Laser weeding robot camera-laser coordinate transformation parameter calibration device and method

Abstract

The invention discloses a laser weeding robot camera-laser coordinate transformation parameter calibration device and method. The device comprises a base and a calibration table. The calibration table is provided with a circular calibration plate, the calibration plate is provided with two calibration straight lines which are perpendicular to each other, and the intersection position of the two calibration straight lines is the center; the calibration plate is provided with four calibration points, and the positions of the calibration points do not coincide with the position of the middle point; the calibration plate can rotate around the center to adjust the posture; the height of the calibration table can be adjusted relative to the base. According to the calibration method, two calibration straight lines are aligned and coincident with the X axis and the Y axis of a laser coordinate system respectively, and coordinate transformation parameters corresponding to the X axis and the Y axis can be obtained through conversion according to coordinate positions of calibration points in a camera coordinate system and the laser coordinate system respectively; by adjusting the height of the calibration table and calibrating the position of the center, coordinate transformation parameters corresponding to the Z axis can be obtained.

Description

Technical Field

[0001] The invention relates to the technical field of laser weeding robots, and in particular to a camera-laser coordinate transformation parameter calibration device and method for laser weeding robots. Background Art

[0002] In the process of crop cultivation, weeding is a vital task, which plays an important role in ensuring the healthy growth of crops and increasing yields. Weeds compete with crops for nutrients and water in the soil, block sunlight, affect the photosynthesis efficiency of crops, and even cause crop death in severe cases. Traditional manual weeding methods are time-consuming and labor-intensive. Although chemical herbicides are effective, long-term use will cause environmental pollution problems and may pose a threat to human health. Therefore, the development of more environmentally friendly and efficient weeding methods has become an important issue in the agricultural field.

[0003] In recent years, laser weeding systems based on visual technology have gradually entered people's field of vision. For example, the laser weeding robot shown in the prior art CN116250523A, this new weeding robot includes a laser, a galvanometer and a camera, uses the camera to capture field image information, identifies the location of weeds through image processing algorithms, and then accurately controls the laser to emit a high-energy laser beam directly onto the weeds, achieving the purpose of killing or inhibiting their growth without harming the surrounding crops. This method not only improves the weeding efficiency, but also greatly reduces the impact on the environment, and is an important direction for the future development of smart agriculture.

[0004] However, to achieve precise positioning and effectively remove weeds, the system faces a key technical challenge: how to accurately calibrate the conversion parameters between the laser emission mechanism coordinate system and the camera coordinate system used to identify the target position. This step is crucial to ensure that the laser can accurately hit the intended target. There are 12 coordinate transformation parameters between the laser coordinate system and the camera coordinate system. At present, they are mainly determined by mechanical position through high-precision machining and assembly. However, if errors occur in machining and manufacturing, relative position deviation and rotation will occur between the camera and the laser, which will directly affect the accurate determination of the coordinate transformation matrix parameters and cause laser beam position deviation. In addition, as the laser weeder runs for a long time and under the influence of factors such as vibrations generated when operating under different terrain conditions, the relative position relationship between the two coordinate systems that were originally set may change, resulting in a decrease in accuracy. Once this happens, it becomes very difficult to readjust the calibration, which not only increases maintenance costs, but also limits the scope of application and development speed of laser weeding technology. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a laser weeding robot camera-laser coordinate transformation parameter calibration device and method, aiming to reduce the difficulty of calibrating the conversion parameters between coordinates, so that only the accuracy of the laser and camera mounting holes in the vertical direction needs to be ensured, and other parameters can be calibrated after the installation is completed, thereby reducing the implementation cost.

[0006] Technical solution: To achieve the above-mentioned purpose, the laser weeding robot camera-laser coordinate transformation parameter calibration device of the present invention comprises a base and a calibration platform;

[0007] The calibration platform has a circular calibration plate, and the calibration plate has two calibration lines perpendicular to each other, and the intersection of the two calibration lines is the center; the calibration plate has four calibration points, and the positions of the calibration points do not coincide with the position of the midpoint; the calibration plate can rotate around the center to adjust the posture;

[0008] The calibration platform can be adjusted in height relative to the base.

[0009] Furthermore, the base includes a relatively fixed bottom plate and a vertical tube, and a telescopic tube is fixed below the calibration platform; the telescopic tube and the vertical tube can be relatively telescopically adjusted in position, and the relative positions of the two can be fixed.

[0010] Furthermore, the vertical pipe has a fixing hole, and the telescopic tube has four adjustment holes arranged in a linear array, and the spacing between adjacent adjustment holes is h; the relative position of the telescopic tube and the vertical pipe can be locked by a first bolt that passes through the fixing hole and the adjustment hole at the same time.

[0011] Furthermore, the calibration plate is provided with a plurality of screws, the calibration platform is provided with an annular groove, the tails of the screws are placed in the annular groove, and nuts are installed on the heads of the screws.

[0012] The laser weeding robot camera-laser coordinate transformation parameter calibration method is based on the above-mentioned laser weeding robot camera-laser coordinate transformation parameter calibration device; the camera coordinate system Pc and the laser coordinate system P L The transformation relationship between them is as follows:

[0013]

[0014] Among them, (X c , Y c , Z c ) is the target point in the camera coordinate system P c The coordinates in (X L , Y L , Z L ) is the target point in the laser coordinate system PL Coordinates in; r1~r9, t x ,t y ,t z are all transformation parameters; R is the rotation transformation matrix, and T is the translation transformation matrix;

[0015] Parameter t z It is obtained by measurement or determined according to the design value. Parameters r1~r9, t x ,t y The calibration is based on the following method, which includes the following steps:

[0016] Step S1: Solve the transformation parameters r1~r6 and t x ,t y :

[0017] - Step S101: when the calibration platform is at a certain height, aligning the two calibration lines with the X axis and the Y axis of the laser coordinate system respectively based on the center and the calibration lines;

[0018] - Step S102: Adjust the X-axis galvanometer motor and the Y-axis galvanometer motor so that the laser reflected by the galvanometer device is projected to the four calibration points respectively, and the X coordinates of the four calibration points in the laser coordinate system are obtained respectively. L , Y L Coordinate (X Li , Y Li )i=1,2,3,4;

[0019] - Step S103: Acquire an image through the camera and obtain the X coordinates of the four calibration points in the camera coordinate system respectively. c , Y c Coordinate (X ci , Y ci )i=1,2,3,4;

[0020] - Step S104: Obtain transformation parameters r1 to r6 and t based on the following formula x ,t y :

[0021] X Li =r1X ci +r2Y ci +r3Z ci +t x (i=1,2,3,4);

[0022] Y Li =r4X ci +r5Y ci +r6Z ci +t y (i=1,2,3,4);

[0023] Step S2: Solve the transformation parameters r7~r9:

[0024] - Step S201: Adjust the calibration platform to the lowest position, so that the laser output by the laser weeding module is projected to the center of the calibration plate, and the center is identified by the camera (A2) to obtain the current coordinates of the center (X c0 , Y c0 , Z c0 );

[0025] - Step S202: The calibration platform is raised three times by a step distance h, and the coordinates of the center of the circle (X ci , Y ci , Z ci )(i=1,2,3);

[0026] - Step S203: r7 to r9 are obtained based on the following formula:

[0027] ih=r7(X ci -X c0 )+r8(Y ci -Y c0 )+r9(Z ci -Z c0 )(i=1,2,3).

[0028] Furthermore, the step S101 specifically includes the following steps:

[0029] Step a: setting the rotation angles of the X-axis galvanometer motor and the Y-axis galvanometer motor to 0, and moving the position of the base so that the laser output by the laser weeding module is projected at the center;

[0030] Step b: input any positive value for the rotation angle of the X-axis galvanometer motor, the rotation angle of the Y-axis galvanometer motor is 0, rotate the calibration plate, so that the laser output by the laser weeding module and the laser output by the calibration plate are projected on the X+ axis on the calibration plate, and fix the calibration plate;

[0031] Step c: input any positive value for the rotation angle of the Y-axis galvanometer motor, the rotation angle of the X-axis galvanometer motor is 0, and determine the Y+ axis and the Y- axis according to the projection position of the laser output by the laser weeding module.

[0032] Beneficial effects: The laser weeding robot camera-laser coordinate transformation parameter calibration device and method of the present invention have the following beneficial effects:

[0033] (1) The traditional method requires ensuring the relative position of the camera and the laser part during the processing, manufacturing and assembly process, which is extremely costly. In comparison, the solution of the present invention completely changes the calibration method. For the 12 parameters that need to be determined, it is only necessary to ensure the accuracy of the laser and the camera installation hole in the vertical direction. The other 11 parameters can be calibrated after the installation is completed to determine the coordinate transformation matrix. This can greatly reduce the difficulty of processing, manufacturing and assembly, improve the accuracy of laser beam control, and facilitate secondary correction after the relative position of the camera and the laser deviates.

[0034] (2) The calibration device has a simple structure and is easy to operate. Based on the device, coordinate alignment and transformation parameter calibration of different coordinate systems can be easily performed, with high calibration accuracy and low cost. The laser weeding robot can be easily calibrated and maintained regularly.

[0035] (3) The calibration method is to align the two calibration lines with the X and Y axes of the laser coordinate system, and then use the coordinate positions of the calibration points in the camera coordinate system and the laser coordinate system to calculate the coordinate transformation parameters corresponding to the X and Y axes. By adjusting the height of the calibration platform and calibrating the center position, the coordinate transformation parameters corresponding to the Z axis can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a structural diagram of the laser weeding module of the laser weeding robot;

[0037] Figure 2 Schematic diagram of laser coordinate system and camera coordinate system;

[0038] Figure 3 This is a structural diagram of a camera-laser coordinate transformation parameter calibration device for a laser weeding robot;

[0039] Figure 4 The exploded structure diagram of the calibration device;

[0040] Figure 5 This is the structural diagram of the calibration board;

[0041] Figure 6 This is the connection structure diagram between the calibration plate and the calibration platform.

[0042] In the figure: A-laser weeding module; A1-laser; A2-camera; A3-box; A3-1-light exit hole; A4-X-axis galvanometer motor; A5-Y-axis galvanometer; A6-X-axis galvanometer; A7-Y-axis galvanometer motor; a-laser beam; b-target weeding position; 1-base; 11-bottom plate; 12-vertical pipe; 12a-fixing hole; 2-calibration table; 2a-ring groove; 2b-entry hole; 3-calibration plate; 3a-calibration line; 3b-center; 3c-calibration point; 4-telescopic tube; 4a-adjustment hole; 5-first bolt; 6-screw; 7-nut; 8-center bolt. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings.

[0044] like Figure 1 The laser weeding module A of the laser weeding robot shown includes a laser A1 and a galvanometer device installed in a box body A3, and also includes a camera A2 installed outside the box body A3; the galvanometer device includes an X-axis galvanometer A6 and a Y-axis galvanometer A5, and the two galvanometers are driven and operated by an X-axis galvanometer motor A4 and a Y-axis galvanometer motor A7 respectively. In actual use, the camera A2 is used to obtain an image, and the control system obtains the coordinates of the target weeding position b based on the image obtained by the camera A2, and controls the operation of the X-axis galvanometer motor A4 and the Y-axis galvanometer motor A7 based on the coordinates of the target weeding position. The laser beam a generated by the laser A1 is reflected by the X-axis galvanometer A6 and the Y-axis galvanometer A5 of the galvanometer device, and then emitted from the light exit hole A3-1 of the box body A3 to perform weeding operations on the target weeding position.

[0045] like Figure 3 and Figure 4 The camera-laser coordinate transformation parameter calibration device of the laser weeding robot shown includes a base 1 and a calibration platform 2.

[0046] The calibration platform 2 is provided with a circular calibration plate 3, such as Figure 5 As shown, the calibration plate 3 has two mutually perpendicular calibration lines 3a, and the intersection of the two calibration lines 3a is the center 3b; the calibration plate 3 has four calibration points 3c, and the positions of the calibration points 3c do not coincide with the positions of the midpoint 3b. The two calibration lines 3a divide the upper end surface of the calibration plate 3 into four sector-shaped areas. The number of calibration points 3c is four, and the four calibration points 3c are respectively located in the four sector-shaped areas, and each calibration point 3c is asymmetric relative to the calibration lines 3a and the center 3b. In this way, the four calibration points 3c correspond to points in the four quadrants of the XY coordinate system, and the transformation parameters calculated based on the positions of each point can fully consider other influencing factors other than the actual geometric relationship to obtain accurate transformation parameters; the calibration plate 3 can rotate around the center to adjust the posture; in addition, the base 1 can adjust the position relative to the laser device to be calibrated;

[0047] The calibration platform 6 can be adjusted in height relative to the base 1 .

[0048] In the above-mentioned calibration plate 3, by making the two calibration lines 3a align and coincide with the X and Y axes of the laser coordinate system respectively (this process is achieved by moving the position of the base 1 and rotating the calibration plate 3 relative to the calibration platform 2 to adjust the angle), and then through the coordinate positions of the calibration points 3c in the camera coordinate system and the laser coordinate system respectively, the coordinate transformation parameters corresponding to the X-axis and the Y-axis can be converted; by adjusting the height of the calibration platform 2 and calibrating the position of the center 3b, the coordinate transformation parameters corresponding to the Z axis can be obtained.

[0049] The calibration device has a simple structure and is easy to operate. The device can be used to easily align coordinates and calibrate transformation parameters of different coordinate systems. The calibration is accurate and cost-effective, and can facilitate regular calibration and maintenance of the laser weeding robot.

[0050] Preferably, the base 1 includes a relatively fixed bottom plate 11 and a vertical tube 12, and a telescopic tube 4 is fixed below the calibration platform 2; the telescopic tube 4 and the vertical tube 12 can be relatively telescopically adjusted in position, and the relative positions of the two can be fixed.

[0051] Preferably, the stand pipe 12 has a fixing hole 12a, and the telescopic tube 4 has five adjustment holes 4a arranged in a linear array, and the spacing between adjacent adjustment holes 4a is h; the relative position of the telescopic tube 4 and the stand pipe 12 can be locked by a first bolt 5 that passes through the fixing hole 12a and the adjustment hole 4a at the same time.

[0052] By adopting the above adjustment structure, by passing the first bolt 5 through different adjustment holes 4a, the height of the calibration platform 2 can be changed between multiple height values, and the difference between adjacent height values ​​is h, which meets the needs of performing multiple height calibrations during the calibration process.

[0053] Preferably, the calibration plate 3 has a plurality of screws 6, the calibration platform 2 has an annular groove 2a, the tail of the screw 6 is placed in the annular groove 2a, and the head of the screw 6 is installed with a nut 7. When the nut 7 is in a loose state, the calibration plate 3 can rotate relative to the calibration platform 2 to adjust the relative angle between the two. When the relative angle between the two is adjusted in place, the calibration plate 3 can be fixed relative to the calibration platform 2 by tightening the nut 7.

[0054] The above-mentioned annular groove 2a is an annular groove with a "convex" shape in cross section, that is, it is composed of a narrow groove on the top and a wide groove on the bottom. The back of the calibration platform 2 has at least one entry hole 2b for the tail of the screw 6 to enter the wide groove. When in use, the head of the screw 6 is inserted upward from the entry hole until the head of the screw 6 reaches the upper side of the calibration platform 2 and passes through the reserved hole on the calibration plate 3, and the tail of the screw 6 enters the wide groove, and finally the nut 7 is screwed on the head of the screw 6. In this way, the tail of the screw 6 can slide in the annular groove 2a, and the calibration platform 2 and the calibration plate 3 can be relatively fixed by the screw 6.

[0055] There is a through hole at the center 3b of the calibration plate 3. The center bolt 8 passing through the through hole fixes the calibration platform 2 relative to the telescopic tube 4 on the one hand, and establishes a rotational connection relationship between the calibration plate 3 and the calibration platform 2 on the other hand. The calibration plate 3 rotates around the head of the center bolt 8, and the top of the center bolt 8 is flush with the upper end surface of the calibration plate 3.

[0056] A laser weeding robot camera-laser coordinate transformation parameter calibration method, which is based on the laser weeding robot camera-laser coordinate transformation parameter calibration device according to claim 1; Figure 2 The camera coordinate system P shown c With laser coordinate system P L The transformation relationship between them is as follows:

[0057]

[0058] Among them, (X c , Y c , Z c ) is the coordinate of the target point in the camera coordinate system Pc, (X L , Y L , Z L ) is the target point in the laser coordinate system P L Coordinates in; r1~r9, t x ,t y ,t z are all transformation parameters; R is the rotation transformation matrix, and T is the translation transformation matrix;

[0059] After ensuring the vertical accuracy of the laser and camera mounting holes, parameter t z Directly obtained by measurement, or parameter t z It can be determined by the design value, and r1~r9 and t need to be calibrated by the following method x ,t y There are 11 parameters in total. Specifically, the method includes the following steps:

[0060] Step S1: Solve the transformation parameters r1~r6 and t x ,t y :

[0061] - Step S101: when the calibration platform 2 is at a certain height, based on the center 3b and the calibration straight line 3a, the two calibration straight lines 3a are respectively aligned with the X axis and the Y axis of the laser coordinate system;

[0062] - Step S102: Adjust the X-axis galvanometer motor A4 and the Y-axis galvanometer motor A7 so that the laser reflected by the galvanometer device is projected to the four calibration points respectively, and the X coordinates of the four calibration points 3c in the laser coordinate system are obtained respectively. L , Y L Coordinate (X Li , Y Li )i=1,2,3,4;X Li With Y Li The value of is related to the angles of X-axis galvanometer A4 and Y-axis galvanometer A5;

[0063] - Step S103: Acquire an image through camera A2 and obtain the X coordinates of the four calibration points 3c in the camera coordinate system respectively. c , Y c Coordinate (X ci , Y ci )i=1,2,3,4;

[0064] - Step S104: Obtain transformation parameters r1 to r6 and t based on the following formula x ,t y :

[0065] X Li =r1X ci +r2Y ci +r3Z ci +t x (i=1,2,3,4);

[0066] Y Li =r4X ci +r5Y ci +r6Z ci +t y (i=1,2,3,4);

[0067] Step S2: Solve the transformation parameters r7~r9:

[0068] - Step S201: Adjust the calibration platform 2 to the lowest position, so that the laser output by the laser weeding module A is projected to the center 3b of the calibration plate 3, and the center 3b is identified by the camera A2 to obtain the current coordinates (X c0 , Y c0 , Z c0 );

[0069] - Step S202: The calibration platform 2 is raised three times at a step distance h, that is, the calibration platform 2 is raised, the first bolt 5 is passed through each adjustment hole 4a to fix the telescopic tube 4 relative to the standpipe 12, and the center coordinates (X ci , Y ci , Z ci )i=1,2,3;

[0070] - Step S203: r7 to r9 are obtained based on the following formula:

[0071] ih=r7(X ci -X c0 )+r8(Y ci -Y c0 )+r9(Z ci -Z c0 )i=1,2,3.

[0072] Preferably, the step S101 specifically includes the following steps:

[0073] Step a: The rotation angles of the X-axis galvanometer motor A4 and the Y-axis galvanometer motor A7 are both set to 0, at which time the laser output by the laser weeding module A is not deflected, and the position of the base 1 is moved so that the laser output by the laser weeding module A is projected at the center 3b;

[0074] Step b: input any positive value for the rotation angle of the X-axis galvanometer motor A4, the rotation angle of the Y-axis galvanometer motor A7 is 0, rotate the calibration plate 3, so that the laser output by the laser weeding module A and the laser output by the calibration plate are projected on the X+ axis on the calibration plate 3, fix the calibration plate 3, and at this time, the X- axis is determined at the same time;

[0075] Step c: input any positive value for the rotation angle of the Y-axis galvanometer motor A7, the rotation angle of the X-axis galvanometer motor A4 is 0, and the Y+ axis and the Y- axis are determined according to the projection position of the laser output by the laser weeding module A.

[0076] Based on the above method, the two calibration lines 3a can be aligned with the two calibration lines 3a respectively, and the positive and negative directions of the X-axis and the Y-axis can be determined at the same time.

[0077] 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. A laser weeding robot camera-laser coordinate transformation parameter calibration device, comprising a base (1) and a calibration platform (2); characterized in that: The calibration platform (2) is provided with a circular calibration plate (3), the calibration plate (3) is provided with two calibration lines (3a) perpendicular to each other, and the intersection position of the two calibration lines (3a) is the center (3b); the calibration plate (3) is provided with four calibration points (3c), and the positions of the calibration points (3c) do not coincide with the position of the midpoint (3b); the calibration plate (3) can be rotated around the center to adjust the posture; The calibration platform (6) is capable of adjusting the height relative to the base (1).

2. The camera-laser coordinate transformation parameter calibration device for the laser weeding robot according to claim 1, characterized in that: The base (1) comprises a relatively fixed bottom plate (11) and a vertical tube (12), and a telescopic tube (4) is fixed below the calibration platform (2); the telescopic tube (4) and the vertical tube (12) can be relatively telescopically adjusted in position, and the relative positions of the two can be fixed.

3. The camera-laser coordinate transformation parameter calibration device for the laser weeding robot according to claim 2, characterized in that: The stand pipe (12) has a fixing hole (12a), and the telescopic pipe (4) has five adjustment holes (4a) arranged in a linear array, and the spacing between adjacent adjustment holes (4a) is h; the relative position of the telescopic pipe (4) and the stand pipe (12) can be locked by a first bolt (5) that passes through the fixing hole (12a) and the adjustment hole (4a) at the same time.

4. The camera-laser coordinate transformation parameter calibration device for the laser weeding robot according to claim 1, characterized in that: The calibration plate (3) is provided with a plurality of screws (6), the calibration platform (2) is provided with an annular groove (2a), the tail of the screw (6) is placed in the annular groove (2a), and the head of the screw (6) is provided with a nut (7).

5. A method for calibrating the camera-laser coordinate transformation parameters of a laser weeding robot, which is based on the camera-laser coordinate transformation parameter calibration device of the laser weeding robot according to claim 1; the camera coordinate system Pc and the laser coordinate system P L The transformation relationship between them is as follows: in, (Xc, Yc, Zc) are the coordinates of the target point in the camera coordinate system Pc, (X L , Y L , Z L ) is the target point in the laser coordinate system P L Coordinates in; r1~r9, t x ,t y ,t z are all transformation parameters; R is the rotation transformation matrix, and T is the translation transformation matrix; It is characterized by the parameter t z It is obtained by measurement or determined according to the design value. Parameters r1~r9, t x ,t y The calibration is based on the following method, which includes the following steps: Step S1: Solve the transformation parameters r1~r6 and t x ,t y : - Step S101: when the calibration platform (2) is at a certain height, based on the center (3b) and the calibration straight lines (3a), the two calibration straight lines (3a) are respectively aligned with the X axis and the Y axis of the laser coordinate system; - Step S102: adjusting the X-axis galvanometer motor (A4) and the Y-axis galvanometer motor (A7) so that the laser reflected by the galvanometer device is projected onto the four calibration points (3c) respectively, and the X coordinates of the four calibration points (3c) in the laser coordinate system are obtained respectively. L and Y L Coordinate (X Li , Y Li )i=1,2,3,4; - Step S103: Acquire an image through the camera (A2) to obtain the X coordinates of the four calibration points (3c) in the camera coordinate system. c , Y c Coordinate (X ci , Y ci )i=1,2,3,4; - Step S104: Obtain transformation parameters r1 to r6 and t based on the following formula x ,t y : X Li =r1X ci +r2Y ci +r3Z ci +t x (i=1,2,3,4); Y Li =r4X ci +r5Y ci +r6Z ci +t y (i=1,2,3,4); Step S2: Solve the transformation parameters r7~r9: - Step S201: Adjust the calibration platform (2) to the lowest position, so that the laser output by the laser weeding module (A) is projected to the center (3b) of the calibration plate (3), and the center (3b) is identified by the camera (A2), and the current coordinates (X c0 , Y c0 , Z c0 ); - Step S202: The calibration platform (2) is raised three times at a step distance h, and the coordinates (X ci , Y ci , Z ci )(i=1,2,3); - Step S203: r7 to r9 are obtained based on the following formula: <h2 style=";text-align:left;direction:ltr">ih = r7(X<h2 style=";text-align:left;direction:ltr"> ci <h2 style=";text-align:left;direction:ltr"> -X<h2 style=";text-align:left;direction:ltr"> c0 <h2 style=";text-align:left;direction:ltr"> )+r8(Y<h2 style=";text-align:left;direction:ltr"> ci <h2 style=";text-align:left;direction:ltr"> -Y<h2 style=";text-align:left;direction:ltr"> c0 <h2 style=";text-align:left;direction:ltr"> )+r9(Z<h2 style=";text-align:left;direction:ltr"> ci <h2 style=";text-align:left;direction:ltr"> -Z<h2 style=";text-align:left;direction:ltr"> c0 <h2 style=";text-align:left;direction:ltr"> (i = 1, 2, 3) 6. The method for calibrating camera-laser coordinate transformation parameters of a laser weeding robot according to claim 5, characterized in that: The step S101 specifically includes the following steps: Step a: setting the rotation angles of the X-axis galvanometer motor (A4) and the Y-axis galvanometer motor (A7) to 0, and moving the position of the base (1) so that the laser output by the laser weeding module (A) is projected onto the center (3b); Step b: inputting any positive value for the rotation angle of the X-axis galvanometer motor (A4), setting the rotation angle of the Y-axis galvanometer motor (A7) to 0, rotating the calibration plate (3) so that the laser output by the laser weeding module (A) is projected onto the X+ axis on the calibration plate (3), and fixing the calibration plate (3); Step c: input any positive value for the rotation angle of the Y-axis galvanometer motor (A7), the rotation angle of the X-axis galvanometer motor (A4) is 0, and determine the Y+ axis and the Y- axis according to the projection position of the laser output by the laser weeding module (A).

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