Intelligent laser weeding robot capable of autonomously recognizing

Abstract

The invention discloses an intelligent laser weeding robot capable of achieving autonomous recognition, and relates to the technical field of weeding equipment, the robot comprises a machine trolley, a recognition camera and a laser weeding mechanism, the machine trolley is provided with a cooling mechanism matched with the laser weeding mechanism, and the tail of the machine trolley is provided with a water spraying mechanism communicated with the cooling mechanism; the machine trolley comprises a trolley body, a suspension frame, tires, a wheel foot motor and a controller, the recognition camera is fixedly installed at the front end of the trolley body, the laser weeding mechanism comprises an installation frame, a first lead screw, a laser generator and a second motor and is installed on the lower end face of the trolley body, and the cooling mechanism comprises a water tank, a hose, a heat dissipation base and a submersible pump. The submersible pump is fixedly mounted in the water tank to supply water to the nozzle and the radiating seat. The laser weeding equipment has the advantages of efficient heat dissipation and automatic fire extinguishing, and the problems that traditional laser weeding equipment is poor in heat dissipation, sparks are likely to be generated after weeding, and fire hazards exist are solved.

Description

Technical Field

[0001] The invention relates to the technical field of weeding equipment, in particular to an intelligent laser weeding robot capable of autonomous identification. Background Art

[0002] With the development of agricultural automation and intelligence, traditional chemical weed control methods may not only pollute the environment, but also cause weed resistance after long-term use, and have gradually failed to meet the needs of modern agriculture. Therefore, the development of environmentally friendly and efficient weed control methods has become a research hotspot. Laser weed control, as a non-contact physical weed control method, has attracted widespread attention due to its advantages such as high precision and no pollution.

[0003] However, the existing laser weeding equipment still has some shortcomings. The laser weeding device is prone to overheating when working for a long time, and the existing laser generator is cooled by air cooling. The air cooling efficiency is low and often cannot fully guarantee the working temperature of the laser generator, shortening its service life. The sparks that may appear after laser weeding increase the risk of fire. In the prior art, open flames are usually extinguished by manual labor following behind the robot, affecting the convenience of equipment use. Therefore, it is necessary to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent laser weeding robot with autonomous identification, which has the advantages of efficient heat dissipation and automatic fire extinguishing, and solves the problems of poor heat dissipation of traditional laser weeding equipment and easy generation of sparks after weeding, posing a fire hazard.

[0005] To achieve the above object, the present invention provides the following technical solutions: an intelligent laser weeding robot capable of autonomous identification, comprising a machine trolley, an identification camera and a laser weeding mechanism, the machine trolley is provided with a cooling mechanism coordinated with the laser weeding mechanism, and the tail of the machine trolley is provided with a water spraying mechanism connected with the cooling mechanism;

[0006] The robot car includes a body, a suspension frame, tires, wheel foot motors and a controller, and the identification camera is fixedly installed at the front end of the body;

[0007] The laser weeding mechanism comprises a mounting frame, a first screw rod, a laser generator and a second motor, and the laser weeding mechanism is mounted on the lower end surface of the vehicle body;

[0008] The cooling mechanism includes a water tank, a hose, a heat sink and a submersible pump, the submersible pump is fixedly installed in the water tank to supply water to the nozzle and the heat sink, and the laser generator is installed on the lower end surface of the heat sink;

[0009] The water spraying mechanism comprises an upper fixed frame, a spray head, a first sliding frame, a second sliding frame, a third motor, a lower fixed frame and an elastic telescopic rod;

[0010] The controller is electrically connected to the identification camera, the wheel-foot motor, the second motor, the third motor and the laser generator.

[0011] As a preferred embodiment of the intelligent laser weeding robot capable of autonomous identification of the present invention, the suspension frame is movably mounted on the left and right sides of the vehicle body, the wheel foot motor is fixedly mounted on the suspension frame, the tire is fixedly mounted on the output shaft of the wheel foot motor, the controller is fixedly mounted on the upper end surface of the vehicle body, and a power supply battery is arranged inside the vehicle body.

[0012] As a preferred embodiment of the intelligent laser weeding robot capable of self-identification of the present invention, a rotating shaft is arranged on the side of the vehicle body, a bearing seat rotatably matched with the rotating shaft is arranged on the suspension frame, a shock absorber is arranged between the suspension frame and the vehicle body, and the upper and lower ends of the shock absorber are rotatably connected to the suspension frame and the vehicle body.

[0013] As a preferred embodiment of an intelligent laser weeding robot that can identify itself, the mounting frame is fixedly mounted on the lower end surface of the vehicle body, the heat sink is mounted on the lower end of the mounting frame and is slidably connected thereto, the mounting frame is provided with a first screw rod that is rotatably connected, the side surface of the heat sink is provided with a first screw hole that cooperates with the first screw rod, the number of the mounting frames is not less than two, the second motor is fixedly mounted on the upper end surface of the mounting frame, a first synchronous wheel is provided on the output shaft of the second motor, a second synchronous wheel is fixedly mounted on the first screw rod, and a synchronous belt for transmission is provided on the first synchronous wheel and the second synchronous wheel.

[0014] As a preferred embodiment of the intelligent laser weeding robot capable of autonomous identification of the present invention, a positioning groove is provided at the bottom of the heat sink, a cold water flow channel is provided in the heat sink, the laser generator is fixedly installed in the positioning groove, and the submersible pump, the heat sink and the nozzle are connected by a hose.

[0015] As a preferred embodiment of the self-identifying intelligent laser weeding robot of the present invention, the cold water flow channel includes a linear flow channel and an annular flow channel, the annular flow channel is located outside the positioning groove, and adjacent annular flow channels are connected by a linear flow channel.

[0016] As a preferred embodiment of an intelligent laser weeding robot with autonomous identification according to the present invention, the upper fixing frame is fixedly mounted on the lower end surface of the vehicle body, the lower end surface of the upper fixing frame is provided with a first ball joint, the tail of the nozzle is provided with a first connecting rod, the first connecting rod is provided with a first ball head that cooperates with the first ball joint, the bottom of the nozzle is provided with a second connecting rod, the second connecting rod is provided with a second ball head, the first sliding frame is installed at the lower end of the nozzle, and the upper end surface of the first sliding frame is provided with a second ball joint that cooperates with the second ball head.

[0017] As a preferred embodiment of an intelligent laser weeding robot with autonomous identification according to the present invention, the elastic telescopic rod is fixedly mounted on the lower end surface of the vehicle body, the second sliding frame is fixedly mounted on the lower end surface of the elastic telescopic rod, the third motor is fixedly mounted on the lower end surface of the second sliding frame, a driving shaft is arranged on the output shaft of the third motor, a reciprocating thread is arranged at the center of the driving shaft, a sliding block is arranged at the bottom of the first sliding frame, and a second screw hole matching the reciprocating thread is arranged on the side end surface of the sliding block.

[0018] As a preferred embodiment of the self-recognizing intelligent laser weeding robot of the present invention, the lower fixing frame is fixedly mounted on the lower end surface of the vehicle body, and the driving shaft is provided with a cam which is in sliding contact with the upper end surface of the lower fixing frame.

[0019] As a preferred embodiment of the intelligent laser weeding robot capable of autonomous identification of the present invention, the elastic telescopic rod comprises a sleeve, a sliding rod and a compression spring, the compression spring is sleeved on the outside of the sliding rod, and the sliding rod is inserted into the sleeve and elastically connected to the sleeve through the compression spring.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention can identify weeds autonomously by installing an identification camera on the machine trolley. The stability of the vehicle body is improved by the cooperation of the shock absorber, the rotating shaft and the bearing seat to ensure the shooting clarity of the identification camera, so that the weeds can be located more accurately for weeding operations. The motor in the laser weeding mechanism drives the lead screw to rotate through the first synchronous wheel, the second synchronous wheel and the synchronous belt, so that the heat sink slides left and right, so that the laser generator can be accurately matched with the weeds. The multiple sets of mounting frame structures can also cope with the situation of too many weeds, ensuring comprehensive and accurate weeding.

[0022] 2. The present invention supplies water to the nozzle and the heat sink through a submersible pump in the cooling mechanism. Cold water flows through the cold water flow channel in the heat sink, which includes a linear flow channel and an annular flow channel. The annular flow channel increases the heat exchange area to dissipate heat for the laser generator, thereby preventing it from being damaged by overheating due to long-term operation, effectively prolonging the service life of the laser generator and ensuring that the weeding operation is carried out continuously and efficiently.

[0023] 3. The present invention cooperates with the first ball head, the first ball joint, the second ball head and the second ball joint in the water spraying mechanism. When the first sliding frame slides, the nozzle can rotate around the first ball joint to realize multi-angle spraying. The third motor drives the driving shaft to rotate, so that the first sliding frame slides back and forth along the driving shaft in a small amplitude to drive the nozzle to swing left and right. At the same time, the motor drives the cam to rotate to make the second sliding frame slide back and forth up and down to drive the nozzle to swing up and down. The nozzle swings both horizontally and longitudinally, which greatly improves the coverage of the nozzle, can effectively deal with potential hidden dangers such as sparks that may remain after laser weeding, and can perform auxiliary operations such as appropriate cooling and dust reduction on the surrounding environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention from a first viewing angle;

[0025] Figure 2 It is a schematic diagram of the overall structure of the second viewing angle of the present invention;

[0026] Figure 3 A bottom view of the present invention;

[0027] Figure 4 It is a front view of the present invention;

[0028] Figure 5 For the present invention Figure 4 Enlarged view of point A in the middle;

[0029] Figure 6 It is a schematic diagram of the cooperation state between the weeding mechanism and the cooling mechanism of the present invention;

[0030] Figure 7 is a cross-sectional view of the cooling mechanism of the present invention;

[0031] Figure 8 It is a partial right side cross-sectional view of the present invention;

[0032] Fig. 9 For the present invention Figure 8 Enlarged view of point B in the middle; Fig.10 It is a front cross-sectional view of the elastic telescopic rod of the present invention.

[0033] In the figure: 1. Machine trolley; 101. Body; 1011. Rotating shaft; 1012. Power supply battery; 102. Suspension frame; 103. Tire; 104. Wheel foot motor; 105. Bearing seat; 106. Shock absorber; 107. Controller; 2. Identification camera; 3. Laser weeding mechanism; 301. Mounting frame; 302. First screw rod; 3021. Second synchronous wheel; 303. Laser generator; 304. Second motor; 3041. First synchronous wheel; 3042. Synchronous belt; 4. Cooling mechanism; 401. Water tank; 402. Hose; 403. Heat sink; 4031. Positioning groove; 4032. Cold water flow channel; 40321. Linear flow channel ; 40322, annular flow channel; 4033, first screw hole; 404, submersible pump; 5, water spray mechanism; 501, upper fixed frame; 5011, first ball joint; 502, nozzle; 5021, first connecting rod; 5022, second connecting rod; 5023, first ball head; 5024, second ball head; 503, first sliding frame; 5031, second ball joint; 5032, slider; 5033, second screw hole; 504, second sliding frame; 5041, drive shaft; 5042, cam; 505, third motor; 506, lower fixed frame; 507, elastic telescopic rod; 5071, sleeve; 5072, slide rod; 5073, compression spring. DETAILED DESCRIPTION

[0034] See also Figure 1-Figure 9 , an intelligent laser weeding robot capable of autonomous identification, comprising a machine trolley 1, an identification camera 2 and a laser weeding mechanism 3, the machine trolley 1 is provided with a cooling mechanism 4 matched with the laser weeding mechanism 3, and the tail of the machine trolley 1 is provided with a water spraying mechanism 5 connected with the cooling mechanism 4;

[0035] The robot vehicle 1 includes a body 101, a suspension frame 102, tires 103, wheel foot motors 104 and a controller 107, and a recognition camera 2 is fixedly installed at the front end of the body 101;

[0036] The laser weeding mechanism 3 includes a mounting frame 301, a first screw rod 302, a laser generator 303 and a second motor 304. The laser weeding mechanism 3 is mounted on the lower end surface of the vehicle body 101;

[0037] The cooling mechanism 4 includes a water tank 401, a hose 402, a heat sink 403 and a submersible pump 404. The submersible pump 404 is fixedly installed in the water tank 401 to supply water to the nozzle 502 and the heat sink 403. The laser generator 303 is installed on the lower end surface of the heat sink 403.

[0038] The water spraying mechanism 5 includes an upper fixed frame 501, a spray head 502, a first sliding frame 503, a second sliding frame 504, a third motor 505, a lower fixed frame 506 and an elastic telescopic rod 507;

[0039] The controller 107 is electrically connected to the recognition camera 2 , the wheel-foot motor 104 , the second motor 304 , the third motor 505 and the laser generator 303 .

[0040] Furthermore, the suspension frame 102 is movably mounted on the left and right sides of the vehicle body 101, the wheel-foot motor 104 is fixedly mounted on the suspension frame 102, the tire 103 is fixedly mounted on the output shaft of the wheel-foot motor 104, the controller 107 is fixedly mounted on the upper end surface of the vehicle body 101, and a power supply battery 1012 is arranged in the vehicle body 101.

[0041] The tires 103 are driven to rotate by four sets of wheel-foot motors 104, thereby driving the vehicle forward and backward. Since each tire 103 is driven individually, the vehicle can be turned by controlling the rotation speed of the tire 103.

[0042] Furthermore, a rotating shaft 1011 is provided on the side of the vehicle body 101, a bearing seat 105 rotatably matched with the rotating shaft 1011 is provided on the suspension frame 102, a shock absorber 106 is provided between the suspension frame 102 and the vehicle body 101, and the upper and lower ends of the shock absorber 106 are rotatably connected to the suspension frame 102 and the vehicle body 101.

[0043] The cooperation of the shock absorber 106, the rotating shaft 1011 and the bearing seat 105 improves the stability of the robot trolley 1, thereby improving the clarity of the images taken by the recognition camera 2 during the driving of the robot trolley 1, and enabling more accurate weeding operations.

[0044] Furthermore, the mounting frame 301 is fixedly mounted on the lower end surface of the vehicle body 101, the heat sink 403 is mounted on the lower end of the mounting frame 301 and is slidably connected thereto, the mounting frame 301 is provided with a first screw rod 302 which is rotatably connected thereto, the side surface of the heat sink 403 is provided with a first screw hole 4033 which cooperates with the first screw rod 302, the number of mounting frames 301 is not less than two, the second motor 304 is fixedly mounted on the upper end surface of the mounting frame 301, a first synchronous wheel 3041 is provided on the output shaft of the second motor 304, a second synchronous wheel 3021 is fixedly mounted on the first screw rod 302, and a synchronous belt 3042 for transmission is provided on the first synchronous wheel 3041 and the second synchronous wheel 3021.

[0045] The motor drives the screw to rotate through the first synchronous wheel 3041, the second synchronous wheel 3021 and the synchronous belt 3042, so that the heat sink 403 slides left and right under the action of the screw movement, so as to achieve the purpose of matching the laser generator 303 with the weeds. The structure of multiple sets of mounting frames 301 avoids the situation where there are too many weeds and a single laser generator 303 cannot meet the weeding needs.

[0046] Furthermore, a positioning groove 4031 is provided at the bottom of the heat sink 403 , a cold water channel 4032 is provided in the heat sink 403 , the laser generator 303 is fixedly installed in the positioning groove 4031 , and the submersible pump 404 , the heat sink 403 and the nozzle 502 are connected through a hose 402 .

[0047] When the submersible pump 404 supplies water to the nozzle 502 through the hose 402, cold water flows through the heat dissipation channel in the heat sink 403 to dissipate heat for the laser generator 303, thereby preventing the laser generator 303 from overheating and being damaged due to long-term operation, thereby increasing the service life of the laser generator 303.

[0048] Furthermore, the cold water flow channel 4032 includes a linear flow channel 40321 and an annular flow channel 40322 . The annular flow channel 40322 is located outside the positioning groove 4031 , and adjacent annular flow channels 40322 are connected through the linear flow channel 40321 .

[0049] The heat exchange area between the water flow and the heat sink 403 is increased by the annular flow channel 40322 , thereby increasing the cooling rate of the heat sink 403 on the laser generator 303 , further improving the cooling effect of the laser generator 303 .

[0050] Furthermore, the upper fixing frame 501 is fixedly installed on the lower end surface of the vehicle body 101, and the lower end surface of the upper fixing frame 501 is provided with a first ball joint 5011, a first connecting rod 5021 is provided at the tail of the nozzle 502, and a first ball head 5023 cooperating with the first ball joint 5011 is provided on the first connecting rod 5021, a second connecting rod 5022 is provided at the bottom of the nozzle 502, and a second ball head 5024 is provided on the second connecting rod 5022, the first sliding frame 503 is installed at the lower end of the nozzle 502, and the upper end surface of the first sliding frame 503 is provided with a second ball joint 5031 cooperating with the second ball head 5024.

[0051] Through the cooperation of the first ball head 5023, the first ball joint 5011, the second ball head 5024 and the second ball joint 5031, the first sliding frame 503 can drive the nozzle 502 to rotate around the first ball joint 5011 during sliding, thereby realizing multi-angle spraying and improving the coverage range of the nozzle 502.

[0052] Furthermore, the elastic telescopic rod 507 is fixedly installed on the lower end surface of the vehicle body 101, the second sliding frame 504 is fixedly installed on the lower end surface of the elastic telescopic rod 507, the third motor 505 is fixedly installed on the lower end surface of the second sliding frame 504, and a driving shaft 5041 is arranged on the output shaft of the third motor 505, and a reciprocating thread is arranged at the center of the driving shaft 5041, and a sliding block 5032 is arranged at the bottom of the first sliding frame 503, and a second screw hole 5033 matching the reciprocating thread is arranged on the side end surface of the sliding block 5032.

[0053] The third motor 505 drives the driving shaft 5041 to rotate, so that the first sliding frame 503 slides back and forth slightly along the driving shaft 5041 with the cooperation of the reciprocating thread and the second screw hole 5033, thereby driving the nozzle 502 to swing left and right, improving the coverage of the nozzle 502 and avoiding missing sparks.

[0054] Furthermore, the lower fixing frame 506 is fixedly mounted on the lower end surface of the vehicle body 101 , and a cam 5042 is provided on the driving shaft 5041 and is connected to the upper end surface of the lower fixing frame 506 in sliding contact.

[0055] The motor drives the cam 5042 to rotate, so that the second sliding frame 504 slides up and down under the action of the cam 5042 and the elastic telescopic rod 507, thereby driving the nozzle 502 to swing up and down, so that the nozzle 502 swings both horizontally and longitudinally, thereby further improving the coverage range of the nozzle 502.

[0056] Furthermore, the elastic telescopic rod 507 includes a sleeve 5071, a sliding rod 5072 and a compression spring 5073. The compression spring 5073 is sleeved on the outside of the sliding rod 5072. The sliding rod 5072 is inserted into the sleeve 5071 and elastically connected thereto through the compression spring 5073.

[0057] When the cam 5042 squeezes the lower fixed frame 506 to push the second sliding frame 504 upward, the sliding rod 5072 squeezes the compression spring 5073 to shrink upward, so that the cam 5042 no longer squeezes the lower fixed frame 506. The lower fixed frame 506 can slide downward quickly under the restoring action of the compression spring 5073, so that the cam 5042 and the lower fixed frame 506 remain in contact.

[0058] When the device is in use, the power of the device is turned on, the controller 107 is started, and all electrical devices start to run. At this time, the recognition camera 2 starts to work and collects images of the surrounding environment. Under the instruction of the controller 107, the robot 1 drives the tire 103 to rotate through the wheel foot motor 104, and starts to drive in the weeding area according to the preset path or the self-planned path according to the real-time terrain. During the driving process, the recognition camera 2 continuously captures images and transmits the image information to the controller 107. The controller 107 analyzes and processes the images transmitted by the recognition camera 2, identifies the location, shape and range of the weeds, and generates coordinates after determining the location of the weeds. The controller 1 07 According to the specific situation of the weeds, the laser weeding mechanism 3 is controlled to work, the second motor 304 is started, and the first screw rod 302 is driven to rotate through the first synchronous wheel 3041, the second synchronous wheel 3021 and the synchronous belt 3042, so that the heat sink 403 slides left and right under the action of the screw rod, and the position of the laser generator 303 is adjusted to accurately match the horizontal coordinate of the weeds. Then, the wheel foot motor 104 is controlled to calculate the travel distance of the tire 103 and accurately match the vertical coordinate. When the laser transmitter reaches the top of the weeds, the laser generator 303 emits laser to perform weeding operations on the weeds;

[0059] During the laser weeding process, the submersible pump 404 works continuously to pump out the water in the water tank 401. The water flows into the cold water flow channel 4032 of the heat sink 403 through the hose 402 to cool the laser generator 303. Then, the water is transported to the nozzle 502 through the hose 402. The third motor 505 in the water spraying mechanism 5 drives the driving shaft 5041 to rotate. The reciprocating thread on the driving shaft 5041 cooperates with the second screw hole 5033 of the slider 5032 at the bottom of the first sliding frame 503, so that the first sliding frame 503 slides back and forth along the driving shaft 5041 with a small amplitude, driving the nozzle 502 to swing left and right. At the same time, the motor drives the cam 5042 to rotate, and the cam 5042 slides in contact with the upper end surface of the lower fixed frame 506, so that the second sliding frame 504 slides back and forth up and down under the action of the cam 5042 and the elastic telescopic rod 507, driving the nozzle 502 to swing up and down. The nozzle 502 cooperates with the first ball head 5023, the first ball joint 5011, the second ball head 5024 and the second ball joint 5031. When the first sliding frame 503 slides, it rotates around the first ball joint 5011 to achieve multi-angle spraying, and sprays water to the area after laser weeding to deal with possible remaining sparks, cool down and reduce dust. When the weeding operation is completed or the operation needs to be suspended, an instruction is issued through the controller 107 to stop the movement of the machine trolley 1, and turn off the laser generator 303, the wheel foot motor 104, the second motor 304, the third motor 505 and the submersible pump 404 and other equipment.

[0060] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent laser weeding robot capable of autonomous identification, comprising a robot vehicle (1), an identification camera (2) and a laser weeding mechanism (3), characterized in that: The machine trolley (1) is provided with a cooling mechanism (4) that cooperates with the laser weeding mechanism (3), and the tail of the machine trolley (1) is provided with a water spraying mechanism (5) that is connected to the cooling mechanism (4); The robot vehicle (1) comprises a body (101), a suspension frame (102), tires (103), wheel foot motors (104) and a controller (107), and the identification camera (2) is fixedly mounted on the front end of the body (101); The laser weeding mechanism (3) comprises a mounting frame (301), a first screw rod (302), a laser generator (303) and a second motor (304); the laser weeding mechanism (3) is mounted on the lower end surface of the vehicle body (101); The cooling mechanism (4) comprises a water tank (401), a hose (402), a heat sink (403) and a submersible pump (404); the submersible pump (404) is fixedly installed in the water tank (401) to supply water to the nozzle (502) and the heat sink (403); the laser generator (303) is installed on the lower end surface of the heat sink (403); The water spraying mechanism (5) comprises an upper fixed frame (501), a spray head (502), a first sliding frame (503), a second sliding frame (504), a third motor (505), a lower fixed frame (506) and an elastic telescopic rod (507); The controller (107) is electrically connected to the recognition camera (2), the wheel foot motor (104), the second motor (304), the third motor (505) and the laser generator (303).

2. The intelligent laser weeding robot capable of autonomous identification as claimed in claim 1, characterized in that: The suspension frame (102) is movably mounted on the left and right sides of the vehicle body (101); the wheel-foot motor (104) is fixedly mounted on the suspension frame (102); the tire (103) is fixedly mounted on the output shaft of the wheel-foot motor (104); the controller (107) is fixedly mounted on the upper end surface of the vehicle body (101); and a power supply battery (1012) is arranged in the vehicle body (101).

3. The intelligent laser weeding robot capable of autonomous identification as claimed in claim 2, characterized in that: A rotating shaft (1011) is arranged on the side of the vehicle body (101), a bearing seat (105) rotatably matched with the rotating shaft (1011) is arranged on the suspension frame (102), a shock absorber (106) is arranged between the suspension frame (102) and the vehicle body (101), and the upper and lower ends of the shock absorber (106) are rotatably connected to the suspension frame (102) and the vehicle body (101).

4. The intelligent laser weeding robot capable of autonomous identification as claimed in claim 3, characterized in that: The mounting frame (301) is fixedly mounted on the lower end surface of the vehicle body (101); the heat sink (403) is mounted on the lower end of the mounting frame (301) and is slidably connected thereto; a first screw rod (302) is rotatably connected to the mounting frame (301); a first screw hole (4033) matching with the first screw rod (302) is disposed on the side surface of the heat sink (403); the number of the mounting frames (301) is not less than two; the second motor (304) is fixedly mounted on the upper end surface of the mounting frame (301); a first synchronous wheel (3041) is disposed on the output shaft of the second motor (304); a second synchronous wheel (3021) is fixedly mounted on the first screw rod (302); and a synchronous belt (3042) for transmission is disposed on the first synchronous wheel (3041) and the second synchronous wheel (3021).

5. The intelligent laser weeding robot capable of autonomous identification as claimed in claim 4, characterized in that: A positioning groove (4031) is provided at the bottom of the heat sink (403), a cold water flow channel (4032) is provided in the heat sink (403), the laser generator (303) is fixedly installed in the positioning groove (4031), and the submersible pump (404), the heat sink (403) and the nozzle (502) are connected through a hose (402).

6. The intelligent laser weeding robot capable of autonomous identification as claimed in claim 5, characterized in that: The cold water flow channel (4032) comprises a linear flow channel (40321) and an annular flow channel (40322), wherein the annular flow channel (40322) is located outside the positioning groove (4031), and adjacent annular flow channels (40322) are connected through the linear flow channel (40321).

7. The intelligent laser weeding robot capable of autonomous identification as claimed in claim 6, characterized in that: The upper fixing frame (501) is fixedly mounted on the lower end surface of the vehicle body (101); the lower end surface of the upper fixing frame (501) is provided with a first ball joint (5011); the tail of the nozzle (502) is provided with a first connecting rod (5021); the first connecting rod (5021) is provided with a first ball head (5023) matched with the first ball joint (5011); the bottom of the nozzle (502) is provided with a second connecting rod (5022); the second connecting rod (5022) is provided with a second ball head (5024); the first sliding frame (503) is mounted on the lower end of the nozzle (502); the upper end surface of the first sliding frame (503) is provided with a second ball joint (5031) matched with the second ball head (5024).

8. The intelligent laser weeding robot capable of autonomous identification as claimed in claim 7, characterized in that: The elastic telescopic rod (507) is fixedly mounted on the lower end surface of the vehicle body (101); the second sliding frame (504) is fixedly mounted on the lower end surface of the elastic telescopic rod (507); the third motor (505) is fixedly mounted on the lower end surface of the second sliding frame (504); a driving shaft (5041) is arranged on the output shaft of the third motor (505); a reciprocating thread is arranged at the center of the driving shaft (5041); a sliding block (5032) is arranged at the bottom of the first sliding frame (503); a second screw hole (5033) matching the reciprocating thread is arranged on the side end surface of the sliding block (5032).

9. The intelligent laser weeding robot capable of autonomous identification as claimed in claim 8, characterized in that: The lower fixing frame (506) is fixedly mounted on the lower end surface of the vehicle body (101), and the driving shaft (5041) is provided with a cam (5042) which is in sliding contact with the upper end surface of the lower fixing frame (506).

10. The intelligent laser weeding robot capable of autonomous identification as claimed in claim 9, characterized in that: The elastic telescopic rod (507) comprises a sleeve (5071), a sliding rod (5072) and a compression spring (5073); the compression spring (5073) is sleeved on the outside of the sliding rod (5072); the sliding rod (5072) is inserted into the sleeve (5071) and elastically connected thereto via the compression spring (5073).

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