A laser rotary weeding device, a weeding method, and a laser weeder

Abstract

This invention belongs to the field of agricultural laser weeding machinery technology, and discloses a laser rotary weeding device, weeding method, and laser weeding machine, including a rotating platform, a guide rail platform, a stepper motor, a laser bracket, and a laser. This invention aims to increase the tolerance for inaccurate weed positioning and the stability of laser weed removal during operation. The device, through the combined movement of the rotating platform and the guide rail platform, enables continuous laser operation from the outer edge of the weed to its center. It first removes the scattered leaves of the weed, and then further removes the weed by laser operation on the central location of the weed roots and stems. This method not only overcomes the shortcomings of current target detection models that cannot achieve precise positioning due to low recognition accuracy, but also increases the stability of the laser during weed removal.

Description

Technical Field

[0001] This invention belongs to the field of agricultural laser weeding machinery technology, specifically a rotary weeding device, weeding method, and laser weeding machine that is suitable for laser weeding machines, increases the laser positioning error tolerance rate and laser weeding stability. Background Technology

[0002] With the rapid development of deep learning technology, weed detection and removal based on deep learning have become an important direction for agricultural development. Among them, laser weeding technology has begun to receive attention from various fields due to its fast effect and lack of chemical residue. Currently, laser weeding technology relies on target detection technology in deep learning. It identifies the type and coordinates of weeds in the field through target detection technology, and then uses mechanical devices to drive the laser to the designated location to remove weeds. However, due to the limitations of the algorithm itself, the recognition accuracy and positioning precision of the target detection model are not very accurate, and it is unable to accurately identify the location of weed roots and stems and remove weeds. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing a laser rotary weeding device, weeding method, and laser weeding machine suitable for laser weeding machines. The designed laser rotary weeding device overcomes the shortcomings of current laser weeders, which cannot achieve precise weeding due to insufficient positioning accuracy. This laser rotary weeding device not only overcomes the shortcomings of current laser weeders, which cannot achieve precise weeding due to insufficient positioning accuracy, but also increases the stability of weed removal.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present invention provides a rotary weeding device suitable for laser weeding machines, comprising a rotary platform, a guide rail platform, a stepper motor, a laser bracket, and a laser; the rotary platform is connected to the top of the guide rail platform, and the rotary platform can drive the guide rail platform to rotate; a stepper motor is installed on the guide rail platform, and the stepper motor drives the platform to move linearly along the guide rail platform through a lead screw transmission device; a laser bracket is installed on the platform, and a laser is installed on the laser bracket; the rotary platform and the stepper motor together drive the laser to perform a circular motion with the axis of the rotary platform as a reference point, with the radius decreasing and then increasing again.

[0006] As a further technical solution, the rotating platform mainly includes a fixed plate, a suspension rod, a rotary motor, and a rotating platform; the upper part of the suspension rod is connected to the fixed plate, and the lower part is connected to the rotary motor; the rotating platform is connected to the output shaft of the rotary motor, and the rotating platform is connected to the guide rail platform.

[0007] As a further technical solution, the rotating frustum is a double-ring structure, with a cross-shaped connecting arm set inside the double-ring structure.

[0008] As a further technical solution, the guide rail platform mainly includes a stage, a first lead screw fixing platform, a stepper motor fixing platform, a second lead screw fixing platform, a lead screw, and a guide rail platform base; the motor fixing platform, the first lead screw fixing platform, and the second lead screw fixing platform are sequentially arranged at the bottom of the guide rail platform base; the stepper motor is connected to one end of the lead screw through a coupling, and the other end passes through the first lead screw fixing platform and is rotatably connected to the second lead screw fixing platform, and the lead screw drives the stage to perform linear motion.

[0009] As a further technical solution, proximity switches are installed on the sides of both the first lead screw fixing platform and the second lead screw fixing platform.

[0010] Secondly, the present invention also provides a laser weeding machine, including the aforementioned laser rotary weeding device.

[0011] As a further technical solution, the top of the rotating platform is connected to the main body of the laser weeding machine.

[0012] Thirdly, based on the aforementioned laser rotary weeding device, the present invention also provides a weeding method, as follows:

[0013] Once the laser weeding machine identifies and locates weeds in the farmland, the working process of the rotary weeding device is as follows: The rotary weeding device uses the axis of the rotating platform as the reference point. Driven by the laser weeding machine, the device moves above the target weeds. The rotary motor starts to drive the guide rail platform to rotate, and at the same time, the stepper motor drives the lead screw to start rotating. The laser starts to work, and the platform drives the laser to make a circular motion with a radius that decreases and then increases again under the traction of the lead screw. When the platform moves from one end of the lead screw to the other end and touches the proximity switch, the entire device stops operating.

[0014] As a further technical solution, a limit switch is used to limit the movement position of the stage on the lead screw.

[0015] The beneficial effects of this invention are as follows:

[0016] This device enables continuous laser operation from the outer edge of the weeds to the center of the weeds through the combined movement of the rotating platform and the guide rail platform. It first removes the scattered leaves of the weeds, and then performs laser operation on the center of the weed roots and stems to further remove the weeds. This method not only makes up for the shortcomings of the current target detection model, which cannot achieve accurate positioning due to its low recognition accuracy, but also increases the stability of the laser in the process of removing weeds. Attached Figure Description

[0017] Figure 1 This is a front view of the present invention;

[0018] Figure 2 This is a top view of the present invention;

[0019] Figure 3 This is a front view of the rotating platform;

[0020] Figure 4 This is a top view of the rotating platform;

[0021] Figure 5 This is a front view of the guide rail platform;

[0022] Figure 6 This is a front view of the first lead screw fixing table;

[0023] Figure 7 This is a front view of the second lead screw fixing table;

[0024] Figure 8 This is a top view of the second lead screw fixing table;

[0025] Figure 9 This is a front view of the stage;

[0026] Figure 10 Front view of the laser support;

[0027] Figure 11 This is a front view of the laser.

[0028] Figure 12 Top view of the laser;

[0029] Figure 13 This is a right view of the laser.

[0030] In the diagram, 1-rotating platform; 2-guide rail platform; 3-stepper motor; 4-laser bracket; 5-laser; 6-fixed plate; 7-hanging rod; 8-rotary motor device; 9-rotating loading platform; 10-loading platform; 11-first lead screw fixing platform; 12-stepper motor fixing platform; 13-second lead screw fixing platform; 14-coupling; 15-lead screw; 16-proximity switch; 17-guide rail platform base; 18-high-speed bearing; 19-fixed foot; 20-loading plate; 21-threaded base; 22-guide rail; 23-circuit protection partition; 24-circuit board; 25-exhaust fan; 26-laser tube and heat sink; 27-focus adjustment lens; 28-support foot; 29-self-locking push button switch; 30-three-pin connector; 31-connecting arm. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all embodiments obtained by those skilled in the art without creative effort are within the protection scope of this application.

[0032] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0033] See Figure 1 and Figure 2 This invention provides a rotary weeding device suitable for laser weeding machines, comprising a rotary platform 1, a guide rail platform 2, a stepper motor 3, a laser bracket 4, and a laser 5. The rotary platform 1 is connected to the top of the guide rail platform 2, and the rotary platform 1 drives the guide rail platform 2 to rotate. The stepper motor 3 is mounted on the guide rail platform 2, and the stepper motor 3 drives a platform 10 to move linearly along the guide rail platform 2 via a lead screw transmission device. The laser bracket 4 is mounted on the platform 10, and the laser 5 is mounted on the laser bracket 4. The rotary platform 1 and the stepper motor 3 together drive the laser 5 to perform a circular motion with the axis of the rotary platform 1 as a reference point, with the radius decreasing and then increasing again. Through this motion, the laser 5 can not only overcome the shortcomings of current laser weeding machines that cannot achieve precise weeding due to insufficient positioning accuracy, but also increase the stability of weed removal.

[0034] This invention increases the tolerance for inaccurate weed positioning and the stability of laser weed removal during operation. The device achieves continuous laser operation from the outer edge of the weed to its center through the combined movement of the rotating platform and the guide rail platform. It first removes the scattered leaves of the weed, and then performs laser operation on the central position where the weed roots and stems are located to further remove the weed. This method not only makes up for the shortcomings of current target detection models that cannot achieve accurate positioning due to low recognition accuracy, but also increases the stability of laser in the weed removal process.

[0035] See Figure 3 and Figure 4The rotating platform 1 mainly includes a fixed plate 6, a hanging rod 7, a rotating motor 8, and a rotating platform 9. The fixed plate 6 has four M6 threaded bottom holes for easy fixed connection with the main body of the weeding machine. The rotating motor 8 consists of a DC motor and a reducer. The connection between the DC motor and the reducer is coated with lubricating oil and covered by a metal shell to prevent damage to the DC motor or reducer from moisture or external impact. The upper part of the hanging rod 7 is connected to the fixed plate 6 by welding, and the lower part is connected to the rotating motor 8. The rotating platform 9 is close to the rotating motor 8, and the rotating motor 8 drives the rotating platform 9 to rotate.

[0036] Furthermore, the rotating platform 9 is a cross shape combined with a ring, and six M6 threaded bottom holes are provided on one of the connecting arms (31), which are symmetrically distributed at both ends of the connecting arm for fixed connection with the guide rail platform.

[0037] See Figures 5 to 9 The guide rail platform 2 mainly includes a platform 10, a first lead screw fixing platform 11, a stepper motor fixing platform 12, a second lead screw fixing platform 13, a coupling 14, a lead screw 15, a proximity switch 16, and a guide rail platform base 17. The stepper motor fixing platform 12, the first lead screw fixing platform 11, and the second lead screw fixing platform 13 are sequentially arranged at the bottom of the guide rail platform base 17. The stepper motor is connected to one end of the lead screw 15 through the coupling 14, and the other end passes through the first lead screw fixing platform and is rotatably connected to the second lead screw fixing platform. The lead screw drives the platform to make linear motion.

[0038] As a further technical solution, both the first lead screw mounting platform 11 and the motor mounting platform 12 are 80mm×60mm×5mm black acrylic plates, respectively fixed to both ends of the guide rail platform base 17 by two M4 hexagonal head bolts at the bottom. The motor mounting platform 12 has four M3.5 threaded holes and one circular notch. The threaded holes are for fixing the stepper motor 3, and the circular notch allows the stepper motor 3's shaft to pass through, ensuring a tight fit between the stepper motor 3 and the motor mounting platform 12. The first lead screw mounting platform has a circular notch with an inner diameter of [missing information]. An 8mm high-speed bearing 18 is placed above a proximity switch 16. The proximity switch restricts the operation of the device. When the platform (10) reaches the edge of the lead screw 15, the proximity switch is triggered, and the device stops operating. The axis of the proximity switch 16 and the axis of the high-speed bearing 18 are both located on the longitudinal axis of the first lead screw fixing platform 11. The second lead screw fixing platform 13 contains a high-speed bearing 18 with the same inner diameter of 8mm. The second lead screw fixing platform 13 has two fixing feet 19, which are connected and fixed to the guide rail platform base 17. Each fixing foot is fixed to the guide rail platform base 17. The foot 19 has two M3.5 threaded holes; a proximity switch 16 is placed close to the top of the second lead screw fixing platform 13, which also restricts the operation of this device and prevents the platform from colliding with other components when it breaks through the lead screw. The longitudinal axis of the proximity switch 16, the axis of the high-speed bearing 18, and the longitudinal axis of the second lead screw fixing platform 13 are all on the same straight line; the two ends of the lead screw 15 are fixed to the high-speed bearings 18 of the first lead screw fixing platform 11 and the second lead screw fixing platform 13, and the lead screw 15 and the high-speed bearings 18 at both ends are coaxial; the coupling 14 is located on the same side as the second lead screw fixing platform 13. The large-diameter side of the coupling 14 is connected to the lead screw, and the small-diameter side is connected to the stepper motor 3 shaft. The keyway shape on the small-diameter side of the coupling matches the shape of the stepper motor 3 shaft. By tightening the countersunk bolts on the coupling, the gap can be narrowed to clamp the lead screw 15 and the stepper motor 3 shaft. The platform 10 includes a platform 20 and a threaded base 21. The platform 20 has an M6 threaded bottom hole in the center. The threaded base 21 is placed on the lead screw. The support feet 28 of the threaded base 21 are in close contact with the guide rail 22 on the guide rail platform to prevent all the mass of the platform from pressing on the lead screw.

[0039] See Figure 10The laser bracket 4 is a 120mm × 30mm × 2mm rectangular metal sheet. At a distance of 6mm from the bottom of the laser bracket 4, there are two M3.5 threaded holes symmetrically positioned relative to the longitudinal axis of the laser bracket 4, with a distance of 12.3mm between the two holes. At a distance of 31mm from the bottom of the laser bracket 4, on the longitudinal axis of the laser bracket 4, there is one M6 threaded hole. At a distance of 46mm from the bottom of the laser bracket 4, on the longitudinal axis of the laser bracket 4, there are three M3 threaded holes arranged in a straight line. Three threaded bottom holes of 0.5 mm are symmetrical about the longitudinal axis of the laser bracket 4 and spaced 8 mm apart. At a distance of 55 mm from the bottom of the laser bracket 4, there is one M3.5 threaded bottom hole on the longitudinal axis of the laser bracket 4. The threaded bottom hole of the laser bracket 4 corresponds to the laser. The use of multiple bolts of different specifications for fixing is to prevent error loss caused by laser shaking or skew during operation. An M6×7 mm bolt is welded to the top of the laser bracket 4.

[0040] See Figures 11 to 13 The laser 5 is a rectangular prism, comprising, from top to bottom, a circuit protection partition 23, a circuit board 24, an exhaust fan 25, a laser tube and heat sink 26, and a focus adjustment lens 27. The circuit board 24 controls the laser tube, which is surrounded by a heat sink. The laser tube 25 is connected to the focus adjustment lens 27. A self-locking push-button switch 29 and a three-pin connector 30 are symmetrically placed on both sides of the circuit board 24. The self-locking push-button switch 29 controls the laser 5 to turn on or off. The three-pin connector 30 is connected to a 12V power supply line, a ground line, and a pulse width modulation (PWM) signal line, respectively. The PWM signal is used to adjust the laser's operating power. The power supply line and ground line provide the voltage required for the laser 5 to operate. Four M3.5 bolts are used to fix the various layers together, with the four bolts located at the four corners of the circuit protection partition. The focus adjustment lens 27 can be adjusted by rotating it to adjust the focal position of the emitted laser.

[0041] The working process of this rotary weeding device is as follows:

[0042] After the laser weeding machine identifies and locates weeds in the farmland, the rotating weeding device uses the axis of the rotating platform 1 as a reference point. Driven by the laser weeding machine, the device moves to the top of the target weed. The rotating motor 8 starts to rotate the guide rail platform, and at the same time, the stepper motor drives the lead screw to rotate. The laser starts to work, and the platform 10 moves from one end to the other under the traction of the lead screw. Under the combined motion of the rotating platform 1 and the platform 10, the laser will first perform a circular motion with a gradually decreasing radius. When the platform 10 moves to the position coaxial with the rotating platform 10, the position of the laser 5 is the weed position located by the laser weeding machine. At this time, the circular motion radius of the laser 5 is 0, that is, the motion trajectory is a point. As the rotating platform 1 and the platform 10 continue to run, the laser 10 begins to perform a circular motion with a gradually increasing radius. When the platform touches the proximity switch 16, the entire device stops running, waiting for the laser weeding machine to move the rotating weeding device to the position of the next weed and repeat the above work.

[0043] This invention addresses the shortcomings of current laser weeders, which lack sufficient positioning accuracy and thus cannot achieve precise weed removal, by designing a laser rotating weeding device. This laser rotating weeding device not only overcomes the shortcomings of current laser weeders, which lack sufficient positioning accuracy and thus cannot achieve precise weed removal, but also increases the stability of weed removal.

Claims

1. A laser rotary weeding device, characterized by, It includes a rotating platform, a guide rail platform, a stepper motor, a laser bracket, and a laser. The rotating platform is connected to the top of the guide rail platform and can drive the guide rail platform to rotate. A stepper motor is installed on the guide rail platform, and the stepper motor drives the stage to move linearly along the guide rail platform through a lead screw transmission device. A laser bracket is installed on the stage, and a laser is installed on the laser bracket. The rotating platform and the stepper motor together drive the laser to make circular motion with the axis of the rotating platform as a reference point, with the radius decreasing and then increasing again. Proximity switches are installed on the sides of both the first and second lead screw fixing tables. The combined motion of the rotating platform and the guide rail platform enables the laser to continuously operate from the outer edge of the weeds to the center of the weeds. First, the scattered leaves of the weeds are removed, and then the laser operation is carried out on the central position where the roots and stems of the weeds are located to further remove the weeds. The rotating platform mainly includes a fixed plate, a suspension rod, a rotary motor, and a rotating platform; the upper part of the suspension rod is connected to the fixed plate, and the lower part is connected to the rotary motor; the rotating platform is connected to the output shaft of the rotary motor, and the rotating platform is connected to the guide rail platform. The rotating frustum is a double-ring structure with a cross-shaped connecting arm inside the double-ring structure. The guide rail platform mainly includes a stage, a first lead screw fixing platform, a stepper motor fixing platform, a second lead screw fixing platform, a lead screw, and a guide rail platform base. The motor fixing platform, the first lead screw fixing platform, and the second lead screw fixing platform are sequentially arranged at the bottom of the guide rail platform base. The stepper motor is connected to one end of the lead screw through a coupling, and the other end passes through the first lead screw fixing platform and is rotatably connected to the second lead screw fixing platform. The lead screw drives the stage to perform linear motion.

2. A laser weeder characterized by comprising: The laser rotary weeding device as described in claim 1 is used.

3. A laser weeder as claimed in claim 2, wherein the laser beam is directed downwardly and outwardly from the housing. The top of the rotating platform is connected to the main body of the laser weeder.

4. The method of claim 1, wherein the laser rotary weeding device is a laser rotary weeding device according to claim 1. The laser rotary weeding device is suitable for laser weeding machines. After the laser weeding machine identifies and locates weeds in the farmland, the laser rotary weeding device uses the axis of the rotating platform as a reference point. Driven by the laser weeding machine, the laser rotary weeding device moves to the top of the target weed. The rotary motor starts to drive the guide rail platform to rotate, and at the same time, the stepper motor drives the lead screw to rotate. Then the laser starts to work, and the platform moves from one end to the other under the traction of the lead screw. Under the combined motion of the rotating platform and the platform, the laser will first perform a circular motion with a gradually decreasing radius. When the platform moves to the position of the axis of the rotating platform, the laser is located at the position of the weed located by the laser weeding machine. At this time, the radius of the laser's circular motion is 0, that is, the motion trajectory is a point. As the rotating platform and the platform continue to move, the laser begins to perform a circular motion with a gradually increasing radius. When the platform touches the proximity switch, the laser rotary weeding device stops running, waiting for the laser weeding machine to move the laser rotary weeding device to the position of the next weed, and repeat the above work.

5. The method of claim 4, wherein the laser rotary weeding device is rotated at a speed of 1,000 to 10,000 rpm. The movement position of the stage on the lead screw is limited by a proximity switch.

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