Intelligent laser weeding robot

Abstract

The intelligent laser weeding robot comprises a front driving vehicle body and a rear weeding trailer, compressed air is generated through an air compressor and stored in an air storage tank, the compressed air is provided for an air duct through an air storage tank box, and the compressed air is evenly distributed through an air flow divider and restrained by two sets of partition plates; a powerful airflow is formed from the air outlet of the air duct, the airflow is blown to the ground according to a certain angle, weeds with long blades on the ground are blown to be in a state of being attached to the ground, the laser weeding device can accurately recognize the roots of the weeds, and therefore the laser weeding accuracy is improved; the height of the air duct from the ground can be adjusted, the air duct is driven by the motor to rotate locally, the included angle between powerful airflow blown out of the air outlet and the ground can be adjusted, and the blow-down device can adapt to blow-down work of weeds with different heights.

Description

Technical Field

[0001] The invention belongs to the field of new agricultural technology and relates to an intelligent laser weeding robot. Background Art

[0002] Weed removal is an important part of increasing crop yields. Black soil protection and pesticide reduction and efficiency enhancement technologies are also new demands for environmental protection. At present, the main methods of weed removal in my country are pesticide weeding and manual removal. When using pesticides for treatment, the pesticides penetrate into the soil and damage the soil, resulting in a decrease in grain production and great damage to the ecological environment. Long-term use of herbicides will increase the resistance of field weeds, resulting in the need for higher concentrations of herbicides for control next time, causing the herbicide residues in crops to exceed international standards. Herbicides are harmful to the human body and can cause poisoning if they are not sprayed carefully. Herbicides exist in the soil for a long time, and their harmful elements will be absorbed by crops and eventually indirectly absorbed by the human body, causing great harm. Manual weeding is labor-intensive, time-consuming, inefficient, and relatively costly. To this end, there is a public technology on the market that proposes a laser weeding device, which specifically relates to the field of new agricultural technology, including a visual image system, a control system, a sensing system and a laser weeding component. The visual image system, the sensing system and the laser weeding component are respectively communicated with the control system; the visual image system includes a first image acquisition unit and a second image acquisition unit; the sensing system includes a speed encoder, and the laser weeding component includes a laser and a two-dimensional scanning galvanometer connected in an optical path; the control system controls the operation of the laser weeding component according to the data obtained by the visual image system and the sensing system, and uses laser technology to solve the problem of weeding in the field, so that synchronous shooting, identification and laser removal of weeds can be achieved during the movement of the device.

[0003] However, certain disadvantages were found when the above-mentioned public technology was used. Its laser weeding component needs to confirm the weeds through a visual image system and locate the root of the weeds, and then emit a laser beam through the laser weeding component to heat the root of the weeds to kill them. However, this is only limited to the early stage of weed growth or weeds that are relatively close to the ground. For weeds that grow faster and are vertical to the ground, due to the obstruction of longer leaves, it is difficult for the existing technology to aim the laser beam at the root of such weeds, resulting in weeding failure. Therefore, it is necessary to design an intelligent laser weeding robot to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems in the prior art and to propose an intelligent laser weeding robot.

[0005] To achieve the above-mentioned purpose, the technical solution of the present invention is: an intelligent laser weeding robot, comprising a front drive body and a rear weeding trailer, the rear weeding trailer is composed of a platform, a first equipment box, a second equipment box, rollers and a laser weeding device, the laser weeding device comprises a visual image system, a control system, a sensing system, a laser weeding system and a cooling system, the platform is hinged to the rear side of the front drive body through a tow hook, the second equipment box and the first equipment box are distributed on the left and right and are fixedly connected to the upper wall of the platform in sequence, the laser weeding device is arranged inside the first equipment box, and a blowing assembly for blowing air to the ground is arranged inside the second equipment box and the first equipment box, the blowing assembly comprises an air supply structure, a slide, a wind tube, a lifting structure for driving the slide to rise and fall, a guide structure for maintaining the stability of the slide when rising and falling, a rotating structure for driving the wind tube to rotate to adjust the blowing angle, and a height detection structure for detecting the height of the wind tube from the ground.

[0006] A fixed plate is fixedly connected to the inner front wall of the first equipment box, the slide is slidably connected to the lower wall of the fixed plate through a guide structure, the lifting structure is fixedly connected to the upper wall of the fixed plate, the lower wall of the slide is fixedly connected to an air diverter for distributing air generated by an air supply structure, the lower wall of the slide and the left and right sides of the air diverter are fixedly connected to connecting seats, the inner walls of the two groups of connecting seats at one end away from the slide are both rotatably connected with rotating shafts, the air duct is rotatably connected between the opposite sides of the two groups of rotating shafts, the rotating structure is arranged between the connecting seat and the air duct, and the height detection structure is arranged at one end of the two groups of connecting seats away from the slide.

[0007] The air supply structure is arranged inside the second equipment box, the air supply structure is connected to the air diverter through a first air pipe, and the air diverter is connected to the air duct through a plurality of groups of second air pipes.

[0008] The air supply structure includes an air tank and an air compressor, which are fixedly connected to the lower wall of the second equipment box in a front-to-back distribution. The air compressor output port is connected to the air tank input port, and the air tank output port is connected to the first air pipe.

[0009] The lifting structure includes two groups of cylinders, both groups of cylinders are fixedly connected to the upper wall of the fixed plate, both groups of cylinder extension shafts penetrate the inner wall of the fixed plate and extend to the lower side of the fixed plate, and both groups of cylinder extension shaft ends are fixedly connected to the upper wall of the slide.

[0010] The guide structure includes two groups of guide columns and two groups of guide sleeves. The two groups of guide sleeves are fixedly connected to the upper wall of the fixed plate and are respectively located on the left and right sides of the lifting structure. The two groups of guide columns are respectively slidably connected to the inner walls of the two groups of guide sleeves. The lower ends of the two groups of guide columns penetrate the inner wall of the fixed plate and extend below the fixed plate. The ends of the two groups of guide columns extending below the fixed plate are fixedly connected to the upper wall of the slide.

[0011] The rotating structure includes a motor, a first gear and a second gear. The motor is fixedly connected to the left wall of the left group of connecting seats. The motor extension shaft passes through the inner wall of the connecting seat connected thereto and extends between the two groups of connecting seats. The second gear is fixedly connected to the end of the motor extension shaft. The first gear is fixedly connected to the outer wall of the wind cylinder. The circumferential outer walls of the first gear and the second gear are meshed with each other.

[0012] The height detection structure comprises two groups of distance measuring sensors. The ends of the two groups of connecting seats away from the slide are fixedly connected with fixed seats. The two groups of distance measuring sensors are respectively fixedly connected to the lower walls of the two groups of fixed seats.

[0013] The circumferential outer wall of the wind duct is provided with air outlets distributed along the axial direction of the wind duct in the length direction, and the circumferential outer wall of the wind duct and located on the side away from the air outlet is distributed on the left and right sides and fixedly connected in sequence with multiple groups of third joints, and the ends of the multiple groups of third joints facing the wind duct are all connected with the inside of the wind duct, and the inner wall of the wind duct is provided with two groups of partitions symmetrically distributed with the axis of the wind duct as the center, and the two groups of partitions are respectively located on both sides of the line between the air outlet and the third joints in side view projection, and the cavity on the opposite side of the two groups of partitions is smaller than the end close to the air outlet at the end close to the third joint.

[0014] The inlet end of the air diverter is fixedly connected to a first connector, the end of the first air pipe away from the air supply structure is connected to the air diverter via an electric control valve and the first connector, and the outlet end of the air diverter is provided with multiple groups of second connectors, and the multiple groups of second connectors are respectively connected to multiple groups of third connectors via a group of second air pipes.

[0015] By adopting the above technical solution, the beneficial effects of the present invention are:

[0016] 1. The present invention generates compressed air through an air compressor and stores it in an air tank. The compressed air is provided to the air duct through the air tank box and evenly distributed through an air splitter and constrained by two sets of partitions, so that a strong airflow is formed from the air outlet of the air duct. The airflow is blown toward the ground at a certain angle, and the weeds with longer leaves on the ground are blown into a state of being close to the ground, so that the laser weeding device can accurately identify the roots of the weeds, thereby improving the accuracy of laser weeding.

[0017] 2. The present invention can adjust the height of the wind tube from the ground by driving the slide table up and down through the cylinder, and can adjust the angle between the strong airflow blown out from the air outlet and the ground by cooperating with the motor to drive the partial rotation of the wind tube, so as to adapt to the work of blowing down weeds of different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the left rear viewing angle of the three-dimensional structure of the present invention.

[0019] Figure 2 It is a partial side sectional view of the connection structure of the platform, the first equipment box and the second equipment box of the present invention.

[0020] Figure 3 The present invention Figure 2 A partial enlarged view of point A in the middle.

[0021] Figure 4 It is a partial cross-sectional view of the back view of the first equipment box, the fixing plate, the sliding platform and the air duct connection structure of the present invention.

[0022] Figure 5 It is a partial sectional view of the internal structure of the air duct of the present invention from a side view.

[0023] Figure 6 It is a schematic diagram of the back structure of the air splitter of the present invention.

[0024] In the figure, 1, front drive body; 2, platform; 3, first equipment box; 4, second equipment box; 5, air compressor; 6, air storage tank; 7, connecting seat; 8, rotating shaft; 9, air duct; 901, partition; 902, air outlet; 903, third joint; 10, first gear; 11, motor; 12, second gear; 13, fixed seat; 14, distance sensor; 15, fixed plate; 16, slide; 17, guide sleeve; 18, guide column; 19, cylinder; 20, air diverter; 2001, first joint; 2002, second joint. DETAILED DESCRIPTION

[0025] In order to further explain the technical solution of the present invention, the present invention is described in detail below through specific embodiments.

[0026] like Figures 1 to 6As shown, the present invention comprises a front driving body 1 and a rear weeding trailer, the rear weeding trailer comprises a platform 2, a first equipment box 3, a second equipment box 4, rollers and a laser weeding device, the laser weeding device comprises a visual image system, a control system, a sensing system, a laser weeding system and a cooling system, the platform 2 is hinged to the rear side of the front driving body 1 through a tow hook, the second equipment box 4 and the first equipment box 3 are distributed on the left and right and are fixedly connected to the upper wall of the platform 2 in sequence, the laser weeding device is arranged inside the first equipment box 3, in this embodiment, the laser weeding device and the front driving body 1 are consistent with the structure in the existing technology on the market, the front driving body 1 can be an agricultural tractor, used to drive the weeding trailer to move in the field;

[0027] In order to improve the accuracy of laser weeding, a blowing assembly for blowing air to the ground is arranged inside the second equipment box 4 and the first equipment box 3. The blowing assembly includes an air supply structure, a slide 16, a wind tube 9, a lifting structure for driving the slide 16 to rise and fall, a guide structure for maintaining the stability of the slide 16 during the lifting and falling, a rotating structure for driving the wind tube 9 to rotate to adjust the blowing angle, and a height detection structure for detecting the height of the wind tube 9 from the ground. The weeds on the ground are blown down by the blowing assembly to expose the roots, so that the visual image system of the laser weeding device can find the roots of the weeds more accurately, thereby improving the accuracy of weeding;

[0028] In order to keep the slide 16 stable when it rises and falls, a fixed plate 15 is fixedly connected to the inner front wall of the first equipment box 3, and the slide 16 is slidably connected to the lower wall of the fixed plate 15 through a guide structure. The guide structure includes two groups of guide columns 18 and two groups of guide sleeves 17. The two groups of guide sleeves 17 are fixedly connected to the upper wall of the fixed plate 15 and are respectively located on the left and right sides of the lifting structure. The two groups of guide columns 18 are respectively slidably connected to the inner walls of the two groups of guide sleeves 17. The lower ends of the two groups of guide columns 18 penetrate the inner wall of the fixed plate 15 and extend below the fixed plate 15. The ends of the two groups of guide columns 18 extending below the fixed plate 15 are fixedly connected to the upper wall of the slide 16. When the slide 16 is driven to rise and fall by the extended shaft of the cylinder 19, the sliding cooperation of the two groups of guide columns 18 and the guide sleeves 17 maintains the stability of movement.

[0029] In order to adjust the height of the wind tube 9 from the ground, the lifting structure is fixedly connected to the upper wall of the fixed plate 15. The lifting structure includes two groups of cylinders 19. The two groups of cylinders 19 are fixedly connected to the upper wall of the fixed plate 15. The extended shafts of the two groups of cylinders 19 penetrate the inner wall of the fixed plate 15 and extend to the lower side of the fixed plate 15. The ends of the extended shafts of the two groups of cylinders 19 are fixedly connected to the upper wall of the slide 16. Weeds of different heights need to be blown from different heights. In order to adjust the height of the wind tube 9 from the ground, two groups of cylinders 19 are set to drive the slide 16 to rise and fall, thereby driving the wind tube 9 to rise and fall, thereby adjusting the distance between the wind tube 9 and the ground;

[0030] In order to provide compressed air, an air supply structure is arranged inside the second equipment box 4, and the air supply structure includes an air storage tank 6 and an air compressor 5. The air storage tank 6 and the air compressor 5 are fixedly connected to the lower wall of the second equipment box 4 in a front-to-back distribution. The output port of the air compressor 5 is connected to the input port of the air storage tank 6, and the output port of the air storage tank 6 is connected to the first air pipe. The air compressor 5 absorbs external air, compresses it to form compressed air, and stores it through the air storage tank 6;

[0031] In order to form a strong airflow for blowing down weeds, a connecting seat 7 is fixedly connected to the lower wall of the slide 16 and located on the left and right sides of the air diverter 20. The inner walls of the two groups of connecting seats 7 at one end away from the slide 16 are both rotatably connected with a rotating shaft 8. The wind tube 9 is rotatably connected between the two groups of rotating shafts 8 on the opposite sides. The circumferential outer wall of the wind tube 9 is provided with air outlets 902 distributed along the axial direction of the wind tube 9 in the length direction. The circumferential outer wall of the wind tube 9 and the side away from the air outlet 902 are distributed on the left and right sides and fixedly connected with multiple groups of third joints 903 in sequence. The ends of the multiple groups of third joints 903 facing the wind tube 9 are all connected with the inside of the wind tube 9. The inner wall of the wind tube 9 is provided with symmetrical Two groups of partitions 901 are distributed, and the two groups of partitions 901 are respectively located on both sides of the line between the air outlet 902 and the third joint 903 in side projection. The cavity on the opposite side of the two groups of partitions 901 is smaller than the end close to the air outlet 902 at the end close to the third joint 903. The multiple groups of compressed air distributed by the air splitter 20 are distributed along the axial direction of the wind tube 9 and pass into the interior of the wind tube 9. After merging inside the wind tube 9, they are constrained by the two groups of partitions 901 and blown out from the air outlet 902 to form a strong airflow, which is blown toward the weeds and blown into a state of being close to the ground, thereby facilitating the visual image system in the laser weeding device to more quickly identify the roots of the weeds.

[0032] In order to distribute the compressed air entering the air duct 9, an air diverter 20 for distributing the air generated by the air supply structure is fixedly connected to the lower wall of the slide 16. The air supply structure is connected to the air diverter 20 through a first air pipe, and the air diverter 20 is connected to the air duct 9 through multiple groups of second air pipes. The inlet end of the air diverter 20 is fixedly connected to a first joint 2001, and the end of the first air pipe away from the air supply structure is connected to the air diverter 20 through an electric control valve and the first joint 2001. The outlet end of the air diverter 20 is provided with multiple groups of second joints 2002, and the multiple groups of second joints 2002 are respectively connected to multiple groups of third joints 903 through a group of second air pipes. After the compressed air in the air storage tank 6 is opened by the electric control valve, it enters the air diverter 20 along the first air pipe and the first joint 2001. The air diverter 20 is a common gas diversion device on the market, which can evenly distribute the incoming gas into multiple airflows, and the distributed airflows enter the interior of the air duct 9 through the second air pipe and the third joint 903 in turn;

[0033] In order to facilitate the adjustment of the air outlet direction of the air outlet 902, a rotating structure is arranged between the connecting seat 7 and the wind tube 9, and a height detection structure is arranged at one end of the two groups of connecting seats 7 away from the slide 16. The rotating structure includes a motor 11, a first gear 10 and a second gear 12. The motor 11 is fixedly connected to the left wall of the left group of the two groups of connecting seats 7. The motor 11 extends a shaft that passes through the inner wall of the connecting seat 7 connected thereto and extends between the two groups of connecting seats 7. The second gear 12 is fixedly connected to the end of the extended shaft of the motor 11. The first gear 10 is fixedly connected to the outer wall of the wind tube 9. The circumferential outer walls of the first gear 10 and the second gear 12 are meshed with each other. When the motor 11 rotates, the wind tube 9 is driven to rotate through the second gear 12 and the first gear 10, thereby adjusting the air outlet direction of the air outlet 902 to adapt to weeds of different heights.

[0034] In order to cooperate with the lifting structure to adjust the height of the air duct 9 from the ground, the height detection structure includes two groups of distance measuring sensors 14. The ends of the two connecting seats 7 away from the slide 16 are fixedly connected to the fixed seats 13. The two groups of distance measuring sensors 14 are respectively fixedly connected to the lower walls of the two groups of fixed seats 13. The two groups of distance measuring sensors 14 are used to detect the height between the ground, so as to facilitate the control system to drive the cylinder 19 to move according to the set value, thereby driving the air duct 9 to adjust the height.

[0035] Working principle: The main improvement of this embodiment is to blow down the weeds on the ground through the blowing assembly to expose the roots, so that the visual image system of the laser weeding device can find the roots of the weeds more accurately, thereby improving the weeding accuracy. When the slide 16 is driven to rise and fall by the extended shaft of the cylinder 19, the sliding cooperation of the two groups of guide columns 18 and the guide sleeve 17 maintains the stability of movement; weeds of different heights need to be blown from different heights. In order to adjust the height of the wind tube 9 from the ground, two groups of cylinders 19 are set to drive the slide 16 to rise and fall, and then drive the wind tube 9 to rise and fall, thereby adjusting the distance between the wind tube 9 and the ground. The air compressor 5 absorbs external air, compresses it to form compressed air, and stores it through the air storage tank 6. The multiple groups of compressed air distributed by the air diverter 20 are distributed along the axial direction of the wind tube 9 and pass into the inside of the wind tube 9. After merging inside the wind tube 9, they are constrained by two groups of partitions 901. , blown out from the air outlet 902, forming a strong airflow, which is blown toward the weeds and blown into a state of being close to the ground, so that the visual image system in the laser weeding device can more quickly identify the roots of the weeds. After the compressed air in the air tank 6 is opened by the electric control valve, it enters the air diverter 20 along the first air pipe and the first joint 2001. The air diverter 20 is a common gas diversion device on the market, which can evenly distribute the incoming gas into multiple airflows. The distributed airflows enter the air cylinder 9 through the second air pipe and the third joint 903 in turn. When the motor 11 rotates, the air cylinder 9 is driven to rotate through the second gear 12 and the first gear 10, thereby adjusting the air outlet direction of the air outlet 902 to adapt to weeds of different heights. The two sets of distance sensors 14 are used to detect the height between the air tank 6 and the ground, so that the control system drives the cylinder 19 to move according to the set value, and drives the air cylinder 9 to adjust the height.

[0036] The above components are all common standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0037] The above embodiments and drawings do not limit the product form and style of the present invention. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present invention.

Claims

1. An intelligent laser weeding robot, characterized in that: The invention comprises a front driving vehicle body (1) and a rear weeding trailer, wherein the rear weeding trailer comprises a platform (2), a first equipment box (3), a second equipment box (4), rollers and a laser weeding device, wherein the laser weeding device comprises a visual image system, a control system, a sensing system, a laser weeding system and a cooling system, wherein the platform (2) is hinged to the rear side of the front driving vehicle body (1) through a towing hook, the second equipment box (4) and the first equipment box (3) are arranged on the left and right sides and are fixedly connected to the upper wall of the platform (2) in sequence, the laser weeding device is arranged inside the first equipment box (3), and a blowing assembly for blowing air to the ground is arranged inside the second equipment box (4) and the first equipment box (3), wherein the blowing assembly comprises an air supply structure, a slide (16), a wind tube (9), a lifting structure for driving the slide (16) to rise and fall, a guiding structure for maintaining the stability of the slide (16) during the lifting and falling, a rotating structure for driving the wind tube (9) to rotate to adjust the blowing angle, and a height detection structure for detecting the height of the wind tube (9) from the ground.

2. The intelligent laser weeding robot according to claim 1, characterized in that: The inner front wall of the first equipment box (3) is fixedly connected to a fixed plate (15); the slide (16) is slidably connected to the lower wall of the fixed plate (15) through a guide structure; the lifting structure is fixedly connected to the upper wall of the fixed plate (15); the lower wall of the slide (16) is fixedly connected to an air diverter (20) for distributing air generated by an air supply structure; the lower wall of the slide (16) and the left and right sides of the air diverter (20) are fixedly connected to a connecting seat (7); the inner walls of the two groups of connecting seats (7) at one end away from the slide (16) are both rotatably connected to a rotating shaft (8); the wind tube (9) is rotatably connected between the opposite sides of the two groups of rotating shafts (8); the rotating structure is arranged between the connecting seat (7) and the wind tube (9); and the height detection structure is arranged at one end of the two groups of connecting seats (7) away from the slide (16).

3. The intelligent laser weeding robot according to claim 2, characterized in that: The air supply structure is arranged inside the second equipment box (4), the air supply structure is connected to the air diverter (20) via a first air pipe, and the air diverter (20) is connected to the air duct (9) via a plurality of groups of second air pipes.

4. The intelligent laser weeding robot according to claim 3, characterized in that: The air supply structure comprises an air storage tank (6) and an air compressor (5), wherein the air storage tank (6) and the air compressor (5) are fixedly connected to the lower wall of the second equipment box (4) in a front-to-back distribution, the air compressor (5) output port is connected to the air storage tank (6) input port, and the air storage tank (6) output port is connected to the first air pipe.

5. The intelligent laser weeding robot according to claim 4, characterized in that: The lifting structure comprises two groups of cylinders (19), the two groups of cylinders (19) are fixedly connected to the upper wall of the fixed plate (15), the extension shafts of the two groups of cylinders (19) penetrate the inner wall of the fixed plate (15) and extend to the lower side of the fixed plate (15), and the ends of the extension shafts of the two groups of cylinders (19) are fixedly connected to the upper wall of the slide table (16).

6. The intelligent laser weeding robot according to claim 5, characterized in that: The guide structure comprises two groups of guide columns (18) and two groups of guide sleeves (17). The two groups of guide sleeves (17) are fixedly connected to the upper wall of the fixed plate (15) and are respectively located on the left and right sides of the lifting structure. The two groups of guide columns (18) are respectively slidably connected to the inner side walls of the two groups of guide sleeves (17). The lower ends of the two groups of guide columns (18) penetrate the inner wall of the fixed plate (15) and extend below the fixed plate (15). The ends of the two groups of guide columns (18) extending below the fixed plate (15) are fixedly connected to the upper wall of the slide table (16).

7. The intelligent laser weeding robot according to claim 6, characterized in that: The rotating structure comprises a motor (11), a first gear (10) and a second gear (12); the motor (11) is fixedly connected to the left wall of the left side of the two groups of connecting seats (7); the motor (11) extends through the inner wall of the connecting seat (7) connected thereto and extends between the two groups of connecting seats (7); the second gear (12) is fixedly connected to the end of the motor (11) extending shaft; the first gear (10) is fixedly connected to the outer wall of the wind tube (9); and the circumferential outer walls of the first gear (10) and the second gear (12) are meshed with each other.

8. The intelligent laser weeding robot according to claim 7, characterized in that: The height detection structure comprises two groups of distance measuring sensors (14), one end of the two groups of connecting seats (7) away from the slide (16) is fixedly connected to a fixing seat (13), and the two groups of distance measuring sensors (14) are respectively fixedly connected to the lower walls of the two groups of fixing seats (13).

9. The intelligent laser weeding robot according to claim 8, characterized in that: The circumferential outer wall of the wind tube (9) is provided with an air outlet (902) distributed along the axial direction of the wind tube (9) in the length direction; the circumferential outer wall of the wind tube (9) is located on the side away from the air outlet (902) and is fixedly connected to multiple groups of third joints (903) in a left-right distribution in sequence; the ends of the multiple groups of third joints (903) facing the wind tube (9) are all connected to the inside of the wind tube (9); the inner wall of the wind tube (9) is provided with two groups of partitions (901) symmetrically distributed around the axis of the wind tube (9); the two groups of partitions (901) are respectively located on both sides of the line between the air outlet (902) and the third joint (903) in a side view projection; the cavity on the opposite side of the two groups of partitions (901) is smaller at one end close to the third joint (903) than at the other end close to the air outlet (902).

10. The intelligent laser weeding robot according to claim 9, characterized in that: The inlet end of the air diverter (20) is fixedly connected to a first connector (2001); the end of the first air pipe away from the air supply structure is connected to the air diverter (20) via an electric control valve and the first connector (2001); the outlet end of the air diverter (20) is provided with a plurality of groups of second connectors (2002); the plurality of groups of the second connectors (2002) are respectively connected to a plurality of groups of third connectors (903) via a group of second air pipes.

Images