Intelligent field laser weeding equipment based on vision guidance and its recognition control system

Abstract

The present invention provides a field intelligent laser weeding equipment based on visual guidance and its identification control system, which relates to the field of intelligent agricultural equipment. The present invention includes a frame, the frame includes a battery structure and a control structure, laser units are arranged on both sides of the bottom of the frame, and a displacement assembly is arranged between the two laser units and the frame, and the displacement assembly includes a hydraulic push rod, a mounting ear plate, a U-shaped frame, a forward and reverse motor and a pneumatic cylinder, and a second camera is arranged on one side of the two hydraulic push rods. The displacement assembly composed of the hydraulic push rod, the mounting ear plate, the U-shaped frame, the forward and reverse motor and the pneumatic cylinder of the present invention controls the position of the two laser units to meet the laser weeding needs of the large herb leaves blocking the vertical shooting path and the small leaves adapting to the vertical shooting situation. By installing two second cameras on one side of the two hydraulic push rods, the need to push the laser unit to the bottom of the herb canopy to kill the weeds by laser is met.

Description

Technical Field

[0001] The present invention relates to a weeding device, in particular to a field intelligent laser weeding device based on vision guidance and an identification control system thereof, belonging to the technical field of intelligent agricultural equipment. Background Art

[0002] Weeds are one of the main constraints to sustainable agricultural production. The nutrients they absorb from the soil are basically the same as those of crops. The competition for nutrients, water and sunlight by weeds greatly harms the growth and development of crops. Weeds cause huge economic losses in agricultural production every year. Moreover, weeds, as the transmission medium and intermediate host of many farmland pests and diseases, can cause outbreaks of farmland pests and diseases, leading to reduced crop yield and quality.

[0003] Therefore, weeds must be removed in agricultural planting. The currently widely used artificial chemical weeding method is to spray chemical agents manually or by machine for field weeding. This weeding method not only has an adverse effect on the growth and development of the current crops, but also the residual herbicides pollute the soil and are difficult to remove, affecting the yield of subsequent crops. Especially for crops such as medicinal materials and fruits that require higher planting quality, the impact of pesticide residues is more serious. Summary of the invention

[0004] To solve the above problems, the present invention is implemented through the following technical solutions: a field intelligent laser weeding equipment based on vision guidance, including a frame, the frame including a battery structure and a control structure, laser units are arranged on both sides of the bottom of the frame, and displacement components are arranged between the two laser units and the frame, the displacement components include a hydraulic push rod, a mounting ear plate, a U-shaped frame, a forward and reverse motor and a pneumatic cylinder, the displacement component controls the position and angle of the laser unit, a second camera is arranged on one side of the two hydraulic push rods, a first camera is fixedly connected to the bottom of the frame, the two second cameras and the first camera cooperate to guide the laser unit to weed under different circumstances, and the frame is equipped with a lifting component.

[0005] Preferably, the battery structure is installed between the control structure and the frame, and the battery structure provides power for the control structure, the lifting assembly, the displacement assembly, the first camera and the second camera.

[0006] Preferably, one end of the hydraulic push rod away from the laser unit is hingedly installed with the bottom of the frame through a hinge, the U-shaped frame is arranged between the hydraulic push rod and the laser unit, a pad is fixedly connected between the U-shaped frame and the hydraulic push rod, the second camera is fixedly connected to the pad, and a mounting ear plate is fixedly connected to one side of the laser unit. After the hydraulic push rod works to push the pad and the U-shaped frame moves, the second camera moves synchronously with the pad to complete the distance adjustment between the pad and the laser unit and the hydraulic push rod, and one end of the mounting ear plate is arranged inside the U-shaped frame.

[0007] Preferably, the forward and reverse motor is fixedly connected to one side of the U-shaped frame, and the output end of the forward and reverse motor is fixedly connected to a transmission shaft to control the forward and reverse rotation of the forward and reverse motor and adjust the elevation angle of the laser unit so that the laser path emitted by the laser unit intersects with the plane where the weeds are located. One end of the transmission shaft passes through the U-shaped frame and is rotatably connected to the U-shaped frame, and the mounting ear plate is fixedly sleeved on the outside of the transmission shaft.

[0008] Preferably, a mounting groove is provided at the bottom of the frame, the pneumatic cylinder is arranged inside the mounting groove and fixedly connected to the frame, a slider is fixedly connected to the bottom end of the pneumatic cylinder, a slide rail is sleeved on the outer side of the slide rail, and a sliding connection relationship is formed between the hydraulic push rod and the pneumatic cylinder through the slide rail and the slider. During the sliding process inside the slide rail, the slider drives the hydraulic push rod hingedly installed at one end to adjust the pitch angle, and the slide rail is fixedly connected to the top of the hydraulic push rod.

[0009] Preferably, an electric push rod is fixedly connected to one side of the U-shaped frame, and the electric push rod is fixedly connected to a limit frame. Both ends of the limit frame are in contact and friction with the mounting ear plate. The mounting ear plate fixed to the laser unit is supported by the limit frame to ensure the stability of the laser unit. Both ends of the limit frame extend to the inside of the U-shaped frame.

[0010] Preferably, the lifting assembly includes three hydraulic cylinders, two mounting plates, and a frame connecting plate. The frame connecting plate and the two mounting plates are respectively fixedly connected to the bottoms of the three hydraulic cylinders. A groove is provided on the outer side of the frame. The three hydraulic cylinders are all arranged inside the groove and fixedly connected to the frame. The three hydraulic cylinders can be controlled to work synchronously to lift the frame and control the height of the frame from the ground.

[0011] Preferably, two rear grooves are provided on the rear side of the bottom of the frame, the two mounting plates are respectively arranged inside the two rear grooves, a wheel frame is provided on the bottom of the mounting plate, two mounting bolts are threadedly connected between the wheel frame and the mounting plate, wheels are rotatably installed on the wheel frame, the frame is supported by the two wheels, and the frame can move, a front groove is provided on the front side of the bottom of the frame, and the frame connecting plate is arranged inside the front groove.

[0012] A laser weeding equipment identification and control system, wherein an image generation module is arranged inside the control structure, an output end of the image generation module is electrically connected to a three-dimensional coordinate generation module and a type judgment module, an output end of the three-dimensional coordinate generation module is electrically connected to a marking module, an output end of the marking module is electrically connected to a calculation module, an output end of the calculation module is electrically connected to a control module, when the laser path emitted by the laser unit coincides with the weed coordinates, the laser calculation model controls the output power of the laser unit according to the coordinate position, and finally the laser unit works at a corresponding power to emit laser to kill weeds, an output end of the type judgment module is electrically connected to a communication module, an information storage module and a state judgment module, and an input end of the three-dimensional coordinate generation module is electrically connected to a calibration module.

[0013] Preferably, the calibration module is electrically connected to the hydraulic push rod, the calibration module controls the electrically connected marking module to mark the laser unit coordinates, the line position calculation model in the calculation module works, the line position calculation model calculates again according to the movement trajectory of the laser unit and the position of the marked weeds, the output end of the communication module is electrically connected to the mode control module, the output end of the mode control module is electrically connected to the type judgment module, the output end of the type judgment module is electrically connected to the three-dimensional coordinate generation module, the calculation module includes a line position calculation model, a laser calculation model and an angular position calculation model, and the calculation module is used to control the operation of the hydraulic push rod, the laser unit, the forward and reverse motors and the pneumatic cylinder.

[0014] The present invention provides a field intelligent laser weeding device based on vision guidance and its recognition control system, which has the following beneficial effects:

[0015] 1. The vision-guided intelligent field laser weeding equipment and its identification control system, a displacement assembly consisting of a hydraulic push rod, a mounting ear plate, a U-shaped frame, a forward and reverse motor, and a pneumatic cylinder, controls the position of two laser units to meet the laser weeding needs when the herb leaves are large and block the vertical shooting path, and when the leaves are small and adapt to vertical shooting. By installing two second cameras on one side of the two hydraulic push rods, the need to push the laser unit to the bottom of the herb canopy to kill the weeds with lasers is met, and the laser is emitted from an inclined direction to kill the weeds, which meets the need to kill the weeds that need to be treated at the root to be killed.

[0016] 2. The field intelligent laser weeding equipment based on vision guidance and its identification control system, the laser unit emits laser to kill weeds, avoiding the use of chemical agents to kill weeds, reducing environmental pollution, and ensuring the quality of medicinal herbs.

[0017] 3. The vision-guided intelligent field laser weeding equipment and its identification control system directly control the first camera to shoot the images of medicinal herbs and weeds in the field through the control structure and then transmit them to the image generation module. The image generation module extracts the herb images, weed images, and information on the number of different plants and transmits them to the type judgment module. The type judgment module determines the plants other than the medicinal herbs with the largest number as weeds, and automatically adapts to the needs of most medicinal herb planting.

[0018] 4. The field intelligent laser weeding equipment based on vision guidance and its identification control system, the type judgment module transmits the image judged as weeds to the information storage module, records the weed types in the herb field, enriches the information of weed existence in the process of herb planting, and when the weed does not exist in the information storage module, the weed image is sent to the communication device by the communication module, and the staff can remove the weeds into the killing target. The state judgment module compares the target judged as weeds by the type judgment module with the number of herb in the range. When the ratio of the number of weeds to the number of herb is higher than the preset range, the communication module sends the image within the range to the communication device, and asks again whether the weed is removed from the killing target to avoid economic losses caused by mistaken killing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a structural schematic diagram of a vehicle frame connecting plate of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the U-shaped frame of the present invention;

[0022] Figure 4 A bottom view of the frame of the present invention;

[0023] Figure 5 It is a structural schematic diagram of the slide rail of the present invention;

[0024] Figure 6 It is a schematic diagram of the local structure of the frame of the present invention;

[0025] Figure 7 This is a schematic diagram of the structure of the lug plate installed in the present invention;

[0026] Figure 8 It is a structural schematic diagram of the wheel frame of the present invention;

[0027] Fig. 9 A control system of the present invention;

[0028] Fig.10 This is a schematic diagram of the type determination module of the present invention;

[0029] Fig.11It is a schematic diagram of a calculation module of the present invention;

[0030] Fig.12 Schematic diagram of the status judgment module of the present invention.

[0031] Description of the accompanying drawings: 1, frame; 2, battery structure; 3, control structure; 4, wheel; 5, wheel frame; 6, hydraulic cylinder; 7, mounting plate; 8, mounting bolt; 9, front slot; 10, rear slot; 11, first camera; 12, hydraulic push rod; 13, laser unit; 14, mounting ear plate; 15, U-shaped frame; 16, forward and reverse motor; 17, electric push rod; 18, limit frame; 19, mounting slot; 20, pneumatic cylinder; 21, slider; 22, slide rail; 23, The second camera; 24, the frame connecting plate; 25, the pad; 31, the image generating module; 32, the three-dimensional coordinate generating module; 33, the marking module; 34, the calculating module; 35, the control module; 36, the calibration module; 37, the type judging module; 38, the communication module; 39, the information storage module; 310, the state judging module; 311, the mode control module; 341, the line position calculating model; 342, the laser calculating model; 343, the angular position calculating model. DETAILED DESCRIPTION

[0032] The embodiment of the present invention provides a field intelligent laser weeding device based on vision guidance and an identification control system thereof.

[0033] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 , including a frame 1, the frame 1 includes a battery structure 2 and a control structure 3, the battery structure 2 is installed between the control structure 3 and the frame 1, and laser units 13 are arranged on both sides of the bottom of the frame 1;

[0034] A displacement assembly is arranged between the two laser units 13 and the frame 1, and the displacement assembly includes a hydraulic push rod 12, a mounting ear plate 14, a U-shaped frame 15, a forward and reverse motor 16 and a pneumatic cylinder 20. The end of the hydraulic push rod 12 away from the laser unit 13 is hingedly installed with the bottom of the frame 1 through a hinge. The U-shaped frame 15 is arranged between the hydraulic push rod 12 and the laser unit 13. A pad 25 is fixedly connected between the U-shaped frame 15 and the hydraulic push rod 12. The second camera 23 is fixedly connected to the pad 25. The pad 25 is fixedly connected between the hydraulic push rod 12 and the U-shaped frame 15. The second camera 23 is installed through the pad 25. When the tilt angle adjustment of the hydraulic push rod 12 is completed, the second camera 23 rotates synchronously with the hydraulic push rod 12 to complete the tilt angle adjustment. When the hydraulic push rod 12 works to push the pad 25 and the U-shaped frame 15 to move, the second camera 23 moves synchronously with the pad 25 to complete the distance adjustment between the pad 25 and the laser unit 13 and the hydraulic push rod 12, and the displacement component controls the position and angle of the laser unit 13;

[0035] A second camera 23 is provided on one side of the two hydraulic push rods 12, and a first camera 11 is fixedly connected to the bottom of the frame 1. The two second cameras 23 cooperate with the first camera 11 to guide the laser unit 13 to weed in different situations. A mounting ear plate 14 is fixedly connected to one side of the laser unit 13, and one end of the mounting ear plate 14 is arranged inside the U-shaped frame 15. The forward and reverse motor 16 is fixedly connected to one side of the U-shaped frame 15. The output end of the forward and reverse motor 16 is fixedly connected to a transmission shaft, and one end of the transmission shaft passes through the U-shaped frame 15 and is rotatably connected to the U-shaped frame 15. The mounting ear plate 14 is fixedly sleeved on the outside of the transmission shaft. When the forward and reverse motor 16 is working, the transmission shaft installed at the output end of the forward and reverse motor 16 drives the mounting ear plate 14 to rotate, so that the laser unit 13 fixed to the mounting ear plate 14 rotates. By controlling the forward and reverse motor 16 to rotate forward and reverse, the elevation angle of the laser unit 13 is adjusted so that the laser path emitted by the laser unit 13 intersects with the plane where the weeds are located. When the laser path emitted by the laser unit 13 intersects with the position where the weeds are located, the laser unit 13 is controlled to complete the weed killing work;

[0036] The bottom of the frame 1 is provided with a mounting groove 19, and the pneumatic cylinder 20 is arranged inside the mounting groove 19 and fixedly connected to the frame 1. The bottom of the pneumatic cylinder 20 is fixedly connected with a slider 21, and the outer side of the slider 21 is sleeved with a slide rail 22, and the slide rail 22 is fixedly connected to the top of the hydraulic push rod 12. The hydraulic push rod 12 is hingedly installed with the frame 1 through a hinge, and the hydraulic push rod 12 can be flipped at the bottom of the frame 1 to adjust the angle. In addition, the bottom of the pneumatic cylinder 20 fixed to the frame 1 is fixedly connected with a slider 21, and the slider 21 is arranged inside the slide rail 22 fixed to the hydraulic push rod 12, so the hydraulic push rod 12 and the pneumatic cylinder 20 form a sliding connection relationship through the slide rail 22 and the slider 21.

[0037] The working pneumatic cylinder 20 adjusts the height of the slider 21, and the slider 21 drives the hydraulic push rod 12 hinged at one end to adjust the pitch angle during the sliding process inside the slide rail 22. In addition, the pneumatic cylinder 20 and the hydraulic push rod 12 only work once during a weed killing process, and the second camera 23 and the laser unit 13 are set at the bottom of the herb leaf crown.

[0038] The frame 1 is installed with a lifting assembly, and the battery structure 2 provides power for the control structure 3, the lifting assembly, the displacement assembly, the first camera 11 and the second camera 23.

[0039] Specifically, the battery structure 2 supplies power to the laser unit 13, and the control structure 3 controls the intensity of the current delivered to the laser unit 13 by the battery structure 2 according to the image captured by the first camera 11 or the second camera 23, thereby controlling the power of the laser beam output by the laser unit 13, so that the laser weeding structure composed of the frame 1, the battery structure 2, the control structure 3, the displacement component, the laser unit 13, the first camera 11, the second camera 23 and other structures can kill the weeds in the medicinal herbs.

[0040] When the first camera 11 captures the image in the field and transmits it to the control structure 3, the control structure 3 controls the first camera 11 or the two second cameras 23 to work according to the size of the leaves of the herb in the image. The lifting assembly is used to connect the frame 1 to the vehicle prepared by the staff, and the vehicle is used to drive the frame 1 to move at a constant speed.

[0041] When the leaves of the herb are small and will not block the weeds, the control structure 3 controls the first camera 11 to work and the second camera 23 will not work. The first camera 11 captures the bottom image and transmits it to the inside of the control structure 3. The control structure 3 controls the displacement components adjacent to the weeds to work according to the position of the weeds. The hydraulic push rod 12 controls the laser unit 13 to move left and right. After the displacement, the movement trajectory of the laser unit 13 is on the same plane as the weed position. After the laser unit 13 moves to the top of the weeds, the control structure 3 controls the laser unit 13 to work and emit laser to kill the weeds.

[0042] When the leaves of the herb are large and will block the weeds, the control structure 3 controls the first camera 11 to stop working and the two second cameras 23 to work. At the same time, the control structure 3 controls the displacement assembly to work, and the pneumatic cylinder 20 works to push the hydraulic push rod 12, so that the hydraulic push rod 12 hingedly mounted on the frame 1 tilts. The hydraulic push rod 12 works to push the laser unit 13 to insert into the herb bush. At this time, the second camera 23 mounted on the hydraulic push rod 12 is inserted into the herb bush. The shooting field of the second camera 23 is not blocked by the herb leaves and can shoot the weeds. The forward and reverse motor 16 controls the laser unit 13 to rotate and controls the angle between the laser unit 13 and the hydraulic push rod 12, such as Figure 5 and Figure 7 shown.

[0043] By controlling the angle of the laser unit 13 so that the laser path emitted by the laser unit 13 intersects with the plane where the weeds are located, when the laser path emitted by the laser unit 13 driven by the frame 1 coincides with the position of the weeds, the laser unit 13 works to emit laser to kill the weeds.

[0044] The positions of the two laser units 13 are controlled by a displacement assembly consisting of a hydraulic push rod 12, a mounting lug 14, a U-shaped frame 15, a forward and reverse motor 16, and a pneumatic cylinder 20, to meet the laser weeding needs when the herb leaves are large and block the vertical shooting path, and when the leaves are small and suitable for vertical shooting. By installing two second cameras 23 on one side of the two hydraulic push rods 12, the laser unit 13 is pushed to the bottom of the herb canopy to kill the weeds with laser, and the laser is emitted from an inclined direction to kill the weeds, meeting the need to kill the weeds that need to be treated at the root to be killed.

[0045] Please refer again Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 8 An electric push rod 17 is fixedly connected to one side of the U-shaped frame 15, and the electric push rod 17 is fixedly connected to a limit frame 18. Both ends of the limit frame 18 extend into the U-shaped frame 15. The lifting assembly includes three hydraulic cylinders 6, two mounting plates 7, and a frame connecting plate 24. The frame connecting plate 24 and the two mounting plates 7 are respectively fixedly connected to the bottom of the three hydraulic cylinders 6. A groove is opened on the outside of the frame 1. The three hydraulic cylinders 6 are all arranged inside the groove and fixedly connected to the frame 1. Two rear grooves 10 are opened on the rear side of the bottom of the frame 1. The two mounting plates 7 are respectively arranged inside the two rear grooves 10. A wheel frame 5 is arranged at the bottom of the mounting plate 7. Two mounting bolts 8 are threadedly connected between the wheel frame 5 and the mounting plate 7. The wheel frame 5 is rotatably installed with a wheel 4. A front groove 9 is opened on the front side of the bottom of the frame 1, and the frame connecting plate 24 is arranged inside the front groove 9.

[0046] Specifically, when the forward and reverse motor 16 needs to work, the electric push rod 17 works to push the limit frame 18 to move, so that the mounting ear plate 14 loses the limit of the limit frame 18. When weeding is completed or the forward and reverse motor 16 does not need to work, the electric push rod 17 works to pull the limit frame 18, so that both ends of the limit frame 18 contact and rub with the mounting ear plate 14, and the mounting ear plate 14 fixed to the laser unit 13 is supported by the limit frame 18, so as to ensure the stability of the laser unit 13 and reduce the pressure on the transmission shaft installed at the output end of the forward and reverse motor 16.

[0047] A front slot 9 is provided at the bottom of the frame 1. A frame connecting plate 24 is fixed in advance on the vehicle to be used by the staff. The front slot 9 is aligned with the frame connecting plate 24 fixed to the vehicle and then pushed to make the frame 1 be sleeved on the outside of the frame connecting plate 24 fixed to the vehicle. The frame connecting plate 24 is provided with a threaded hole. Then, the frame connecting plate 24 fixed to the hydraulic cylinder 6 and the frame connecting plate 24 fixed to the vehicle are fixed by bolts, and the frame 1 can be connected to the vehicle to be used by the staff through the lifting assembly, and the vehicle is used to drive the frame 1 to move at a uniform speed.

[0048] The bottoms of the other two hydraulic cylinders 6 are fixedly connected with mounting plates 7, which are mounted together with the wheel frame 5 through two mounting bolts 8, and wheels 4 are mounted at the bottom of the wheel frame 5, so the frame 1 is supported by two wheels 4. By controlling the three hydraulic cylinders 6 to work synchronously, the frame 1 can be raised and the height of the frame 1 from the ground can be controlled.

[0049] Please refer again Figure 1 , Fig. 9 , Fig.10 , Fig.11 and Fig.12 The control structure 3 is provided with an image generation module 31 inside, the output end of the image generation module 31 is electrically connected to the three-dimensional coordinate generation module 32 and the type judgment module 37, the output end of the three-dimensional coordinate generation module 32 is electrically connected to the marking module 33, the output end of the marking module 33 is electrically connected to the calculation module 34, the output end of the calculation module 34 is electrically connected to the control module 35, the output end of the type judgment module 37 is electrically connected to the communication module 38, the information storage module 39 and the state judgment module 310, the input end of the three-dimensional coordinate generation module 32 is electrically connected to the control module 35, and the output end of the type judgment module 37 is electrically connected to the communication module 38, the information storage module 39 and the state judgment module 310. A calibration module 36 is connected, and the calibration module 36 is electrically connected to the hydraulic push rod 12. The output end of the communication module 38 is electrically connected to the mode control module 311. The output end of the mode control module 311 is electrically connected to the type judgment module 37. The output end of the type judgment module 37 is electrically connected to the three-dimensional coordinate generation module 32. The calculation module 34 includes a line position calculation model 341, a laser calculation model 342 and an angular position calculation model 343. The calculation module 34 is used to control the operation of the hydraulic push rod 12, the laser unit 13, the forward and reverse motors 16 and the pneumatic cylinder 20.

[0050] Specifically, when there is an image of weeds that need to be killed, the staff can send the image of weeds that need to be killed to the communication module 38 through the communication device connected to the communication module 38, and the communication module 38 transmits the weed image to the type judgment module 37. The type judgment module 37 of the laser weeding structure directly locks the weeds that need to be killed.

[0051] The staff sends the herb image to the communication module 38 through the communication equipment, and the type judgment module 37 records the herb image. The type judgment module 37 judges all plants in the field except the herb image as weeds, and the laser weeding structure directly locks the weeds that need to be killed.

[0052] Alternatively, the control structure 3 is used to directly control the first camera 11 to capture images of medicinal herbs and weeds in the field and transmit them to the image generation module 31. The image generation module 31 extracts the medicinal herb images, weed images, and information on the number of different plants and transmits them to the type judgment module 37. The type judgment module 37 determines the plants other than the medicinal herbs that account for the largest proportion as weeds.

[0053] The mode control module 311 can be operated in advance through the communication device. The mode control module 311 controls the judgment logic of the type judgment module 37 to change. The type judgment module 37 determines the plants other than the medicinal herbs with the smallest number as weeds. And the type judgment module 37 transmits the image determined as weeds to the information storage module 39, records the types of weeds in the medicinal herb field, enriches the information of the existence of weeds in the process of planting a kind of medicinal herb, and when the information storage module 39 does not have this kind of weed, the weed image is sent to the communication device by the communication module 38, and the staff can remove this kind of weeds.

[0054] At the same time, the state judgment module 310 compares the target determined as a weed by the type judgment module 37 with the number of medicinal herbs within the range. When the ratio of the number of weeds to the number of medicinal herbs is higher than the preset range, the communication module 38 sends the image within the range to the communication device and inquires again whether the weed is to be removed and killed, so as to avoid economic losses caused by mistaken killing.

[0055] When the leaves of the herb are small and do not affect the first camera 11 from photographing the ground, the image generation module 31 constructs an image based on the image captured by the first camera 11, and the three-dimensional coordinate generation module 32 constructs a three-dimensional model with the first camera 11 as the origin based on the image generated by the image generation module 31. The type judgment module 37 transmits the image determined as weeds to the inside of the three-dimensional coordinate generation module 32, the marking module 33 marks the weeds in the three-dimensional model, the calculation module 34 calculates the coordinate position between the marked weeds and the laser unit 13, and the control module 35 controls the hydraulic push rod 12 to work according to the coordinate position, so that the hydraulic push rod 12 controls the position of the laser unit 13.

[0056] The moving track of the laser unit 13 is controlled to be on the same plane as the coordinates of the weeds. At this time, the calibration module 36 controls the electrically connected marking module 33 to mark the coordinates of the laser unit 13. The line position calculation model 341 in the calculation module 34 works. The line position calculation model 341 calculates again according to the moving track of the laser unit 13 and the position of the marked weeds. When the laser unit 13 cannot kill the weeds, the control module 35 controls the position of the laser unit 13 to adjust for the second time. When the laser path emitted by the laser unit 13 coincides with the position of the weeds, the laser unit 13 works to emit laser to kill the weeds, ensuring the accuracy of weed killing.

[0057] When the leaves of the herb have a greater impact on the ground when the first camera 11 is shooting, the type judgment module 37 controls the second camera 23 to work through the communication module 38, and the control module 35 controls the hydraulic push rod 12 and the pneumatic cylinder 20 to work, and moves the laser unit 13 and the second camera 23 to the bottom of the herb leaf crown. When the two second cameras 23 simultaneously capture the complete bottom scene of the herb leaf crown, the image generation module 31 constructs an image based on the image captured by the second camera 23.

[0058] The three-dimensional coordinate generation module 32 constructs a three-dimensional model with the second camera 23 as the origin based on the image generated by the image generation module 31. The type judgment module 37 transmits the image determined as weeds to the inside of the three-dimensional coordinate generation module 32. The marking module 33 marks the weeds in the three-dimensional model. The angle calculation model 343 in the calculation module 34 works to calculate the coordinate position composed of the angle and distance between the marked weeds and the laser unit 13. The control module 35 operates the forward and reverse motor 16 according to the coordinate position, adjusts the tilt angle of the laser unit 13, and makes the laser path emitted by the laser unit 13 intersect with the plane where the weed position is located. When the laser path emitted by the laser unit 13 coincides with the weed coordinates, the laser calculation model 342 controls the output power of the laser unit 13 according to the coordinate position. Finally, the laser unit 13 works with the corresponding power to emit laser to kill the weeds.

Claims

1. A field intelligent laser weeding device based on vision guidance, comprising a frame (1), wherein the frame (1) comprises a battery structure (2) and a control structure (3), and is characterized in that: Laser units (13) are arranged on both sides of the bottom of the frame (1); a displacement assembly is arranged between the two laser units (13) and the frame (1); the displacement assembly comprises a hydraulic push rod (12), a mounting ear plate (14), a U-shaped frame (15), a forward and reverse motor (16) and a pneumatic cylinder (20); the displacement assembly controls the position and angle of the laser unit (13); a second camera (23) is arranged on one side of the two hydraulic push rods (12); a first camera (11) is fixedly connected to the bottom of the frame (1); the two second cameras (23) cooperate with the first camera (11) to guide the laser unit (13) to perform weeding under different circumstances; and a lifting assembly is installed on the frame (1); The control structure (3) is internally provided with an image generation module (31); an output end of the image generation module (31) is electrically connected to a three-dimensional coordinate generation module (32) and a type judgment module (37); an output end of the three-dimensional coordinate generation module (32) is electrically connected to a marking module (33); an output end of the marking module (33) is electrically connected to a calculation module (34); an output end of the calculation module (34) is electrically connected to a control module (35); an output end of the type judgment module (37) is electrically connected to a communication module (38), an information storage module (39) and a state judgment module (310); and an input end of the three-dimensional coordinate generation module (32) is electrically connected to a calibration module (36); The calibration module (36) is electrically connected to the hydraulic push rod (12); the output end of the communication module (38) is electrically connected to the mode control module (311); the output end of the mode control module (311) is electrically connected to the type judgment module (37); the output end of the type judgment module (37) is electrically connected to the three-dimensional coordinate generation module (32); the calculation module (34) includes a line position calculation model (341), a laser calculation model (342) and an angular position calculation model (343); the calculation module (34) is used to control the operation of the hydraulic push rod (12), the laser unit (13), the forward and reverse motor (16) and the pneumatic cylinder (20); One end of the hydraulic push rod (12) away from the laser unit (13) is hingedly mounted to the bottom of the frame (1) via a hinge; the U-shaped frame (15) is arranged between the hydraulic push rod (12) and the laser unit (13); a pad (25) is fixedly connected between the U-shaped frame (15) and the hydraulic push rod (12); the second camera (23) is fixedly connected to the pad (25); a mounting ear plate (14) is fixedly connected to one side of the laser unit (13); one end of the mounting ear plate (14) is arranged inside the U-shaped frame (15); The forward and reverse motor (16) is fixedly connected to one side of the U-shaped frame (15); an output end of the forward and reverse motor (16) is fixedly connected to a transmission shaft; one end of the transmission shaft passes through the U-shaped frame (15) and is rotatably connected to the U-shaped frame (15); and the mounting ear plate (14) is fixedly sleeved on the outside of the transmission shaft.

2. The field intelligent laser weeding equipment based on vision guidance according to claim 1 is characterized by: The battery structure (2) is installed between the control structure (3) and the frame (1), and the battery structure (2) provides power for the control structure (3), the lifting component, the displacement component, the first camera (11), and the second camera (23).

3. The field intelligent laser weeding equipment based on vision guidance according to claim 1 is characterized in that: The frame (1) has a mounting groove (19) at its bottom, the pneumatic cylinder (20) is arranged inside the mounting groove (19) and is fixedly connected to the frame (1), a slider (21) is fixedly connected to the bottom end of the pneumatic cylinder (20), a slide rail (22) is sleeved on the outside of the slide rail (21), and the slide rail (22) is fixedly connected to the top of the hydraulic push rod (12).

4. The field intelligent laser weeding equipment based on vision guidance according to claim 1 is characterized in that: An electric push rod (17) is fixedly connected to one side of the U-shaped frame (15), and the electric push rod (17) is fixedly connected to a limiting frame (18), and both ends of the limiting frame (18) extend into the interior of the U-shaped frame (15).

5. The field intelligent laser weeding equipment based on vision guidance according to claim 1 is characterized in that: The lifting assembly comprises three hydraulic cylinders (6), two mounting plates (7), and a frame connecting plate (24); the frame connecting plate (24) and the two mounting plates (7) are respectively fixedly connected to the bottoms of the three hydraulic cylinders (6); a groove is provided on the outer side of the frame (1); the three hydraulic cylinders (6) are all arranged inside the groove and fixedly connected to the frame (1).

6. The field intelligent laser weeding equipment based on vision guidance according to claim 5 is characterized in that: The frame (1) has two rear grooves (10) formed on the rear side of the bottom, the two mounting plates (7) are respectively arranged inside the two rear grooves (10), a wheel frame (5) is arranged on the bottom of the mounting plate (7), two mounting bolts (8) are threadedly connected between the wheel frame (5) and the mounting plate (7), a wheel (4) is rotatably mounted on the wheel frame (5), a front groove (9) is formed on the front side of the bottom of the frame (1), and the frame connecting plate (24) is arranged inside the front groove (9).

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