Efficient intelligent laser weeding robot

Abstract

The invention discloses an efficient intelligent laser weeding robot, and relates to the field of laser weeding. The problems that an existing laser weeding robot is large in weight and complex in structure are solved. The device comprises a visual identification system (6), a chassis truck (1), a control system (2), a cooling system (3), an autonomous navigation system (4) and a laser assembly (5), the chassis truck (1) comprises four wheel bodies A and a lifting platform (B), the lifting platform (B) is a motor-driven lifting platform, the four wheel bodies A are installed at the four corners of the lifting platform (B) respectively, the laser assembly (5) is installed on the lifting platform (B) in the length direction, and the control system (2) is connected with the control system (2). The control system (2) is installed on the side face of the lifting platform (B), the cooling system (3) is installed on the rear portion of the lifting platform (B), and the autonomous navigation system (4) is installed on the lifting platform (B). Weeds are efficiently eliminated, no pollution is caused in the process, and efficient and intelligent farmland weeding is achieved.

Description

Technical Field

[0001] The present invention relates to the fields of machinery, electricity, remote control and intelligent navigation agricultural robots, and particularly relates to an efficient intelligent laser weeding robot. Background Art

[0002] During the process of crop planting, weeds are one of the most important problems. Weeds will compete with crops for water, nutrients and light energy. Because the root systems of weeds are well-developed, their ability to absorb soil water and nutrients is very strong; the plant height of weeds is often higher than that of crops, seriously affecting the utilization of light energy by crops and interfering with and restricting the growth of crops. At the same time, weeds are intermediate hosts of crop diseases and pests, easily causing crops to get sick, thus reducing crop yields.

[0003] Chemical herbicide weeding is the most widely used weeding method, but the pollution risk of herbicides is also relatively large. First, it has caused serious and irreversible pollution to farmland, forest land, local water sources and the atmospheric environment. Second, the use of herbicides may have an adverse impact on crops, and with the accumulation through the food chain, there will inevitably be drug residues of herbicides in the human body. In addition, repeated use of the same type of herbicide will cause weeds to develop serious resistance, also greatly reducing the weeding efficiency of herbicides.

[0004] For traditional laser weeding robots, the height of the laser from the ground needs to be manually adjusted, and the working distance of the laser is fixed and cannot change with the height change of the ridges in the field, affecting the weeding accuracy. However, with the rapid development of intelligent high-end equipment, the publication number is CN118476527B, and the patent name is a multi-degree-of-freedom laser weeding robot. The bottom of the agricultural machinery chassis of this invention patent is connected to the frame assembly through a laser pose adjustment device, multiple lasers are arranged in parallel and at equal intervals on the frame assembly, the data acquisition part is installed at the front end in the advancing direction of the frame assembly, and the multi-degree-of-freedom agricultural machinery chassis hydraulic system controls the hydraulic actuators in the laser pose adjustment device and the four multi-degree-of-freedom wheel leg mechanisms to control the lens of the data acquisition part installed on the frame assembly to always be parallel to the horizontal ground, and the laser dust removal device is inclinedly installed on the frame assembly. Although the above invention patent solves the problem that the prior art is difficult to meet the requirements of adapting to complex terrains in the field working environment and improves the laser weeding accuracy. However, it uses a hydraulic system to drive the whole robot to walk, resulting in the problems of large weight and complex structure of the whole laser weeding robot.

[0005] In summary, the existing laser weeding robots have the problems of large weight and complex structure. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems of large weight and complex structure of laser weeding robots. Furthermore, an efficient intelligent laser weeding robot is provided.

[0007] The technical solution of the present invention is as follows: An efficient intelligent laser weeding robot, which includes a vehicle frame and a visual recognition system. The visual recognition system is installed at the front of the vehicle frame. It also includes a chassis vehicle, a control system, a cooling system, an autonomous navigation system and a laser component; The chassis vehicle is installed on the vehicle frame. The chassis vehicle includes four wheel bodies and a liftable platform. The liftable platform is a motor-driven liftable platform. The four wheel bodies are respectively installed at the four corners of the liftable platform, and the actions of the four wheel bodies are controlled separately. The laser component is installed on the liftable platform along the length direction. The control system is installed on the side of the liftable platform. The cooling system is installed at the rear of the liftable platform. The autonomous navigation system is installed on the vehicle frame.

[0008] Further, each wheel body includes a driving module and a steering module. The driving module includes a chevron tire, a driving servo motor, a planetary reducer and a driving reducer fixing plate. The planetary reducer is installed on the driving reducer fixing plate. The driving servo motor is installed on the driving reducer fixing plate, and the output shaft of the driving servo motor is connected to the input end of the planetary reducer. The output end of the planetary reducer is connected to the chevron tire installed on the driving reducer fixing plate. The rotational power of the chevron tire is driven by the driving servo motor and transmitted after being decelerated by the planetary reducer to achieve forward, backward and braking; the steering module is installed on the upper part of the driving reducer fixing plate and drives the driving module to achieve steering at any angle.

[0009] Furthermore, the steering module includes a steering servo motor, a hollow reducer and a hollow reducer fixing plate. The hollow reducer fixing plate is horizontally installed above the driving reducer fixing plate. The hollow reducer is installed and passes through the hollow reducer fixing plate and then is connected to the upper end of the driving reducer fixing plate. The output shaft of the steering servo motor is connected to the input end of the hollow reducer.

[0010] Further, the liftable platform includes a lift driving servo motor, a lead screw lifting structure and a laser fixing platform. The output shaft of the lift driving servo motor is connected to the lead screw lifting structure. The laser fixing platform is installed on the lead screw lifting structure and realizes lifting movement under the drive of the lead screw lifting structure.

[0011] Furthermore, the lead screw lifting structure includes four groups of lead screw transmission units, a gear box, a transmission shaft, a bidirectional transmission member and a connecting member. The power input end of the gear box is connected to the lift driving servo motor. The power output ends on the left and right sides of the gear box are respectively connected to a bidirectional transmission member through a transmission shaft. The two ends of the bidirectional transmission member are respectively connected to a group of lead screw transmission units. In the width direction of the laser fixing platform, the lead screws between adjacent two groups of lead screw transmission units are connected by a connecting member.

[0012] Preferably, the liftable platform further includes a shock absorption module, and the connecting member is connected to the laser fixed platform through the shock absorption module.

[0013] Furthermore, the vision recognition system includes an illumination system and a camera system. The illumination system is installed on both the front and rear sides of the lens of the laser component, and the camera system is installed in the middle of the illumination system. Among them, the illumination system is an ultra-high brightness strobe light source.

[0014] Preferably, the cooling system is a water cooling system.

[0015] Furthermore, it also includes a battery, and the battery is installed in the abdomen of the chassis truck.

[0016] The present invention has the following effects compared with the prior art: 1. The chassis truck of the present invention uses an electric motor drive method to achieve the driving of the walking function, abandoning the problem of the large self-weight of the vehicle body brought by the hydraulic system drive used in the original laser weeding robot. In addition, the use of electric motor drive has higher precision.

[0017] The four wheel bodies A on the chassis truck of the present invention are equivalent to a four-wheel four-rotation structure. Each servo motor is equipped with a separate motor driver, and the operation of each servo motor can be independently controlled respectively, that is, it can respectively achieve forward, backward, braking, translation, steering (including front-wheel, rear-wheel, four-wheel Ackermann steering, four-wheel differential steering, in-situ steering, etc.) control, and the control of walking is more flexible.

[0018] 2. The structure of the wheel body A of the present invention is simpler than that of the prior art. Specifically reflected in: the wheel legs of the present invention use a servo motor to directly drive the chevron tires to walk, and when steering is required, it is directly controlled by the steering servo motor. That is, the walking action of the wheel body of the present invention is realized by a direct drive method. The structure is simple and the control is precise.

[0019] 3. The illumination system 6-1 of the present invention is an ultra-high brightness strobe light source, and the surface illuminance of the ground can reach several times that of sunlight. When operating outdoors, it can effectively prevent the interference of sunlight, meet the lighting requirements required by the laser, and minimize the impact on the imaging quality during photographing to the greatest extent.

[0020] 4. The present invention uses a water cooling method to dissipate heat from the laser, galvanometer and lighting lamp. Compared with the traditional fan cooling, the heat dissipation effect is better. Moreover, the structure is more compact, improving the space utilization rate.

[0021] 5. During the lifting process of the chassis truck of the present invention, the principle of "nut-screw pair" is adopted to achieve the lifting of the chassis. Its lifting process is controlled by the lifting drive servo motor B-1. When the lifting drive servo motor B-1 works, the power is transmitted to the bidirectional transmission member B-2-4 through the gearbox B-2-2 at the same time and at the same speed through the transmission shaft B-2-3. The bidirectional transmission member B-2-4 then synchronously transmits the power to the screw. In this way, the rotation of the four screws is synchronous, making the lifting of the connecting member B-2-5 stable and consistent. At the same time, the lifting adjustment is faster and more stable, avoiding the problems of lifting jamming and bumping. This mechanism can achieve self-locking and ensure that the height of the laser platform remains unchanged when the motor is powered off. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the wheel body A; Figure 3 is a schematic diagram of the structure of the liftable platform B; Figure 4 is a schematic diagram of the structure when the laser device assembly 5 and the vision recognition system 6 are assembled together; In the figure: 1. Chassis truck, A. Wheel body, A-1. Steering servo motor, A-2. Hollow speed reducer, A-3. Hollow speed reducer fixing plate, A-4. Driving speed reducer fixing plate, A-5. Driving servo motor, A-6. Planetary speed reducer, A-7. Herringbone tire B. Liftable platform, B-1. Lifting drive servo motor, B-2. Screw lifting structure, B-2-1. Screw drive unit, B-2-2. Gearbox, B-2-3. Transmission shaft, B-2-4. Bidirectional transmission member, B-2-5. Connecting member, B-3. Laser device fixing platform, B-4. Shock absorption module, 2. Control system, 3. Cooling system, 4. Autonomous navigation system, 5. Laser device assembly, 6. Recognition system, 6-1. Lighting system, 6-2. Camera system. DETAILED DESCRIPTION OF THE INVENTION

[0023] DETAILED DESCRIPTION OF THE INVENTION I: In combination with Figures 1 to 4 This embodiment is described. This embodiment is an efficient and intelligent laser weeding robot, including a vehicle frame and a vision recognition system 6. The vision recognition system 6 is installed at the front of the vehicle frame. It also includes a chassis truck 1, a control system 2, a cooling system 3, an autonomous navigation system 4 and a laser device assembly 5; The chassis vehicle 1 is installed on the frame. The chassis vehicle 1 includes four wheel bodies A and a liftable platform B. The liftable platform B is a motor-driven lift platform. The four wheel bodies A are respectively installed at the four corners of the liftable platform B, and the actions of the four wheel bodies A are controlled separately. The laser component 5 is installed on the liftable platform B along the length direction. The control system 2 is installed on the side of the liftable platform B. The cooling system 3 is installed at the rear of the liftable platform B. The autonomous navigation system 4 is installed on the frame.

[0024] The liftable platform B of this embodiment is composed of a servo motor and a lead screw drive system, and ultrasonic sensors are arranged on the lifting chassis. The entire laser component 5 is fixed on the lift platform, and the function of automatically lifting according to different ridge heights can be realized.

[0025] When the control system 2 of this embodiment is actually used, it consists of an industrial computer and a VCU. The industrial computer is a host computer, a small computer used for positioning calculation, travel control, image recognition, laser control, and network communication, and is connected to the VCU, incremental encoder, autonomous navigation system 4, cooling system 3, and vision recognition system 6; the VCU is a chassis control module, used to control the lighting system, emergency stop control, front and rear anti-collision edges, cooling fan, battery BMS, drive control system, lift control system, fuel gauge, and RC transmitter of the chassis vehicle.

[0026] The autonomous navigation system 4 of this embodiment fuses the information of the inertial navigation system (INS) and the global positioning system (GNSS) to comprehensively utilize the advantages of both, achieve complementary advantages, and thus obtain more accurate position, speed, and attitude information. Two GNSS antennas are respectively installed at the middle and both sides of the robot body. The INS is installed on the four-wheel four-rotation chassis vehicle, and the two GNSS antennas are respectively connected to the INS.

[0027] Specific Embodiment 2: Combine Figures 1 to 2 Describe this embodiment. Each wheel body A of this embodiment includes a drive module and a steering module. The drive module includes a chevron tire A-7, a drive servo motor A-5, a planetary reducer A-6, and a drive reducer fixing plate A-4. The planetary reducer A-6 is installed on the drive reducer fixing plate A-4. The drive servo motor A-5 is installed on the drive reducer fixing plate A-4, and the output shaft of the drive servo motor A-5 is connected to the input end of the planetary reducer A-6. The output end of the planetary reducer A-6 is connected to the chevron tire A-7 installed on the drive reducer fixing plate A-4. The rotational power of the chevron tire A-7 is driven by the drive servo motor A-5 and transmitted after being decelerated by the planetary reducer A-6 to achieve forward, backward, and braking; the steering module is installed on the upper part of the drive reducer fixing plate A-4 and drives the drive module to achieve steering at any angle.

[0028] With such a setting, the wheel structure is simple. Whether it is for walking or turning, it is achieved by direct drive, with high drive accuracy. The other components and connection relationships are the same as those in the first specific embodiment.

[0029] Specific Embodiment Three: Figures 1 to 2 In this embodiment, the steering module includes a steering servo motor A-1, a hollow reducer A-2, and a hollow reducer fixing plate A-3. The hollow reducer fixing plate A-3 is horizontally installed above the drive reducer fixing plate A-4. The hollow reducer A-2 is installed and passes through the hollow reducer fixing plate A-3 and then is connected to the upper end of the drive reducer fixing plate A-4. The output shaft of the steering servo motor A-1 is connected to the input end of the hollow reducer A-2.

[0030] With such a setting, the upper end of the drive reducer fixing plate A-4 can be directly driven for steering. The entire wheel body is driven to rotate by the upper end of the drive reducer fixing plate A-4. The other components and connection relationships are the same as those in the first or second specific embodiment.

[0031] Specific Embodiment Four: Figure 3 In this embodiment, the liftable platform B includes a lift drive servo motor B-1, a lead screw lifting structure B-2, and a laser fixing platform B-3. The output shaft of the lift drive servo motor B-1 is connected to the lead screw lifting structure B-2. The laser fixing platform B-3 is installed on the lead screw lifting structure B-2 and realizes the lifting movement under the drive of the lead screw lifting structure B-2.

[0032] With such a setting, this embodiment adopts the technical means of "one driving four". Specifically, only one drive servo motor can drive four lead screws to rotate simultaneously. Usually, the problem that easily occurs in such a structure is that the rotation of the four lead screws has cumulative errors during the transmission process, which may lead to the problem of inability to achieve complete synchronization. However, in this embodiment, under the transmission of the lead screw lifting structure B-2, the power transmission of the lead screws is made precise, ensuring the synchronous lifting position of the laser. The other components and connection relationships are the same as any one of the first to third specific embodiments.

[0033] Specific Embodiment Five: Figure 3To describe this embodiment, the lead screw lifting structure B-2 of this embodiment includes four sets of lead screw drive units B-2-1, a gearbox B-2-2, a drive shaft B-2-3, a bidirectional transmission member B-2-4, and a connecting member B-2-5. The power input end of the gearbox B-2-2 is connected to the lifting drive servo motor B-1. The power output ends on the left and right sides of the gearbox B-2-2 are respectively connected to a bidirectional transmission member B-2-4 through a drive shaft B-2-3. Both ends of the bidirectional transmission member B-2-4 are respectively connected to a set of lead screw drive units B-2-1. In the width direction of the laser fixing platform B-3, the lead screws between two adjacent sets of lead screw drive units B-2-1 are connected through a connecting member B-2-5.

[0034] With such a setting, the gearbox B-2-2 transmits the power of the lifting drive servo motor B-1 to the bidirectional transmission member B-2-4 at the same time, and the bidirectional transmission member B-2-4 transmits the power to the lead screw drive unit B-2-1. The transmission process is simple, reducing the cumulative error during the transmission process and ensuring the synchronous movement of the connecting member B-2-5 on the lead screw. The other structures and components are the same as any one of the first to fourth specific embodiments.

[0035] The connecting member B-2-5 of this embodiment is a long strip-shaped plate body. Both sides of the plate body can not only cooperate with the lead screw and act as the role of a nut. At the same time, it is also convenient to connect with the laser fixing platform B-3 and ensures the synchronism of the lifting.

[0036] Specific embodiment six: Combine Figure 3 To describe this embodiment, the liftable platform B of this embodiment further includes a shock absorption module B-4, and the connecting member B-2-5 is connected to the laser fixing platform B-3 through the shock absorption module B-4.

[0037] With such a setting, the shock absorption module B-4 is used to buffer the bumps generated during the walking of the laser component 5, ensuring the accuracy during the photographing and acquisition process and also ensuring the stable operation of the laser. The other compositions and connection relationships are the same as any one of the first to fourth specific embodiments.

[0038] The shock absorption module B-4 of this embodiment is a plurality of vibration springs. A plurality of vibration springs are provided at the bottom end of each connecting member B-2-5, and the vibration springs are arranged horizontally. It can absorb shock and prevent the laser platform from shaking too much caused by rough terrain.

[0039] Specific embodiment seven: Combine Figure 4 To describe this embodiment, the vision recognition system 6 of this embodiment includes an illumination system 6-1 and a camera system 6-2. The illumination system 6-1 is installed on the front and rear sides of the lens of the laser component 5, and the camera system 6-2 is installed in the middle of the illumination system 6-1. Among them, the illumination system 6-1 is an ultra-high brightness strobe light source.

[0040] With such a setting, the visual recognition system 6 consists of an illumination system and a camera system. The illumination system uses a super-high-brightness strobe light source, and the surface illuminance on the ground can reach several times that of sunlight. When operating outdoors, it can effectively prevent the interference of sunlight and meet the lighting requirements for the laser. Adopting this structure can shorten the camera exposure time, increase the traveling speed of the robot, and improve the weeding efficiency. Adopting this structure can also improve the quality of the captured images and the accuracy of weed recognition. The camera system consists of a rough positioning camera and a precise positioning camera. The rough positioning camera is used to roughly detect the position of the weeds, and the precise positioning camera is used to accurately determine the position of the weed meristem to improve the weeding accuracy.

[0041] The other components and connection relationships are the same as any one of the specific embodiments one to six.

[0042] For the laser component in this embodiment, since the laser is a consumable part and needs to be maintained and replaced regularly, a split design is adopted. The laser galvanometer and the laser tube are separately fixed. When assembling, only the laser tube is replaced while keeping the galvanometer stationary, avoiding secondary calibration.

[0043] Illuminating lights are arranged around the laser, which can ensure the lighting intensity requirements in the laser radiation area. In addition, the lasers are evenly arranged to ensure the radiation area, and weeds on the ridges can be effectively removed.

[0044] Specific embodiment eight: Figure 1 Explaining this embodiment, the cooling system 3 in this embodiment is a water cooling system.

[0045] The cooling system in this embodiment consists of a water tank and a controller. The heat dissipation of the laser and the heat dissipation of the illuminating lights are integrated into a single heat dissipation water tank, which improves the space utilization rate and effectively increases the utilization rate of the battery energy consumption.

[0046] The other components and connection relationships are the same as any one of the specific embodiments one to seven.

[0047] Specific embodiment nine: Figure 1 Explaining this embodiment, this embodiment further includes a battery 7, and the battery 7 is installed in the abdomen of the chassis vehicle 1.

[0048] With such a setting, the battery is installed in the abdomen of the chassis vehicle, effectively controlling the center of gravity height, ensuring the stable operation of the robot, and having a BMS battery protection system, battery charge and discharge indicator lights, and battery power display, which prompts charging when the battery is low. The other components and connection relationships are the same as any one of the specific embodiments one to eight.

[0049] The high-efficiency laser weeding of the present invention is specifically reflected in: 1. The strobe light source. Increasing the brightness will shorten the camera exposure time, enabling rapid recognition of weeds by the vision system and improving the working efficiency of the robot.

[0050] 2. It can automatically adjust the laser height from the ground according to the signal of the ultrasonic ranging sensor, ensuring that weeds are always near the laser focal plane during operations at different ridge heights. The energy density of the laser is the highest at the focal plane, which can reduce the burning time of single weeds and improve the weeding efficiency.

[0051] 3. When equipped with a navigation system, it can achieve unmanned operation for 24 hours, improving work efficiency.

[0052] The laser intelligent weeding robot includes: a four-wheel four-rotation chassis vehicle, a control system, an autonomous navigation system, a laser component, a cooling system, and a vision recognition system (such as Figure 1 ).

[0053] The four-wheel four-rotation structure includes four driving motors and four steering motors. Each motor is equipped with a separate motor driver, and the operation of each motor can be independently controlled (such as Figure 2 ).

[0054] The servo motor is connected to the driver, the driver is connected to the VCU, and the VCU is connected to the battery.

[0055] The liftable platform structure includes a servo motor, a lead screw lifting structure, and a platform for fixing the laser, which is used to meet different ridge heights and automatically adjust the height of the laser (such as Figure 3 [[ID=2**]]). [[ID=**]]

[0056] The cooling system consists of a water tank and a controller.

[0057] The lighting system uses an ultra-high-brightness strobe light source to reduce the influence of natural light.

[0058] The camera system consists of a rough positioning camera and a precise positioning camera. The rough positioning camera is used to roughly detect the position of weeds, and the precise positioning camera is used to accurately determine the position of the weed meristem to improve the weeding accuracy (such as Figure 4 ).

[0059] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An efficient intelligent laser weeding robot, which comprises a vehicle frame and a visual recognition system (6). The visual recognition system (6) is installed at the front part of the vehicle frame, and is characterized in that: It also includes a chassis vehicle (1), a control system (2), a cooling system (3), an autonomous navigation system (4), and a laser assembly (5); The chassis vehicle (1) is mounted on the vehicle frame. The chassis vehicle (1) includes four wheel bodies (A) and a liftable platform (B). The liftable platform (B) is a motor-driven lift platform. The four wheel bodies (A) are respectively mounted at the four corners of the liftable platform (B), and the movements of the four wheel bodies (A) are controlled separately. The laser assembly (5) is mounted on the liftable platform (B) along the length direction. The control system (2) is mounted on the side of the liftable platform (B). The cooling system (3) is mounted on the rear of the liftable platform (B). The autonomous navigation system (4) is mounted on the vehicle frame.

2. The high-efficiency intelligent laser weeding robot according to claim 1, wherein: Each wheel body (A) includes a drive module and a steering module. The drive module includes a chevron tire (A-7), a drive servo motor (A-5), a planetary reducer (A-6), and a drive reducer fixing plate (A-4). The planetary reducer (A-6) is mounted on the drive reducer fixing plate (A-4). The drive servo motor (A-5) is mounted on the drive reducer fixing plate (A-4), and the output shaft of the drive servo motor (A-5) is connected to the input end of the planetary reducer (A-6). The output end of the planetary reducer (A-6) is connected to the chevron tire (A-7) mounted on the drive reducer fixing plate (A-4). The rotational power of the chevron tire (A-7) is driven by the drive servo motor (A-5) and transmitted after being decelerated by the planetary reducer (A-6) to achieve forward, backward, and braking. The steering module is mounted on the upper part of the drive reducer fixing plate (A-4) and drives the drive module to achieve steering at any angle.

3. The high-efficiency intelligent laser weeding robot according to claim 2, characterized in that: The steering module includes a steering servo motor (A-1), a hollow reducer (A-2), and a hollow reducer fixing plate (A-3). The hollow reducer fixing plate (A-3) is horizontally mounted above the drive reducer fixing plate (A-4). The hollow reducer (A-2) is mounted and passes through the hollow reducer fixing plate (A-3) and then connected to the upper end of the drive reducer fixing plate (A-4). The output shaft of the steering servo motor (A-1) is connected to the input end of the hollow reducer (A-2).

4. An efficient intelligent laser weeding robot according to claim 1 or 3, characterized in that: The liftable platform (B) includes a lift drive servo motor (B-1), a lead screw lifting structure (B-2), and a laser fixing platform (B-3). The output shaft of the lift drive servo motor (B-1) is connected to the lead screw lifting structure (B-2). The laser fixing platform (B-3) is mounted on the lead screw lifting structure (B-2) and realizes a lifting movement driven by the lead screw lifting structure (B-2).

5. An efficient intelligent laser weeding robot according to claim 4, characterized in that: The lead screw lifting structure (B-2) includes four sets of lead screw drive units (B-2-1), a gearbox (B-2-2), a drive shaft (B-2-3), a bidirectional drive member (B-2-4), and a connecting member (B-2-5). The power input end of the gearbox (B-2-2) is connected to the lifting drive servo motor (B-1). The power output ends on the left and right sides of the gearbox (B-2-2) are respectively connected to a bidirectional drive member (B-2-4) through a drive shaft (B-2-3). The two ends of the bidirectional drive member (B-2-4) are respectively connected to a set of lead screw drive units (B-2-1). In the width direction of the laser fixing platform (B-3), the lead screws between adjacent two sets of lead screw drive units (B-2-1) are connected through a connecting member (B-2-5).

6. The efficient intelligent laser weeding robot according to claim 5, characterized in that: The liftable platform (B) further includes a shock absorption module (B-4), and the connecting member (B-2-5) is connected to the laser fixing platform (B-3) through the shock absorption module (B-4).

7. An efficient intelligent laser weeding robot according to claim 1, characterized in that: The vision recognition system (6) includes an illumination system (6-1) and a camera system (6-2). The illumination system (6-1) is installed on the front and rear sides of the lens of the laser assembly (5), and the camera system (6-2) is installed in the middle of the illumination system (6-1). Among them, the illumination system (6-1) is an ultra-high brightness strobe light source.

8. An efficient intelligent laser weeding robot according to claim 1, characterized in that: The cooling system (3) is a water cooling system.

9. The highly efficient intelligent laser weeding robot according to claim 1, wherein: It further includes a battery (7), and the battery (7) is installed in the abdomen of the chassis truck (1).

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