A laser weeding robot

Abstract

The application discloses a laser weeding robot, which comprises a movable main body and a control system, and is characterized in that a three-degree-of-freedom platform is arranged at the bottom of the movable main body, a laser emission mechanism is connected to the bottom of the three-degree-of-freedom platform, in addition, the first and second rope driving devices controlled by the control system are further included, the first and second rope driving devices are connected with the laser emission mechanism and the three-degree-of-freedom platform through ropes, wherein the second rope driving device is used for controlling the movement of the three-degree-of-freedom platform in the X, Y and Z axial directions, and the first rope driving device is used for adjusting the orientation of the laser emission mechanism. The three-degree-of-freedom platform and the laser emission mechanism of the application are controlled through the rope driving devices, the traditional multi-link structure is simplified, the whole control structure is simple, the production and maintenance costs are reduced, and the positioning speed and weeding efficiency are improved.

Description

Technical Field

[0001] This invention relates to the technical field of agricultural robots, and more specifically, to a laser weeding robot. Background Technology

[0002] Modern weeding methods mainly include spraying and mechanical weeding. Spraying involves applying chemical agents to the field to kill weeds. This method can improve weeding efficiency, but it also has environmental and ecological impacts, as chemical agents can pollute soil and water sources, and over time, weeds can develop resistance, significantly reducing the effectiveness of weed control. Mechanical weeding, on the other hand, primarily uses rotating blades to remove weeds. This can quickly and efficiently clear weeds from the field, but it can easily cause mechanical damage to crop seedlings.

[0003] In recent years, laser weeding has gradually gained attention as a novel and environmentally friendly weeding method. Laser weeding uses a laser beam to directly irradiate the weeds, burning the leaves with high temperatures to achieve the desired weed control. This method requires no chemical agents, produces no noise or air pollution, and has minimal impact on soil and water resources. It boasts high environmental friendliness and sustainability, and is expected to become an important technology in future agricultural production.

[0004] The biggest obstacle to the widespread adoption of laser weeding equipment is the control of its precision, which can easily cause mechanical damage to crop seedlings. Currently, there is a laser weeding robot based on a four-degree-of-freedom parallel mechanism. This mechanism, mounted on a mobile trolley, is used to adjust the position and direction of the laser beam. This mechanism mainly consists of UPS-type drive branches, including Hooke's joints, upper links, and lower links. It is a multi-link structure, resulting in a complex mechanical structure, high cost, and high requirements for maintenance and operation skills, as well as slow positioning speed. Furthermore, the complex mechanical structure significantly impacts the overall build quality of the weeding equipment, thus reducing its uptime. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing laser weeding robots, such as complex mechanical structure, high cost, and slow positioning speed, and to provide a laser weeding robot that uses a rope-driven structure to replace the traditional mechanical arm structure, thereby improving weeding efficiency and having a significant impact on increasing agricultural product yield.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] This invention provides a laser weeding robot, comprising a movable main body and a control system. A three-degree-of-freedom platform is located at the bottom of the movable main body, and a laser emitting mechanism is connected to the platform. Furthermore, it includes a first rope drive device and a second rope drive device controlled by the control system. The first and second rope drive devices are respectively connected to the laser emitting mechanism and the three-degree-of-freedom platform via ropes. The second rope drive device controls the movement of the three-degree-of-freedom platform in the X, Y, and Z axes, while the first rope drive device adjusts the orientation of the laser emitting mechanism.

[0008] The working principle of this invention is as follows: The movable body plans its path and moves to the area where weeds grow. If the area where the weeds are located is blocked by crops, the first and second rope drive devices operate, correspondingly adjusting the laser emitting mechanism and the three-degree-of-freedom platform. The total length of the ropes is fixed and kept taut at all times. By winding the ropes, the length is changed, allowing them to pull the laser emitting mechanism or the three-degree-of-freedom platform accordingly. The ropes of the second rope drive device drive the three-degree-of-freedom platform to translate in the X, Y, and Z directions, while the ropes of the first rope drive device drive the laser emitting mechanism to rotate, thereby deflecting the emitted laser at a specified angle so that the laser can accurately land at the base of the weed roots and stems, eradicating the weeds.

[0009] Furthermore, the first rope drive device includes a housing and a rope motor. The rope motor is fixed inside the housing, which is also fixedly mounted within the movable body. The output shaft of the rope motor is connected to a worm gear via a torque sensor. A worm wheel, meshing with the worm gear, is also positioned perpendicular to the worm's axis. A lead screw is located outside the housing, passing through the housing and connected to the worm wheel. One end of the lead screw, located outside the housing, is used for winding the rope. When the rope motor starts, it drives the worm gear to rotate, which in turn drives the worm wheel to rotate. The worm wheel then drives the lead screw to rotate clockwise or counterclockwise, thereby allowing the rope to be wound more or less on the lead screw, adjusting the length of the unwound portion of the rope. When the rope tightens, a driving force is generated along its direction, thereby controlling the movement of the rope end.

[0010] The structure of the second rope drive device is the same as that of the first rope drive device.

[0011] Furthermore, the first rope drive device also includes 4-5 rope pulleys, which are mounted on the movable body. One end of the rope of the first rope drive device is connected to the lead screw, and the other end passes through the rope pulleys in sequence and is connected to the laser emitting mechanism. The rope pulleys change the direction of the rope so that it is finally connected to the laser emitting mechanism.

[0012] The second rope drive device also includes 4-5 rope pulleys, which are mounted on the movable body. One end of the rope of the first rope drive device is connected to the lead screw, and the other end passes through the rope pulleys in sequence and is connected to the three-degree-of-freedom platform.

[0013] Furthermore, the laser emitting mechanism includes a moving platform, a fixed platform, several rope loops, and a laser emitting head. The fixed platform is a hollow column, which is fixedly installed at the bottom of the three-degree-of-freedom platform. Several rope loops are equidistantly arranged around the fixed platform, and the number of rope loops is the same as the number of ropes connected to the laser emitting mechanism. The structure of the moving platform is the same as that of the fixed platform. The laser emitting head is located at the bottom of the moving platform. An elastic element is provided between the moving platform and the fixed platform to connect the two. The ropes pass through the rope loops set on the fixed platform and the moving platform in sequence and are then fixedly connected to the rope loop set on the moving platform.

[0014] Furthermore, the rope loop includes a bracket fixedly connected to a moving platform or a fixed platform. Two rollers arranged side by side are rotatably connected to the bracket, with a gap between the two rollers for the rope to pass through. At the end of the rope, there is a blocking ball with a volume larger than the gap. The blocking ball cannot pass through the gap. When the rope is pulled, the blocking ball acts as a stop, allowing the rope to control the bending of the moving platform and thus control its orientation.

[0015] Furthermore, there are four laser emitting mechanisms, which are equidistantly positioned at the edge of the three-degree-of-freedom platform.

[0016] Furthermore, the three-degree-of-freedom platform includes a rectangular plate with lifting rings at each of the four corners. The ropes of the second rope drive device are connected to the lifting rings, and the plate is connected to the movable body via a fixed connector.

[0017] Furthermore, the connecting component includes several magnetorheological damping telescopic rods. One end of each magnetorheological damping telescopic rod is hinged to the movable main body, and the other end is hinged to the flat plate. An energized excitation coil is installed inside each magnetorheological damping telescopic rod. At the instant the three-degree-of-freedom platform comes to rest, the current inside the magnetorheological damping telescopic rod flows through the excitation coil, increasing the damping force and limiting the extension and retraction of the magnetorheological damping telescopic rod. This vibration reduction improves the stability of the three-degree-of-freedom platform, ensuring accurate and stable positioning.

[0018] Furthermore, a camera is located at the center of the bottom of the tablet to acquire images, and the camera is connected to the control system.

[0019] Furthermore, the movable body includes a main body, inside which a control system and a laser instrument are installed. The laser instrument and the laser emitting mechanism are connected via a laser hose. An illumination structure is also provided at the front and / or bottom of the main body. A drive wheel is connected to the bottom edge of the main body, and a laser radar is provided at the top of the main body. The laser instrument, the illumination structure, the drive wheel, and the laser radar are all communicatively connected to the control system.

[0020] The beneficial effects of this invention are:

[0021] 1. The three-degree-of-freedom platform and laser emission mechanism of the present invention are both controlled by a rope drive device, which simplifies the traditional multi-link structure, makes the entire control structure simple, reduces production and maintenance costs, and improves positioning speed and weeding efficiency;

[0022] 2. The rope-driven laser weeding robot disclosed in this invention can achieve autonomous driving, precise laser positioning, and rapid weeding in designated areas, and has great application prospects in the agricultural field. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the overall structure from another perspective of the present invention;

[0025] Figure 3 This is a schematic diagram of the first rope drive device and the second rope drive device.

[0026] Figure 4 for Figure 3 Enlarged view of point A;

[0027] Figure 5 A schematic diagram of the internal structure of the rope drive device;

[0028] Figure 6 This is a schematic diagram of a three-degree-of-freedom platform.

[0029] Figure 7 This is a schematic diagram of the laser emitting mechanism;

[0030] Figure 8 This is a schematic diagram of the laser emitting mechanism in a deflection state.

[0031] In the attached image:

[0032] 1-Movable main body; 101-Main body; 102-Power supply; 103-Laser instrument; 104-Laser hose; 105-Lighting structure; 106-Drive wheel; 107-LiDAR; 108-Damping shock absorber; 2-Three-degree-of-freedom platform; 201-Plate; 202-Hanging ring; 203-Magnetorheological damping telescopic rod; 3-Laser emitting mechanism; 301-Moving platform; 302-Fixed platform; 303-Rope loop; 304-Laser emitting head; 305-Spring; 306-Gyroscope; 4-Outer shell; 5-Rope motor; 6-Torque sensor; 7-Worm; 8-Worm wheel; 9-Lead screw; 10-Rope pulley; 11-Camera; 12-Ball bearing; 13-Rope displacement sensor. Detailed Implementation

[0033] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0034] In the accompanying drawings of this invention, the same or similar reference numerals correspond to the same or similar components. In the description of this invention, it should be understood that terms such as "front," "rear," "left," and "right," indicating orientation or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the drawings are for illustrative purposes only and should not be construed as limiting this patent. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. Furthermore, descriptions involving "first," "second," etc., in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0035] Example 1

[0036] See Figures 1 to 5This embodiment provides a laser weeding robot, which mainly uses lasers to remove weeds. The laser weeding robot includes a movable main body 1 and a control system. The movable main body 1 has four drive wheels 106 at its bottom, which move the robot under the control of the control system. The movable main body 1 can plan its path and move autonomously to the area where weeds grow to remove them. A three-degree-of-freedom platform 2 is located in the middle of the bottom of the movable main body 1. A laser emitting mechanism 3 is connected to the bottom surface of the three-degree-of-freedom platform 2, and the laser emitting mechanism 3 emits laser light to remove weeds.

[0037] The three-degree-of-freedom platform 2 and the laser emitting mechanism 3 are connected and controlled by a second rope drive device and a first rope drive device, respectively. Both the second rope drive device and the first rope drive device are communicatively connected to the control system. Specifically, the second rope drive device controls the movement of the three-degree-of-freedom platform 2 in the X, Y, and Z axes, while the first rope drive device adjusts the orientation of the laser emitting mechanism 3.

[0038] Both the first and second rope drive devices are mounted on the movable body 1 and have identical structures. Taking the first rope drive device as an example, it includes a housing 4 and a rope motor 5. The rope motor 5 is fixedly mounted inside the housing 4, which in turn is fixedly mounted inside the movable body 1. The output shaft of the rope motor 5 is connected to a worm gear 7 via a torque sensor 6. The torque sensor 6 is communicatively connected to the control system and is used to monitor the output torque of the rope motor 5. A worm wheel 8 is also provided perpendicular to the axis of the worm gear 7 and meshes with it. A lead screw 9 is provided outside the housing 4, passing through the housing 4 and connected to the worm wheel 8. One end of the lead screw 9 located outside the housing 4 is used to wind the rope. When the rope motor 5 starts, it drives the worm gear 7 to rotate, which in turn drives the worm wheel 8 to rotate. The worm wheel 8 then drives the lead screw 9 to rotate clockwise or counterclockwise, thereby allowing the rope to be wound more or less on the lead screw 9, adjusting the length of the unwound portion of the rope. When the rope tightens, a driving force is generated along its direction, thereby controlling the movement of the rope end.

[0039] In some other embodiments, the first rope drive device and the second rope drive device are also equipped with rope displacement sensors 13, which are used to obtain the length of rope extension and retraction more accurately, and then calculate the displacement of the three-degree-of-freedom platform 2 or the deflection angle of the laser emitting mechanism 3 through the control system.

[0040] To prevent the rope from overlapping on the lead screw 9 during winding, in this embodiment, the lead screw 9 is a ball screw, which is connected to the worm gear 8 via a ball bearing 12. When the worm gear 8 rotates, it not only drives the lead screw 9 to rotate forward or backward, but also causes the lead screw 9 to move forward or backward along its axial direction. The ball screw 9 simultaneously achieves both axial and rotational movements, thereby achieving the effect of tightening the rope without causing it to tangle, and improving the control accuracy of the first rope drive device for the laser emitting mechanism 3.

[0041] The overall structure of the second rope drive device is the same as that of the first rope drive device. The difference is that the end of the rope of the second rope drive device is connected to the three-degree-of-freedom platform 2.

[0042] See Figure 6 In this embodiment, the three-degree-of-freedom platform 2 is rectangular, with four laser emitting mechanisms 3 respectively arranged on the bottom surface of its four corners. For any laser emitting mechanism 3, to achieve its function of bending at any angle, at least three force points that are not on the same straight line are required. That is, for any laser emitting mechanism 3, at least three first rope driving devices are required. At the same time, in order to flexibly control the three-degree-of-freedom platform 2, this embodiment uses four second rope driving devices. Therefore, this embodiment sets a total of sixteen rope driving devices on the movable body 1, including twelve first rope driving devices and four second rope driving devices. The first rope driving devices and the second rope driving devices are symmetrically arranged in the movable body 1, front and back, left and right. In the order from front to back, the third pair and the sixth pair of rope driving devices are second rope driving devices for controlling the three-degree-of-freedom platform 2, and the rest are first rope driving devices. The ropes extending from the first rope driving devices and the second rope driving devices are connected to the laser emitting mechanism 3 or the three-degree-of-freedom platform 2 through 4-5 rope pulleys 10. The rope pulleys 10 are used to change the direction of the ropes so that the ropes will not interfere with other ropes when arranged. Of course, the number of rope pulleys 10 is not limited to four or five, and can be adjusted according to the actual structure. The rope pulleys 10 are mounted on the movable body 1, with one end of the rope connected to the lead screw 9, and the other end passing through the corresponding number of rope pulleys 10 in sequence before being fixedly connected to the laser emitting mechanism 3 or the three-degree-of-freedom platform 2.

[0043] In some other embodiments, the rope pulley 10 may also be replaced by a structure that can change the direction of the rope, such as a hook or a metal ring.

[0044] During weeding, if the area where the weeds are located is obscured by crops, the first and second rope drive devices activate, correspondingly adjusting the laser emitting mechanism 3 and the three-degree-of-freedom platform 2. The total length of the ropes is fixed and always kept taut. By winding the ropes, the length is changed, allowing them to pull the laser emitting mechanism 3 or the three-degree-of-freedom platform 2 accordingly. Specifically, the rope of the second rope drive device drives the three-degree-of-freedom platform 2 to translate in the X, Y, and Z directions, while the rope of the first rope drive device drives the laser emitting mechanism 3 to rotate, thereby deflecting the emitted laser at a specified angle so that the laser can accurately land at the base of the weed roots and stems, eradicating the weeds.

[0045] Example 2

[0046] See Figure 6 Based on Embodiment 1, the three-degree-of-freedom platform 2 is a rectangular flat plate 201. Hanging rings 202 are respectively provided at the four corners of the flat plate 201. The rope of the second rope drive device is connected to the hanging rings 202. The flat plate 201 is connected to the movable body 1 via a fixed connector. The connector is a magnetorheological damping telescopic rod 203, of which three are provided. One end of the magnetorheological damping telescopic rod 203 is hinged to the movable body 1, and the other end is hinged to the flat plate 201. The magnetorheological damping telescopic rod 203 is inclined to better adapt to the translation of the flat plate 201 in the X, Y, and Z directions. An energized excitation coil (not shown in the figure) is provided inside the magnetorheological damping telescopic rod 203. Under normal conditions, the excitation coil is not energized, and the magnetorheological damping telescopic rod 203, like a conventional telescopic rod, can smoothly extend and retract. Combined with the tightening of the rope, the translation of the three-degree-of-freedom platform 2 can be achieved. At the moment the three-degree-of-freedom platform 2 is stationary, the internal current of the magnetorheological damping telescopic rod 203 passes through the excitation coil, increasing the damping force and limiting the extension and retraction of the magnetorheological damping telescopic rod 203. This reduces vibration and improves the stability of the three-degree-of-freedom platform 2, ensuring accurate and stable positioning.

[0047] To enhance intelligence, a camera 11 is also installed at the bottom of the three-degree-of-freedom platform 2, which is fixedly connected to the bottom of the flat plate 201. The camera 11 is a wide-angle, high-resolution camera capable of directly capturing images of the area covered by the laser weeding robot. These images are then sent to the control system, which uses big data or deep learning to identify crops and weeds, and precisely locates the weeds at the identified locations. After capturing images, the camera 11 classifies the weeds and vegetables and performs three-coordinate positioning on the weeds. At this point, the control system determines whether the roots of the weeds are obscured by vegetables or by the vegetables themselves. If not obscured, the laser emitting mechanism 3 emits a laser directly; if obscured, the three-degree-of-freedom platform 2 moves, and the control system drives the rope motor 5 in the second rope drive device. This changes the relative position of the three-degree-of-freedom platform 2 via the rope, ensuring the laser accurately reaches the root and stem parts of the weeds.

[0048] Example 3

[0049] like Figure 1 , Figure 2 as well as Figure 3 As shown, based on Embodiment 2, the movable main body 1 includes a main body 101. The main body 101 is internally equipped with a control system, a power supply 102, and a laser instrument 103. The laser instrument 103 is connected to the laser emitting mechanism 3 through a laser hose 104. The front and / or bottom of the main body 101 are also equipped with an illumination structure 105. The bottom edge of the main body 101 is connected to a drive wheel 106. The top of the main body 101 is equipped with a laser radar 107. The laser instrument 103, the illumination structure 105, the drive wheel 106, and the laser radar 107 are respectively communicatively connected to the control system.

[0050] The three-degree-of-freedom platform 2 has four first through holes at its four corners, and three second through holes equidistantly arranged on the outer side of each first through hole. The area of ​​the second through holes is smaller than that of the first through holes. The laser emitting mechanism 3 is mounted on the first through holes, and the laser hose 104 passes through the first through holes and connects to the laser emitting mechanism 3. The second through holes are for the ropes controlling the laser emitting mechanism 3 to pass through.

[0051] The lighting structure 105 is an LED light electrically connected to the power supply 102. The lighting structure 105 is positioned at the front of the main body 101 to illuminate the environment in the direction the laser weeding robot is moving, and / or at the bottom of the main body 101 to illuminate the weeding work area. In this embodiment, the lighting structure 105 is symmetrically positioned on the left and right sides of the camera 11 at the bottom of the three-degree-of-freedom platform 2 to prevent the camera 11 from blocking the light. The lighting structure 105 can provide specific illumination to crops in poor visibility conditions, resist interference from ambient light, ensure stable and clear images captured by the camera 11, and also meet the requirements for day and night operation.

[0052] The camera 11 is a wide-angle, high-resolution camera, which allows the camera 11 to not only capture images of the bottom of the laser weeding robot, but also to use algorithms to obtain images of the laser weeding robot's forward direction, thereby cooperating with the lidar 107 to plan the laser weeding robot's path.

[0053] In some other embodiments, there are two cameras 11, one located at the front of the main body 101 and the other at the bottom of the three-degree-of-freedom platform 2, respectively, to capture images from different directions. The camera 11 located at the front of the main body 101 is tilted at an angle of 25°-40°. The image data captured by the camera 11 is transmitted to the control system in real time, working in conjunction with the lidar 107 mounted on the main body 101 to perform autonomous driving and obstacle avoidance, thus achieving fully autonomous navigation and positioning control of the laser weeding robot.

[0054] The edge of the main body 101 is also symmetrically connected with drive wheels 106. The drive wheels 106 are connected to the main body 101 through damping shock absorbers 108. The damping shock absorbers 108 are used to improve the shock absorption effect, thereby improving the stability of the three-degree-of-freedom platform 2.

[0055] Example 4

[0056] This embodiment further defines the features based on Embodiment 1. See also... Figure 2 as well as Figure 7 In this embodiment, the laser emitting mechanism 3 includes a moving platform 301, a fixed platform 302, rope loops 303, and a laser emitting head 304. The fixed platform 302 is a hollow column, which is fixedly installed at the lower part of the three-degree-of-freedom platform 2. Three rope loops 303 are equidistantly arranged around the fixed platform 302. The number of rope loops 303 is the same as the number of ropes connected to the laser emitting mechanism 3, i.e., three. The structure of the moving platform 301 is the same as the structure of the fixed platform 302.

[0057] The laser emitter 304 is disposed at the bottom of the moving platform 301. An elastic element, namely a spring 305, is provided between the moving platform 301 and the fixed platform 302 to connect the two. The rope passes through the rope loops 303 disposed on the fixed platform 302 and the moving platform 301 in sequence, and is then fixedly connected to the rope loop 303 disposed on the moving platform 301.

[0058] In some other embodiments, the elastic element may also be an elastic plastic or colloid.

[0059] The rope loop 303 includes a bracket fixedly connected to the moving platform 301 or the fixed platform 302. Two rollers arranged side-by-side are rotatably connected to the bracket, with a gap between the rollers for the rope to pass through. At the end of the rope is a blocking ball larger than the gap, preventing the rope from passing through. When the rope is pulled, the blocking ball acts as a stop, allowing the rope to control the bending of the moving platform 302 and thus its orientation. Figure 8 As shown, when it is necessary to control the laser emitter 304 to deflect in a specific direction, the rope in that direction, or the ropes on both sides adjacent to that direction, retract. Because the ends of the ropes are equipped with blocking balls that cannot pass through the rope loop 303, the retraction of the ropes creates a force on the moving platform 301. This force transforms into the deformation of the spring 305, causing the moving platform 301 to deflect in the target direction. This causes the laser emitter 304 to deflect synchronously at a specified angle, allowing the laser to accurately strike the base of the weed stems and roots, generating a significant thermal effect that damages the weeds with high energy, ultimately leading to their eradication.

[0060] To monitor the deflection angle of the laser emitter 304, a gyroscope 306 is also provided at the bottom of the laser emitter 304. The gyroscope 306 is communicatively connected to the control system and works in conjunction with the first rope drive device to control the laser emitting mechanism 3.

[0061] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0062] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A laser weeding robot, comprising a movable body (1) and a control system, wherein a three-degree-of-freedom platform (2) is provided at the bottom of the movable body (1), and a laser emitting mechanism (3) is connected below the three-degree-of-freedom platform (2), characterized in that, It also includes a first rope drive device and a second rope drive device controlled by the control system. The first rope drive device and the second rope drive device are respectively connected to the laser emitting mechanism (3) and the three-degree-of-freedom platform (2) via ropes. The second rope drive device is used to control the movement of the three-degree-of-freedom platform (2), and the first rope drive device is used to adjust the orientation of the laser emitting mechanism (3). The first rope drive device includes a housing (4) and a rope motor (5). The rope motor (5) is fixed inside the housing (4). The housing (4) is fixed inside the movable body (1). The output shaft of the rope motor (5) is connected to the worm (7). A worm wheel (8) meshing with the worm (7) is also provided in the direction perpendicular to the axis of the worm (7). A lead screw (9) is provided outside the housing (4). The lead screw (9) passes through the housing (4) and is connected to the worm wheel (8). One end of the lead screw (9) outside the housing (4) is used to wind the rope. The structure of the second rope drive device is the same as that of the first rope drive device. The first rope drive device also includes 4-5 rope pulleys (10), the rope pulleys (10) are set on the movable body (1), one end of the rope of the first rope drive device is connected to the lead screw (9), and the other end passes through the rope pulleys (10) in sequence and is connected to the laser emitting mechanism (3); The second rope drive device also includes 4-5 rope pulleys (10). The rope pulleys (10) are set on the movable body (1). One end of the rope of the first rope drive device is connected to the lead screw (9), and the other end passes through the rope pulleys (10) in sequence and is connected to the three-degree-of-freedom platform (2). The laser emitting mechanism (3) includes a moving platform (301), a fixed platform (302), several rope loops (303), and a laser emitting head (304). The fixed platform (302) is a hollow column, which is fixedly installed at the lower part of the three-degree-of-freedom platform (2). Several rope loops (303) are equidistantly arranged around the fixed platform (302). The number of rope loops (303) is the same as the number of ropes connected to the laser emitting mechanism (3). The structure of the moving platform (301) is the same as that of the fixed platform (302). The laser emitting head (304) is located at the bottom of the moving platform (301). An elastic element is provided between the moving platform (301) and the fixed platform (302). The rope passes through the rope loops (303) set on the fixed platform (302) and the moving platform (301) in sequence and is fixedly connected to the rope loops (303) set on the moving platform (301).

2. The laser weeding robot according to claim 1, characterized in that, The rope loop (303) includes a bracket fixedly connected to a moving platform (301) or a fixed platform (302). Two rollers arranged side by side are rotatably connected to the bracket. A gap is left between the two rollers for the rope to pass through. A blocking ball with a volume larger than the gap is provided at the end of the rope.

3. The laser weeding robot according to claim 1, characterized in that, There are four laser emitting mechanisms (3), which are equidistantly set at the edge of the three-degree-of-freedom platform (2).

4. The laser weeding robot according to claim 1 or 3, characterized in that, The three-degree-of-freedom platform (2) includes a rectangular plate (201), with lifting rings (202) set at the four corners of the plate (201). The rope of the second rope drive device is connected to the lifting rings (202), and the plate (201) is connected to the movable body (1) through a fixed connector.

5. The laser weeding robot according to claim 4, characterized in that, The connector includes several magnetorheological damping telescopic rods (203). One end of the magnetorheological damping telescopic rod (203) is hinged to the movable body (1), and the other end is hinged to the plate (201). An excitation coil that can be energized is provided inside the magnetorheological damping telescopic rod (203).

6. The laser weeding robot according to claim 4, characterized in that, A camera (11) is also provided at the center of the bottom of the tablet (201), and the camera (11) is connected to the control system.

7. The laser weeding robot according to claim 1, characterized in that, The movable body (1) includes a main body (101). The main body (101) is equipped with a control system and a laser instrument (103). The laser instrument (103) is connected to the laser emitting mechanism (3) through a laser hose (104). The front and / or bottom of the main body (101) are also equipped with a lighting structure (105). The bottom edge of the main body (101) is connected to a drive wheel (106). The top of the main body (101) is equipped with a laser radar (107). The laser instrument (103), the lighting structure (105), the drive wheel (106), and the laser radar (107) are respectively connected to the control system.

Images