Intelligent laser weeding robot
By equipping the laser weeding robot with a blowing component, a powerful airflow is used to blow the weeds into a flat position on the ground, solving the problem that the laser beam is difficult to aim at the roots of the weeds in the existing technology, and achieving efficient weed identification and removal.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- LUOYANG KEJU LASER TECH CO LTD
- Filing Date
- 2024-12-16
- Publication Date
- 2026-07-31
AI Technical Summary
Existing laser weeding devices have difficulty accurately identifying and removing fast-growing weeds that grow vertically to the ground, especially because the laser beam is difficult to aim at the roots of the weeds due to leaf obstruction, leading to weeding failure.
Design an intelligent laser weeding robot equipped with a blowing component including an air supply structure, a sliding table, an air duct, a lifting structure, a guiding structure, a rotating structure, and a height detection structure. It uses a powerful airflow to blow weeds into a state that is close to the ground, enabling the laser weeding device to accurately identify the roots of the weeds.
This improves the accuracy of laser weeding, ensuring that the laser weeding device can quickly identify and remove weed roots, thus enhancing weeding efficiency and effectiveness.
Smart Images
Figure CN119453170B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of new agricultural technology and relates to an intelligent laser weeding robot. Background Technology
[0002] Weed control is a crucial step in improving crop yields, and the protection of black soil and the application of pesticides with reduced efficiency are also new demands for environmental protection. Currently, weed control methods in my country mainly include chemical weeding and manual removal. When pesticides are used, they seep into the soil, damaging it and leading to decreased grain yields and significant environmental damage. Long-term use of herbicides can increase weed resistance, requiring higher concentrations for subsequent control and causing herbicide residues in crops to exceed international standards. Herbicides are also harmful to humans; accidental spraying can lead to poisoning. Herbicides remain in the soil for extended periods, and their harmful elements are absorbed by crops and ultimately indirectly absorbed by humans, causing significant harm. Manual weeding, on the other hand, is labor-intensive, time-consuming, inefficient, and relatively costly. To address this, a publicly available technology proposes a laser weeding device, specifically related to the field of new agricultural technology. This device includes a visual imaging system, a control system, a sensing system, and a laser weeding component. The visual imaging system, sensing system, and laser weeding component are all communicatively connected to the control system. The visual imaging system includes a first image acquisition unit and a second image acquisition unit. The sensing system includes a speed encoder. The laser weeding component includes a laser and a two-dimensional scanning galvanometer connected by an optical path. The control system controls the operation of the laser weeding component based on data acquired by the visual imaging system and the sensing system. This technology utilizes laser technology to solve field weeding problems, enabling simultaneous imaging, identification, and laser removal of weeds during the device's movement.
[0003] However, certain drawbacks have been found when using the aforementioned disclosed technology. The laser weeding component needs to identify the weeds and locate the roots of the weeds through a visual image system. Then, the laser weeding component emits a laser beam to heat the roots of the weeds, causing them to die. However, this is only applicable to the early stages of weed growth or to weeds that are close to the ground. For weeds that grow faster and stand upright on the ground, the existing technology has difficulty aiming the laser beam at the roots of such weeds due to the obstruction of their long leaves, 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 this invention is to address the aforementioned problems in existing technologies by proposing an intelligent laser weeding robot.
[0005] To achieve the above objectives, the technical solution of the present invention is: an intelligent laser weeding robot, comprising a front drive vehicle and a rear weeding trailer. The rear weeding trailer consists of a platform, a first equipment box, a second equipment box, rollers, and a laser weeding device. The laser weeding device includes a vision imaging 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 vehicle via a tow hook. The second equipment box and the first equipment box are arranged left and right and fixedly connected to the upper wall of the platform. The laser weeding device is disposed inside the first equipment box. The second equipment box and the first equipment box are provided with a blowing assembly for blowing air onto the ground. The blowing assembly includes an air supply structure, a slide, an air duct, a lifting structure for raising and lowering the slide, a guide structure for maintaining the stability of the slide during raising and lowering, a rotation structure for driving the air duct to rotate to adjust the blowing angle, and a height detection structure for detecting the height of the air duct 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. An air distributor for distributing air generated by the air supply structure is fixedly connected to the lower wall of the slide. Connecting seats are fixedly connected to the lower wall of the slide and on both sides of the air distributor. The inner walls of the two sets of connecting seats away from the slide are rotatably connected to a rotating shaft in a through-hole shape. The air duct is rotatably connected between the two sets of rotating shafts on opposite sides. The rotating structure is set between the connecting seats and the air duct. The height detection structure is set at the end of the two sets of connecting seats away from the slide.
[0007] The air supply structure is located inside the second equipment box. The air supply structure is connected to the air splitter through the first air pipe. The air splitter is connected to the air duct through multiple sets of second air pipes.
[0008] The air supply structure includes an air tank and an air compressor. The air tank and the air compressor are fixedly connected to the lower wall of the second equipment box in a front-to-back arrangement. The output port of the air compressor is connected to the input port of the air tank, and the output port of the air tank is connected to the first air pipe.
[0009] The lifting structure includes two sets of cylinders, both sets of cylinders are fixedly connected to the upper wall of the fixed plate, the extension shafts of both sets of cylinders pass through the inner wall of the fixed plate and extend to the lower side of the fixed plate, and the ends of the extension shafts of both sets of cylinders are fixedly connected to the upper wall of the slide.
[0010] The guiding structure includes two sets of guide posts and two sets of guide sleeves. The two sets of guide sleeves are fixedly connected to the upper wall of the fixed plate and are located on the left and right sides of the lifting structure, respectively. The two sets of guide posts are slidably connected to the inner walls of the two sets of guide sleeves. The lower ends of the two sets of guide posts penetrate the inner wall of the fixed plate and extend to the bottom of the fixed plate. The ends of the two sets of guide posts extending to the bottom of the fixed plate are fixedly connected to the upper wall of the slide plate.
[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 side of the two sets of connecting seats. The motor's extension shaft passes through the inner wall of the connecting seat and extends between the two sets of connecting seats. The second gear is fixedly connected to the end of the motor's extension shaft. The first gear is fixedly connected to the outer wall of the air duct. The outer circumferences of the first gear and the second gear mesh with each other.
[0012] The height detection structure includes two sets of distance sensors. The ends of the two sets of connecting seats away from the slide are fixedly connected to fixed seats. The two sets of distance sensors are respectively fixedly connected to the lower walls of the two sets of fixed seats.
[0013] The outer circumference of the air duct is provided with air outlets distributed along the axial direction of the air duct. Multiple sets of third connectors are fixedly connected to the outer circumference of the air duct on the left and right sides of the side away from the air outlets. The ends of the multiple sets of third connectors facing the air duct are all connected to the interior of the air duct. The inner side wall of the air duct is provided with two sets of partitions symmetrically distributed around the axis of the air duct. The two sets of partitions are located on both sides of the line connecting the air outlets and the third connectors when viewed from the side. The cavity on the opposite side of the two sets of partitions is smaller at the end closer to the third connector than at the end closer to the air outlet.
[0014] The air splitter is fixedly connected to a first connector at its inlet end. The end of the first air pipe away from the air supply structure is connected to the air splitter through an electric control valve and the first connector. The air splitter is provided with multiple sets of second connectors at its outlet end. The multiple sets of second connectors are respectively connected to multiple sets of third connectors through a set of second air pipes.
[0015] By adopting the above technical solution, the beneficial effects of the present invention are:
[0016] 1. This invention generates compressed air using an air compressor and stores it in an air tank. The compressed air is supplied to the air duct through the air tank and evenly distributed by an air distributor. With the constraint of two sets of baffles, a strong airflow is formed from the air outlet of the air duct. This airflow is blown towards the ground at a certain angle, causing long-leaved weeds on the ground to lie flat against the ground. This allows the laser weeding device to accurately identify the roots of the weeds, thereby improving the accuracy of laser weeding.
[0017] 2. In this invention, the height of the air duct above the ground can be adjusted by raising and lowering the slide table driven by the cylinder. In conjunction with the partial rotation of the air duct driven by the motor, the angle between the powerful airflow blown from the air outlet and the ground can be adjusted to adapt to the work of blowing down weeds of different heights. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention from the left rear view.
[0019] Figure 2 This is a partial sectional view of the side of the connection structure of the platform, the first equipment box, and the second equipment box of the present invention.
[0020] Figure 3 This is the present invention. Figure 2 A magnified view of a portion of point A in the middle.
[0021] Figure 4 This is a partial sectional view from the back of the first equipment box, fixing plate, slide table and air duct connection structure of the present invention.
[0022] Figure 5 This is a partial sectional side view of the internal structure of the ventilation duct of the present invention.
[0023] Figure 6 This is a schematic diagram of the rear view of the air splitter structure of the present invention.
[0024] In the diagram, 1. Front drive vehicle body; 2. Platform; 3. First equipment box; 4. Second equipment box; 5. Air compressor; 6. Air tank; 7. Connecting seat; 8. Rotary shaft; 9. Air duct; 901. Partition plate; 902. Air outlet; 903. Third connector; 10. First gear; 11. Motor; 12. Second gear; 13. Fixed seat; 14. Distance sensor; 15. Fixed plate; 16. Slide table; 17. Guide sleeve; 18. Guide column; 19. Cylinder; 20. Air splitter; 2001. First connector; 2002. Second connector. Detailed Implementation
[0025] To further explain the technical solution of the present invention, the present invention will be described in detail below through specific embodiments.
[0026] like Figures 1 to 6As shown, the present invention includes a front drive vehicle body 1 and a rear weeding trailer. The rear weeding trailer consists of a platform 2, a first equipment box 3, a second equipment box 4, rollers, and a laser weeding device. The laser weeding device includes a vision imaging 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 drive vehicle body 1 by a tow hook. The second equipment box 4 and the first equipment box 3 are arranged left and right and fixedly connected to the upper wall of the platform 2. The laser weeding device is set inside the first equipment box 3. In this embodiment, the structure of the laser weeding device and the front drive vehicle body 1 is consistent with that of the existing technology on the market. The front drive vehicle body 1 can be an agricultural tractor used to drive the weeding trailer to move in the field.
[0027] To improve the accuracy of laser weeding, the second equipment box 4 and the first equipment box 3 are equipped with a blowing assembly for blowing air onto the ground. The blowing assembly includes an air supply structure, a slide 16, an air duct 9, a lifting structure for raising and lowering the slide 16, a guide structure for maintaining the stability of the slide 16 during raising and lowering, a rotating structure for driving the air duct 9 to rotate to adjust the blowing angle, and a height detection structure for detecting the height of the air duct 9 from the ground. By blowing down the weeds on the ground through the blowing assembly, exposing the roots, the visual image system of the laser weeding device can more accurately find the roots of the weeds, thereby improving the accuracy of weeding.
[0028] To ensure stability during the rise and fall of the slide table 16, a fixed plate 15 is fixedly connected to the inner front wall of the first equipment box 3. The slide table 16 is slidably connected to the lower wall of the fixed plate 15 through a guide structure. The guide structure includes two sets of guide columns 18 and two sets of guide sleeves 17. Both sets of guide sleeves 17 are fixedly connected to the upper wall of the fixed plate 15 and are located on the left and right sides of the lifting structure, respectively. The two sets of guide columns 18 are slidably connected to the inner walls of the two sets of guide sleeves 17. The lower ends of the two sets 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 sets of guide columns 18 extending below the fixed plate 15 are fixedly connected to the upper wall of the slide table 16. When the slide table 16 is driven to rise and fall by the extension shaft of the cylinder 19, the sliding stability is maintained through the sliding cooperation of the two sets of guide columns 18 and guide sleeves 17.
[0029] To adjust the height of the air duct 9 from the ground, a lifting structure is fixedly connected to the upper wall of the fixed plate 15. The lifting structure includes two sets of cylinders 19, both of which are fixedly connected to the upper wall of the fixed plate 15. The extension shafts of both sets of cylinders 19 pass through the inner wall of the fixed plate 15 and extend to the lower side of the fixed plate 15. The ends of the extension shafts of both sets of cylinders 19 are fixedly connected to the upper wall of the slide table 16. Weeds of different heights need to be blown from different heights. In order to adjust the height of the air duct 9 from the ground, two sets of cylinders 19 are set to drive the slide table 16 to rise and fall, thereby driving the air duct 9 to rise and fall, thus adjusting the distance between the air duct 9 and the ground.
[0030] To provide compressed air, an air supply structure is set inside the second equipment box 4. 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 arranged in front and behind and fixedly connected to the lower wall of the second equipment box 4. The output port of the air compressor 5 is connected to the input port of the air storage tank 6. The output port of the air storage tank 6 is connected to the first air pipe. The air compressor 5 draws in external air, compresses it to form compressed air, and stores it through the air storage tank 6.
[0031] To generate a strong airflow that blows down weeds, connecting seats 7 are fixedly connected to the lower wall of the slide table 16 on both sides of the air splitter 20. A rotating shaft 8 is rotatably connected to the inner wall of each connecting seat 7 at the end furthest from the slide table 16. The air duct 9 is rotatably connected between the opposite sides of the two rotating shafts 8. Air outlets 902 are distributed along the axial direction of the air duct 9 on its outer circumference. Multiple sets of third connectors 903 are fixedly connected sequentially on the left and right sides of the outer circumference of the air duct 9 at the side furthest from the air outlets 902. The ends of the multiple sets of third connectors 903 facing the air duct 9 are all connected to the interior of the air duct 9. The inner wall of the air duct 9 is symmetrically arranged around the axis of the air duct 9. Two sets of baffles 901 are distributed, located on both sides of the line connecting the air outlet 902 and the third connector 903 in side view projection. The cavity on the opposite side of the two sets of baffles 901 is smaller at the end near the third connector 903 than at the end near the air outlet 902. Multiple sets of compressed air, distributed by the air splitter 20, are axially distributed into the air duct 9. After converging inside the air duct 9, they are constrained by the two sets of baffles 901 and blown out from the air outlet 902, forming a strong airflow. This strong airflow blows towards the weeds, making them lie flat on the ground, thus 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 splitter 20 for distributing the air generated by the air supply structure is fixedly connected to the lower wall of the slide table 16. The air supply structure is connected to the air splitter 20 through a first air pipe. The air splitter 20 is connected to the air duct 9 through multiple sets of second air pipes. A first connector 2001 is fixedly connected to the inlet end of the air splitter 20. The end of the first air pipe away from the air supply structure is connected to the air splitter 20 through an electric control valve and the first connector 2001. Multiple sets of second connectors 2002 are provided at the outlet end of the air splitter 20. The multiple sets of second connectors 2002 are connected to multiple sets of third connectors 903 through a set of second air pipes. After the compressed air in the air tank 6 is opened by the electric control valve, it enters the air splitter 20 through the first air pipe and the first connector 2001. The air splitter 20 is a common gas splitting device on the market. It can evenly distribute the incoming gas into multiple airflows. The distributed airflows enter the interior of the air duct 9 through the second air pipes and the third connectors 903 in sequence.
[0033] To facilitate adjustment of the air outlet 902's airflow direction, a rotating structure is installed between the connecting seat 7 and the air duct 9. A height detection structure is installed at the end of the two connecting seats 7 furthest from the slide table 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 leftmost of the two connecting seats 7. The motor 11's extension shaft passes through the inner wall of the connecting seat 7 and extends between the two connecting seats 7. The second gear 12 is fixedly connected to the end of the motor 11's extension shaft. The first gear 10 is fixedly connected to the outer wall of the air duct 9. The outer circumferences of the first gear 10 and the second gear 12 mesh with each other. When the motor 11 rotates, it drives the air duct 9 to rotate through the second gear 12 and the first gear 10, thereby adjusting the airflow direction of the air outlet 902 to accommodate weeds of different heights.
[0034] To coordinate with the lifting structure to adjust the height of the air duct 9 from the ground, the height detection structure includes two sets of distance sensors 14. The ends of the two sets of connecting seats 7 away from the slide table 16 are fixedly connected to the fixed seats 13. The two sets of distance sensors 14 are respectively fixedly connected to the lower walls of the two sets of fixed seats 13. The two sets of distance sensors 14 are used to detect the height between the air duct 9 and the ground, so that the control system can drive the cylinder 19 to move according to the set value, thereby driving the air duct 9 to adjust its height.
[0035] Working Principle: The main improvement in this embodiment is that the blowing assembly blows down the weeds on the ground, exposing their roots, allowing the visual image system of the laser weeding device to more accurately locate the weed roots, thereby improving the weeding accuracy. When the slide table 16 is driven to rise and fall by the extension shaft of the cylinder 19, the sliding cooperation of the two sets of guide columns 18 and guide sleeves 17 maintains the stability of movement. Weeds of different heights require different blowing heights. In order to adjust the height of the air duct 9 from the ground, two sets of cylinders 19 are set to drive the slide table 16 to rise and fall, thereby driving the air duct 9 to rise and fall, thus adjusting the distance between the air duct 9 and the ground. The air compressor 5 draws in external air, compresses it to form compressed air, and stores it through the air tank 6. After being distributed by the air distributor 20, multiple sets of compressed air are distributed axially along the air duct 9 and introduced into the air duct 9. After converging inside the air duct 9, they are constrained by two sets of partitions 901. The air is blown out from the air outlet 902, forming a strong airflow. This strong airflow blows towards the weeds, making them lie flat against the ground, so that the visual image system in the laser weeding device can more quickly identify the roots of the weeds. The compressed air in the air tank 6 enters the air distributor 20 through the first air pipe and the first connector 2001 after the electric control valve is opened. The air distributor 20 is a common gas distribution device on the market, which can evenly distribute the incoming gas into multiple airflows. The distributed airflows enter the air duct 9 through the second air pipe and the third connector 903. When the motor 11 rotates, it drives the air duct 9 to rotate through the second gear 12 and the first gear 10, thereby adjusting the air outlet 902 to adapt to weeds of different heights. Two sets of distance sensors 14 are used to detect the height between the air outlet and the ground, so that the control system can drive the cylinder 19 to act according to the set value, thereby driving the air duct 9 to adjust its height.
[0036] All of the above components are general standard parts or components known to those skilled in the art. Their structure and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods.
[0037] The above embodiments and figures are not intended to limit the product form and style of the present invention. Any appropriate changes or modifications made by those skilled in the art should be considered as not departing from the patent scope of the present invention.
Claims
1. An intelligent laser weeding robot, characterized in that, The vehicle includes a front drive vehicle body (1) and a rear weeding trailer. The rear weeding trailer consists of a platform (2), a first equipment box (3), a second equipment box (4), rollers, and a laser weeding device. The laser weeding device includes a vision imaging system, a control system, a sensing system, a laser weeding system, and a cooling system. The platform (2) is hinged to the rear of the front drive vehicle body (1) by a tow hook. The second equipment box (4) and the first equipment box (3) are arranged in a left-right distribution and are fixedly connected to the upper wall of the platform (2). The laser weeding device is located inside the first equipment box (3). The second equipment box (4) and the first equipment box (3) are equipped with a blowing assembly for blowing air onto the ground. The blowing assembly includes an air supply structure, a slide (16), a blower (9), a lifting structure for raising and lowering the slide (16), a guide structure for maintaining the stability of the slide (16) when it is raised and lowered, a rotation structure for driving the blower (9) to rotate to adjust the blowing angle, and a height detection structure for detecting the height of the blower (9) from the ground. A fixed plate (15) is fixedly connected to the inner front wall of the first equipment box (3). The slide (16) is slidably connected to the lower wall of the fixed plate (15) through the guide structure. The lifting structure is fixedly connected to the upper wall of the fixed plate (15). An air distributor (20) for distributing the air generated by the air supply structure is fixedly connected to the lower wall of the slide (16). Connecting seats (7) are fixedly connected to the lower wall of the slide (16) and on both sides of the air distributor (20). The inner walls of the two sets of connecting seats (7) away from the slide (16) are rotatably connected to the rotating shaft (8) in a through-hole manner. The air duct (9) is rotatably connected between the two sets of rotating shafts (8) on opposite sides. The rotating structure is set between the connecting seat (7) and the air duct (9). The height detection structure is set at the end of the two sets of connecting seats (7) away from the slide (16). The air supply structure is located inside the second equipment box (4). The air supply structure is connected to the air splitter (20) through the first air pipe. The air splitter (20) is connected to the air duct (9) through multiple sets of second air pipes. The gas 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 arrangement. 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 lifting structure includes two sets of cylinders (19). Both sets of cylinders (19) are fixedly connected to the upper wall of the fixed plate (15). The extension shafts of both sets of cylinders (19) pass through the inner wall of the fixed plate (15) and extend to the lower side of the fixed plate (15). The ends of the extension shafts of both sets of cylinders (19) are fixedly connected to the upper wall of the slide (16). The guide structure includes two sets of guide columns (18) and two sets of guide sleeves (17). The two sets of guide sleeves (17) are fixedly connected to the upper wall of the fixed plate (15) and are located on the left and right sides of the lifting structure, respectively. The two sets of guide columns (18) are slidably connected to the inner side walls of the two sets of guide sleeves (17). The lower ends of the two sets of guide columns (18) penetrate the inner wall of the fixed plate (15) and extend to the bottom of the fixed plate (15). The end of the two sets of guide columns (18) extending to the bottom of the fixed plate (15) is fixedly connected to the upper wall of the slide table (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 side of the two sets of connecting seats (7). The motor (11) extends through the inner wall of the connecting seat (7) and extends between the two sets of connecting seats (7). The second gear (12) is fixedly connected to the end of the motor (11) extension shaft. The first gear (10) is fixedly connected to the outer wall of the air duct (9). The outer circumferences of the first gear (10) and the second gear (12) mesh with each other. The height detection structure includes two sets of distance sensors (14), and each of the two sets of connecting seats (7) is fixedly connected to a fixed seat (13) at the end away from the slide (16). The two sets of distance sensors (14) are respectively fixedly connected to the lower wall of the two sets of fixed seats (13). The outer circumference of the air duct (9) is provided with an air outlet (902) distributed along the axial direction of the air duct (9) in the length direction. Multiple sets of third connectors (903) are fixedly connected to the outer circumference of the air duct (9) on the side away from the air outlet (902) in a left-right arrangement. The ends of the multiple sets of third connectors (903) facing the air duct (9) are all connected to the interior of the air duct (9). The inner side wall of the air duct (9) is provided with two sets of partitions (901) symmetrically distributed with the axis of the air duct (9) as the center. The two sets of partitions (901) are located on both sides of the line connecting the air outlet (902) and the third connector (903) in the side view projection. The cavity on the opposite side of the two sets of partitions (901) is smaller at the end near the third connector (903) than at the end near the air outlet (902). The air splitter (20) has a first connector (2001) fixedly connected to its inlet end. The end of the first air pipe away from the air supply structure is connected to the air splitter (20) through an electric control valve and the first connector (2001). The air splitter (20) has multiple sets of second connectors (2002) at its outlet end. The multiple sets of second connectors (2002) are connected to multiple sets of third connectors (903) through a set of second air pipes.