Laser weeding device and method

Abstract

The present invention discloses a laser weeding device and method, wherein the laser weeding device includes a vehicle body, a moving component, a camera component, a laser component, an optical path component, a driving component and a circuit board component. The moving component is used to drive the vehicle body to move, the camera component includes a first camera unit and a second camera unit spaced apart along a first direction, the first camera unit is used to shoot the weeding situation directly above the weeding side, the second camera unit is used to aim at the weeds, the laser component emits laser to kill the weeds, the optical path component is used to provide optical path reflection for the camera component and the laser component, the driving component is connected to the moving component to drive the movement of the moving component, the circuit board component is electrically connected to the camera component, the laser component, the optical path component and the driving component, and the circuit board component is located at the vehicle body. In the technical solution of the present invention, by being equipped with a camera component and an optical path component, coaxial weeding of the laser machine and the camera component is achieved, and the response speed is fast.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a laser weeding device and method. Background Art

[0002] At present, agricultural weeding is generally carried out with herbicides or weeders, which generally include five types: manual mowers, electric mowers, gasoline mowers, hydraulic mowers, and smart mowers. However, each of the above weeding equipment has its scope of use and cannot be widely used. In addition, some equipment will generate noise and pollution, which is not friendly to the environment. Other equipment cannot identify weeds and will damage the lawn. Laser weeders can avoid the above problems.

[0003] However, the existing laser weeders generally observe and identify weeds through a CCD or a rangefinder CCD connected to a galvanometer, but the above-mentioned laser weeders have the following defects: the field of view of the CCD connected to the galvanometer is small, and the field of view swings with the movement of the galvanometer, while the rangefinder CCD needs to confirm the weeds before moving the machine to weed, and the field of view observation and laser weeding cannot be coaxial, the efficiency is relatively low, and the existing laser weeders have poor use range and work efficiency. Summary of the invention

[0004] The main purpose of the present invention is to provide a laser weeding device and method, aiming to provide an efficient laser weeding device and method in which a camera device and a laser device are coaxial and can respond in real time.

[0005] To achieve the above object, the laser weeding device proposed by the present invention comprises:

[0006] a vehicle body having a lower side for approaching a weeding side;

[0007] A moving component, the moving component is movably arranged on the lower side of the vehicle body, and the moving component is used to drive the vehicle body to move;

[0008] A camera assembly is located on the lower side of the vehicle body, and the camera assembly includes a first camera unit and a second camera unit spaced apart along a first direction, wherein the first camera unit is used to photograph the weeding situation directly above the weeding side, and the second camera unit is used to aim at the weeds;

[0009] A laser assembly, comprising a laser head, wherein the laser head is used to emit laser light to kill weeds;

[0010] An optical path component, used for providing optical path reflection for the camera component and the laser component;

[0011] a driving component connected to the moving component to drive the movement of the moving component; and

[0012] A circuit board assembly is electrically connected to the camera assembly, the laser assembly, the optical path assembly and the drive assembly, and the circuit board assembly is located on the vehicle body.

[0013] Optionally, the lower side of the vehicle body is provided with two guide rails extending along the first direction, and the two guide rails are arranged at intervals along the second direction, wherein the first direction and the second direction are arranged orthogonally;

[0014] The mobile assembly comprises:

[0015] Two guide rail seats, each of which is mounted on the two guide rails along the second direction, and each of which slides on the guide rails along the first direction;

[0016] Four moving seats, two of which are respectively arranged on each of the guide rail seats opposite to each other, and each of the moving seats slides on each of the guide rail seats along the second direction;

[0017] Four moving rods, the upper end of each moving rod is correspondingly connected to each moving seat, and each moving rod has a stroke that moves in an up-and-down direction; and,

[0018] Four wheels are connected to the lower end of the moving rod, and the wheels rotate to drive the vehicle body to move.

[0019] Optionally, the driving assembly comprises:

[0020] A first driving member, comprising a first linear driving mechanism, the first linear driving mechanism being arranged at the guide rail, the first linear driving mechanism comprising a first mounting portion and a first movable portion which are relatively movable along the first direction, the first mounting portion being fixedly arranged at the guide rail, and the first movable portion being connected to the guide rail seat to drive the guide rail seat to reciprocate along the first direction;

[0021] A second driving member includes a second linear driving mechanism, the second linear driving mechanism is arranged at the guide rail seat, the second linear driving mechanism includes a second mounting portion and a second movable portion which are relatively movable along the second direction, the second mounting portion is fixedly arranged at the guide rail seat, and the second movable portion is connected to the moving seat to drive the moving seat to reciprocate along the second direction;

[0022] A third driving member includes a third linear driving mechanism, the third linear driving mechanism is arranged at the moving seat, the third linear driving mechanism includes a third mounting portion and a third movable portion which can move relatively in the up-down direction, the third mounting portion is fixedly arranged at the moving seat, the third movable portion is connected to the moving rod to drive the moving rod to reciprocate in the up-down direction; and,

[0023] The fourth driving member comprises a rotation driving mechanism, which is arranged at the lower end of the moving rod and connected to the wheel to drive the wheel to rotate.

[0024] Optionally, the first camera unit includes a CCD camera, and the second camera unit includes a pointing camera.

[0025] Optionally, the laser assembly further comprises an electric focusing beam expander, which is disposed at the laser head and is used for focusing and collimating the laser emitted by the laser head.

[0026] Optionally, the optical path component includes:

[0027] a first galvanometer, the first galvanometer having a constant angle and being used to output the light returned from the weeding side, and the first photographing unit being used to receive the light output from the first galvanometer;

[0028] a second galvanometer, the second galvanometer receiving the light output by the first galvanometer, the second galvanometer also receiving the laser emitted by the laser head and reflecting it to the weeding side; and

[0029] The reflecting mirror is used to reflect the light output by the first galvanometer mirror reflected by the second galvanometer mirror to the second photographing part.

[0030] Optionally, the first galvanometer includes a quartz-coated galvanometer.

[0031] Optionally, the laser weeding device further comprises a light source assembly, wherein the light source assembly is arranged at the vehicle body, and the light source assembly comprises a plurality of light source structures, each of the light source structures being arranged toward a weeding side.

[0032] Optionally, the light source structure includes any one of a point light source, a parallel light source and a ring light source.

[0033] The present invention also provides a laser weeding method, comprising the above-mentioned laser weeding device, wherein the laser weeding device comprises: a vehicle body, wherein the vehicle body has a lower side surface for approaching a weeding side;

[0034] A moving component, the moving component is movably arranged on the lower side of the vehicle body, and the moving component is used to drive the vehicle body to move;

[0035] A camera assembly is located on the lower side of the vehicle body, and the camera assembly includes a first camera unit and a second camera unit spaced apart along a first direction, wherein the first camera unit is used to photograph the weeding situation directly above the weeding side, and the second camera unit is used to aim at the weeds;

[0036] A laser assembly, comprising a laser head, wherein the laser head is used to emit laser light to kill weeds;

[0037] An optical path component, used for providing optical path reflection for the camera component and the laser component;

[0038] a driving component connected to the moving component to drive the movement of the moving component; and

[0039] A circuit board assembly is electrically connected to the camera assembly, the laser assembly, the optical path assembly and the drive assembly, and the circuit board assembly is located on the vehicle body.

[0040] The laser weeding method comprises the following steps:

[0041] When receiving the start instruction, controlling the first camera unit to start, so as to take pictures and identify the state of the current weeding area;

[0042] When it is identified that there are weeds in the current weeding area, the second camera unit and the optical path component are controlled to be turned on, and the reflection angle of the optical path component is adjusted so that the second camera unit can locate the specific position of the weeds;

[0043] When the second camera unit locates the specific position of the weeds, the laser assembly is controlled to emit laser light, and the emitted laser light is reflected by the optical path assembly to reach the specific position of the weeds and kill the weeds;

[0044] When the first camera unit recognizes that the weeds in the current weeding area have been cleared, the driving component is controlled to drive the moving component to move until the moving component leaves the current weeding area;

[0045] All the above steps are repeated in a loop until the weeding completion instruction is received.

[0046] In the technical solution of the present invention, the laser weeding device includes a vehicle body, a moving component, a camera component, a laser component, an optical path component, a driving component and a circuit board component. It can be understood that the moving component is driven by the driving component and can drive the moving component to move according to a preset route, thereby driving the vehicle body to move. Since the camera component is located at the lower end of the vehicle body close to the weeding side, the camera component can capture images of the weeding side, wherein the first camera unit can capture a large range of weeding areas, and the second camera unit is used to aim at weeds. The laser component includes a laser head, which is used to emit lasers to kill weeds. The optical path component is used to provide a coaxial optical path reflection system for the second camera unit and the laser component, so as to facilitate rapid response between the laser component and the second camera unit. Accordingly, the efficiency of the laser weeding device can also be improved. In addition, the first camera unit can monitor a large range of weeding areas, so that the circuit board component can analyze the weeding side image obtained by the first camera unit and control the activities of the camera unit, the laser unit, the optical path component and the driving component. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0048] Figure 1 A schematic diagram of the principle of the laser weeding equipment provided by the present invention;

[0049] Figure 2 A three-dimensional schematic diagram of an embodiment of a laser weeding device provided by the present invention at a certain viewing angle;

[0050] Figure 3 A three-dimensional schematic diagram of the laser weeding equipment provided by the present invention from another viewing angle.

[0051] Description of Figure Numbers:

[0052] Label name Label name 100 Laser weed control equipment 42 Electric focusing beam expander 1 Body 5 Optical Path Components 11 guide 51 The first galvanometer 2 Mobile Components 52 Second galvanometer 21 Guide rail seat 53 Reflector 22 Mobile seat 6 Drive components 23 Mobile rod 61 First drive member 24 wheel 62 Second driving member 3 Camera components 63 The third drive 31 First camera department 64 Fourth driving member 32 Second camera unit 7 Light source components 4 Laser components 71 Light source structure 41 Laser Head

[0053] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0056] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0057] At present, agricultural weeding is generally carried out with herbicides or weeders, which generally include five types: manual mowers, electric mowers, gasoline mowers, hydraulic mowers, and smart mowers. However, each of the above weeding equipment has its scope of use and cannot be widely used. In addition, some equipment will generate noise and pollution, which is not friendly to the environment. Other equipment cannot identify weeds and will damage the lawn. Laser weeders can avoid the above problems.

[0058] However, the existing laser weeders generally observe and identify weeds through a CCD or a rangefinder CCD connected to a galvanometer, but the above-mentioned laser weeders have the following defects: the field of view of the CCD connected to the galvanometer is small, and the field of view swings with the movement of the galvanometer, while the rangefinder CCD needs to confirm the weeds before moving the machine to weed, and the field of view observation and laser weeding cannot be coaxial, the efficiency is relatively low, and the existing laser weeders have poor use range and work efficiency.

[0059] In order to solve the above problems, the present invention proposes a laser weeding device and method, aiming to provide a laser weeding device with a wide range of application scenarios and a high degree of automation. Figures 1 to 3 A schematic structural diagram of an embodiment of the laser weeding equipment provided by the present invention.

[0060] Please refer to Figures 1 to 3 The laser weeding device 100 proposed by the present invention includes: a vehicle body 1, a moving component 2, a camera component 3, a laser component 4, an optical path component 5, a driving component 6 and a circuit board component. The vehicle body 1 has a lower side surface for approaching the weeding side, the movable component 2 is movably arranged on the lower side surface of the vehicle body 1, the movable component 2 is used to drive the vehicle body 1 to move, the camera component 3 is located on the lower side surface of the vehicle body 1, the camera component 3 includes a first camera part 31 and a second camera part 32 arranged at intervals along a first direction, wherein the first camera part 31 is used to shoot the weeding situation just above the weeding side, and the second camera part 32 is used to aim at the weeds, the laser component 4 includes a laser head 41, the laser head 41 is used to emit laser to kill weeds, the optical path component 5 is used to provide optical path reflection for the camera component 3 and the laser component 4, the driving component 6 is connected to the movable component 2 to drive the movement of the movable component 2, and the circuit board component is electrically connected to the camera component 3, the laser component 4, the optical path component 5 and the driving component 6, and the circuit board component is located at the vehicle body 1.

[0061] In the technical solution of the present invention, the laser weeding device 100 includes a vehicle body 1, a moving component 2, a camera component 3, a laser component 4, an optical path component 5, a driving component 6 and a circuit board component. It can be understood that the moving component 2 is driven by the driving component 6 to drive the moving component 2 to move according to a preset route, thereby driving the vehicle body 1 to move. Since the camera component 3 is located at the lower end of the vehicle body 1 close to the weeding side, the camera component 3 can capture images of the weeding side, wherein the first camera unit 31 can capture a wide range of weeding areas, the second camera unit 32 is used to aim at weeds, and the laser component 4 It includes a laser head 41, which is used to emit laser to kill weeds, wherein the optical path component 5 is used to provide a coaxial optical path reflection system for the second camera unit 32 and the laser component 4, so as to facilitate rapid response between the laser component 4 and the second camera unit 32, and accordingly, the efficiency of the laser weeding device 100 can also be improved. In addition, the first camera unit 31 can monitor a large weeding area, so that the circuit board component can analyze the weeding side image obtained by the first camera unit 31, and control the activities of the camera component 3, the laser component 4, the optical path component 5 and the drive component 6.

[0062] In addition, it can be understood that the mobile component 2 is movably installed on the vehicle body 1, and a partial structure of the mobile component 2 can move relative to the vehicle body 1. Then, according to actual conditions, the partial structure of the mobile component 2 can be controlled by the circuit board assembly to make them approach or move away from each other, so as to adapt to different ground conditions and meet the needs of a wider range of application scenarios.

[0063] For details, please refer to Figure 2 and Figure 3 In an embodiment of the present invention, the lower side of the vehicle body 1 is provided with two guide rails 11 extending along the first direction, and the two guide rails 11 are arranged at intervals along the second direction, wherein the first direction and the second direction are arranged orthogonally. Correspondingly, the moving assembly 2 includes: two guide rail seats 21, four moving seats 22, four moving rods 23 and four wheels 24, wherein each of the guide rail seats 21 is mounted on the two guide rails 11 along the second direction, each of the guide rail seats 21 slides on each of the guide rails 11 along the first direction, the four moving seats 22 are arranged on each of the guide rail seats 21 in pairs, each of the moving seats 22 slides on each of the guide rail seats 21 along the second direction, the upper end of each of the moving rods 23 is correspondingly connected to each of the moving seats 22, and each of the moving rods 23 has a stroke for moving in the up and down directions, and also includes four wheels 24 connected to the lower end of the moving rods 23, and the wheels 24 rotate to drive the vehicle body 1 to move. It can be understood that each of the moving rods 23 can move in a direction of approaching or moving away from each other as each of the guide rail seats 21 and the moving seats 22 moves, thereby changing the distance between each of the wheels 24 in the first direction and the second direction to adapt to different terrains. For example, when working in the field, the gap between the wheels 24 can be changed by controlling the driving assembly 6 through the circuit board assembly according to actual conditions to adapt to different sowing gaps, so that the wheels 24 of the laser weeding device 100 will not press the crops. On the one hand, the application scenarios of the laser weeding device 100 are expanded to enable it to adapt to different field environments. On the other hand, it can also reduce damage to crops and minimize the negative effects of the laser weeding device 100. In addition, since each of the moving rods 23 also has an up and down stroke, the vehicle body 1 can approach or move away from the weeding side, which is convenient for achieving more sophisticated weeding actions. In addition, since the growth height of crops is uneven, such a setting can also adapt to different application scenarios and achieve the weeding process under the scenario of protecting crops from damage.

[0064] In some other embodiments, the four moving rods 23 are connected in pairs by telescopic parts, and each of the telescopic parts has a moving stroke along the first direction or the second direction, and can move with the movement of the moving rod 23 to achieve the effect of reinforcing support.

[0065] Specifically, the driving assembly 6 includes a first driving member 61, a second driving member 62, a third driving member 63 and a fourth driving member 64. The first driving member 61 includes a first linear driving mechanism, which is disposed at the guide rail 11, and includes a first mounting portion and a first movable portion that are relatively movable along the first direction, the first mounting portion is fixedly disposed at the guide rail 11, and the first movable portion is connected to the guide rail seat 21 to drive the guide rail seat 21 to reciprocate along the first direction, and the second driving member 62 includes a second linear driving mechanism, which is disposed at the guide rail seat 21, and includes a second mounting portion and a second movable portion that are relatively movable along the second direction, and the second mounting portion is fixedly disposed at the guide rail seat 21, the second movable part is connected to the moving seat 22 to drive the moving seat 22 to reciprocate along the second direction, the third driving member 63 includes a third linear driving mechanism, the third linear driving mechanism is arranged at the moving seat 22, the third linear driving mechanism includes a third mounting part and a third movable part with relative movement along the up-down direction, the third mounting part is fixedly arranged at the moving seat 22, the third movable part is connected to the moving rod 23 to drive the moving rod 23 to reciprocate along the up-down direction, and the fourth driving member 64 includes a rotation driving mechanism, the rotation driving mechanism is arranged at the lower end of the moving rod 23, and is connected to the wheel 24 to drive the wheel 24 to rotate. It can be understood that the first driving member 61, the second driving member 62, the third driving member 63 and the fourth driving member 64 are all electrically connected to the circuit board assembly to control the relevant components to drive the movement of the guide rail seat 21, the moving seat 22, the moving rod 23 and the wheel 24. It can be understood that the first mounting part and the second mounting part include a cylinder, the first movable part and the second movable part include a screw rod, the cylinder is used to drive the screw rod to move along a set direction to drive the corresponding part to move, the third driving member 63 is configured as an electric telescopic rod, and the electric telescopic rod has a stroke in the up and down directions to change the height of the vehicle body 1, and the rotary drive mechanism includes a rotary motor, and the rotary motor is used to drive the wheel 24 to rotate to drive the vehicle body 1 forward.

[0066] In addition, please refer to Figure 1 The first camera unit 31 includes a CCD camera, and the second camera unit 32 includes a sighting camera. The field of view of the first camera unit 31 does not swing with the galvanometer, and can observe the situation on the weeding side with a large field of view, which is convenient for weeding after trial analysis and improves the overall work efficiency. The second camera unit 32 aims at the weeds through the sighting camera to achieve accurate positioning of the weeds.

[0067] In addition, the laser assembly 4 also includes an electric focusing beam expander 42, which is arranged at the laser head 41 and is used to focus and collimate the laser emitted by the laser head 41, so that the angle and intensity of the output laser can meet the requirements of weed killing.

[0068] Please refer to Figure 1 The optical path assembly 5 includes: a first galvanometer 51, a second galvanometer 52 and a reflector 53. The first galvanometer 51 has a constant angle and is used to output the light returned from the weeding side. The first photographing unit is used to receive the light output from the first galvanometer 51. The second galvanometer 52 receives the light output from the first galvanometer 51. The second galvanometer 52 is also used to receive the laser emitted by the laser head 41 and reflect it to the weeding side. The reflector 53 is used to reflect the light output from the first galvanometer 51 reflected by the second galvanometer 52 to the second photographing unit. It can be understood that the first galvanometer 51 is used to transmit light. Specifically, in some embodiments, the first galvanometer 51 includes a quartz-coated galvanometer. The first galvanometer 51 is made of transparent material, which can easily transmit visible light and transmit the visible light to the first camera unit 31, or is used to transmit the laser emitted by the laser to the weeds. The angle of the second galvanometer 52 is adjustable. The second galvanometer 52 is used to reflect light. On the one hand, the second galvanometer 52 can reflect the optical fiber on the weed side transmitted by the first galvanometer 51 to the reflector 53, and the reflector 53 transmits the optical fiber reflected by the second galvanometer 52 to the second camera unit 32, so as to achieve the aiming of the aiming camera on the weeds. On the other hand, the second galvanometer 52 can also receive the laser from the laser and reflect the laser to the weeds, thereby achieving the coaxiality of the second camera and the laser, avoiding the situation where, in some non-coaxial situations, after the aiming camera aims at the weeds, it is necessary to adjust the galvanometer of the laser to emit laser to kill the weeds, thereby achieving high efficiency.

[0069] Please refer to Figure 3 The laser weeding device 100 also includes a light source assembly 7, which is arranged at the vehicle body 1. The light source assembly 7 includes a plurality of light source structures 71, each of which is used to be arranged toward the weeding side. The light source assembly 7 is also electrically connected to the circuit board assembly, which is convenient for working in some poor lighting conditions, making the laser weeding device 100 more efficient and widely applicable.

[0070] Furthermore, the light source structure 71 includes any one of a point light source, a parallel light source and a ring light source, and different light sources can be selected for illumination according to actual conditions to achieve a better lighting effect.

[0071] In addition, the present invention also proposes a laser weeding method, including the above-mentioned laser weeding device 100. The laser weeding device 100 includes the above-mentioned structure, which will not be described in detail here.

[0072] The laser weeding method comprises the following steps:

[0073] When receiving the start command, the first camera unit 31 is controlled to start up to take pictures and identify the state of the current weeding area;

[0074] When it is identified that there are weeds in the current weeding area, the second camera unit 32 and the optical path component 5 are controlled to be turned on, and the reflection angle of the optical path component 5 is adjusted so that the second camera unit 32 can locate the specific position of the weeds;

[0075] When the second camera unit 32 locates the specific position of the weeds, the laser assembly 4 is controlled to emit laser light, and the emitted laser light is reflected by the optical path assembly 5 to reach the specific position of the weeds and kill the weeds;

[0076] When the first camera unit 31 recognizes that the weeds in the current weeding area have been cleared, the driving component 6 is controlled to drive the moving component 2 to move until it leaves the current weeding area;

[0077] All the above steps are repeated in a loop until the weeding completion instruction is received.

[0078] It can be understood that, after receiving the start command, the first camera unit 31 is controlled to start, and the first camera unit 31 can identify the situation of the weed side in a large area to preliminarily locate the position of the weeds, so as to realize the function of identifying the state of the current weeding area, and then according to the position of the weeds preliminarily located, that is, when it is identified that there are weeds in the current weeding area, the second camera unit 32 and the optical path component 5 are controlled to start, specifically, by adjusting the angles of the second galvanometer 52 and the reflector 53, so that the aiming camera locates the weeds, at this time, the second galvanometer 52 is also rotated to The laser assembly 4 is controlled to emit a laser at a corresponding angle, and the laser is irradiated to the second galvanometer 52. Since the laser assembly 4 and the second camera unit 32 are coaxial, the laser can be directly reflected from the second galvanometer 52 to the weeds to kill the weeds. When the first camera unit 31 observes that the weeds in the current weeding area have been cleared, the drive assembly 6 can be controlled to move, leave the current weeding area, and continue weeding at other locations until an instruction to complete weeding is received, that is, weeding is stopped to complete the weeding function in the corresponding area.

[0079] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A laser weeding device, characterized in that: The laser weeding equipment comprises: a vehicle body having a lower side for approaching a weeding side; A moving component, the moving component is movably arranged on the lower side of the vehicle body, and the moving component is used to drive the vehicle body to move; A camera assembly is located on the lower side of the vehicle body, and the camera assembly includes a first camera unit and a second camera unit spaced apart along a first direction, wherein the first camera unit is used to photograph the weeding situation directly above the weeding side, and the second camera unit is used to aim at the weeds; A laser assembly, comprising a laser head, wherein the laser head is used to emit laser light to kill weeds; An optical path component, used for providing optical path reflection for the camera component and the laser component; a driving component connected to the moving component to drive the movement of the moving component; and A circuit board assembly, the circuit board assembly is electrically connected to the camera assembly, the laser assembly, the optical path assembly and the drive assembly, and the circuit board assembly is located on the vehicle body; Wherein, the optical path component comprises: a first galvanometer, the first galvanometer having a constant angle and being used to output the light returned from the weeding side, and the first camera unit being used to receive the light output from the first galvanometer; a second galvanometer, the second galvanometer receiving the light output by the first galvanometer, the second galvanometer also receiving the laser emitted by the laser head and reflecting it to the weeding side; and The reflecting mirror is used to reflect the light output by the first galvanometer mirror reflected by the second galvanometer mirror to the second camera part.

2. The laser weeding device according to claim 1, characterized in that: The lower side of the vehicle body is provided with two guide rails extending along the first direction, and the two guide rails are arranged at intervals along the second direction, wherein the first direction and the second direction are arranged orthogonally; The mobile assembly comprises: Two guide rail seats, each of which is mounted on the two guide rails along the second direction, and each of which slides on the guide rails along the first direction; Four moving seats, two of which are respectively arranged on each of the guide rail seats opposite to each other, and each of the moving seats slides on each of the guide rail seats along the second direction; Four moving rods, the upper end of each moving rod is correspondingly connected to each moving seat, and each moving rod has a stroke that moves in an up-and-down direction; and, Four wheels are connected to the lower end of the moving rod, and the wheels rotate to drive the vehicle body to move.

3. The laser weeding device according to claim 2, characterized in that: The drive assembly comprises: A first driving member, comprising a first linear driving mechanism, the first linear driving mechanism being arranged at the guide rail, the first linear driving mechanism comprising a first mounting portion and a first movable portion which are relatively movable along the first direction, the first mounting portion being fixedly arranged at the guide rail, and the first movable portion being connected to the guide rail seat to drive the guide rail seat to reciprocate along the first direction; A second driving member includes a second linear driving mechanism, the second linear driving mechanism is arranged at the guide rail seat, the second linear driving mechanism includes a second mounting portion and a second movable portion which are relatively movable along the second direction, the second mounting portion is fixedly arranged at the guide rail seat, and the second movable portion is connected to the moving seat to drive the moving seat to reciprocate along the second direction; A third driving member includes a third linear driving mechanism, the third linear driving mechanism is arranged at the moving seat, the third linear driving mechanism includes a third mounting portion and a third movable portion which can move relatively in the up-down direction, the third mounting portion is fixedly arranged at the moving seat, the third movable portion is connected to the moving rod to drive the moving rod to reciprocate in the up-down direction; and, The fourth driving member comprises a rotation driving mechanism, which is arranged at the lower end of the moving rod and connected to the wheel to drive the wheel to rotate.

4. The laser weeding device according to claim 1, characterized in that: The first camera unit includes a CCD camera, and the second camera unit includes a pointing camera.

5. The laser weeding device according to claim 1, characterized in that: The laser assembly also includes an electric focusing and beam expanding lens, which is arranged at the laser head and is used for focusing and collimating the laser emitted by the laser head.

6. The laser weeding device according to claim 1, characterized in that: The first galvanometer mirror comprises a quartz-coated galvanometer mirror.

7. The laser weeding device according to claim 1, characterized in that: The laser weeding device further comprises a light source assembly, wherein the light source assembly is arranged at the vehicle body, and the light source assembly comprises a plurality of light source structures, each of which is arranged toward a weeding side.

8. The laser weeding device according to claim 7, characterized in that: The light source structure includes any one of a point light source, a parallel light source and a ring light source.

9. A laser weeding method, based on the laser weeding device according to any one of claims 1 to 8, characterized in that: The laser weeding method comprises the following steps: When receiving the start instruction, controlling the first camera unit to start, so as to take pictures and identify the state of the current weeding area; When it is identified that there are weeds in the current weeding area, the second camera unit and the optical path component are controlled to be turned on, and the reflection angle of the optical path component is adjusted so that the second camera unit can locate the specific position of the weeds; When the second camera unit locates the specific position of the weeds, the laser assembly is controlled to emit laser light, and the emitted laser light reaches the specific position of the weeds through the reflection of the optical path assembly and kills the weeds; When the first camera unit recognizes that the weeds in the current weeding area have been cleared, the driving component is controlled to drive the moving component to move until the current weeding area is left; All the above steps are repeated in a loop until the weeding completion instruction is received.

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