An intelligent laser weeding robot with autonomous identification

Abstract

The present invention discloses an intelligent laser weeding robot capable of autonomous identification, relating to the technical field of weeding equipment. The robot comprises a robot carriage, an identification camera, and a laser weeding mechanism. The robot carriage is provided with a cooling mechanism that cooperates with the laser weeding mechanism. A water spray mechanism connected to the cooling mechanism is provided at the rear of the robot carriage. The robot carriage comprises a body, a suspension frame, tires, a wheel-foot motor, and a controller. The identification camera is fixedly mounted on the front end of the body. The laser weeding mechanism comprises a mounting frame, a first screw, a laser generator, and a second motor. The laser weeding mechanism is mounted on the lower end surface of the body. The cooling mechanism comprises a water tank, a hose, a heat sink, and a submersible pump. The submersible pump is fixedly mounted in the water tank to supply water to the nozzle and the heat sink. The present invention has the advantages of efficient heat dissipation and automatic fire extinguishing, solving the problems of poor heat dissipation and the easy generation of sparks after weeding, which pose a fire hazard, in conventional laser weeding equipment.

Description

Technical Field

[0001] The present 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 advancement of agricultural automation and intelligence, traditional chemical weed control methods are no longer able to meet the demands of modern agriculture, not only causing environmental pollution but also leading to weed resistance over time. Consequently, developing 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 high precision and pollution-free nature.

[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 existing technology, open flames are usually extinguished by manual labor following behind the robot, which affects 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 and easy generation of sparks after weeding in traditional laser weeding equipment, which poses a fire hazard.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: an intelligent laser weeding robot capable of autonomous identification, comprising a robot carriage, an identification camera, and a laser weeding mechanism; the robot carriage is provided with a cooling mechanism that cooperates with the laser weeding mechanism; and the rear of the robot carriage is provided with a water spray mechanism that is connected to the cooling mechanism;

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

[0007] The laser weeding mechanism includes 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. The laser generator is installed on the lower end surface of the heat sink.

[0009] The water spraying mechanism includes 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 recognition camera, the wheel-foot motor, the second motor, the third motor and the laser generator.

[0011] As a preferred embodiment of an intelligent laser weeding robot capable of autonomous identification according to 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 provided inside the vehicle body.

[0012] As a preferred embodiment of an intelligent laser weeding robot capable of autonomous identification according to the present invention, a rotating shaft is provided on the side of the vehicle body, a bearing seat rotatably matched with the rotating shaft is provided on the suspension frame, a shock absorber is provided 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 with self-identification according to the present invention, the mounting bracket is fixedly mounted on the lower end surface of the vehicle body, the heat sink is mounted on the lower end of the mounting bracket and is slidably connected thereto, the mounting bracket is provided with a first screw rod for rotational connection, the side surface of the heat sink is provided with a first screw hole for cooperating with the first screw rod, the number of the mounting brackets is not less than two, the second motor is fixedly mounted on the upper end surface of the mounting bracket, 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 an intelligent laser weeding robot with autonomous identification according to 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 intelligent laser weeding robot capable of self-identification 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 self-identification capability of 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 drive shaft is provided on the output shaft of the third motor, a reciprocating thread is provided at the center of the drive shaft, a slider is provided at the bottom of the first sliding frame, and a second screw hole matching the reciprocating thread is provided on the side end surface of the slider.

[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 drive shaft is provided with a cam that 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 with autonomous identification of the present invention, the elastic telescopic rod includes 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 autonomously identify weeds by installing an identification camera on the machine trolley. The side of the vehicle body is improved by the combination of shock absorbers, rotating shafts, and bearing seats to enhance stability and ensure the clarity of the identification camera. This allows for more accurate weed location and weeding operations. The motor in the laser weeding mechanism drives the lead screw through the first and second synchronous wheels and the timing belt, causing the heat sink to slide left and right, allowing the laser generator to accurately match the weeds. The multiple mounting bracket structures can also cope with excessive 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. The 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 overheating and damage due to long-term operation, effectively extending the service life of the laser generator and ensuring that the weeding operation is carried out continuously and efficiently.

[0023] 3. The present invention realizes multi-angle spraying by cooperating the nozzle of the water spray mechanism through the first ball head, the first ball joint, the second ball head and the second ball joint. When the first sliding frame slides, it can rotate around the first ball joint to realize multi-angle spraying. The third motor drives the drive shaft to rotate, so that the first sliding frame slides back and forth along the drive shaft in a small range, driving the nozzle to swing left and right. At the same time, the motor drives the cam to rotate so that the second sliding frame slides back and forth up and down, driving the nozzle to swing up and down. The nozzle swings both horizontally and longitudinally, which greatly improves the coverage range of the nozzle, can effectively deal with 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 This is a schematic diagram of the overall structure of the present invention from a first perspective;

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

[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 This is a schematic diagram of the cooperation 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 sectional view of the present invention;

[0032] Figure 9 For the present invention Figure 8 Enlarged view of point B in the middle;

[0033] Figure 10 It is a front cross-sectional view of the elastic telescopic rod of the present invention.

[0034] In the figure: 1. Robot car; 101. Car 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 pulley; 303. Laser generator; 304. Second motor; 3041. First synchronous pulley; 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 spraying 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

[0035] See also Figures 1-9 An intelligent laser weeding robot capable of autonomous identification includes a robot trolley 1, an identification camera 2, and a laser weeding mechanism 3. The robot trolley 1 is provided with a cooling mechanism 4 that cooperates with the laser weeding mechanism 3, and the tail of the robot trolley 1 is provided with a water spraying mechanism 5 that is connected to the cooling mechanism 4.

[0036] The robot trolley 1 includes a body 101, a suspension frame 102, tires 103, wheel-foot motors 104 and a controller 107. The recognition camera 2 is fixedly mounted on the front end of the body 101.

[0037] 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.

[0038] 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.

[0039] 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;

[0040] The controller 107 is electrically connected to the recognition camera 2 , the wheel motor 104 , the second motor 304 , the third motor 505 and the laser generator 303 .

[0041] Furthermore, the suspension bracket 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 bracket 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 provided in the vehicle body 101.

[0042] 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.

[0043] Furthermore, a rotating shaft 1011 is provided on the side of the vehicle body 101, a bearing seat 105 is provided on the suspension frame 102 and is rotatably matched with the rotating shaft 1011, 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.

[0044] 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.

[0045] Furthermore, the mounting bracket 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 bracket 301 and is slidably connected thereto, the mounting bracket 301 is provided with a first screw rod 302 for rotational connection, the side surface of the heat sink 403 is provided with a first screw hole 4033 that cooperates with the first screw rod 302, the number of mounting brackets 301 is not less than two, the second motor 304 is fixedly mounted on the upper end surface of the mounting bracket 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.

[0046] 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, thereby achieving the purpose of matching the laser generator 303 with the weeds. The structure of multiple mounting frames 301 avoids the situation where there are too many weeds and a single laser generator 303 cannot meet the weeding needs.

[0047] Furthermore, 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 the hose 402.

[0048] 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 from the laser generator 303, thereby preventing the laser generator 303 from overheating and being damaged due to long-term operation, thereby improving the service life of the laser generator 303.

[0049] 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 .

[0050] 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 and further improving the cooling effect of the laser generator 303 .

[0051] 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, the tail of the nozzle 502 is provided with a first connecting rod 5021, and the first connecting rod 5021 is provided with a first ball head 5023 that cooperates with the first ball joint 5011, the bottom of the nozzle 502 is provided with a second connecting rod 5022, and the second connecting rod 5022 is provided with a second ball head 5024, 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 that cooperates with the second ball head 5024.

[0052] 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 the sliding process, thereby realizing multi-angle spraying and improving the coverage range of the nozzle 502.

[0053] Furthermore, 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, and a drive shaft 5041 is provided on the output shaft of the third motor 505, and a reciprocating thread is provided at the center of the drive shaft 5041, and a slider 5032 is provided at the bottom of the first sliding frame 503, and a second screw hole 5033 that cooperates with the reciprocating thread is provided on the side end surface of the slider 5032.

[0054] The third motor 505 drives the drive shaft 5041 to rotate, so that the first sliding frame 503 slides back and forth slightly along the drive 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 range of the nozzle 502 and avoiding missing sparks.

[0055] 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 in sliding contact with the upper end surface of the lower fixing frame 506 .

[0056] The motor drives the cam 5042 to rotate, 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, 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.

[0057] 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 to the sleeve 5071 through the compression spring 5073.

[0058] When the cam 5042 squeezes the lower fixing frame 506 to push the second sliding frame 504 upward, the sliding rod 5072 squeezes the compression spring 5073 to retract upward, so that the cam 5042 no longer squeezes the lower fixing frame 506. The lower fixing frame 506 can slide downward quickly under the restoring action of the compression spring 5073, so that the cam 5042 and the lower fixing frame 506 remain in contact.

[0059] 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 path planned independently 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 by the first synchronous wheel 3041, the second synchronous wheel 3021 and the synchronous belt 3042. 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 emitter reaches above the weeds, the laser generator 303 emits laser to perform weeding operations;

[0060] During the laser weeding process, the submersible pump 404 works continuously to pump out water from the water tank 401. The water flows through the hose 402 into the cold water flow channel 4032 of the heat sink 403 to cool the laser generator 303. The water is then transported to the nozzle 502 through the hose 402. The third motor 505 in the water spraying mechanism 5 drives the drive shaft 5041 to rotate. The reciprocating thread on the drive shaft 5041 cooperates with the second screw hole 5033 of the slider 5032 at the bottom of the first sliding frame 503, causing the first sliding frame 503 to slide back and forth slightly along the drive shaft 5041, driving the nozzle 502 to swing left and right. At the same time, the motor drives the cam 5042 to rotate. The cam 5042 slides in contact with the upper end surface of the lower fixed frame 506, causing the second sliding frame 504 to slide 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, spraying water to the area after laser weeding to deal with possible residual sparks, cool down and reduce dust, etc. When the weeding operation is completed or 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.

[0061] 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 scope of protection 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 in communication with the cooling mechanism (4); The robot car (1) includes a body (101), a suspension frame (102), tires (103), wheel foot motors (104) and a controller (107), and the recognition 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); 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 provided on the mounting frame (301) for rotational connection; a first screw hole (4033) is provided on the side surface of the heat sink (403) for cooperating with the first screw rod (302); 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 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); 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); 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); 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) that cooperates 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) that cooperates with the second ball head (5024); 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 drive shaft (5041) is provided on the output shaft of the third motor (505); a reciprocating thread is provided at the center of the drive shaft (5041); a slider (5032) is provided at the bottom of the first sliding frame (503); and a second screw hole (5033) that cooperates with the reciprocating thread is provided on the side end surface of the slider (5032).

2. The autonomously identifiable intelligent laser weeding robot according to 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 provided in the vehicle body (101).

3. The autonomously identifiable intelligent laser weeding robot according to claim 2, characterized in that: A rotating shaft (1011) is provided on the side of the vehicle body (101), a bearing seat (105) rotatably engaged 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).

4. The autonomously identifiable intelligent laser weeding robot according to claim 3, characterized in that: The lower fixing frame (506) is fixedly mounted on the lower end surface of the vehicle body (101), and the drive shaft (5041) is provided with a cam (5042) that is in sliding contact with the upper end surface of the lower fixing frame (506).

5. The autonomously identifiable intelligent laser weeding robot according to claim 4, 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 to the sleeve via the compression spring (5073).

Images