Feeding mechanism and laser weeding test bench

Abstract

This invention discloses a frame structure with two sets of parallel feeding chains mounted on it. Both sets of feeding chains are driven synchronously by a feeding motor. Multiple sample arrangement mechanisms are installed between the two sets of feeding chains. Each sample arrangement mechanism includes an iron rod-shaped base, with both ends fixed to the two sets of feeding chains. Magnetic seedling cups are adsorbed onto the rod-shaped base, and these cups are used to load samples containing weeds and / or crops. This invention employs a magnetic sample arrangement mechanism, which greatly expands the flexibility of the magnetic seedling cup arrangement. The magnetic seedling cups can be arranged in an orderly or disordered manner on the rod-shaped base to meet the experimental needs of different experimental scenarios.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery testing technology, and in particular to a feeding mechanism and a laser weeding test bench. Background Technology

[0002] For the laser weeding robot shown in patents such as CN 113632779A, the main challenge in testing its effectiveness and adaptability lies in ensuring its precise and efficient operation in complex and ever-changing farmland environments. First, deploying the robot in the field is a tedious task, involving the planting and deployment of both crops and weeds, which consumes significant time and resources. Second, to comprehensively evaluate the robot's performance, tests must be conducted under different crop types and plant spacing conditions. This means preparing diverse test fields, with control groups for each crop and plant spacing, which not only increases experimental costs but also requires the testing team to possess extensive agricultural knowledge to rationally plan planting schedules. Furthermore, the impact of different weed densities and types on the laser weeding effect must also be considered, requiring the simulation of various weed competition scenarios in the natural growing environment during experiments, further increasing the difficulty and complexity of the testing. Therefore, it is necessary to develop a device that facilitates the testing of the weeding effect of laser weeding robots. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a feeding mechanism and a laser weeding test platform that can conduct precise weeding tests on weeds around the roots of crops.

[0004] Technical Solution: To achieve the above objectives, the feeding mechanism of the laser weeding test bench of the present invention includes a frame on which two sets of feeding chains are installed in parallel. Both sets of feeding chains are driven synchronously by a feeding motor. Multiple sample arrangement mechanisms are installed between the two sets of feeding chains. The sample arrangement mechanism includes an iron rod-shaped seat, the two ends of which are respectively fixed to the two sets of feeding chains. Magnetic seedling cups are adsorbed on the rod-shaped seat, and the magnetic seedling cups are used to load samples containing weeds and / or crops.

[0005] Furthermore, each of the magnetic seedling cups is equipped with a pin, and the side wall of the magnetic seedling cup has a reserved hole for the pin to be inserted.

[0006] In this invention, samples with plants and / or weeds can be directly cultivated in the magnetic seedling cup. That is, soil can be placed in the magnetic seedling cup, and plants and / or weeds can be planted. The soil is fixed by inserting pins to prevent the samples in the magnetic seedling cup from falling out of the magnetic seedling cup when the sample arrangement mechanism runs to the lower half of the feeding chain.

[0007] Furthermore, the magnetic seedling cup includes a cup body and a magnetic pad fixed to the bottom of the cup body. The magnetic pad is attracted to the rod-shaped base by strong magnetic force, preventing the magnetic seedling cup from falling or shifting relative to the rod-shaped base.

[0008] By setting up a sample arrangement mechanism, samples can be installed on the entire chain of the feeding chain, and the samples in the lower half of the feeding chain will not fall off the feeding chain, which can increase the feeding amount that can be continuously fed at one time.

[0009] When the magnetic seedling cups are arranged in an orderly manner, the targeted weeding effect of laser weeding can be tested, such as weeding around the roots of plants, or simulating the weeding effect when plants are planted in rows with equal spacing. In the case of a random arrangement, the number and position of the magnetic seedling cups on the rod-shaped base can be randomly adjusted as needed to simulate the randomness of weed distribution, allowing for testing of the laser weeding mechanism's response speed and weeding effect against random weeds. Magnetic seedling cups containing weeds and those containing plants can be randomly arranged to achieve mixed planting of plants and weeds, allowing for testing of weed recognition rate and weeding experiments between plants.

[0010] Furthermore, it also includes a posture adjustment mechanism connected to the frame of the mechanism, the posture adjustment mechanism including three hydraulic cylinders connected to the posture adjustment mechanism; the telescopic rod of each hydraulic cylinder is connected to the frame of the mechanism through a ball joint, and the cylinder seat of each hydraulic cylinder is connected to a ball joint seat.

[0011] Furthermore, the controller can dynamically adjust the operation of each cylinder to simulate the bumps and multi-directional tilting of the laser weeding mechanism during field operation, facilitating the testing of the mechanism's operational stability. Specifically, the controller can randomly assign dynamic amplitudes not exceeding the set baseline amplitude to each cylinder at intervals (e.g., 1 second). This dynamic simulation of the mechanism's frame fully replicates the multi-directional swaying state of the laser weeding mechanism during field operations, making the simulation more realistic.

[0012] Furthermore, it also includes a feeding mechanism capable of replenishing samples for the regularly arranged magnetic seedling cups; the feeding mechanism includes a sample buffer mechanism and a pin insertion and removal mechanism; the sample buffer mechanism can buffer at least one set of samples required by the sample arrangement mechanism and can release the samples to the sample arrangement mechanism. Here, to facilitate the placement and removal of samples, the samples can contain containers such as paper pots or plastic pots to prevent the soil from scattering. After the sample is placed in the magnetic seedling cup, the pin passes through the sample container and the soil to fix the sample in place.

[0013] Furthermore, the sample buffer mechanism includes a first clamping half and a second clamping half that can be opened and closed relative to each other. After the two clamping halves are closed relative to each other, they enclose a plurality of receiving slots for accommodating samples.

[0014] Furthermore, the needle insertion and removal mechanism includes a claw base on which multiple needle-clamping claws are mounted. The claw base is capable of lateral translation, and the needle-clamping claws are capable of longitudinal translation relative to the claw base. These needle-clamping claws can move between the sample unloading position and the sample loading position to remove the needles from the sample arrangement mechanism at the sample unloading position and transfer them to the sample arrangement mechanism at the sample loading position. After the two clamping halves of the sample buffer mechanism open to release the sample into the magnetic seeding cups of the sample arrangement mechanism, the claw base moves laterally, and all the needle-clamping claws insert the corresponding needles into the corresponding magnetic seeding cups. This method enables the cyclic use of needles and achieves automatic sample loading and automatic needle insertion and removal, improving the efficiency of sample loading and unloading.

[0015] Furthermore, the bottom of the magnetic seedling cup has a hollow structure, and an ejector device is installed within the space enclosed by all the sample arrangement mechanisms. The ejector device is located at the sample unloading position and has multiple ejector heads. The rod-shaped seat has clearance holes for the ejector heads to pass through. After the pin insertion and removal mechanism pulls out all the pins of the sample arrangement mechanism at the sample unloading position, all the ejector heads of the ejector device simultaneously act on the corresponding magnetic seedling cups to eject the samples from the magnetic seedling cups, thus achieving sample unloading. Furthermore, preferably, the sample loading position and the sample unloading position are arranged adjacent to each other. A third clamping half is installed above the sample unloading position. A second clamping half is placed between the first clamping half and the third clamping half. After the second clamping half separates from the first clamping half, it closes relative to the third clamping half. In this way, while the feeding mechanism releases the new sample to the sample arrangement mechanism at the sample loading position, it can clamp the old sample ejected by the ejector device. Then the ejector head descends, and the feeding chain continues to run one step to continue the loading operation of the next sample arrangement mechanism.

[0016] This invention also provides a laser weeding test bench, which includes the aforementioned feeding mechanism and a laser weeding mechanism. The laser weeding mechanism includes a laser tube and a galvanometer connected to the laser tube; it also includes an image acquisition unit and a supplementary light source; the laser weeding mechanism is connected to a control system, and the control system is also connected to the feeding motor. In this solution, the image acquisition unit is a binocular vision camera. The control system controls the coordinated operation of the laser weeding mechanism and the feeding mechanism to simulate the effect and stability of laser weeding under different feeding speeds, different bump amplitudes, and bump frequencies. The control system uses image processing methods to identify the position of moving weeds, calculates their coordinates, and converts them into the angle of the reflector in the galvanometer. The galvanometer adjusts the reflector angle in real time via a micro-motor, thereby changing the light path of the laser beam to hit the calibrated weeds.

[0017] Furthermore, the pose of the image acquisition unit and the pose of the supplementary light source can both be adjusted.

[0018] Beneficial effects: The feeding mechanism and laser weeding test platform of the present invention have the following beneficial effects:

[0019] (1) The magnetic sample arrangement mechanism can greatly expand the flexibility of the arrangement of magnetic seedling cups. The magnetic seedling cups can be arranged in an orderly or disorderly manner on the rod-shaped base to meet the experimental needs of different experimental scenarios.

[0020] (2) Laser weeding experiments were conducted based on the feeding mechanism, which avoided the trouble of actual weeding operations in the field and made it easier to control variables, conduct weeding experiments on a variety of plants and simulate different situations.

[0021] (3) By adjusting the running speed of the feeding chain, the field running speed of the laser weeding mechanism can be simulated. In this way, the response speed and weeding effect of the laser weeding mechanism at different speeds can be tested, and the optimal running speed that balances weeding effect and weeding efficiency can be determined.

[0022] (4) By changing the left and right tilt angles and front and back tilt angles of the mechanism frame, as well as the distance between the mechanism frame and the laser weeding mechanism, weeding effects of plants in different states can be simulated.

[0023] (5) Facilitates debugging of weed visual recognition and laser control algorithms, studies the influence of laser parameters on weeding effect, and conducts adaptability research of weeding system under different working conditions such as different types of weeds, weed distribution, and different light conditions. Attached Figure Description

[0024] Figure 1 This is a structural diagram of the feeding mechanism of the laser weeding test bench;

[0025] Figure 2 for Figure 1 Enlarged structural diagram of section A;

[0026] Figure 3 This is a structural diagram of a laser weeding test bench;

[0027] Figure 4 This is a structural diagram of the feeding mechanism in the first preferred embodiment;

[0028] Figure 5 This is a side view of the feeding mechanism in the first preferred embodiment;

[0029] Figure 6 This is a three-dimensional structural diagram of the feeding mechanism in the second preferred embodiment;

[0030] Figure 7 for Figure 6 Enlarged structural diagram of section B;

[0031] Figure 8 Structural diagram of the pin insertion and removal mechanism.

[0032] In the diagram: 1-Frame; 2-Feeding chain; 21-Feeding motor; 3-Sample fixing device; 31-Crossbar; 32-Fixing container; 33-Pin; 4-Posture adjustment mechanism; 41-Hydraulic cylinder; 42-Spherical hinge seat; 5-Replenishing mechanism; 51-Sample buffer mechanism; 511-First clamping half; 512-Second clamping half; 513-Third clamping half; 52-Pin insertion and removal mechanism; 521-Claw holder; 522-Pin gripper; 6-Ejection device; 61-Ejector head; 7-Laser weeding mechanism; 71-Laser tube; 72-Galvanometer; 73-Image acquisition unit; 74-Supplemental light source; 8-Control system. Detailed Implementation

[0033] The invention will now be further described with reference to the accompanying drawings.

[0034] like Figure 1 As shown, the feeding mechanism of the laser weeding test bench includes a frame 1 on which two sets of feeding chains 2 are installed side by side. Both sets of feeding chains 2 are driven synchronously by a feeding motor 21. Multiple sets of sample arrangement mechanisms 3 are installed between the two sets of feeding chains 2. The sample arrangement mechanism 3 includes an iron rod-shaped seat 31. The two ends of the rod-shaped seat 31 are respectively fixed on the two sets of feeding chains 2. Magnetic seedling cups 32 are adsorbed on the rod-shaped seat 31. The magnetic seedling cups 32 are used to load samples containing weeds and / or crops.

[0035] like Figure 2 As shown, each of the magnetic seedling cups 32 is equipped with a pin 33, and the side wall of the magnetic seedling cup 32 has a reserved hole for the pin 33 to be inserted.

[0036] In this invention, samples with plants and / or weeds can be directly cultivated in the magnetic seedling cup 32. That is, soil can be placed in the magnetic seedling cup 32, and plants or weeds can be planted separately, or plants and weeds can be planted simultaneously. Seedlings and / or weeds can also be placed in, and the soil is fixed by the pins 33 to prevent the samples in the magnetic seedling cup 32 from falling out of the magnetic seedling cup 32 when the sample arrangement mechanism 3 runs to the lower half of the feeding chain 2.

[0037] The magnetic seedling cup 32 includes a cup body and a magnetic pad fixed to the bottom of the cup body. The magnetic pad is attracted to the rod-shaped base 31 by strong magnetic force, preventing the magnetic seedling cup 32 from falling or shifting relative to the rod-shaped base 31.

[0038] By setting up the sample arrangement mechanism 3, samples can be installed on the entire chain segment of the feeding chain 2. The samples in the lower half of the feeding chain 2 will not fall off the feeding chain 2, which can increase the feeding amount that can be continuously fed at one time.

[0039] The magnetic sample arrangement mechanism 3 greatly expands the flexibility of the arrangement of the magnetic seedling cups 32. The magnetic seedling cups 32 can be arranged in an orderly or disordered manner on the rod-shaped base 31 to meet the experimental needs of different scenarios. When the magnetic seedling cups 32 are arranged in an orderly manner (e.g., ... Figure 1 As shown, the laser weeding effect can be tested at specific points, such as around the roots of plants, or to simulate the weeding effect when plants are planted in rows at equal intervals. In the case of random arrangement, the number and position of the magnetic seedling cups 32 on the rod-shaped base 31 can be randomly adjusted as needed to simulate the randomness of weed distribution, allowing for testing of the laser weeding mechanism's response speed and weeding effect against random weeds. Magnetic seedling cups 32 with weeds and those with plants can be randomly arranged to achieve mixed planting of plants and weeds, thus allowing for testing of weed recognition rate and weeding experiments between plants.

[0040] like Figure 3As shown, the present invention also provides a laser weeding test bench, which includes the aforementioned feeding mechanism and a laser weeding mechanism 7. The laser weeding mechanism 7 includes a laser tube 71 and a galvanometer 72 connected to the laser tube 71; it also includes an image acquisition unit 73 and a supplementary light source 74; the laser weeding mechanism 7 is connected to a control system 8, and the control system 8 is also connected to the feeding motor 21. In this embodiment, the image acquisition unit 73 is a binocular vision camera. The control system 8 controls the laser weeding mechanism 7 and the feeding mechanism to work together, which can simulate the effect and stability of laser weeding under different feeding speeds, different bump amplitudes, and bump frequencies. The control system 8 uses image processing methods to identify the position of moving weeds, calculates the coordinates and converts them into the angle of the reflector in the galvanometer. The galvanometer adjusts the reflector angle in real time through a micro motor, thereby changing the light path of the laser beam to hit the calibrated weeds.

[0041] The height and orientation of the image acquisition unit 73 and the supplementary light source 74 can be adjusted. This allows for easy adjustment of the parameters of the image acquisition unit 73 and the supplementary light source 74 based on the type of root plants and weeds, so that the images acquired by the image acquisition unit 73 meet the needs of data processing and provide a better foundation for the research of laser control algorithms.

[0042] Laser weeding experiments based on the above-mentioned feeding mechanism avoid the trouble of actual weeding operations in the field, and make it easier to control variables, conduct weeding experiments on a variety of plants, and simulate different situations.

[0043] By adjusting the operating speed of the feeding chain 2, the field operating speed of the laser weeding mechanism can be simulated. In this way, the response speed and weeding effect of the laser weeding mechanism at different speeds can be tested, making it easier to determine the optimal operating speed that balances weeding effect and weeding efficiency.

[0044] like Figure 4 As shown, the feeding mechanism also includes a posture adjustment mechanism 4 connected to the frame 1. The posture adjustment mechanism 4 includes three hydraulic cylinders 41 connected to the posture adjustment mechanism 4. The telescopic rod of each hydraulic cylinder 41 is connected to the frame 1 via a ball joint, and the cylinder seat of each hydraulic cylinder 41 is connected to a ball joint seat 42. In use, the control system can change the left-right tilt angle and front-back tilt angle of the frame 1, as well as the distance between the frame 1 and the laser weeding mechanism, by controlling the extension length of each hydraulic cylinder 41. In this way, the weeding effect of plants in different states can be simulated.

[0045] Furthermore, the controller can dynamically adjust the operation of each hydraulic cylinder 41 to simulate the bumping and multi-directional tilting of the laser weeding mechanism during field operation, facilitating the testing of the operational stability of the laser weeding mechanism. Specifically, the controller can randomly assign dynamic amplitudes not exceeding the set base amplitude to each hydraulic cylinder 41 at intervals (e.g., 1 second). In this way, the frame 1 is dynamically simulated, fully simulating the multi-directional swaying state of the laser weeding mechanism during field operation, making the simulation more realistic.

[0046] Preferably, such as Figure 5 and Figure 6 As shown, the feeding mechanism of the laser weeding test platform also includes a feeding mechanism 5 capable of replenishing samples to the regularly arranged magnetic seedling cups 32; the feeding mechanism 5 includes a sample buffer mechanism 51 and a pin insertion and removal mechanism 52; the sample buffer mechanism 51 can buffer at least one set of samples required by the sample arrangement mechanism 3, and can release the samples to the sample arrangement mechanism 3. Here, to facilitate the placement and removal of samples, the samples can contain containers such as paper pots or plastic pots to prevent the soil from scattering. After the sample is placed in the magnetic seedling cup 32, the pin 33 passes through the sample container and the soil to fix the sample.

[0047] like Figure 7 As shown, the sample buffer mechanism 51 includes a first clamping half 511 and a second clamping half 512 that can be opened and closed relative to each other. After the two clamping half are closed relative to each other, a plurality of receiving slots for accommodating samples are formed between them.

[0048] like Figure 7 and Figure 8 As shown, the needle insertion and removal mechanism 52 includes a claw base 521 on which multiple needle-clamping claws 522 are mounted. The claw base 521 is capable of lateral translation, and the needle-clamping claws 522 are capable of longitudinal translation relative to the claw base 521. The needle-clamping claws 522 can move between the sample unloading position and the sample loading position to remove the needles 33 from the sample arrangement mechanism 3 at the sample unloading position and transfer them to the sample arrangement mechanism 3 at the sample loading position. After the two clamping halves of the sample buffer mechanism 51 open to release the sample into each magnetic seeding cup 32 of the sample arrangement mechanism 3, the claw base 521 moves laterally, and all the needle-clamping claws 522 insert the corresponding needles into the corresponding magnetic seeding cups 32. This method enables the cyclic use of the needles 33 and achieves automatic sample loading and automatic needle insertion and removal, improving the efficiency of sample loading and unloading.

[0049] The bottom of the magnetic seedling cup 32 has a hollow structure, and an ejector device 6 is installed within the space enclosed by all the sample arrangement mechanisms 3. The ejector device 6 is located at the sample unloading position and has multiple ejector heads 61. The rod-shaped seat 31 has clearance holes for the ejector heads 61 to pass through. After the pin insertion and removal mechanism 52 pulls out all the pins 33 of the sample arrangement mechanism 3 at the sample unloading position, all the ejector heads 61 of the ejector device 6 act simultaneously on the corresponding magnetic seedling cup 32 to eject the sample from the magnetic seedling cup 32, thus realizing sample unloading. Furthermore, preferably, the sample loading position and the sample unloading position are arranged adjacent to each other. A third clamping half 513 is installed above the sample unloading position. A second clamping half 512 is placed between the first clamping half 511 and the third clamping half 513. After the second clamping half 512 separates from the first clamping half 511, it closes relative to the third clamping half 513. In this way, while the feeding mechanism 5 releases the new sample to the sample arrangement mechanism 3 at the sample loading position, it can clamp the old sample ejected by the ejection device 6. Then the ejection head 61 descends, and the feeding chain 2 continues to run one step to continue the loading operation of the next sample arrangement mechanism 3.

[0050] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. The feeding mechanism of a laser weeding test bench, characterized in that, It includes a frame (1), on which two sets of feeding chains (2) are installed in parallel left and right. Both sets of feeding chains (2) are driven synchronously by a feeding motor (21). Multiple sets of sample arrangement mechanisms (3) are set between the two sets of feeding chains (2). The sample arrangement mechanism (3) includes an iron rod-shaped seat (31). The two ends of the rod-shaped seat (31) are respectively fixed on the two sets of feeding chains (2). A magnetic seedling cup (32) is adsorbed on the rod-shaped seat (31). The magnetic seedling cup (32) is used to load samples with weeds and / or crops. Each of the magnetic seedling cups (32) is equipped with a pin (33), and the side wall of the magnetic seedling cup (32) has a reserved hole for the pin (33) to be inserted; It also includes a feeding mechanism (5) capable of replenishing samples for the regularly arranged magnetic seedling cups (32); the feeding mechanism (5) includes a sample buffer mechanism (51) and a pin insertion and removal mechanism (52); the sample buffer mechanism (51) is capable of buffering at least one set of samples required by the sample arrangement mechanism (3) and is capable of releasing the samples to the sample arrangement mechanism (3). The sample buffer mechanism (51) includes a first clamping half (511) and a second clamping half (512) that can be opened and closed relative to each other. After the two clamping half are closed relative to each other, a plurality of receiving slots for accommodating samples are formed between them. The pin insertion and removal mechanism (52) includes a claw base (521), on which a plurality of pin-clamping claws (522) are mounted. The claw base (521) is capable of lateral translation, and the pin-clamping claws (522) are capable of longitudinal translation relative to the claw base (521).

2. The feeding mechanism of the laser weeding test bench according to claim 1, characterized in that, The magnetic seedling cup (32) includes a cup body and a magnet fixed to the bottom of the cup body.

3. The feeding mechanism of the laser weeding test bench according to claim 1, characterized in that, It also includes a posture adjustment mechanism (4) connected to the mechanism frame (1), the posture adjustment mechanism (4) includes three hydraulic cylinders (41) connected to the posture adjustment mechanism (4); the telescopic rod of each hydraulic cylinder (41) is connected to the mechanism frame (1) through a ball hinge, and the cylinder seat of each hydraulic cylinder (41) is connected to a ball hinge seat (42).

4. The feeding mechanism of the laser weeding test bench according to claim 1, characterized in that, The bottom of the magnetic seedling cup (32) is hollow, and an ejection device (6) is installed in the space enclosed by all the sample arrangement mechanisms (3).

5. A laser weeding test bench, characterized in that, It includes the feeding mechanism as described in any one of claims 1-4, and further includes a laser weeding mechanism (7); the laser weeding mechanism (7) includes a laser tube (71) and a galvanometer (72) connected to the laser tube (71); it also includes an image acquisition unit (73) and a supplementary light source (74); the laser weeding mechanism (7) is connected to a control system (8), and the control system (8) is also connected to the feeding motor (21).

6. The laser weeding test bench according to claim 5, characterized in that, The pose of the image acquisition unit (73) and the pose of the supplementary light source (74) can both be adjusted.

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