Laser tracking and sighting weeding system and working method thereof

Abstract

The application relates to a laser tracking and sighting weeding system and a working method thereof. The system comprises a coupling mirror fixed in a first closed cavity, a camera, a laser and a galvanometer system arranged on different sides of the first closed cavity respectively; the laser tracking and sighting weeding system further comprises a light source arranged on the lower side of the galvanometer system; the laser tracking and sighting weeding system connects the identification and the weeding process in the laser weeding, coaxially transmits the environmental collection information and the laser beam after the laser beam passes through the coupling mirror, simultaneously changes the image collection visual field and the laser action position by changing the rotating mechanical angle of the galvanometer system, realizes the quick matching of the camera visual field and the laser action coordinate, and improves the weeding precision and flexibility.

Description

TECHNICAL FIELD

[0001] The present application relates to a laser tracking and sighting weeding system and a working method thereof, and belongs to the technical field of laser weeding. BACKGROUND

[0002] The laser weeding technology applies laser to the surface of plants to affect the development and regrowth of weeds or seeds, and can adjust the laser parameters according to different application scenarios, and the energy output is stable. Compared with the commonly used pesticide weeding technology and mechanical weeding technology, the laser weeding technology reduces pesticide residues and has higher operation efficiency.

[0003] The implementation of laser weeding can be simply divided into two parts of identification and weeding. After the camera obtains the environmental information of the area to be weeded, the image processing module is used to complete the identification of the weed roots and stems, and the position of the laser is adjusted according to the identification result to realize weeding. In the process of adjusting the laser action position according to the identification coordinates, most of the current laser weeding machines need to rely on mechanical devices to change the position of the laser, which has certain adjustment delay and movement error, and the flexibility needs to be further improved. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a laser tracking and sighting weeding system.

[0005] The present application also provides a working method of the above-mentioned laser tracking and sighting weeding system.

[0006] The technical scheme of the present application is as follows:

[0007] A laser tracking and sighting weeding system, comprising a coupling mirror fixed in a first closed cavity, and a camera, a laser, and a galvanometer system arranged on different sides of the first closed cavity, respectively; the coupling mirror can realize the transmission of the laser wavelength band emitted by the laser and the reflection of the light wavelength band detected by the camera;

[0008] The galvanometer system comprises a reflecting mirror, an x-axis galvanometer, and a y-axis galvanometer arranged in a second closed cavity; the first closed cavity and the second closed cavity are communicatively arranged;

[0009] The reflecting mirror and the x-axis galvanometer are vertically arranged, and the y-axis galvanometer is horizontally arranged; wherein the two sides of the x-axis galvanometer can rotate forward and backward along the vertical geometric axis thereof, and the upper and lower sides of the y-axis galvanometer can rotate upward and downward along the horizontal geometric axis thereof; the reflecting mirror at the initial position is parallel to the coupling mirror, and the vertical geometric axis of the x-axis galvanometer is perpendicular to the horizontal geometric axis of the y-axis galvanometer; the side where the reflecting mirror is located is the connecting side of the first closed cavity and the second closed cavity, and the y-axis galvanometer is located at the rear end of the galvanometer system; the line connecting the optical centers of the x-axis galvanometer and the reflecting mirror is perpendicular to the line connecting the optical centers of the y-axis galvanometer and the x-axis galvanometer.

[0010] Preferably, the coupling mirror is at an angle of 135° with the direction of travel.

[0011] Preferably, the laser emits a laser spot coinciding with the optical center of the coupling mirror; the optical center of the camera detection surface is coaxial with the optical center of the coupling mirror.

[0012] Preferably, the laser is arranged at the back side of the first sealed cavity; the camera is arranged at the right side of the first sealed cavity; a dustproof glass is arranged at the connection between the laser and the first sealed cavity.

[0013] Preferably, the laser tracking and aiming weeding system further comprises a light source arranged at the lower side of the galvanometer system to provide illumination for the acquisition of environmental information.

[0014] Preferably, a filter for controlling the identification waveband is arranged on the lens of the camera.

[0015] A working method of a laser tracking and aiming weeding system, comprising the following steps:

[0016] 1) Acquisition of environmental information;

[0017] The detection light carrying the environmental information of weeds enters the galvanometer system, and is reflected by the y-axis galvanometer, the x-axis galvanometer and the mirror in turn to reach the coupling mirror. The coupling mirror reflects the waveband of the detection light, and the detection light enters the camera to complete image acquisition of the weed environment. After image processing, the weeds and crops are distinguished, and the position of the weed root is identified.

[0018] 2) Determination of the rotation angle of the galvanometer;

[0019] The coordinates of the weed root are the laser aiming coordinates in the world coordinate system, and the rotation mechanical angle of the x-axis galvanometer and the y-axis galvanometer in the galvanometer system is determined according to the laser aiming coordinates.

[0020] 3) Realization of laser tracking and aiming;

[0021] The laser emits a laser beam which enters the coupling mirror horizontally and transmits the waveband of the laser. After being reflected by the mirror and the x-axis galvanometer in the galvanometer system, the horizontally propagating laser beam is reflected by the y-axis galvanometer and output downward to act on the weeds, thereby completing the weeding work in the identified area.

[0022] 4) Continuous weeding;

[0023] Steps 1) - 3) are cycled as the laser weeding machine travels, thereby realizing continuous weeding. During this process, the detection light carrying the environmental information of weeds before the coupling mirror and the laser beam after the coupling mirror are coaxially transmitted, and the change of the mechanical angle of the x-axis galvanometer and the y-axis galvanometer in the galvanometer system will simultaneously change the image acquisition field of view and the laser action position.

[0024] The beneficial effects of the present invention are:

[0025] 1. After the camera identifies the weeds in the image captured, the coordinates of the root and stem in the world coordinate system are calculated. Because the camera and laser exist in the same world coordinate system, and the light carrying environmental information is transmitted coaxially with the laser beam, there is no need to consider the positional relationship between the laser and camera. The laser's active coordinates are the identified weed root and stem coordinates, reducing the number of calculation steps in the laser weeding process and improving weeding efficiency.

[0026] 2. The laser tracking and aiming weeding system of the present invention links the recognition and weeding processes in laser weeding. The environmental collection information and the laser beam are coaxially transmitted after passing through a coupling mirror. By changing the rotation mechanical angle of the galvanometer system, the image collection field of view and the laser action position can be changed simultaneously, realizing rapid matching of the camera field of view and the laser action coordinates, thereby improving the accuracy and flexibility of weeding. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic structural diagram of the laser tracking and weeding system described in Example 1;

[0028] Figure 2 For the embodiment of the present invention Figure 1 Schematic diagram of the enlarged structure at A in the middle;

[0029] Figure 3 Schematic diagram of the galvanometer system of the present invention (top view);

[0030] Figure 4 A schematic diagram (top view) illustrating the principle of obtaining environmental information by the laser tracking and aiming weeding system of the present invention;

[0031] Figure 5 This is a schematic diagram (top view) of the laser beam propagation process of the laser tracking and aiming weeding system of the present invention;

[0032] Figure 6 This is a schematic diagram (top view) of the laser tracking and aiming weeding system of the present invention, which combines the acquisition of environmental information with the action process of the laser beam to achieve rapid matching of the camera field of view and the laser action coordinates;

[0033] Figure 7 Schematic diagram of the relative position and rotation of the x-axis galvanometer and the y-axis galvanometer;

[0034] Figure 8 This is a block diagram of the working method of the laser tracking and aiming weeding system of the present invention;

[0035] Among them, 1. lawn mower, 2. light source, 3. galvanometer system, 31. y-axis galvanometer, 32. x-axis galvanometer, 33. reflecting mirror, 4. coupling mirror, 5. camera, 6. laser, 7. first closed sealing cavity. DETAILED DESCRIPTION

[0036] Some embodiments of the present application will be described in detail with reference to the drawings.

[0037] Embodiment 1

[0038] As Figures 1-7 shown.

[0039] A laser tracking and weeding system comprises a coupling mirror 4 fixed in a first closed cavity 7, a camera 5, a laser 6 and a galvanometer system 3 arranged on different sides of the first closed cavity 7 respectively; the coupling mirror 4 can realize the transmission of the laser wave band emitted by the laser 6 and the reflection of the light wave band detected by the camera 5.

[0040] The galvanometer system 3 comprises a reflecting mirror 33, an x-axis galvanometer 32 and a y-axis galvanometer 31 arranged in a second closed cavity; the first closed cavity 7 is arranged in communication with the second closed cavity.

[0041] The reflecting mirror 33 and the x-axis galvanometer 32 are vertically arranged, and the y-axis galvanometer 31 is horizontally arranged; the two sides of the x-axis galvanometer 32 can rotate forward and backward along the vertical geometric axis thereof, and the upper and lower sides of the y-axis galvanometer 31 can rotate upward and downward along the horizontal geometric axis thereof; the reflecting mirror 33 in the initial position is parallel to the coupling mirror 4, and the vertical geometric axis of the x-axis galvanometer 32 is perpendicular to the horizontal geometric axis of the y-axis galvanometer 31 (as Figure 7 shown); the side where the reflecting mirror 33 is located is the connecting side of the first closed cavity 7 and the second closed cavity, and the y-axis galvanometer 31 is located at the rear end of the galvanometer system 3; the line connecting the optical centers of the x-axis galvanometer 32 and the reflecting mirror 33 is perpendicular to the line connecting the optical centers of the y-axis galvanometer 31 and the x-axis galvanometer 32. After the laser beam is reflected to the x-axis galvanometer 32 through the reflecting mirror 33, the rotation mechanical angle of the x-axis galvanometer 32 can be adjusted to change the offset of the laser output position in the x direction (horizontal direction), and the rotation mechanical angle of the y-axis galvanometer 31 can be adjusted to realize the offset of the laser output position in the y direction (vertical direction).

[0042] The x-axis galvanometer 32 and the y-axis galvanometer 31 both have rotation mechanical angles to realize the adjustment of the camera detection field of view and the laser beam action position, and the rotation mechanical angles are controlled by a galvanometer servo system during the laser tracking and weeding process.

[0043] The galvanometer system 3, the coupling mirror 4 and the camera 5 can be fixed simultaneously through the shell of the first closed cavity 7, and the fixing method is simple, which reduces the assembly error.

[0044] The laser tracking and weeding system further comprises a light source 2 arranged on the lower side of the galvanometer system 3 to provide illumination for the acquisition of environmental information.

[0045] The upper and lower edges of the y-axis galvanometer 31 can rotate up and down along the transverse geometric center axis thereof, which is perpendicular to the line connecting the optical centers of the y-axis galvanometer 31 and the x-axis galvanometer 32.

[0046] Embodiment 2

[0047] The laser tracking and sighting weeding system as described in Embodiment 1, further, the angle between the plane where the coupling mirror 4 is located and the traveling direction is 135°. In combination with the drawings and other issues in the specification, it can be determined that the coupling mirror 4 is deflected by 135° in the clockwise direction, so that the angle between the plane where the coupling mirror 4 is located and the traveling direction is 135°.

[0048] Embodiment 3

[0049] The laser tracking and sighting weeding system as described in Embodiment 1, further, the laser spot emitted by the laser 6 coincides with the optical center of the coupling mirror 4; the optical center of the detection surface of the camera 5 is coaxial with the optical center of the coupling mirror 4.

[0050] Embodiment 4

[0051] The laser tracking and sighting weeding system as described in Embodiment 1, further, the laser 6 is arranged at the back side of the first sealed cavity 7; the camera 5 is arranged at the right side of the first sealed cavity 7; a dustproof glass is arranged at the connection between the laser 6 and the first sealed cavity 7.

[0052] Embodiment 5

[0053] The laser tracking and sighting weeding system as described in Embodiment 1, further, a filter for controlling the identification waveband is arranged on the lens of the camera 5. The filter can meet the spectral identification requirements of different targets.

[0054] Embodiment 6

[0055] As shown in Figure 8 .

[0056] A working method of the laser tracking and sighting weeding system as described in Embodiments 1-5, comprising the following steps:

[0057] 1) Acquisition of environmental information;

[0058] The detection light carrying the weed environment information enters the galvanometer system 3, and is reflected by the y-axis galvanometer 31, the x-axis galvanometer 32 and the reflecting mirror 33 in turn, reaches the coupling mirror 4, the coupling mirror 4 reflects the waveband of the detection light, the detection light enters the camera 5, and the image acquisition of the weed environment is completed; after image processing, the weeds and crops are distinguished, and the weed root and stem positions are identified;

[0059] 2) Determination of the rotation angle of the galvanometer;

[0060] The weed root coordinate is the laser aiming coordinate in the world coordinate system, and the rotation mechanical angles of the x-axis galvanometer 32 and the y-axis galvanometer 31 in the galvanometer system 3 are determined according to the laser aiming coordinate; the change of the rotation angle of the galvanometer is completed by the galvanometer servo system; since the weed root coordinate and the laser aiming coordinate are in the same world coordinate system, no coordinate conversion is needed, and the weed root coordinate is the laser aiming coordinate;

[0061] 3) Realization of laser following and aiming;

[0062] The laser 6 emits a laser beam, which enters the coupling mirror 4 horizontally, is reflected by the reflecting mirror 33 and the x-axis galvanometer 32 in the galvanometer system 3, and is reflected by the y-axis galvanometer 31 horizontally, and is output downward to act on weeds, thereby completing the weeding work in the identification area;

[0063] 4) Continuous weeding;

[0064] Steps 1) - 3) are cycled as the laser weeding machine travels, thereby realizing continuous weeding; in this process, the detection light carrying the weed environment information before the coupling mirror 4 and the laser beam after the coupling mirror 4 are coaxially transmitted, and the change of the mechanical angles of the x-axis galvanometer 32 and the y-axis galvanometer 31 in the galvanometer system 3 will simultaneously change the image acquisition field of view and the laser action position.

Claims

1. A working method of a laser tracking and aiming weeding system, the laser tracking and aiming weeding system comprising a coupling mirror fixed in a first sealed cavity and a camera, a laser, and a galvanometer system respectively arranged on different sides of the first sealed cavity; the coupling mirror can realize the transmission of the laser wavelength band emitted by the laser and the reflection of the camera detection wavelength band; the galvanometer system comprises a reflector, an x-axis galvanometer, and a y-axis galvanometer arranged in a second sealed cavity; the first sealed cavity is connected to the second sealed cavity; the reflector and the x-axis galvanometer are both arranged vertically, and the y-axis galvanometer is arranged horizontally; wherein, The two sides of the x-axis galvanometer can rotate forward and backward along the geometric center axis of the x-axis galvanometer, and the upper and lower sides of the y-axis galvanometer can rotate up and down along the geometric center axis of the y-axis galvanometer; the reflector in the initial position is parallel to the coupling mirror, the vertical geometric center axis of the x-axis galvanometer is perpendicular to the horizontal geometric center axis of the y-axis galvanometer; the side where the reflector is located is the connection side of the first sealed cavity and the second sealed cavity, and the y-axis galvanometer is located at the rear end of the galvanometer system; the line connecting the optical centers of the x-axis galvanometer and the reflector lens is perpendicular to the line connecting the optical centers of the y-axis galvanometer and the x-axis galvanometer; it is characterized in that it includes the following steps: 1) Acquisition of environmental information; The detection light carrying weed environment information enters the galvanometer system, is reflected by the y-axis galvanometer, x-axis galvanometer, and reflector, and reaches the coupling mirror. The coupling mirror reflects the detection light band, and the detection light enters the camera to complete the image acquisition of the weed environment. After image processing, the weeds are distinguished from crops and the location of the weed roots is identified. 2) Determination of the galvanometer rotation angle; The weed rhizome coordinates are the laser aiming coordinates in the world coordinate system, and the rotation mechanical angles of the x-axis galvanometer and the y-axis galvanometer in the galvanometer system are determined according to the laser aiming coordinates. 3) Implementation of laser tracking and aiming; The laser emits a laser beam that enters the coupling mirror that can transmit the laser wavelength band horizontally. After being reflected by the reflector and x-axis galvanometer in the galvanometer system, the horizontally propagating laser beam is reflected by the y-axis galvanometer and output downward to act on the weeds, completing the weeding work in the identified area. 4) Continuous weed control; Steps 1)-3) are performed in a circular motion as the laser weed remover moves, achieving continuous weeding. During this process, the detection light carrying weed environment information passing in front of the coupling mirror is coaxially transmitted with the laser beam passing after the coupling mirror. Changes in the mechanical angles of the x-axis galvanometer and the y-axis galvanometer in the galvanometer system will simultaneously change the image acquisition field of view and the laser action position.

2. The operating method of the laser tracking and aiming weeding system according to claim 1, characterized in that: The angle between the plane where the coupling mirror is located and the traveling direction is 135°.

3. The operating method of the laser tracking and aiming weeding system according to claim 1, characterized in that: The laser spot emitted by the laser coincides with the optical center of the coupling mirror; the optical center of the camera detection surface is coaxial with the optical center of the coupling mirror.

4. The operating method of the laser tracking and aiming weeding system according to claim 1, characterized in that: The laser is arranged at the rear side of the first airtight sealing cavity; the camera is arranged at the right side of the first airtight sealing cavity; and dustproof glass is arranged at the connection between the laser and the first airtight sealing cavity.

5. The operating method of the laser tracking and aiming weeding system according to claim 1, characterized in that: The laser tracking and aiming weeding system also includes a light source, which is arranged on the lower side of the galvanometer system to provide lighting for obtaining environmental information.

6. The operating method of the laser tracking and aiming weeding system according to claim 1, characterized in that: The camera lens is provided with a filter for controlling the recognition band.

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