which solves the installation and maintenance and replacement problems of the high-power carbon dioxide laser module required for the mobile laser weeding and thinning robot, has long-term reliable working positioning, good laser strike accuracy retention, efficient and convenient laser tube replacement, and the laser digital galvanometer and pseudo-coaxial camera lens are equipped with a micro-wiper dust removal system, which can eliminate the pollution and adverse effects of dust and haze on the galvanometer lens and the pseudo-coaxial camera lens, which is conducive to the improvement of laser weeding efficiency. The laser module has the advantages of easy modularization, generalization and standardization in the later stage, which is conducive to mass production, saving and reducing production and manufacturing costs, and is suitable for large-scale promotion and use in the later stage. On the other hand, the use of electric telescopic components to adjust the wheelbase and laser strike height can not only adapt to the changes in different working ridge distances and ridge heights in relatively flat fields, but also through the three-dimensional laser terrain scanning radar loaded on the front end of the robot and a complete set of multiple dual-axis inclination sensors and laser ranging sensors installed on the laser strike platform, it can better adapt to field operations on various slopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings: Figure 1 --Front view of the whole machine; Figure 2 --Left side view of the whole machine; Figure 3 --Rear view of the whole machine; Figure 4 --Top view of the whole machine; Figure 5 --Three-dimensional whole machine Figure 1 ; Figure 6 -- Bottom view of the whole locomotive; Figure 7 --Right view of the whole machine; Figure 8 --Three-dimensional whole machine Figure 2 ; Fig. 9 --The whole machine can operate on horizontal slope Figure 1 ; Fig.10 --The whole machine can operate on horizontal slope Figure 2 ; Fig.11 --Three-dimensional whole machine Figure 3 ; Fig.12 -- Exploded view of the whole machine; Fig.13 --Right view of the whole machine Figure 2 ; Fig.14 --Right view of the whole machine Figure 2 HH cross-sectional view; Fig.15 --Right view of the whole machine Figure 2 JJ sectional view; Fig.16 --Stereoscopic image of laser strike platform components; Fig.17 --3D view of the frame components; Fig.18 -- Exploded view of frame components; Fig.19 --Exploded view of laser strike platform components; Fig. 20 --Stereoscopic view of the underbody camera and lighting assembly; Fig.21 --Base assembly three-dimensional Figure 1 ; Fig. 22 --Base assembly three-dimensional Figure 2 ; Fig.23 --Base frame; Fig.24 --Exploded view of the base assembly; Fig.25 --Front view of the front axle swing and telescopic assembly; Fig.26 --Left view and main view HH section view of the front axle swing telescopic assembly; Fig. 27 --Top view and cross-sectional view of the front axle swing telescopic assembly; Fig.28 --Three-dimensional diagram of the front axle swing and telescopic assembly; Fig.29 --- Exploded view of the front axle swing telescopic assembly; Fig.30 --Front axle swing telescopic assembly three-dimensional Figure 2 ; Fig.31 - Stereoscopic diagram of the rear axle telescopic assembly; Fig.32 --Unloaded equipment complete machine 3D Figure 1 ; Fig.33 --Unloaded equipment complete machine 3D Figure 2 ; Fig.34 --Unloaded equipment complete machine 3D Figure 3 ; Fig.35 --The exploded view of the whole equipment is not included; Fig.36 --Three-dimensional view of the driving wheel leg assembly; Fig.37 --Exploded view of the driving wheel leg assembly; Fig.38 --Left side view of the driving wheel leg assembly; Fig.39 --AA section view of the left side view of the driving wheel leg assembly; Fig.40 -- Sectional view of the left side of the driving wheel leg assembly, AA, section line BB upper view; Fig.41 -- Sectional view of the left side of the driving wheel leg assembly between the break lines BB and CC; Fig.42 -- Sectional view of the left side of the driving wheel leg assembly between the break lines DD and EE; Fig.43 --Main view and DD section view of upper gear assembly; In the figure: base assembly 1, three-dimensional laser terrain scanning radar 11, base frame 12, front axle swing telescopic assembly 13, telescopic inner tube 131, front axle swing arm 132, swing bearing seat 133, shock-absorbing spring assembly 134, left electric telescopic assembly 135, right electric telescopic assembly 136, guide rail plastic wear-resistant sheet 137, rear axle telescopic assembly 14, electric telescopic assembly for height adjustment 15, axle inner stopper positioning hole 16, laser strike platform assembly 2, laser obstacle avoidance radar 21, frame assembly 22, frame 221, laser module pad 222, guide flat key 223, key screw 224, laser module 23, dual-axis tilt sensor 24, laser ranging sensor 25, drive wheel leg assembly 3, drive wheel leg box 31, upper gear assembly 32, upper gear 321, upper gear expansion sleeve 322 , upper bearing bushing 323, upper transparent cover 324, double-row self-aligning ball bearing 325 with tightening sleeve, upper gear shaft 326, expansion sleeve 327 for reducer shaft, upper cover 328, upper adjusting ring 329, upper spacer ring 3210, upper gear centering distance ring 3211, O-ring 3212, planetary reducer 33, servo motor 34, middle and upper gear assembly 35, axle connecting plate 36, axle connecting plate outer stop locating boss 361, middle and lower gear assembly 37, lower gear assembly 38, tire assembly 39, cover plate 310, filter vent cap 311, hexagonal screw plug 312, on-board equipment 4, under-vehicle camera and lighting assembly 5, flashing light 51, front remote rough prediction camera 52, flash light bar 53, near-field precise prediction camera 54, under-vehicle camera and lighting frame 55, front and rear leg limit rod assembly 6. DETAILED DESCRIPTION

[0016] This embodiment provides a field laser intelligent weeding and thinning robot. Figure 1 to Figure 15 As shown, the basic vehicle body includes a base assembly and four driving wheel-leg assemblies. The driving wheel-leg assemblies on the same side are fixedly connected by front and rear leg limit rod assemblies. There is also a laser strike platform assembly suspended under the base through four height-adjusting electric telescopic assemblies and a universal floating joint. There are also under-vehicle cameras and lighting assemblies installed at the lower part of the laser strike platform assembly. In addition, some vehicle-mounted equipment is installed on the base assembly.

[0017] The on-board equipment of the laser weeding and thinning robot of the present application includes: 2 variable frequency gasoline generators with one-button start, one of which is mainly used to power the drive motors of the 4 wheel-leg walking components and the front axle swing telescopic components, the rear axle telescopic components and the electric telescopic components for height adjustment, as well as related sensors, radars, etc., and the other is used to power the laser tube and electronic control system of the laser striking platform component and the related supporting electrical facilities of the chiller. In this way, two variable frequency gasoline generators are used to supply power separately, which is beneficial to the overall balanced coordination of the power load of the laser weeding and thinning robot, and can better meet the different power demands of the vehicle's walking drive system and the laser striking system in different operating modes such as working alone and working in coordination. It is not only beneficial to energy saving and environmental protection, but also can make the power generation equipment work more stably and reasonably.

[0018] The on-board equipment of the laser weeding and thinning robot also includes a high-power chiller for cooling each laser tube, several sets of laser power supplies adapted to the number of laser modules, an electrical control box for electrical control of the entire system, and a UPS and an industrial computer. The UPS and the variable-frequency gasoline generator can achieve seamless switching of electricity, ensuring the stable operation of the industrial computer and ensuring that there is always electricity and data is saved without loss during the overall intelligent control of the industrial computer.

[0019] like Figure 16~Figure 20 As shown, the laser striking platform assembly can be installed with more than one set of high-power carbon dioxide laser modules. This embodiment uses four sets, mainly based on the specific width of the vehicle body. Installing four sets of high-power carbon dioxide laser modules can just cover the specific ridge width for laser striking operation needs. The laser emission point used by the laser module described in this application is about 80 cm above the laser striking work surface. This height can give full play to and utilize the best energy striking effect of the carbon dioxide laser, especially the 10.6-micron laser wavelength of the carbon dioxide laser. Over the years, it has been used in laser striking at home and abroad. Impact experiments and agricultural production practices have fully proved that it is more easily absorbed by field weeds and the stems and leaves of crops. Therefore, a 150w high-power carbon dioxide laser beam is used, through machine vision technology and AI intelligent algorithms, to accurately lock and irradiate field weeds or the top meristem of crop seedlings that need to be topped or thinned. By accurately giving them a certain irradiation time and intensity, a striking laser flame can be formed instantly, either burning the top of the weeds to ashes, or burning the top of the seedlings to wither. It can not only have a significant damage and inactivation effect on field weeds, but also efficiently complete crop thinning or topping operations.

[0020] The laser striking platform uses a special modular laser module. Each set of carbon dioxide laser modules contains 5 major components: front bracket assembly, laser tube packaging assembly, rear bracket assembly, laser digital scanning galvanometer assembly, pseudo-coaxial camera assembly, and the galvanometer and pseudo-coaxial camera lenses are equipped with micro auxiliary wiper assemblies; this is conducive to improving the modularity and reliability of the equipment.

[0021] The laser strike platform assembly includes a frame assembly for installing a high-power carbon dioxide laser tube. The frame assembly includes: a frame, a laser obstacle avoidance radar is arranged at the front end of the frame, and the obstacle avoidance radar is mainly used to scan and detect obstacles in front, behind and around the vehicle, and is mainly used to prevent the vehicle from hitting obstacles during the advance and retreat process, especially the camera and lighting equipment are installed under the vehicle. The obstacle avoidance radar is installed at a height lower than the lowest working part under the vehicle, so that any obstacle higher than the working part can be scanned and detected by the obstacle avoidance radar, thereby giving an alarm in time and allowing the vehicle to avoid it.

[0022] A laser module pad is arranged between the frame and the carbon dioxide laser tube. The laser module pad is provided with a guide groove for cooperating with the bottom protrusion of the fixing ring for fixing the carbon dioxide laser module, so as to facilitate the positioning and installation of the carbon dioxide laser module. A guide flat key is arranged at the front end of the frame. The guide flat key is fixed by a keypress screw. The guide flat key is adapted to the front bracket assembly for fixing the carbon dioxide laser head. A groove is arranged at the bottom of the front bracket assembly which is just adapted to the guide flat key, so that the front bracket assembly can slide back and forth along the guide flat key, so as to facilitate the assembly, fixation and disassembly of the carbon dioxide laser module.

[0023] The four corners of the laser strike platform are suspended on the chassis with four sets of electric telescopic components with universal floating joints. The laser strike height can be automatically adjusted according to the ridge height and slope. For this purpose, laser rangefinders are installed at the four corners of the frame to measure the ground height corresponding to each corner of the frame component in real time, so as to collect the ground height data of the frame and provide it to the intelligent control system of the laser weeding and thinning robot. At the same time, two inclination sensors, specifically dual-axis inclination sensors, are installed at the front and rear ends of the frame. In addition, one inclination sensor, specifically dual-axis inclination sensor, is also set at the bottom center of the frame component. These four sets of laser rangefinders and five dual-axis inclination sensors are used for measuring the height of the four corners and leveling the frame as a whole. The leveling process is that 4 groups of laser ranging sensors and 5 dual-axis inclination sensors transmit data to the intelligent control system of the laser weeding and thinning robot in real time. The intelligent control system detects the actual slope of the current working ground in real time based on the three-dimensional laser terrain scanning radar carried by the front end of the vehicle body, and the 5 dual-axis inclination sensors carried on the frame provide real-time data feedback on the inclination of the current strike platform relative to the ground. After calculation by the intelligent control system of the laser weeding and thinning robot, the leveling command is issued to 4 groups of electric telescopic components for height adjustment. The electric telescopic components for height adjustment level and heighten the strike platform frame in real time based on the adjustment data given by the control system.

[0024] The undercar camera and lighting assembly includes: a flash light, a front remote rough prediction camera (specifically, a front remote rough prediction AI smart camera), a flash light bar, a near-field precise prediction camera (specifically, a near-field precise prediction AI smart camera), an undercar camera and a lighting frame. The flash light is arranged at the front end of the bottom of the undercar camera and the lighting frame, and two flash light bars are arranged in the middle and rear end of the bottom of the undercar camera and the lighting frame. Between the two flash light bars, in front of each galvanometer light outlet and in parallel with the direction of the laser tube, near-field precise prediction cameras with the same number as the galvanometers (4 in this case) are arranged. Between the flash light and the middle position of the bottom of the undercar camera and the lighting frame, along the direction parallel to the laser tube, at an appropriate position in front of the midline of two adjacent near-field precise prediction cameras, there are evenly arranged The number of front-mounted far-end coarse prediction cameras (2 in this example) is half the number of near-field precise prediction cameras. In this application example, the 2 front-mounted far-end coarse prediction cameras are used to perform coarse prediction identification and coarse positioning of the strike targets far away in the forward direction. The 4 near-field precise prediction cameras perform small-range screening and further precise identification and positioning prediction of the strike targets under the adjacent laser galvanometer based on the feedback data of the front-mounted far-end coarse prediction AI smart camera. The precise data after evaluation is then fed back to the laser strike control system, and the control system automatically selects one of the pseudo-coaxial AI smart cameras on the two laser modules adjacent to the target, which guides the matching galvanometer to implement precise laser strikes on the target. Finally, the adjacent near-field precise prediction camera is responsible for evaluating the damage effect after the laser strike.

[0025] In addition, in some individual cases, when the pseudo-coaxial camera on the laser module cannot be used normally for some reason, these four near-field precise prediction cameras can be simply set up through the system's preset options to directly replace the faulty pseudo-coaxial camera and be used as strike cameras for emergency use, thereby enhancing the robot's working performance.

[0026] like Figures 21 to 31 As shown, the base assembly includes a base frame and a three-dimensional laser terrain scanning radar installed at the front end of the base frame, and also includes a front axle swing telescopic assembly, a rear axle telescopic assembly and an electric telescopic assembly for height adjustment. The front axle swing telescopic assembly consists of a telescopic inner tube, a front axle swing arm, a swing bearing seat, a shock-absorbing spring assembly, a left electric telescopic assembly and a right electric telescopic assembly. A guide rail plastic-coated wear-resistant sheet is provided in the telescopic inner tube, which is used to reduce the active gap between the inner and outer telescopic tubes, improve the motion rigidity of the drive wheel leg assembly, and reduce the swing amplitude of the drive wheel leg assembly at the moment of starting and stopping. Secondly, it can reduce the friction of the telescopic inner tube, improve the wear resistance of the telescopic inner tube, and reduce the energy consumption when adjusting the wheelbase telescopic adjustment.

[0027] The three-dimensional laser terrain scanning radar in front of the vehicle is used to scan the slope of the ground in the field where the robot is located, providing a measurement and control basis for the subsequent adjustment of the parallelism or horizontality of the strike platform and the ground. It can automatically scan and measure the slope of the working ground in front of the vehicle, and then upload it to the industrial computer. The industrial computer then transmits the slope information of the working ground in front of the vehicle to the four electric telescopic mechanisms to adjust the height of the four corners of the strike platform, and uses four laser ranging sensors to measure and control and feedback the adjustment results in real time. At the same time, the five dual-axis inclination sensors at the four corners and the middle of the strike platform are used for final verification to confirm whether the adjustment results are consistent with the detection results of the laser terrain scanning radar.

[0028] The swing bearing seat is divided into a front seat and a rear seat, with the front axle swing arm fixed in the middle. The front axle swing arm can swing up and down to a certain extent through the bearing connection. A shock-absorbing spring assembly is arranged on each side of the front axle swing arm to buffer the impact force of the up and down swing and make the operation more stable.

[0029] The rear axle telescopic assembly also includes a telescopic inner tube, a left electric telescopic assembly and a right electric telescopic assembly. However, unlike the front axle swing telescopic assembly, the rear axle crossbeam with the nested telescopic inner tube is directly fixed to the base frame, so there is no need for a shock-absorbing spring assembly.

[0030] The front axle swing structure uses the front axle center as the swing center and is hinged to the vehicle body through bearings. It adapts to the unevenness of the ground by releasing the rotational freedom of the entire bridge. The unevenness of the ground makes the supporting force of the two wheels on both sides of the swing bridge different depending on the length of the lever arm from the swing center. The supporting force of the wheel with a longer lever arm is smaller, and the supporting force of the wheel with a shorter lever arm is larger. This floating structure can make the two wheels on the left and right wheel legs adapt to the uneven road surface by swinging. In fact, it can also be regarded as evolving the two wheels on the front axle into a large wheel on the entire bridge, and thus the 4-wheel layout of the whole vehicle will evolve into a 3-wheel layout. According to the theory that three points determine a plane, the three wheels must touch the ground at the same time, so that the four tires are always on the ground, and no tire will be suspended. This overcomes the technical defect that a certain tire does not touch the ground, and can be applied to more complex terrain scenes.

[0031] The front and rear axles, which are fixedly connected to the wheel-leg assembly, respectively have the function of telescopically adjusting the wheelbase, that is, the ridge width. The front axle adopts a swinging structure, and the rear axle adopts a fixed telescopic structure, and is automatically adjusted by an electric telescopic assembly.

[0032] The four sets of wheel-leg assemblies can automatically adjust the wheelbase, i.e. the ridge width for field operations, through the electric telescopic assemblies on the base assembly and the front and rear telescopic axles.

[0033] The laser striking platform assembly is suspended under the base assembly through 4 sets of electric telescopic assemblies and universal floating joints. It can not only adjust the laser striking height as a whole to adapt to different field ridge heights, but also adapt to different field ground operating slopes, including lateral slopes and longitudinal slopes, through the combined control of the telescopic heights of the 4 sets of electric telescopic assemblies. This ensures that the laser striking platform is always dynamically parallel to the ridge surface where the weeds or crops are located, ultimately ensuring that the laser beam accurately strikes the desired weed tops or thinning crop roots.

[0034] A three-dimensional laser terrain scanning radar is installed at the front end of the base frame, which is used to scan the ground slope of the field where the robot is located, and feed back the measured slope to the robot control system to adjust the parallelism between the laser striking platform and the working ground, ensuring that the laser beam accurately hits, for example, the top of the desired weeds or the roots of thinning crops.

[0035] Therefore, in summary, the laser weeding and thinning robot of the present application, under the configuration of this embodiment, has the following laser weeding and thinning process in the field: First, the 3D laser terrain scanning radar installed in front of the vehicle scans the slope of the terrain in front of the vehicle and sends the measured current operating slope data to the industrial computer and other control systems. Then, the control system uses the internal algorithm to quickly give the real-time telescopic amount of each of the 4 electric telescopic components around the striking platform according to the task instruction data of the current operation, combined with the current data fed back by the 4 laser rangefinders and 5 dual-axis tilt sensors around the laser striking platform, and adjust the working tilt angle of the laser striking platform synchronously. Secondly, when the robot enters the working field, the lighting device installed under the laser strike platform is turned on at the same time, and two front-end remote coarse prediction AI smart cameras are started to perform coarse prediction identification and coarse positioning of the strike targets slightly farther away in the forward direction. Four near-field precise prediction AI smart cameras perform small-range screening and further precise identification and positioning prediction of the strike targets under the adjacent laser galvanometer based on the feedback data of the front remote coarse prediction AI smart camera. The precise data after evaluation is then fed back to the control system, which selects the pseudo-coaxial AI smart camera on an adjacent and most suitable laser module based on the optimization results. The pseudo-coaxial AI smart camera locks the ideal part of the strike target in real time, and guides the laser module to emit a laser beam of specific intensity and duration, accurately irradiating the meristem at the top of the weeds or the roots of the seedlings that need thinning, in order to achieve the expected damage effect.

[0036] Finally, the nearby near-field precise prediction AI smart camera evaluates the damage effect in real time and uploads it to the industrial computer so that the system can decide whether to end the laser strike and whether to adjust the strike parameters in real time for another strike, or start the same cycle for the next strike target.

[0037] like Figures 32 to 35 As shown, the laser weeding and thinning robot of the present application, if not equipped with vehicle-mounted equipment and laser striking platform components, can also be an intelligent walking robot for field operations. The intelligent walking robot can realize different functions based on different mounted equipment. For example, if equipped with multiple cameras, it can be transformed into a terrain map collection vehicle. If equipped with a sprayer, it can be transformed into an intelligent robot for precise quantitative spraying. It can also be equipped with a rice transplanter to realize intelligent rice transplanting. The structure of the intelligent walking robot of the present application can be applied to many scenarios in industry, agriculture, and life.

[0038] like Figures 36 to 43As shown, the main structure of the driving wheel leg assembly is a five-axis driving wheel leg box, which transmits power from top to bottom through an upper gear assembly, a middle upper gear assembly, two middle lower gear assemblies and a lower gear assembly connected to the tire assembly at the bottom. The upper gear assembly is connected to the servo motor through a planetary reducer to transmit power. The housing of the planetary reducer is fixed to the driving wheel leg box through an adapter plate interface and bolts. An axle coupling plate is fixed to the outside of the middle upper gear assembly close to the vehicle body. The axle coupling plate is fixed to the driving wheel leg box by bolts. The axle coupling plate is provided with an axle coupling plate outer stop positioning boss, which is matched with the axle inner stop positioning hole of the telescopic inner tube of the front axle swing telescopic assembly or the rear axle telescopic assembly for positioning. After positioning, the telescopic inner tube is fixed to the driving wheel leg box by bolts, thereby completing the connection between the telescopic inner tube and the driving wheel leg box. This design makes the driving wheel leg assembly and the base assembly not only more convenient to disassemble and assemble, but also its structure is reasonably stressed, and the positioning connection is firm and reliable.

[0039] The driving wheel leg box body adopts commercially available high-strength rectangular steel pipe as the box body welding body, and its two larger sides are provided with bearing mounting holes matching the bearings of the gear assembly. At the same time, on the joint surface between it and the front and rear axle telescopic inner tube, there are outer stoppers corresponding to the telescopic inner tube; all the gears in the box body can be installed through the openings at both ends of the rectangular steel pipe.

[0040] The upper gear assembly consists of an upper gear, a locking sleeve for the upper gear, an upper bearing bushing, an upper transparent cover, a double-row self-aligning ball bearing with a locking sleeve, an upper gear shaft, a locking sleeve for the reducer shaft, an upper cover, an upper adjusting ring, an upper spacer ring, an upper gear centering distance ring and an O-ring. The installation process is as follows: The following installation process is based on Fig.37 and Fig.43 For example, Figures 39 to 42 The installation process is similar to this and is omitted here.

[0041] ①Installate the upper gear into the inner cavity of the driving wheel leg box from the upper opening of the driving wheel leg box, and translate it to be coaxial with the upper bearing hole; ② Insert the upper gear centering distance ring from the housing bearing hole on the right side of the diagram into the right side of the upper gear hole; ③Insert the upper gear shaft into the upper gear centering distance ring and the gear hole through the box bearing hole on the right side of the figure, and also penetrate the driving wheel leg box; the upper gear passes through the gear centering distance ring, which can facilitate the initial coaxial installation of the gear and the gear shaft, so that the subsequent installation of the gear expansion sleeve will be very labor-saving and convenient; ④ Insert the upper spacer ring on the right side into the upper gear shaft from the housing bearing hole on the right side as shown in the figure; ⑤Insert the right upper bearing bushing into the right through hole of the driving wheel leg box; ⑥Insert the double-row self-aligning ball bearing with a tightening sleeve on the right side into the upper bearing bushing, and also put it on the upper gear shaft, and simply fix it with the double-row self-aligning ball bearing with an tightening sleeve fixing nut; ⑦ Put the upper gear on the upper gear shaft with a tightening sleeve through the left through hole of the driving wheel leg box, and fix the gear with the tightening screw of the tightening sleeve according to the required torque; ⑧ Insert the left upper spacer ring onto the upper gear shaft; ⑨Insert the left upper bearing bushing and the double-row self-aligning ball bearing with a tightening sleeve; simply fix it first with the double-row self-aligning ball bearing with an tightening sleeve fixing nut; ⑩Fix the double-row self-aligning ball bearings with adapter sleeves on both sides at the same time by testing and adjusting the meshing of the upper gear and the previously installed middle upper gear; ⑪Finally, insert the upper adjustment ring and O-ring on the left and right sides respectively, install the upper cover on the left side, and install the upper cover on the right side, and preliminarily complete the assembly of the upper gear assembly. The installation method of the other middle upper gear assemblies, the two middle lower gear assemblies and the lower gear assembly connected to the tire assembly at the bottom is similar, so I will not repeat it here.

[0042] Because the upper gear assembly is connected to the planetary reducer, the upper gear shaft is hollow in design, while the gear shafts of the other middle upper gear assemblies, the two middle lower gear assemblies and the lower gear assembly at the bottom connected to the tire assembly are all solid in design.

[0043] The installation process of the upper gear shaft and the planetary reducer is as follows: because the planetary reducer shaft is connected to the upper gear shaft at one end with a reducer shaft expansion sleeve, after the double-row self-aligning ball bearing with a tightening sleeve is finally fixed at the same time in step ⑩, it is necessary to insert the reducer shaft expansion sleeve from the right side of the upper gear shaft, and then fix the expansion sleeve to fix the rotating shaft of the planetary reducer to the upper gear shaft, and then connect the rotating shaft of the servo motor to the input end of the planetary reducer, and finally install the remaining parts according to the above step ⑪.

[0044] Because the lower gear assembly has to withstand the axial force that may be generated when the wheels are moving or turning, the bearing used on the lower gear shaft is changed to a double-row spherical roller bearing with a tapered hole that can withstand larger axial forces. Other than this, the rest of the structure is similar to the upper gear assembly.

[0045] The connection method between the lower gear assembly and the tire assembly is: through similar operations as above, the lower gear assembly is first fixedly installed in the driving wheel leg box, the left side of the lower gear shaft protrudes out of the driving wheel leg box, and the hub disc of the tire assembly is set on the lower gear shaft. The two are fixedly connected by a tightening sleeve to facilitate disassembly and assembly.

[0046] The upper and lower ends of the driving wheel leg box are provided with covers with rubber sealing pads for easy installation and maintenance. After installation, the upper and lower covers need to be fixed to the driving wheel leg box with the provided rubber sealing pads. A filter vent cap is provided above the gear assembly fixed on the driving wheel leg box to balance the air pressure inside and outside the box. Hexagonal screw plugs are provided on the side walls of the box between different gear assemblies of the driving wheel leg box to facilitate subsequent replenishment of gear grease and maintenance.

[0047] The vehicle body of the present application adopts a five-axis gearbox driven by four servo motors as driving wheel legs, forming a four-wheel 4-wheel drive differential structure, which can flexibly and accurately turn or steer on the spot and move accurately.

[0048] The four driving wheel legs use a five-axis gearbox. The gearbox body is composed of a closed large-section rectangular steel pipe. The gears are connected to the shaft with expansion sleeves, and the bearings use double-row self-aligning ball bearings with tightening sleeves. The purpose is to facilitate installation and subsequent maintenance. At the same time, it reduces the parallelism and coaxiality accuracy requirements and machining costs of the gearbox bearing hole processing, and also eliminates the additional conditions of supporting process equipment required for processes such as hot or cold mounting and pressing of gears.

[0049] The wheel leg assembly and the front and rear axles are matched with the axle inner stopper positioning holes of the front and rear axle telescopic inner tubes through the outer stopper positioning bosses of the axle connecting plate on the wheel leg. Assembly is more convenient. The traditional gear and shaft adopt a key connection structure, which requires the use of a large press to press, or hot installation by induction heating, or cold installation by freezing the gear shaft with liquid nitrogen. It requires special process equipment and is not conducive to disassembly and maintenance by users or in the field.

Claims

1. A field laser intelligent weeding and thinning robot, characterized in that: Including base assembly, laser strike platform assembly, 4 sets of driving wheel leg assemblies, and on-board equipment; The vehicle-mounted equipment is installed on the base assembly, the laser strike platform assembly is suspended below the base assembly, and two sets of driving wheel leg assemblies are fixed on both sides of the base assembly; The vehicle-mounted equipment is connected to the laser striking platform assembly and the driving wheel leg assembly respectively; The driving wheel leg assembly comprises a driving wheel leg box and a gear assembly; The driving wheel leg box is provided with a bearing mounting hole adapted to the gear assembly; The gear assembly comprises: a gear, a gear expansion sleeve, a gear shaft, a double-row self-aligning ball bearing with a tightening sleeve, and a bearing bushing; The bearing bushing is sleeved in the bearing mounting hole, the double-row self-aligning ball bearing with an adapter sleeve is sleeved in the bearing bushing, and the gear shaft passes through the inner ring of the double-row self-aligning ball bearing with an adapter sleeve; The gear shaft has a positioning shoulder, the gear and the gear shaft are fixedly connected via the gear expansion sleeve, and the gear and the gear expansion sleeve are limited by the positioning shoulder.

2. The field laser intelligent weeding and thinning robot according to claim 1, characterized in that: The laser striking platform assembly includes a frame assembly and a plurality of laser modules installed on the frame assembly.

3. The field laser intelligent weeding and thinning robot according to claim 2, characterized in that: A laser obstacle avoidance radar is arranged at the front end of the frame assembly.

4. The field laser intelligent weeding and thinning robot according to claim 2, characterized in that: Laser distance measuring sensors are arranged at the four corners of the frame assembly.

5. The field laser intelligent weeding and thinning robot according to claim 2, characterized in that: The four corners and the center of the frame assembly are provided with inclination sensors.

6. The field laser intelligent weeding and thinning robot according to claim 2, characterized in that: The frame assembly comprises a frame, a laser module pad is arranged on the frame, the laser module pad is provided with guide slots, and the number of the guide slots matches the number of laser tubes of the laser module.

7. The field laser intelligent weeding and thinning robot according to claim 6, characterized in that: A guide flat key is arranged at the front end of the frame assembly.

8. The field laser intelligent weeding and thinning robot according to claim 1, characterized in that: The bottom of the laser strike platform assembly is provided with an underbody camera and a lighting assembly, and the underbody camera and the lighting assembly include an underbody camera and a lighting frame, and the underbody camera and the lighting frame are provided with a flash light, a front remote coarse prediction camera, a flash light bar and a near-field precise prediction camera.

9. The field laser intelligent weeding and thinning robot according to claim 1, characterized in that: The vehicle-mounted equipment includes a variable frequency gasoline generator, a laser power supply, an electric control box, a chiller, a UPS and an industrial computer.

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