A laser head posture adjuster suitable for laser weed remover

Abstract

The present invention belongs to the technical field of laser weeding machinery in farmland, and discloses a laser head posture adjuster suitable for a laser weeder, including a mounting plate, a slide assembly support rod, a slide assembly, a shift fork, a gear ring, an irregular center gear, a laser head, a laser head clamp, a cylinder, a center shaft, and a servo motor. For an already adjusted laser, the present invention aims to reduce the divergence of the laser beam and make the laser energy more focused. Along the direction of the laser weeder's movement, the laser head of the present invention can aim at the weeds just below and on both sides of the center line of the weeder. When aiming at the weeds on both sides of the center line of the weeder, the laser head can lower its height from the ground while swinging left and right. The invention can greatly reduce the difference in the distance the laser beam reaches weeds in different positions, and thus can reduce or avoid the divergence of the laser beam to a certain extent.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser weeding machinery in farmland, and in particular relates to a laser head posture adjuster suitable for a laser weeder and having the function of reducing laser beam divergence. Background Art

[0002] Currently, laser weeders operate as follows: first, they detect the location of weeds, then aim the laser head at them, and finally, they fire the laser to inactivate them. The laser head is typically hinged to the undercarriage of the weed remover, pivoting around the hinge axis. It swings left and right along the machine's forward motion to target weeds at different locations. The laser head's motion follows a fan-shaped trajectory. The laser beam is closest to weeds directly below the hinge axis. However, for weeds located on either side of the hinge axis, the laser beam travels farther, causing some divergence. This reduces the laser's energy reaching these weeds, resulting in incomplete weed inactivation and a lower weed control rate.

[0003] To address these drawbacks, we have proposed a device that reduces the difference in the distance the laser beam reaches weeds at different locations. This device aims to allow the laser head to aim at weeds on both sides of the laser head's hinge axis while lowering the laser head's height above the ground. This allows the laser weeder to kill weeds at various locations with an adjusted focal length. Specifically, the device is a laser head position adjuster suitable for laser weeders that reduces laser beam divergence. Summary of the Invention

[0004] The object of the present invention is to provide a laser head posture adjuster suitable for a laser weeder and having the function of reducing the divergence of a laser beam, comprising a mounting plate, a slide assembly support rod, a slide assembly, a shift fork, a gear ring, an irregular central gear, a laser head, a laser head clamp, a cylinder, a central shaft, and a servo motor; one end of the slide assembly support rod is welded to the slide assembly support rod welding hole in the mounting plate, the other end of the slide assembly support rod is welded to the slide assembly welding hole of the slide plate I, the bolt hole of the shift fork and one end of the piston rod of the cylinder are connected by bolts, the other end of the cylinder is bolted to the cylinder mounting hole of the mounting plate, and one end of the central shaft is connected to the servo motor through the central shaft mounting hole of the mounting plate The servo motor's output shaft is fixedly connected, and the servo motor is fixed to the mounting plate via its own flange. The other end of the center shaft is connected to the irregular center gear via a flat key. The ring gear's slider I slides in slot I of slot plate I, and the ring gear's slider II slides in slot II of slot plate II. The first tooth of the ring gear meshes with tooth section 1 of the irregular center gear, and the second tooth of the ring gear meshes with tooth section 2 of the irregular center gear. The laser head clip mounting hole of the ring gear is connected to the laser head clip via bolts, and the laser head clip and laser head have an interference fit. The U-shaped groove of the shift fork fits on both sides of the ring gear. The cylinder drives the shift fork to move, which in turn drives the ring gear. When the cylinder contracts, the ring gear's slider I slides in slot I of slot plate I, and the first tooth of the ring gear meshes with tooth section 1 of the irregular center gear. When the cylinder extends, the slider I of the ring gear disengages from the slide groove I of the slide groove plate I, and the slider II of the ring gear slides in the slide groove II of the slide groove plate II, and the second tooth portion of the ring gear meshes with the tooth portion 2 of the irregular central gear.

[0005] Preferably, the slide assembly consists of a slide plate I, a slide plate connector and a slide plate II. The slide plate I has two slide assembly welding holes. The slide plate I and the slide plate II are respectively connected to the small cylinder on the slide plate connector through the slide plate I mounting hole and the slide plate II mounting hole by interference fit. The center lines of the slide plate I and the slide plate II are both Archimedean spirals. The center point of the outer contour arc of the slide plate I is the pole, the direction pointing to and perpendicular to the bottom surface of the slide plate I is the positive direction of the polar axis, and the clockwise direction is the positive direction of the angle. The center line equation of the slide plate I of the slide plate I is:

[0006]

[0007] With the center of the outer contour arc of the chute piece II as the pole, the direction pointing to and perpendicular to the bottom surface of the chute piece II as the positive direction of the polar axis, and the clockwise direction as the positive direction of the angle, the centerline equation of the chute II of the chute piece II is:

[0008]

[0009] Preferably, the gear ring is composed of a slider I, a slider II, a first tooth portion, two laser head clamp mounting holes and a second tooth portion; the cross-sectional figures of the slider I and the slider II are congruent squares, the two adjacent sides of the square are parallel and perpendicular to the line connecting the centers of the two laser head clamp mounting holes, respectively, and the side length of the square is equal to the width of the slide groove I and the slide groove II. When the slider I is in the slide groove I or the slider II slides in the slide groove II, the slider I and the slider II with a square cross-sectional figure can play a guiding and limiting role, causing the gear ring to move according to the set trajectory; at the first tooth portion and the second tooth portion In the plane formed by the pitch circle curve, the midpoint of the line connecting the centers of the two laser head clamp mounting holes is one end of the line segment, the intersection of the center line of the slider I perpendicular to the plane and the plane is the other end of the line segment, the midpoint of the line segment is the coordinate origin, the straight line passing through the above line segment is the x-axis, the direction pointing to the slider I is the positive direction of the x-axis, the straight line passing through the coordinate origin and perpendicular to the x-axis is the y-axis, and the direction of the x-axis rotated 90° counterclockwise around the coordinate origin is the positive direction of the y-axis. The pitch circle curves of the first tooth portion and the second tooth portion are both part of the elliptical curve, and the curve equation is:

[0010]

[0011] The first tooth portion and the second tooth portion are symmetrical with the x-axis, both have 23 teeth, and the thickness of the gear ring is 10 mm.

[0012] Preferably, on the center plane of the irregular central gear, with the geometric center of the irregular central gear as the coordinate origin, the straight line passing through the coordinate origin and parallel to the neutral plane as the x-axis, the direction pointing to the keyway as the positive direction of the x-axis, and the direction rotated 90° counterclockwise around the coordinate origin as the positive direction of the y-axis, the pitch circle curves of the tooth portion 1 and the tooth portion 2 of the irregular central gear are both part of an elliptical curve, and the curve equation is:

[0013]

[0014] Tooth 1 and Tooth 2 are located on either side of the irregular sun gear in the thickness direction. Both are 10mm thick, bringing the total thickness of the irregular sun gear to 20mm. There is no overlap between Tooth 1 and Tooth 2 in the thickness direction, so at any given time, only Tooth 1 or Tooth 2 of the irregular sun gear can mesh with the first or second tooth of the ring gear.

[0015] Compared with the prior art, the present invention provides a laser head posture adjuster suitable for laser weeders and capable of reducing laser beam divergence, which has the following beneficial effects:

[0016] The present invention serves an intelligent laser weeder. The intelligent laser weeder uses a machine vision system to identify and locate weeds. The control system controls the laser head to align with the weeds based on the identification and positioning signals, and the laser head emits a laser beam to inactivate the weeds. Existing technology uses the laser head's hinge axis as the axis, and the laser head's motion trajectory is fan-shaped. Because farmland is approximately flat, the distance from any point on the fan-shaped arc to the farmland is different, resulting in the laser beam emitted by the adjusted laser being unable to focus well. Therefore, the laser cannot be put into the optimal weeding working state. Along the direction of the laser weeder's movement, the laser head is located on the weeder's centerline. The laser head of the present invention can target weeds directly below and on both sides of the weeder's centerline. Furthermore, the advantage of the present invention is that it allows the laser head to swing left and right to target weeds on both sides of the weeder's centerline while also lowering its height above the ground. For weeds located directly below the centerline of the weeder and on either side of it, the invention significantly reduces the distance differences between the laser beam and weeds located at different locations. This eliminates the need for the laser beam to focus or diverge prematurely due to distance differences. In summary, compared to existing technologies, the invention significantly improves weed control rates and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the mounting plate of the present invention;

[0019] Figure 3 Schematic diagram of the three-dimensional structure of the chute assembly of the present invention;

[0020] Figure 4 Schematic diagram of the slide plate 1 of the present invention;

[0021] Figure 5 Schematic diagram of the chute sheet II of the present invention;

[0022] Figure 6 A schematic diagram of the three-dimensional structure of the invented ring gear;

[0023] Figure 7 Schematic diagram of the three-dimensional structure of the shift fork of the present invention;

[0024] Figure 8 Schematic diagram of the three-dimensional structure of the irregular central gear of the present invention;

[0025] Figure 9 It is a left side view of the irregular central gear of the present invention;

[0026] Figure 10 A top view of the irregular central gear of the present invention;

[0027] Figure 11 It is a partial enlarged cross-sectional view of the matching relationship between the slider in the gear ring of the present invention and the slide groove of the slide groove assembly;

[0028] Figure 12 This is a schematic diagram of the working state of the present invention aiming at weeds located on one side of the center line of the weeder;

[0029] In the figure: 1. Mounting plate, 2. Slide assembly support rod, 3. Slide assembly, 4. Shift fork, 5. Ring gear, 6. Irregular center gear, 7. Laser head, 8. Laser head clip, 9. Cylinder, 10. Center shaft, 11. Servo motor; 011. Slide assembly support rod welding hole, 012. Mounting hole of mounting plate on lawn mower, 013. Center shaft mounting hole, 014. Cylinder mounting hole, 31. Slide plate I, 32. Slide plate connector, 33. Slide plate II, 311. Slide assembly welding hole, 312. Slide Mounting hole of piece I, 313, slide groove I, 314, outer contour arc of slide groove piece I, 315, bottom surface of slide groove piece I, 331, slide groove II, 332, mounting hole of slide groove piece II, 333, outer contour arc of slide groove piece II, 334, bottom surface of slide groove piece II, 41, bolt hole, 42, U-shaped groove, 51, slider I, 52, slider II, 53, first tooth portion, 54, laser head clamp mounting hole, 55, second tooth portion, 61, tooth portion one, 62, tooth portion two, 63, neutral plane, 64, center plane. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0031] Please see the attached Figure 1-12 Taking farmland weeding as an example, the mounting plate 1 of the present invention is installed through the mounting hole 012 on the weeder, at the centerline of the weeder and below the chassis. The servo motor 11 of the present invention is installed in the direction of the weeder's forward movement. When the machine vision system detects a weed directly below the laser head 7, the laser head 7 emits a laser beam to inactivate the weed. Except for this situation, the laser head needs to adjust its position to target weeds in other locations.

[0032] like Figure 12As shown, when the weeds detected by the machine vision system are located to the right of the mower's centerline, the laser head 7 needs to adjust its position. As the mower advances, at a certain moment, perpendicular to the machine's forward motion, the laser head 7 and the weeds can be located in the same plane, allowing the laser head 7 to aim at the weeds. Specifically, during the laser head 7's position adjustment, the cylinder 9 contracts, driving the shift fork 4 in the machine's forward direction. The shift fork 4 then drives the ring gear 5 in the same direction. The slider 151 in the ring gear 5 enters the slot 1313 of the slot plate 131, and the first tooth 53 engages with the first tooth 61. Because the slider 151 has a square cross-section, with two adjacent sides parallel and perpendicular to the line connecting the centers of the two laser head clip mounting holes 54, respectively, and the side length of the square equal to the width of the slot 1313, the slider 151 can only slide in the slot 1313 and cannot roll, thereby limiting the motion trajectory of the ring gear 5. Next, along the forward direction of the lawn mower, under the control of the control system, the servo motor 11 drives the center shaft 10 to rotate counterclockwise by a certain angle, and the center shaft 10 drives the irregular center gear 6 to rotate counterclockwise by the same angle through the flat key. Due to the engagement of the tooth portion 61 and the first tooth portion 53, the ring gear 5 is driven to rotate counterclockwise. Due to the limiting effect of the slide groove 1313 of the slide groove piece 131 on the slider 151, the laser head clip mounting hole 54 in the ring gear 5 rotates to the right and moves downward at the same time. Therefore, the laser head clip 8 connected thereto, together with the laser head 7 that is interference-connected with the laser head clip 8, also makes the same movement, thereby reducing the distance of the laser beam reaching the weeds on the right side of the center line of the lawn mower.

[0033] Along the direction of the machine's forward movement, when the weeds detected by the machine vision system are located to the left of the center line of the weeder, the laser head 7 needs to adjust its position to the left and downward. Specifically, the cylinder 9 extends, driving the fork 4 to move in the opposite direction of the machine's forward movement, and the fork 4 drives the ring gear 5 to move in the opposite direction of the machine's forward movement. The slider I51 of the ring gear 5 disengages from the slot I313 of the slot plate I31, and the slider II52 in the ring gear 5 enters the slot II331 of the slot plate II33. The second tooth portion 55 and the second tooth portion 62 engage. Since the cross-sectional shape of the slider II52 is a square, the two adjacent sides of the square are respectively parallel and perpendicular to the line connecting the centers of the two laser head clip mounting holes 54, and the side length of the square is equal to the width of the slot II331, causing the slider II52 to only slide in the slot II331 but not roll, thereby limiting the movement trajectory of the ring gear 5. Next, along the forward direction of the lawn mower, under the control of the control system, the servo motor 11 drives the center shaft 10 to rotate clockwise by a certain angle, and the center shaft 10 drives the irregular center gear 6 to rotate clockwise by the same angle through the flat key. Due to the engagement of the tooth portion 2 62 and the second tooth portion 55, the ring gear 5 is driven to rotate clockwise. Due to the limiting effect of the slide groove II331 of the slide groove piece II33 on the slider II52, the laser head clip mounting hole 54 in the ring gear 5 rotates to the left and moves downward at the same time. Therefore, the laser head clip 8 connected thereto, together with the laser head 7 that is interference-connected with the laser head clip 8, also makes the same movement, thereby reducing the distance for the laser beam to reach the weeds located on the left side of the center line of the lawn mower.

[0034] The above-mentioned action avoids, or at least reduces to a certain extent, the divergence of the laser beam. Based on the above description, the weeding rate and efficiency of the weeding operation can be greatly improved.

[0035] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A laser head posture adjuster suitable for a laser weeder, comprising a mounting plate (1), a slide assembly support rod (2), a slide assembly (3), a shift fork (4), a gear ring (5), an irregular central gear (6), a laser head (7), a laser head clamp (8), a cylinder (9), a central shaft (10), and a servo motor (11); the slide assembly (3) is composed of a slide plate I (31), a slide plate connecting member (32) and a slide plate II (33), the slide plate I (31) being provided with two slide assembly welding holes (311), the gear ring (5) being composed of a slider I (51), a slider II (52), a first tooth portion (53), two laser head clamp mounting holes (54) and a second tooth portion (55), characterized in that: One end of the chute assembly support rod (2) is welded to the chute assembly support rod welding hole (011) in the mounting plate (1), and the other end of the chute assembly support rod (2) is welded to the chute assembly welding hole (311) of the chute piece I (31). The chute piece I (31) and the chute piece II (33) are respectively interfering with the small cylinder on the chute piece connecting piece (32) through the chute piece I mounting hole (312) and the chute piece II mounting hole (332). In a mating connection, the center lines of the chute I (313) of the chute sheet I (31) and the chute II (331) of the chute sheet II (33) are both Archimedean spirals, with the center of the outer contour arc (314) of the chute sheet I as the pole, the direction pointing to and perpendicular to the bottom surface (315) of the chute sheet I as the positive direction of the polar axis, and the clockwise direction as the positive direction of the angle. The center line equation of the chute I (313) of the chute sheet I (31) is: With the center of the outer contour arc (333) of the chute sheet II as the pole, the direction pointing to and perpendicular to the bottom surface (334) of the chute sheet II as the positive direction of the polar axis, and the clockwise direction as the positive direction of the angle, the centerline equation of the chute II (331) of the chute sheet II (33) is: ， The bolt hole (41) of the shift fork (4) and one end of the piston rod of the cylinder (9) are connected by bolts. The other end of the cylinder (9) is fixedly connected to the cylinder mounting hole (014) of the mounting plate (1) by bolts. One end of the central shaft (10) is fixedly connected to the output shaft of the servo motor (11) through the central shaft mounting hole (013) of the mounting plate (1). The servo motor (11) is fixedly connected to the mounting plate (1) through the flange of the servo motor. The other end of the central shaft (10) is connected to the irregular central gear (6) by a flat key. The slider I (51) of the gear ring (5) can be in the slide groove I ( 313), the slider II (52) of the gear ring (5) can slide in the slide groove II (331) of the slide groove sheet II (33), the first tooth portion (53) of the gear ring (5) can mesh with the tooth portion 1 (61) of the irregular central gear (6), the second tooth portion (55) of the gear ring (5) can mesh with the tooth portion 2 (62) of the irregular central gear (6), the laser head clamp mounting hole (54) of the gear ring (5) is connected to the laser head clamp (8) by a bolt, the laser head clamp (8) and the laser head (7) are interference-connected, and the U-shaped groove (42) of the shift fork (4) is sleeved on both sides of the gear ring (5).

2. The laser head position adjuster for a laser weed remover according to claim 1, characterized in that: The cross-sectional figures of the slider I (51) and the slider II (52) are congruent squares, and the two adjacent sides of the square are parallel and perpendicular to the line connecting the centers of the two laser head clamp mounting holes (54), respectively. In the plane formed by the pitch circle curves of the first tooth portion (53) and the second tooth portion (55), the midpoint of the line connecting the centers of the two laser head clamp mounting holes (54) is one end of the line segment, the intersection of the center line of the slider I (51) perpendicular to the plane and the plane is the other end of the line segment, the midpoint of the line segment is the coordinate origin, the straight line passing through the above line segment is the x-axis, the direction pointing to the slider I (51) is the positive direction of the x-axis, the straight line passing through the coordinate origin and perpendicular to the x-axis is the y-axis, and the direction of the x-axis rotated 90° counterclockwise around the coordinate origin is the positive direction of the y-axis. The pitch circle curves of the first tooth portion (53) and the second tooth portion (55) are both part of the elliptical curve, and the curve equation is: The first tooth portion (53) and the second tooth portion (55) are symmetrical with the x-axis, each having 23 teeth, and the thickness of the gear ring (5) is 10 mm.

3. The laser head position adjuster for a laser weed remover according to claim 1, characterized in that: On the center plane (64) of the irregular central gear (6), the geometric center of the irregular central gear (6) is taken as the coordinate origin, the straight line passing through the coordinate origin and parallel to the neutral plane (63) is taken as the x-axis, the direction pointing to the keyway is taken as the positive direction of the x-axis, and the direction of the x-axis rotated 90° counterclockwise around the coordinate origin is taken as the positive direction of the y-axis. The pitch circle curves of the tooth portion 1 (61) and the tooth portion 2 (62) of the irregular central gear (6) are both part of the elliptical curve, and the curve equation is: Tooth portion 1 (61) and tooth portion 2 (62) are distributed on both sides of the irregular center gear (6) in the thickness direction. The thickness of tooth portion 1 (61) and tooth portion 2 (62) are both 10 mm, and the total thickness of the irregular center gear (6) is 20 mm.

Images