A modular laser module for field laser weeding and thinning robot

Abstract

The present invention relates to the field of laser technology, and in particular to a modular laser module for a field laser weeding and thinning robot, comprising a laser tube packaging assembly with an outer sleeve, a front bracket assembly and a rear bracket assembly, and a galvanometer assembly and a pseudo-coaxial camera assembly respectively mounted on the rear bracket assembly. The laser module can achieve large-scale modular and standardized mass production, and can be extremely conveniently and flexibly assembled, disassembled, used, adjusted and maintained on a mobile robot. Moreover, the galvanometer and pseudo-coaxial camera assembly on the rear bracket are respectively integrated with miniature wiper accessories suitable for window lens dust removal, which facilitates the daily maintenance of the window lens of the equipment in field operations and indirectly improves the equipment operation efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of lasers, and in particular to a modular laser module for a field laser weeding and thinning robot. Background Art

[0002] Carbon dioxide glass tube lasers are widely used in production and life fields such as laser marking and laser cutting of clothing fabrics due to their relatively low manufacturing cost and selling price. In particular, a large number of practices at home and abroad in recent years have proved that the 10.6-micron laser wavelength of carbon dioxide lasers is more easily absorbed by field weeds and the stems and leaves of crops. Therefore, a 150w high-power carbon dioxide laser beam is used to accurately lock and irradiate field weeds or the top meristem of crop seedlings that need to be topped or the roots of crops that need to be thinned through machine vision technology and AI algorithms. By accurately giving them a certain irradiation time and irradiation intensity, a striking laser flame can be formed instantly, or the top of the weeds can be burned to ashes, or the top or roots of the seedlings can be burned and withered. It can not only have a significant damage and inactivation effect on field weeds, but also can efficiently complete crop thinning or topping operations. Therefore, the use of high-power carbon dioxide lasers for weeding, thinning or topping has a high cost-effectiveness and work efficiency compared to manual and other mechanical operations. In the emerging field of mobile robot laser weeding or thinning and topping, high-power carbon dioxide lasers are therefore very popular and have become the only choice.

[0003] However, because the high-power CO2 glass tube laser that can be used for weeding is relatively fragile, its length is close to 2 meters, and its size is relatively large, which brings some inconvenience in practical applications. Although there are various forms of CO2 laser modules in reality, which have initially solved the basic protection problem of laser glass tubes, there is still a lack of an integrated functional module that can be easily transported, installed, replaced, adjusted and maintained, and integrates a laser digital scanning galvanometer and a pseudo-coaxial camera. It also lacks some other necessary auxiliary functions and accessories such as lens dust removal suitable for field operations, making it inconvenient to use for mobile robot laser weeding or thinning and topping operations. Summary of the invention

[0004] The object of the present invention is to provide a modular laser module for a field laser weeding and thinning robot to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A modular laser module for a field laser weeding and thinning robot comprises: a front bracket assembly, a laser tube packaging assembly, a rear bracket assembly, a laser digital scanning galvanometer assembly and a pseudo-coaxial camera assembly connected in sequence;

[0007] The laser tube packaging assembly comprises a front cover assembly, an outer sleeve assembly, a rear cover assembly and a laser tube assembly connected in sequence, wherein the laser tube assembly is coaxially installed in the cavity at the center of the outer sleeve assembly; the front cover assembly and the rear cover assembly are coaxially installed at both ends of the outer sleeve assembly;

[0008] The laser tube assembly comprises a laser tube, a plurality of pipeline brackets and two sets of fixing rings sleeved on the outer periphery of the laser tube, a support rod penetrating the pipeline bracket, a laser tube front sealing plate arranged at the front end of the laser tube, and a laser tube rear sealing plate arranged at the rear end of the laser tube;

[0009] The outer sleeve assembly includes an outer sleeve and a plurality of laser tube centering screws that penetrate the outer sleeve and are connected to the fixing ring;

[0010] The pipeline support is in the shape of a ring, and its outer diameter is in clearance with the inner diameter of the outer sleeve;

[0011] The outer sleeve is provided with a glue injection screw hole and a glue injection hole screw plug at a position corresponding to the fixing ring.

[0012] Preferably, the outer sleeve is provided with a screw hole, the interior of the screw hole is provided with a self-tapping screw sleeve, and the self-tapping screw sleeve is adapted to the laser tube centering screw.

[0013] Preferably, a buffer ring is provided between the pipeline support and the laser tube, and a buffer ring is provided between the fixing ring and the laser tube.

[0014] Preferably, the buffer ring is an EVA foam single-sided soft tape.

[0015] Preferably, the number of the support rods is 2.

[0016] Preferably, the outer sleeve assembly includes two guide frames, and the two guide frames are respectively mounted on the front and rear ends of the middle part of the outer sleeve.

[0017] Preferably, a guide boss is provided at the lower end of the guide frame.

[0018] Preferably, the front bracket assembly is made of high-strength engineering plastics such as PPO that are insulated and resistant to high voltage and high temperature.

[0019] Preferably, the guide frame is close to the glue injection screw hole.

[0020] A laser weeding and thinning robot comprises any of the aforementioned modular laser modules for a field laser weeding and thinning robot.

[0021] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention is aimed at the needs of mobile robot laser weeding, thinning or topping operations, and efficiently integrates a 150w high-power carbon dioxide laser, and a matching laser digital scanning galvanometer and a pseudo-coaxial camera into a modular universal laser module. At the same time, the galvanometer and the camera lens are equipped with a micro wiper dust removal system to solve the many technical requirements of the mobile laser weeding and thinning robot in the field weeding operation, such as the compactness of the laser module, the reliability of operation, and the convenience of maintenance and replacement, and provides corresponding solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 : Side view of laser module; Figure 2 : Laser module cross-sectional view; Figure 3 : Laser module exploded view; Figure 4 : Front view of laser module; Figure 5 : View towards the laser module; Figure 6 : Cross-sectional view of laser module laser tube centering adjustment; Figure 7 : Cross-sectional view of the laser module guide frame; Figure 8 : Front bracket assembly diagram; Fig. 9 : Rear bracket assembly diagram; Fig.10 : Side view of laser tube packaging assembly; Fig.11 : Exploded view of laser tube packaging components; Fig.12 : Cross-sectional view of laser tube packaging assembly; Fig.13 : Cross-sectional view of the front cover assembly; Fig.14 : Side view of the front cover assembly; Fig.15 : Exploded view of the front cover assembly; Fig.16 : Side view and cross-sectional view of the rear cover assembly; Fig.17 : Exploded view of rear cover assembly; Fig.18 : Side view of the outer sleeve assembly; Fig.19 : Exploded view of the outer sleeve assembly; Fig. 20 : Cross-sectional view of the outer sleeve assembly; Fig.21 : Cross-sectional view of the outer sleeve assembly; Fig. 22 : Side view of laser tube assembly; Fig.23 : Exploded view of laser tube assembly; Fig.24 : Front and rear sealing plate diagram of laser tube assembly; Fig.25 : Laser tube assembly fixing ring diagram; Fig.26 :Laser tube side view Figure 1 ; Fig. 27 :Laser tube side view Figure 2 ; Fig.28: Side view of the rear bracket assembly, the galvanometer assembly and the pseudo-coaxial camera assembly; Fig.29 : Assembly exploded view of the rear bracket assembly, galvanometer assembly and pseudo coaxial camera assembly; Fig.30 : Assembly cross-sectional view of the rear bracket assembly, the galvanometer assembly and the pseudo-coaxial camera assembly; Fig.31 :Assembly diagram of rear bracket assembly and galvanometer assembly Figure 1 ; Fig.32 :Assembly diagram of rear bracket assembly and galvanometer assembly Figure 2 ; Fig.33 : Side view of rear bracket assembly and pseudo coaxial camera assembly assembly; Fig.34 : Assembly cross-sectional view of the rear bracket assembly and pseudo-coaxial camera assembly; Fig.35 : Side view and exploded view of pseudo-coaxial camera assembly; Fig.36 : Side view and exploded view of pseudo-coaxial base; Fig.37 : Cross-sectional view of pseudo-coaxial base; Fig.38 : Side view and exploded view of the measurement and control camera assembly; Fig.39 : Side view and exploded view of the camera dustproof component; Fig.40 : Laser module application - side view of mobile robot laser strike platform; Fig.41 : Laser module exploded view;

[0024] In the figure: 1. front bracket assembly; 11. front bracket installation positioning cone surface; 12. anti-rotation screw; 13. guide keyway; 14. slideway; 15. slideway screw; 2. laser tube packaging assembly; 21. front cover assembly; 211. front cover installation positioning cone surface; 212. DC high-voltage spiral quick-change socket; 212a. DC high-voltage spiral quick-change socket fixed end plug; 212b. DC high-voltage spiral quick-change socket outer active end plug; 213. three-core aviation socket; 214. pagoda connector; 214a. pagoda connector (water inlet); 214b. pagoda connector (water outlet); 215. anti-rotation screw insertion hole; 22. outer sleeve assembly; 221. laser tube Centering screw; 222, injection hole screw plug; 223, locking nut; 224, self-tapping screw sleeve; 23, rear cover assembly; 231 rear cover installation positioning cone; 232, dust sleeve; 24, laser tube assembly; 241, laser tube; 2412, laser tube red light indicator; 2413, red light indicator positive and negative leads; 2414, laser cathode low-voltage lead; 2415, laser cooling water outlet pipe; 2416, laser cooling water inlet pipe; 2417, laser cathode high-voltage lead; 242, support rod; 243, laser tube front cover; 244, light outlet positioning block; 245, pipeline bracket; 2451, laser cathode cable and red light indicator positive and negative 2452, wiring hole for polar cable; 2453, wiring hole for cooling water outlet hose; 246, EVA foam single-sided soft tape; 247, fixing ring; 2471, upper half ring pressure block for fixing ring; 2472, lower half ring pressure block for fixing ring; 2473, fixing ring connecting screw; 248, rear sealing plate for laser tube; 249, rear positioning block; 3, rear bracket assembly; 31, rear bracket mounting positioning cone; 32, laser tube laser output hole and galvanometer mounting positioning boss; 33, pseudo-coaxial camera mounting positioning groove stop; 4, laser digital scanning galvanometer assembly; 41, laser window lens; 42, laser window lens pressure plate; 43, micro wiper assembly; 431, micro digital servo; 4 32. Micro digital servo bracket; 433. Micro scraper; 44. Spray pipe assembly; 441. Spray pipe bracket; 442. Spray pipe; 45. Galvanometer laser input hole and galvanometer mounting positioning hole; 5. Pseudo-coaxial camera assembly; 51. Pseudo-coaxial base; 511. Pseudo-coaxial camera mounting positioning boss stop; 52. Measurement and control camera assembly; 521. Measurement and control camera; 522. Measurement and control camera lens; 523. Camera adapter plate; 53. Camera dustproof assembly; 531. Camera dustproof lens; 532. Camera dustproof lens pressure plate; 533. Camera dustproof cover; 534. Camera connector cover; 6. Guide frame; 61. Guide boss; 62. Guide frame fastening screw. DETAILED DESCRIPTION

[0025] 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.

[0026] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] This embodiment provides a high-power carbon dioxide laser module commonly used in mobile robot laser weeding or seedling thinning and topping. Figure 1 to Figure 41, including a laser tube packaging assembly 2 with an outer sleeve, a front bracket assembly 1 and a rear bracket assembly 3, and a laser digital scanning galvanometer assembly 4 and a pseudo coaxial camera assembly 5 respectively mounted on the rear bracket assembly. Among them, the laser tube packaging assembly includes a 150w high-power carbon dioxide glass tube laser tube 241 with a coaxial red light indicator, the laser tube and a plurality of concentric pipeline brackets 245, and two sets of fixing rings 247 (i.e., centering brackets) for adjusting the concentricity of the laser tube, and two aluminum alloy support rods 242 and a laser tube front sealing plate 243 and a laser tube rear sealing plate 248 to form a laser tube assembly 24. The laser tube assembly is coaxially mounted in the cavity at the center of the outer sleeve assembly 22, and is coaxially mounted with the front cover assembly 21 and the rear cover assembly 23 respectively, forming a relatively complete laser tube packaging assembly. The front bracket assembly and the rear bracket assembly, as well as the galvanometer and pseudo-coaxial camera assembly, can be pre-installed on the laser striking platform on the mobile robot. Since the front and rear cover assemblies of the laser tube packaging assembly, as well as the front and rear bracket assemblies, each have a 1:5 matching cone surface that is easy to position and disassemble, the laser tube packaging assembly can be installed and matched through these 1:5 cone surfaces, and conveniently form a complete laser module suitable for laser weeding or thinning and topping of mobile robots with the front and rear bracket assemblies. The laser module can achieve large-scale modular and standardized mass production, and can be flexibly assembled, disassembled, used, adjusted and maintained on the mobile robot. Moreover, the galvanometer and pseudo-coaxial camera assembly on the rear bracket are respectively integrated with a micro-wiper assembly 43 suitable for window lens dust removal, which facilitates the daily maintenance of the window lens of the equipment in field operations and indirectly improves the equipment operation efficiency.

[0029] like Figure 1 to Figure 3 As shown, the laser module of the present invention can be decomposed into the following five major components: a front bracket component, a laser tube packaging component, a rear bracket component, a laser digital scanning galvanometer component, and a pseudo-coaxial camera component.

[0030] As a preferred solution, Figure 2 and Figure 3 The front bracket assembly and the rear bracket assembly are respectively provided with a conical hole for coaxial assembly, specifically the front bracket mounting positioning conical surface 11 and the rear bracket mounting positioning conical surface 31, and the taper is a commonly used standard taper such as 1:5 for easy disassembly and assembly, such as Figure 8 and Fig. 9 ;and Figure 3 The front and rear cover components of the laser tube packaging component also have a conical boss that can be assembled coaxially, specifically the front cover installation positioning conical surface 211 and the rear cover installation positioning conical surface 231, and the taper is also 1:5, such as Fig.12 , Fig.13 and Fig.16Therefore, the front bracket assembly, the laser tube packaging assembly and the rear bracket assembly can be coaxially installed through these concave and convex conical mating surfaces with the same 1:5 taper. Moreover, the conical mating with this taper can not only achieve accurate coaxial positioning, but also is very convenient for disassembly and assembly.

[0031] At the same time, Figure 8 A guide key slot 13 is provided in the middle of the bottom surface of the front bracket. By installing a guide flat key of corresponding width on the striking platform, the front bracket assembly can be slid forward and backward. Figure 8 Two slide grooves 14 are arranged on the horizontal mounting surface of the front bracket, and two rows of slide groove screws 15 are arranged in the slide grooves. The front bracket can be fixed to the striking platform through these screws, so that together with the guide keyway below, Fig.40 The coaxial assembly and disassembly of the front bracket assembly, the laser tube packaging assembly and the rear bracket assembly are realized on the striking platform.

[0032] At the same time, Figure 8 Below the tapered hole of the front bracket assembly, a stop screw hole and a stop screw 12 are also provided. Fig.13 A stop screw insertion hole 215 is also provided at a corresponding position on the front cover assembly. The stop screw and the stop screw insertion hole are used to lock the laser tube packaging assembly to prevent it from rotating on the conical matching axis of the front and rear brackets and maintain the correct position;

[0033] like Figure 4 , Figure 5 , Figure 13 to Figure 15 As shown, a DC high-voltage spiral quick-change socket 212 (including a DC high-voltage spiral quick-change socket fixed end plug 212a and a DC high-voltage spiral quick-change socket outer movable end plug 212b) and a three-core aviation socket 213, as well as two pagoda connectors 214 (pagoda-type cooling water pipe connectors) are integrated and installed on the front cover assembly of the laser module. The pagoda connectors are further divided into pagoda connectors (water inlet) 214a and pagoda connectors (water outlet) 214b, which are respectively used for quick connection and separation of the positive and negative cables of the laser power supply and the positive and negative cables of the red light indicator and the inlet and outlet cooling water pipes; in order to prevent wrong connection, corresponding identification characters and symbols are also provided at the corresponding positions on the front cover;

[0034] like Figure 10 to Figure 12 As shown, the laser tube packaging assembly can be decomposed into a rear cover assembly, an outer sleeve assembly, a front cover assembly and a laser tube assembly. The laser tube assembly is coaxially installed in the cavity at the center of the outer sleeve assembly, and then coaxially installed with the front cover assembly with an outer cone and the rear cover assembly with an outer cone, respectively, to form a complete laser tube packaging assembly module.

[0035] like Fig.26 and Fig. 27As shown, the laser tube includes a laser tube red light indicator 2412, positive and negative leads 2413 of the red light indicator, a laser cathode low-voltage lead 2414, a laser cooling water outlet pipe 2415, a laser cooling water inlet pipe 2416, and a laser cathode high-voltage lead 2417; the positive and negative leads of the red light indicator and the laser cathode low-voltage lead are connected to a three-core aviation plug and then to a three-core aviation socket, the laser cathode high-voltage lead is connected to a DC high-voltage spiral quick-change socket, the laser cooling water outlet pipe is connected to a pagoda connector (water outlet), and the laser cooling water inlet pipe is connected to a pagoda connector (water inlet); before the laser tube is activated, firstly, the axis of the red light needs to be pre-adjusted through the two sets of self-aligning screws for laser tube centering provided on the red light indicator so as to coincide with the axis of the laser emitted by the laser tube;

[0036] like Fig. 22 and Fig.23 The laser tube assembly includes a 150W high-power carbon dioxide glass tube laser tube with a coaxial red light indicator, and is composed of several pipeline brackets, two sets of fixing rings, two support rods, and front and rear sealing plates. The pipeline brackets and fixing rings are respectively mounted on the laser tube and maintained at an appropriate distance, and then these pipeline brackets are connected in series through two or more support rods made of lightweight materials (such as aluminum alloy). Then, the positive and negative leads of the red light indicator attached to the laser tube and the laser cathode low-voltage leads are passed through the laser cathode cable and the red light indicator positive and negative cable routing holes 2451 on the pipeline bracket, and the laser cooling water outlet hose is passed through the cooling water outlet hose routing holes 2452 on the pipeline bracket, and then these cables are neatly fixed on the support rods through nylon cable ties, and finally the support rods are connected with screws through the laser tube front sealing plate, the laser tube rear sealing plate, and the light outlet positioning block 244 and the rear positioning block 249, so as to fix the laser tube to form a laser tube assembly module;

[0037] like Fig. 20 , the diameter of the cavity at the center of the outer sleeve is Φb1,

[0038] like Fig.24 The outer diameters of the front and rear sealing plates of the laser tube and the pipeline bracket are both Φb2.

[0039] Furthermore, in order to facilitate the subsequent fine-tuning of the laser tube centering, b2 should be slightly smaller than b1 as appropriate, depending on the diameter, shape, and position error of the glass tube of the laser tube;

[0040] Furthermore, in order to facilitate the subsequent fine-tuning of the laser tube centering and protect the glass tube of the laser tube from being squeezed, several strips of EVA foam single-sided soft tape 246 with appropriate thickness and surrounding the laser tube can be pasted between the center hole of each pipeline bracket and the fixing ring and the laser glass tube.

[0041] like Fig.25The fixing ring is composed of a fixing ring upper half ring pressing block 2471 and a fixing ring lower half ring pressing block 2472 made of engineering plastic materials such as nylon, and two left and right fixing ring connecting screws 2473, which are used as a bracket for centering the laser tube to adjust the coaxiality error between the laser axis emitted by the laser tube and the outer sleeve.

[0042] like Figure 18 to Figure 21 The outer sleeve assembly includes an outer sleeve, two guide frames 6, and two sets of centering screws for laser tube centering, specifically including: a locking nut 223, a self-tapping screw sleeve 224 and a laser tube centering centering screw 221. The outer sleeve is made of a lightweight material (such as an alloy polypropylene PPH tube or a carbon fiber tube); the guide frames are respectively mounted on the front and rear ends of the middle of the outer sleeve and fixed on the outer sleeve with two guide frame set screws 62, such as Figure 7 As shown, in addition, the guide boss 61 at the lower end of the guide frame can cooperate with a matching groove set on the striking platform to facilitate assembly and positioning, and also prevent the outer sleeve assembly from rotating at will.

[0043] like Fig.21 The outer sleeve is at an appropriate distance from its two end faces and is Fig. 22 Two sets of self-aligning screw installation screw holes are opened at the positions corresponding to the center of the fixing ring, and a stainless steel self-tapping screw sleeve is embedded in each screw hole to prevent the screw hole from slipping and rotting. At the same time, a locking nut is used to prevent the laser tube centering and centering screw from loosening, so as to maintain and enhance the working reliability and service life of the laser tube centering and centering screw.

[0044] like Fig.13 and Fig.16 , an outer stop with a diameter of Φd is processed on the inner side of the outer cylindrical surface of the front cover assembly and the rear cover assembly respectively;

[0045] like Fig. 20 , the front and rear ends of the outer sleeve are respectively processed with an inner stop with a diameter of Φd;

[0046] like Fig.12 The outer stoppers of the front cover assembly and the rear cover assembly are assembled with the inner stoppers at the front and rear ends of the outer sleeve to form a precise clearance fit, ensuring that the laser tube assembly and the outer sleeve assembly are precisely coaxially installed inside the laser tube packaging assembly.

[0047] As a preferred solution, Figure 6 and Fig.21 A glue injection screw hole is provided just above the cross section where each group of self-aligning screw holes of the outer sleeve are located. After the laser axis of the laser module is adjusted and aligned in the later stage, an appropriate amount of structural glue is injected into the circular channel where the fixing ring on the laser tube assembly below the glue injection hole is located through the glue injection hole to fix and maintain the position of the laser tube to prevent loosening in subsequent use. After the glue injection is completed, the glue injection screw hole is closed with a glue injection hole screw plug 222.

[0048] like Fig.16 and Fig.17 The central hole inside the outer cone of the rear cover assembly is the light outlet channel of the laser tube, and an engineering plastic dustproof sleeve 232 is inserted into it to prevent external dust from entering the interior of the laser tube packaging assembly.

[0049] like Figure 28 to Figure 30 , which are the side view, exploded view and cross-sectional view of the assembly relationship between the rear bracket assembly, the laser digital scanning galvanometer assembly and the pseudo coaxial camera assembly;

[0050] like Fig.31 and Fig.32 The laser digital scanning galvanometer matches the laser tube laser output hole and the galvanometer mounting positioning boss 32 of the rear bracket through its own galvanometer laser input hole and the galvanometer mounting positioning hole 45, ensuring that the laser output of the laser tube enters the galvanometer through this hole, and then the two are reliably connected through the positioning pins and screws on both sides; further, as Figure 2 and Figure 6 , you can further fine-tune the two sets of laser tube centering screws in front and behind the laser tube to ensure that the red light emitted by the laser tube red light indicator installed coaxially with the laser tube (the red light and the output laser have been adjusted to be coaxial before) can accurately hit the center of the first reflector of the galvanometer, such as Fig.30 ;

[0051] like Fig.33 and Fig.34 The pseudo-coaxial camera assembly cooperates with the pseudo-coaxial camera installation positioning groove stop 33 of the rear bracket through its own pseudo-coaxial camera installation positioning boss stop 511 to ensure that the optical axis of the camera is aligned with the output optical axis of the laser galvanometer, and then the two are reliably connected through screws.

[0052] like Fig.35 , decomposing the pseudo-coaxial camera assembly into a pseudo-coaxial base 51, a measurement and control camera assembly 52 and a camera dustproof assembly 53;

[0053] like Fig.36 and Fig.37 , a pseudo-coaxial base, including a mounting base, a laser window lens 41 and a laser window lens pressing plate 42, wherein the laser window lens is mounted on a 45° inclined surface on the mounting base and is pressed by a laser window lens pressing plate and screws. The laser window lens material is a single-sided coated window lens of zinc selenide or zinc sulfide, which has good penetration and low absorption rate for carbon dioxide laser, and the coating is conducive to reflecting visible light into the camera lens; Fig.36The pseudo-coaxial base includes a micro-wiper assembly consisting of a micro-digital servo 431, a micro-digital servo bracket 432, and a micro-scraping brush 433, wherein the micro-digital servo is a commonly used DC micro-digital servo on the market, the micro-scraping brush is a special micro-wiper similar to a car wiper, and the micro-digital servo bracket is an adapted servo bracket; the pseudo-coaxial base also includes a liquid spraying pipe assembly 44 consisting of a liquid spraying pipe bracket 441 and a liquid spraying pipe 442, by externally connecting a set of liquid spraying tanks and liquid spraying motor outsourced components similar to car wipers, the liquid sprayed on the laser window lens can be realized, but the liquid sprayed here must be a special liquid such as acetone or anhydrous alcohol adapted to the laser window lens material; such as Fig.38 The measurement and control camera assembly includes a measurement and control camera 521, a measurement and control camera lens 522 and a camera adapter plate 523. The measurement and control camera assembly is installed on the camera adapter plate as shown in FIG. Fig.35 Mounting base as shown.

[0054] like Fig.39 The camera dustproof assembly includes a camera dustproof cover 533, which is made of sheet metal and connected to the mounting base by a set of screws. Fig.35 The camera dustproof component also includes a camera dustproof lens 531 and a camera dustproof lens pressure plate 532, the camera dustproof lens is mounted on the inner flange of the camera dust cover and fixed by the camera dustproof lens pressure plate and screws; the camera dustproof component also includes a group of micro-wiper components consisting of a micro-digital servo, a micro-digital servo bracket and a micro-scratching brush, wherein the micro-digital servo is a commonly used DC micro-digital servo on the market, the micro-scratching brush is a special micro-wiper similar to a car wiper, and the micro-digital servo bracket is an adapted servo bracket; the camera dustproof component also includes a spray pipe assembly consisting of a spray pipe bracket and a spray pipe, by externally connecting a set of spray tanks and spray motor outsourced parts similar to car wipers, the laser window lens can be sprayed, but the sprayed liquid here must be a special liquid such as acetone or anhydrous alcohol that is compatible with the laser window lens material, and a camera connector cover 534 is provided at the camera connector to play a dustproof and waterproof role.

[0055] like Fig.40 , is to use Figure 1 An application example of laser modules, used to form a laser striking platform for mobile robots, which can be used for mobile robot laser weeding, thinning, topping and other similar operations. The use of 4 sets of laser modules is only an example, and the actual number of available modules depends on the operation requirements and overall design of the mobile robot.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions recorded in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A modular laser module for a field laser weeding and thinning robot, characterized in that: It includes, connected in sequence: a front bracket assembly, a laser tube packaging assembly and a rear bracket assembly; The laser tube packaging assembly comprises a front cover assembly, an outer sleeve assembly, a rear cover assembly and a laser tube assembly connected in sequence, the laser tube assembly is coaxially installed in the cavity at the center of the outer sleeve assembly; the front cover assembly and the rear cover assembly are coaxially installed at both ends of the outer sleeve assembly; The laser tube assembly comprises a laser tube, a plurality of pipeline brackets and two sets of fixing rings sleeved on the outer periphery of the laser tube, a support rod penetrating the pipeline bracket, a laser tube front sealing plate arranged at the front end of the laser tube, and a laser tube rear sealing plate arranged at the rear end of the laser tube; The outer sleeve assembly includes an outer sleeve and a plurality of laser tube centering screws that penetrate the outer sleeve and are connected to the fixing ring; The pipeline support is in the shape of a ring, and its outer diameter is in clearance with the inner diameter of the outer sleeve; The outer sleeve is provided with a glue injection screw hole and a glue injection hole screw plug at a position corresponding to the fixing ring; The fixing ring and the pipeline supports on both sides thereof form a circular channel; The front bracket assembly and the rear bracket assembly each have a conical hole that can be assembled coaxially, and the front cover assembly and the rear cover assembly each have a conical boss that can be assembled coaxially, and the conical hole and the conical boss are adapted to each other; The horizontal mounting surface of the front bracket assembly is provided with a slide groove, and slide groove screws are arranged in the slide groove.

2. A modular laser module for a field laser weeding and thinning robot according to claim 1, characterized in that: The outer sleeve is provided with a screw hole, and a self-tapping screw sleeve is provided inside the screw hole. The self-tapping screw sleeve is matched with the laser tube centering screw.

3. The modular laser module for a field laser weeding and thinning robot according to claim 1, characterized in that: A buffer ring is arranged between the pipeline support and the laser tube, and a buffer ring is arranged between the fixing ring and the laser tube.

4. A modular laser module for a field laser weeding and thinning robot according to claim 3, characterized in that: The buffer ring is an EVA foam single-sided soft tape.

5. The modular laser module for a field laser weeding and thinning robot according to claim 1, characterized in that: The number of the support rods is 2.

6. The modular laser module for a field laser weeding and thinning robot according to claim 1, characterized in that: The outer sleeve assembly comprises two guide frames, and the two guide frames are respectively sleeved on the front and rear ends of the middle part of the outer sleeve.

7. The modular laser module for a field laser weeding and thinning robot according to claim 6, characterized in that: The lower end of the guide frame is provided with a guide boss.

8. The modular laser module for a field laser weeding and thinning robot according to claim 1, characterized in that: It includes a laser digital scanning galvanometer component and a pseudo coaxial camera component connected to the rear bracket component.

9. The modular laser module for a field laser weeding and thinning robot according to claim 6, characterized in that: The guide frame is close to the glue injection screw hole.

10. A laser weeding and thinning robot, characterized in that: It comprises a modular laser module for a field laser weeding and thinning robot as described in any one of claims 1 to 9.

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