Intelligent laser weeding robot test bed and test method

Abstract

The invention discloses an intelligent laser weeding robot test bench which comprises a pedestal, and a laser weeding device, a visual unit and a light supplementing light source are installed on the pedestal. The circular conveying device comprises a circular conveying chain and a clamping mechanism arranged along the circular conveying chain; the clamping mechanism comprises a strip-shaped base which is transversely arranged left and right, and a plurality of elastic clamping units which are distributed in a scattered mode are installed on the strip-shaped base. The clamping unit comprises a clamping block and a spring; and the clamping block can translate relative to the strip-shaped seat, and the spring enables the clamping block to have a movement trend close to the strip-shaped seat. According to the invention, through the layout mode of the clamping units, weeding simulation can be carried out on planting conditions of different plants, the flexibility is high, the use is convenient, and weeding tests under various different conditions can be completed indoors.

Description

Technical Field

[0001] The invention relates to the technical field of weeding test, and in particular to an intelligent laser weeding robot test bench and a test method. Background Art

[0002] Weeding in the agricultural field is a complex and delicate task. Its complexity is not only reflected in the need to accurately distinguish between crops and weeds to avoid accidental damage to crops, but also in the adaptability requirements for different growth stages and weed types. Traditional manual or chemical weeding methods are often inefficient, and the use of chemical agents may cause environmental pollution and damage to the ecological balance. In response to these challenges, visual laser weeding technology came into being. It uses advanced image recognition algorithms and high-precision laser systems to identify and accurately remove weeds in real time in the field, which not only greatly improves weeding efficiency and reduces labor costs, but also effectively avoids the excessive use of chemical pesticides, realizing the intelligent and sustainable development of agricultural production.

[0003] In the prior art, patent CN116250523A discloses a vision-based laser weeding device. Before actually leaving the factory, the parameters of the laser weeding need to be debugged and the weeding effect needs to be checked. Currently, the laser weeder needs to be driven into the field to operate in order to debug the machine. In this case, it is not easy to change the type of crops, plant spacing, lighting conditions and other parameters tested, as well as the distribution of weeds. It is not easy to carry out experimental research on weed visual recognition, laser control algorithm debugging, and the influence of laser parameters on weeding effect. It is subject to much interference from the outside world, and it is not easy to obtain accurate test results, and it is time-consuming and labor-intensive. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an intelligent laser weeding robot test bench and test method that can facilitate weeding tests, aiming to facilitate the debugging of weed visual recognition and laser control algorithms, study the influence of laser parameters on weeding effects, and conduct research on the adaptability of weeding systems under different types of weeds, weed distributions, and different lighting conditions.

[0005] Technical solution: To achieve the above-mentioned purpose, the intelligent laser weeding robot test bench of the present invention comprises a platform, on which a laser weeding device, a visual unit and a fill light source are installed;

[0006] It also includes a circulating conveying device, which includes a circulating conveying chain and a clamping mechanism arranged along the circulating conveying chain;

[0007] The clamping mechanism includes left and right horizontal strip seats, on which a plurality of dispersed elastic clamping units are installed; the clamping unit includes a clamping block and a spring; the clamping block can translate relative to the strip seat, and the spring enables the clamping block to have a movement tendency close to the strip seat.

[0008] Furthermore, the cross-section of the strip seat is L-shaped, and it has a bottom plate portion and a vertical plate portion, and both ends of the bottom plate portion are fixed on the circulating conveying chain; the clamping unit also includes an L-shaped seat, and one plate body constituting the L-shaped seat is fixedly installed relative to the bottom plate portion, and the other plate body is a vertical plate body parallel to the vertical plate portion; a guide slide column connected to the clamping block is slidably installed on the vertical plate body, and the spring string is sleeved on the guide slide column.

[0009] Furthermore, there are a plurality of guide slide columns, and the clamping unit further comprises a paddle fixed relative to an end of the guide slide column, and the paddle has a portion that is higher than the vertical plate body.

[0010] The clamping units can clamp samples, and the samples include plants and weeds, and also include a retaining medium for maintaining the plants and weeds in an upright state. The retaining medium may be soil, etc. In addition, it may also include containers, such as seedling pots, seedling trays, etc. The clamping units can be used alone or in combination. When the clamping units are used alone, each clamping unit clamps a sample alone. This situation is suitable for weeding in a situation where the plants are relatively scattered, and the effect of laser weeding around the plants can be tested. When the clamping units are used in combination, multiple clamping units can jointly clamp the same large sample, and the large sample can include containers such as plastic seedling trays. In this way, all clamping units of a single clamping mechanism can jointly clamp the same sample, and all clamping units of multiple clamping mechanisms can also jointly clamp the same sample. This method can effectively test the weeding effect under densely planted conditions.

[0011] Furthermore, the laser weeding device includes a connected carbon dioxide laser tube and a CO2 high-speed scanning two-dimensional galvanometer, and also includes a cooling water tank for cooling the carbon dioxide laser tube. The carbon dioxide laser tube has a water circulation channel, and the water in the cooling water tank can enter the water circulation channel and flow back to the cooling water tank to achieve water cooling of the carbon dioxide laser tube. The laser generated by the carbon dioxide laser tube is reflected by the CO2 high-speed scanning two-dimensional galvanometer to perform weeding operations on the sample clamped by the clamping mechanism. The CO2 high-speed scanning two-dimensional galvanometer can be controlled to change the reflection angle to achieve weeding operations on the target position.

[0012] Furthermore, the number of the carbon dioxide laser tubes and the CO2 high-speed scanning two-dimensional galvanometer are both two; the two carbon dioxide laser tubes are arranged in parallel with each other, and the extension direction of both is along the movement direction of the clamping mechanism, and the cooling water tank can supply cooling water to the two carbon dioxide laser tubes at the same time. By arranging two groups of carbon dioxide laser tubes and CO2 high-speed scanning two-dimensional galvanometers, the weeding width and weeding efficiency can be effectively improved.

[0013] Furthermore, the top of the pedestal has a longitudinal beam, and a centering mechanism for aligning the carbon dioxide laser tube and the CO2 high-speed scanning two-dimensional galvanometer is installed on the longitudinal beam; the centering mechanism includes a connecting tube connected between the carbon dioxide laser tube and the CO2 high-speed scanning two-dimensional galvanometer, and also includes an adjustment bracket connecting the carbon dioxide laser tube and the longitudinal beam, and the adjustment bracket can adjust the height of the carbon dioxide laser tube.

[0014] In addition, the centering mechanism also includes a fixing seat connecting the CO2 laser tube and the longitudinal beam, and a connecting seat placed between the connecting tube and the CO2 laser tube. Both ends of the connecting tube are respectively provided with connecting plates connecting the CO2 high-speed scanning two-dimensional galvanometer and the connecting seat.

[0015] The adjustment bracket includes a base, a lifting frame and a fixed frame; the lifting frame can be lifted and lowered relative to the base, the lifting frame has a screw portion, a dial wheel is rotatably mounted on the base, the dial wheel and the screw portion are in a spiral pair, and a first screw capable of locking the lifting frame is mounted on the base. In addition, the fixed frame is mounted above the lifting frame, and the two surround and fix the CO2 laser tube. The fixed frame has a wavy portion; a clamping block capable of lifting and sliding relative to the clamping block and a second screw for applying a downward pressure to the clamping block are mounted on the top of the fixed frame, the second screw and the fixed frame are in a spiral pair, and the clamping block can be lowered by rotating the second screw to clamp the CO2 laser tube, and the wavy portion has elasticity, so that the CO2 laser tube can be effectively clamped and the CO2 laser tube can be prevented from being crushed.

[0016] There is a strip hole on the base, and a third screw passing through the strip hole is installed on the longitudinal beam. The cross-section of the longitudinal beam is an upright U-shape. There is a fourth screw acting on the base on the side plate of the longitudinal beam. The lateral position of the base can be fine-tuned by rotating the fourth screw. After the fine-tuning is completed, the base is fixed by the third screw.

[0017] Furthermore, there are two adjustment brackets, which are respectively disposed at the front and rear sides of the carbon dioxide laser tube.

[0018] Preferably, the relative position and posture of the laser weeding device and the circulating conveying device can be adjusted, so that the ups and downs and relative position changes of the laser weeding robot due to bumps in the road during actual field operations can be realized, so that the simulation test is more in line with the actual situation. Specifically, the device base of the circulating conveying device is supported by three oil cylinders arranged in a triangular shape, and the telescopic rods of the oil cylinders and the cylinder seats are connected to the corresponding connecting parts through ball joints. The control system can dynamically change the front and rear inclination angles and the left and right inclination angles of the circulating conveying device by allocating a telescopic amount that does not exceed the typical amplitude to each oil cylinder according to a preset frequency based on the set typical amplitude, so that the simulation of the weeding process is more in line with the actual situation.

[0019] In addition, preferably, the height of the visual unit can also be adjusted, so that the viewing angle of the visual unit can be adjusted as needed to determine the optimal installation height of the visual unit, ie, the camera.

[0020] Preferably, the height, luminous parameters and irradiation angle of the fill light source can be adjusted, so that the position, light intensity, color temperature and other parameters of the fill light source can be adjusted conveniently according to different factors such as plant type and lighting conditions to meet the needs of image acquisition and image processing.

[0021] A test method based on the above-mentioned intelligent laser weeding robot test bench, the test method is implemented by a control system, the control system is connected to the visual unit, the fill light source, the laser weeding device and the circulating conveying device, the control system can obtain the image collected by the visual unit and perform object analysis, can adjust the color temperature, light intensity and other parameters of the fill light source, can control the CO2 high-speed scanning two-dimensional galvanometer to change the reflection angle, control the carbon dioxide laser tube to change the laser power, and control the circulating conveying device to change the feeding speed, the feeding speed is the same as the travel speed of the weeding robot when the weeding robot is actually performing weeding operations in the field. The test method includes the following steps S1-S4:

[0022] Step S1, configuring the operating parameters of each component in the test bench; the operating parameters include one or more of the following parameters:

[0023] Step S2, controlling the operation of the test bench based on the operating parameters to perform a weeding test;

[0024] Step S3, collecting statistics on effect parameters that can reflect the weed control effect, the effect parameters include: weed recognition rate, weed removal rate, and seedling injury rate;

[0025] Step S4, adjusting the operating parameters based on the effect parameters;

[0026] Repeat the above steps S1-S4 until the weed control effect is optimal, and save the corresponding operating parameters and the corresponding sample parameters, where the sample parameters include data such as crop type, crop size, weed distribution range, and weed distribution density in the sample.

[0027] Beneficial effects: The intelligent laser weeding robot test bench and test method of the present invention have the following advantages:

[0028] Beneficial effects:

[0029] (1) By setting up a clamping unit, the test object with crops and weeds can be clamped. The circulation conveyor chain can circulate each clamping unit to the bottom of the laser weeding device for weeding test. Continuous feeding can be achieved, which is convenient for forming enough samples and facilitating the evaluation of the weeding effect. There is no need to drive the laser weeder to the field for actual weeding operations, and parameter adjustment can be convenient.

[0030] (2) The layout of the clamping unit can simulate weeding conditions for different plants. It is highly flexible and easy to use, and can complete weeding tests under various conditions indoors.

[0031] (3) The posture of the CO2 laser tube is fine-tuned by adjusting the bracket so that the CO2 laser tube and the CO2 high-speed scanning two-dimensional galvanometer are accurately aligned. In this way, the laser pointing accuracy is high and the weed control test can be effectively carried out. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a side view of the intelligent laser weeding robot test bench;

[0033] Figure 2 This is the front view of the intelligent laser weeding robot test bench;

[0034] Figure 3 This is a three-dimensional structural diagram of the intelligent laser weeding robot test bench;

[0035] Figure 4 for Figure 3 The enlarged structure diagram of part A in the middle;

[0036] Figure 5 for Figure 3 The enlarged structure diagram of part B;

[0037] Figure 6 for Figure 3 The enlarged structure diagram of the middle C part;

[0038] Figure 7 A structural diagram for adjusting the bracket;

[0039] Figure 8It is a first state diagram of the loading mechanism loading the clamping unit in the preferred embodiment;

[0040] Fig. 9 This is a second state diagram of the loading mechanism loading the clamping unit in the preferred embodiment.

[0041] In the figure: 1-base; 11-longitudinal beam; 2-visual unit; 3-supplement light source; 4-circulating conveying device; 41-circulating conveying chain; 42-bar seat; 43-clamping unit; 431-clamping block; 432-spring; 433-L-shaped seat; 434-guide slide column; 435-paddle; 44-loading mechanism; 441-feeding guide channel; 442-release plate; 443-sample buffer plate; A-laser weeding device; 5-carbon dioxide laser tube; 6-CO2 high-speed scanning two-dimensional galvanometer; 7-cooling water tank; 8-centering mechanism; 81-connecting pipe; 82-adjusting bracket; 821-base; 822-lifting frame; 82a-screw part; 823-fixing frame; 82b-wavy part; 824-push wheel; 825-first screw; 826-pressing block; 827-second screw; 828-third screw; 829-fourth screw; 83-fixing seat; 84-connecting seat; 9-control system. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] like Figure 1 The intelligent laser weeding robot test bench shown includes a base 1, on which a laser weeding device A, a visual unit 2, a fill light source 3 and a circulating conveying device 4 are installed. The circulating conveying device 4 includes a circulating conveying chain 41 and a clamping mechanism arranged along the circulating conveying chain 41; in this embodiment, two circulating conveying chains 41 are arranged in parallel, and the clamping mechanism is arranged between the two circulating conveying chains 41.

[0044] The clamping mechanism includes a left and right horizontal strip seat 42, and a plurality of elastic clamping units 43 arranged in a dispersed manner are installed on the strip seat 42; the clamping unit 43 includes a clamping block 431 and a spring 432; the clamping block 431 can translate relative to the strip seat 42, and the spring 432 makes the clamping block 431 have a movement tendency to approach the strip seat 42.

[0045] The cross-section of the strip seat 42 is L-shaped, and it has a bottom plate portion and a vertical plate portion, and both ends of the bottom plate portion are fixed on the circulating conveying chain 41; the clamping unit 43 also includes an L-shaped seat 433, and one plate body constituting the L-shaped seat 433 is fixedly installed relative to the bottom plate portion, and the other plate body is a vertical plate body parallel to the vertical plate portion; a guide slide column 434 connected to the clamping block 431 is slidably installed on the vertical plate body, and the spring 432 is sleeved on the guide slide column 434.

[0046] The number of the guide slide pillars 434 in the clamping mechanism is two, and the clamping unit 43 further includes a paddle 435 fixed relative to the end of the guide slide pillar 434 , and the paddle 435 has a portion that is higher than the vertical plate body.

[0047] By adopting the above structure, by setting up the clamping unit 43, the test object with crops and weeds can be clamped, and the circulation conveyor chain 41 can circulate and convey each clamping unit 43 to the bottom of the laser weeding device A to carry out the weeding test. Continuous feeding can be achieved, which is convenient for forming a sufficient number of samples and facilitating the evaluation of the weeding effect. There is no need to drive the laser weeder to the field for actual weeding operations, and parameter adjustment can be convenient.

[0048] The clamping units 43 can clamp samples, and the samples include plants and weeds, and also include a retaining medium for maintaining the plants and weeds in an upright state. The retaining medium can be soil, etc. In addition, it can also include containers such as seedling pots and seedling trays. The clamping units 43 can be used alone or in combination. When the clamping units 43 are used alone, each clamping unit 43 clamps a sample alone. This situation is suitable for weeding in a situation where the plants are relatively scattered, and the effect of laser weeding around the plants can be tested. When the clamping units 43 are used in combination, multiple clamping units 43 can be used to clamp the same large sample. The large sample can include containers such as plastic seedling trays. In this way, all the clamping units 43 of a single clamping mechanism can clamp the same sample together, and all the clamping units 43 of multiple clamping mechanisms can also clamp the same sample together. This method can effectively test the weeding effect under densely planted plants. It can be seen that, through the layout of the clamping units 43, weeding simulation can be performed on the planting conditions of different plants, which is highly flexible and easy to use, and weeding tests under various conditions can be completed indoors.

[0049] The laser weeding device A includes a connected carbon dioxide laser tube 5 and a CO2 high-speed scanning two-dimensional galvanometer 6, and also includes a cooling water tank 7 for cooling the carbon dioxide laser tube 5. The carbon dioxide laser tube 5 has a water circulation channel, and the water in the cooling water tank 7 can enter the water circulation channel and flow back to the cooling water tank 7 to achieve water cooling of the carbon dioxide laser tube 5. The laser generated by the carbon dioxide laser tube 5 is reflected by the CO2 high-speed scanning two-dimensional galvanometer 6 to perform weeding operations on the sample clamped by the clamping mechanism. The CO2 high-speed scanning two-dimensional galvanometer 6 can be controlled to change the reflection angle to achieve weeding operations at the target position.

[0050] The number of the carbon dioxide laser tube 5 and the number of the CO2 high-speed scanning two-dimensional galvanometer 6 are both two; the two carbon dioxide laser tubes 5 are arranged in parallel with each other, and the extension directions of both are along the movement direction of the clamping mechanism, and the cooling water tank 7 can simultaneously supply cooling water to the two carbon dioxide laser tubes 5. By arranging two groups of carbon dioxide laser tubes 5 and CO2 high-speed scanning two-dimensional galvanometer 6, the weeding width and weeding efficiency can be effectively improved.

[0051] The top of the pedestal 1 has a longitudinal beam 11, and a centering mechanism 8 for aligning the carbon dioxide laser tube 5 and the CO2 high-speed scanning two-dimensional galvanometer 6 is installed on the longitudinal beam 11; the centering mechanism 8 includes a connecting tube 81 connected between the carbon dioxide laser tube 5 and the CO2 high-speed scanning two-dimensional galvanometer 6, and also includes an adjustment bracket 82 connecting the carbon dioxide laser tube 5 and the longitudinal beam 11, and the adjustment bracket 82 can adjust the height of the carbon dioxide laser tube 5.

[0052] In addition, the centering mechanism 8 also includes a fixing seat 83 connecting the carbon dioxide laser tube 5 and the longitudinal beam 11, and a connecting seat 84 placed between the connecting tube 81 and the carbon dioxide laser tube 5. The two ends of the connecting tube 81 respectively have connecting plates connecting the CO2 high-speed scanning two-dimensional galvanometer 6 and the connecting seat 84.

[0053] The adjustment bracket 82 includes a base 821, a lifting frame 822 and a fixing frame 823; the lifting frame 822 can be lifted relative to the base 821, and the lifting frame 822 has a screw portion 82a, and a dial wheel 824 is rotatably mounted on the base 821, and the dial wheel 824 and the screw portion 82a are in a spiral pair, and a first screw 825 capable of locking the lifting frame 822 is installed on the base 821. In addition, the fixing frame 823 is installed above the lifting frame 822, and the two surround and fix the carbon dioxide laser tube 5. The fixing frame 823 has a wavy portion 82b; a clamping block 826 capable of rising and falling and sliding relative to the fixing frame 823 and a second screw 827 exerting a downward pressure on the clamping block 826 are installed on the top of the fixing frame 823. The second screw 827 and the fixing frame 823 are matched with a spiral pair. By rotating the second screw 827, the clamping block 826 can be lowered to compress the CO2 laser tube 5. Combined with the elasticity of the wavy portion 82b, the CO2 laser tube 5 can be effectively compressed and the CO2 laser tube 5 can be prevented from being crushed.

[0054] The base 821 has a strip hole, and the longitudinal beam 11 is provided with a third screw 828 passing through the strip hole. The cross-section of the longitudinal beam 11 is an upright U-shape. The side plate of the longitudinal beam 11 has a fourth screw 829 acting on the base 821. The lateral position of the base 821 can be fine-tuned by rotating the fourth screw 829. After the fine-tuning is completed, the base 821 is fixed by the third screw 828.

[0055] There are two adjustment brackets 82 , and the two adjustment brackets 82 are respectively disposed at the front and rear sides of the carbon dioxide laser tube 5 .

[0056] The posture of the CO2 laser tube 5 is fine-tuned by adjusting the bracket 82 so that the CO2 laser tube 5 and the CO2 high-speed scanning two-dimensional galvanometer 6 are precisely aligned. In this way, the laser pointing accuracy is high and the weeding test can be effectively controlled.

[0057] The relative position and posture of the laser weeding device A and the circulating conveying device 4 can be adjusted, so that the ups and downs and relative position changes of the laser weeding robot during actual field operations due to bumps in the road surface can be realized, so that the simulation test is more in line with the actual situation. Specifically, the device base 44 of the circulating conveying device 4 is supported by three oil cylinders arranged in a triangular shape, and the telescopic rods of the oil cylinders and the cylinder seats are connected to the corresponding connecting parts through ball hinges. The control system can dynamically change the front and rear inclination angles and the left and right inclination angles of the circulating conveying device 4 by allocating a telescopic amount that does not exceed the typical amplitude to each oil cylinder according to a preset frequency based on the set typical amplitude, so that the simulation of the weeding process is more in line with the actual situation.

[0058] In addition, the height of the visual unit 2 can also be adjusted, so that the viewing angle of the visual unit 2 can be adjusted as needed to determine the optimal installation height of the visual unit 2, ie, the camera.

[0059] Preferably, the height, luminous parameters and irradiation angle of the fill light source 3 can be adjusted, so that the position, light intensity, color temperature and other parameters of the fill light source 3 can be adjusted conveniently according to different factors such as plant type and lighting conditions to meet the needs of image acquisition and image processing.

[0060] In order to facilitate the loading of samples into the clamping unit 43 of the circulating conveying device 4, a loading mechanism 44 is also included. Figure 8 As shown, the loading mechanism 44 includes a material unloading guide channel 441, and also includes a release plate 442 rotatably mounted relative to the material unloading guide channel 441. The release plate 442 can block the lower end of the guide channel 441 and can act on the paddles 435 of a row of clamping units 43 to make the clamping block 431 reach the open position. When the clamping block 431 reaches the open position, the release plate 442 no longer blocks the lower part of the guide channel 441. During the sample loading process, initially, as shown in FIG. Figure 8 As shown, the release plate 442 blocks the lower end of the material guide channel 441, and the material guide channel 441 is equipped with samples corresponding to a row of clamping units 43. When a row of clamping units 43 reaches the bottom of the material guide channel 441, the release plate 442 rotates in the first direction to act on the paddle 435 of this row of clamping units 43, so that the row of clamping units 43 are opened at the same time, and the paddle 435 simultaneously releases the blocking of the material guide channel 441, so that the samples in the material guide channel 441 fall into the clamping units 43, as shown in FIG. Fig. 9 As shown. The release plate 442 continues to rotate in the first direction and disengages from the top of the paddle 435, and the clamping block 431 is reset under the action of the spring, and the release plate 442 will not affect the passage of the clamping unit 43 loaded with the sample. After the clamping unit 43 loaded with the sample passes, the release plate 442 is reset and the sample continues to be loaded into the feed guide channel 441. The loading mechanism 44 may also include a sample buffer plate 443 located on the upper side of the feed guide channel 441, and multiple rows of samples are arranged on the sample buffer plate 443. By pushing the samples on the sample buffer plate 443, the samples can be dropped into the feed guide channel 441 in rows.

[0061] The present invention also provides a test method based on the above-mentioned intelligent laser weeding robot test bench, the test method is implemented by a control system 9, the control system 9 is connected to the visual unit 2, the fill light source 3, the laser weeding device A and the circulating conveying device 4, the control system can obtain the image captured by the visual unit 2 and perform object analysis, can adjust the color temperature, light intensity and other parameters of the fill light source 3, can control the CO2 high-speed scanning two-dimensional galvanometer 6 to change the reflection angle, control the carbon dioxide laser tube 5 to change the laser power, and control the circulating conveying device 4 to change the feeding speed, which is the same as the travel speed of the weeding robot when the weeding robot is actually performing weeding operations in the field. The test method includes the following steps S1-S4:

[0062] Step S1, configuring the operating parameters of each component in the test bench; the operating parameters include one or more of the following parameters:

[0063] Step S2, controlling the operation of the test bench based on the operating parameters to perform a weeding test;

[0064] Step S3, collecting statistics on effect parameters that can reflect the weed control effect, the effect parameters include: weed recognition rate, weed removal rate, and seedling injury rate;

[0065] Step S4, adjusting the operating parameters based on the effect parameters;

[0066] Repeat the above steps S1-S4 until the weed control effect is optimal, and save the corresponding operating parameters and the corresponding sample parameters, where the sample parameters include data such as crop type, crop size, weed distribution range, and weed distribution density in the sample.

[0067] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent laser weeding robot test bench, comprising a base (1), on which a laser weeding device (A), a visual unit (2) and a supplementary light source (3) are mounted; characterized in that: It also includes a circulating conveying device (4), wherein the circulating conveying device (4) includes a circulating conveying chain (41) and a clamping mechanism arranged along the circulating conveying chain (41); The clamping mechanism comprises a strip seat (42) placed horizontally on the left and right, and a plurality of elastic clamping units (43) arranged in a dispersed manner are installed on the strip seat (42); the clamping unit (43) comprises a clamping block (431) and a spring (432); the clamping block (431) can translate relative to the strip seat (42), and the spring (432) enables the clamping block (431) to have a movement tendency to approach the strip seat (42).

2. The intelligent laser weeding robot test bench according to claim 1 is characterized in that: The cross-section of the strip seat (42) is L-shaped, and it has a bottom plate portion and a vertical plate portion; the clamping unit (43) also includes an L-shaped seat (433), one plate body constituting the L-shaped seat (433) is fixedly installed relative to the bottom plate portion, and the other plate body is a vertical plate body parallel to the vertical plate portion; a guide slide column (434) connected to the clamping block (431) is slidably installed on the vertical plate body, and the spring (432) is sleeved on the guide slide column (434).

3. The intelligent laser weeding robot test bench according to claim 2 is characterized in that: The number of the guide slide columns (434) is plural, and the clamping unit (43) further comprises a paddle (435) fixed relative to the end of the guide slide column (434), and the paddle (435) has a portion that is higher than the vertical plate body.

4. The intelligent laser weeding robot test bench according to claim 1 is characterized in that: The laser weeding device (A) comprises a connected carbon dioxide laser tube (5) and a CO2 high-speed scanning two-dimensional galvanometer (6), and also comprises a cooling water tank (7) for cooling the carbon dioxide laser tube (5).

5. The intelligent laser weeding robot test bench according to claim 4 is characterized in that: The number of the carbon dioxide laser tube (5) and the number of the CO2 high-speed scanning two-dimensional galvanometer (6) are both two; the two carbon dioxide laser tubes (5) are arranged parallel to each other, and the extension directions of both are along the movement direction of the clamping mechanism.

6. The intelligent laser weeding robot test bench according to claim 4 is characterized in that: The top of the pedestal (1) is provided with a longitudinal beam (11), and a centering mechanism (8) for centering the carbon dioxide laser tube (5) and the CO2 high-speed scanning two-dimensional galvanometer (6) is installed on the longitudinal beam (11); the centering mechanism (8) includes a connecting tube (81) connected between the carbon dioxide laser tube (5) and the CO2 high-speed scanning two-dimensional galvanometer (6), and also includes an adjustment bracket (82) connecting the carbon dioxide laser tube (5) and the longitudinal beam (11).

7. The intelligent laser weeding robot test bench according to claim 6, characterized in that: The number of the adjustment brackets (82) is two, and the two adjustment brackets (82) are respectively disposed on the front and rear sides of the carbon dioxide laser tube (5).

8. The intelligent laser weeding robot test bench according to claim 1 is characterized in that: The height, light-emitting parameters and irradiation angle of the supplementary light source (3) can be adjusted.

9. A test method based on the intelligent laser weeding robot test bench according to claim 1, wherein the test method is implemented by a control system (9), wherein the control system (9) is connected to the visual unit (2), the fill light source (3), the laser weeding device (A) and the circulating conveying device (4), and wherein: The test method comprises the following steps S1-S4: Step S1, configuring the operating parameters of each component in the test bench; Step S2, controlling the operation of the test bench based on the operating parameters to perform a weeding test; Step S3, collecting statistics on effect parameters that can reflect the weed control effect, the effect parameters include: weed recognition rate, weed removal rate, and seedling injury rate; Step S4, adjusting the operating parameters based on the effect parameters; Repeat the above steps S1-S4 until the weed control effect is optimal, and save the corresponding operating parameters and the corresponding sample parameters.

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