Multi-angle deflection and holder stable control integrated laser weeding robot

Abstract

The invention provides a laser weeding robot integrating multi-angle deflection and holder stable control. The laser weeding robot comprises a laser weeding chassis; the upper end surface of the holder stable control device is fixed with the laser weeding chassis; the multi-angle deflection device is fixed to the lower end face of the holder stabilizing device; wherein the holder stability control device can realize multi-angle automatic adjustment and is used for ensuring that the laser emission head is always kept stable in the vehicle moving process; the multi-angle deflection device comprises a screw rotating device and a deflection device which are installed in a crossed mode and is used for achieving left-right deflection and rotation of the laser. According to the scheme, the problem that an existing laser weeding robot is unstable in operation due to shaking is solved, meanwhile, the defects that a traditional device is poor in flexibility, complex in adjustment and the like are overcome, and the effect of improving the accuracy, stability and efficiency of laser weeding operation is achieved; and the performance and practicability of the laser weeding robot in practical application are obviously optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery operations, and in particular to a laser weeding robot, in particular to a laser weeding robot integrating multi-angle deflection with pan-tilt stable control. Background Art

[0002] Weeds are one of the main factors affecting the yield and quality of Chinese medicinal materials. According to the pharmacopoeia, conventional chemical herbicides must not be used during the cultivation of medicinal materials. In addition, since weeds and Chinese medicinal materials often belong to the same category, chemical herbicides not only have poor weed control effects, but may also cause phytotoxicity. Mechanical weed control also has obvious shortcomings, because Chinese herbal medicines usually grow slowly and have fragile root systems, and mechanical operations can easily damage the root systems; especially shallow-rooted Chinese herbal medicines such as ginseng and licorice, which are extremely sensitive to external mechanical interference. Mechanical weeding often causes irreversible and serious effects on these plants. Therefore, in order to solve the problem of weed removal in Chinese herbal medicine fields, there is an urgent need for a new weed control method that can not only effectively improve weed control efficiency but also minimize damage to Chinese herbal medicine plants.

[0003] In recent years, the application of laser technology in agriculture has been increasing. By precisely irradiating the surface of weeds with a laser beam, the high temperature of the laser can quickly vaporize the weeds' moisture and carbonize their tissues, ultimately killing them. This method is highly efficient and pollution-free, and is gaining popularity among agricultural practitioners. However, laser weeding robots have not been fully researched and applied in the removal of weeds from herbal medicine fields. Various issues remain, such as rapid and precise laser aiming and frame jitter compensation, as follows:

[0004] (1) Laser fast and accurate aiming problem

[0005] Weeds in Chinese herbal medicine fields are numerous and densely populated. The key to efficient weed removal is to quickly, flexibly, and accurately direct the laser beam toward the target weeds by adjusting the direction of the laser emitter without changing the robot chassis's forward path. Most existing solutions rely on adjusting the position of the machine chassis to align the laser with the target weeds. This approach requires frequent chassis adjustments, resulting in low operational efficiency. Excessive chassis adjustments can also reduce the machine's stability, causing it to deviate from its intended path. Furthermore, frequent chassis adjustments can further affect the laser's aiming accuracy, leading to reduced weed control efficiency and precision.

[0006] (2) Jitter compensation issues in complex field environments

[0007] The terrain of Chinese herbal medicine fields is complex and the ground is uneven, which inevitably causes the vehicle to shake during driving, thereby interfering with the accuracy of laser emission. How to compensate for the angular deviation caused by the shaking of the vehicle body and achieve precise control of the laser has become the core difficulty in achieving accurate weed removal. In the solutions disclosed in the prior art, the laser is usually fixed to the frame through a rigid connection device. This rigid connection method cannot effectively offset the vibration generated during the vehicle's driving during weeding operations, making the laser susceptible to the complex and changeable terrain, resulting in a significant decrease in the stability of the laser emission, which in turn affects the effect of the weeding operation.

[0008] In summary, in order to meet the operational needs of laser weeding robots in the field environment of Chinese herbal medicine, improve their operating efficiency, accuracy and effectiveness of weed removal, and reduce the damage rate to crops, it is urgent to develop a high-efficiency and low-damage weeding robot. Summary of the Invention

[0009] In view of the above-mentioned shortcomings of the prior art, the present invention provides a laser weeding robot with integrated multi-angle deflection and pan-tilt stable control, comprising:

[0010] Laser weed control chassis;

[0011] A pan-tilt stabilization control device, wherein the upper end surface of the pan-tilt stabilization control device is fixed to the laser weeding chassis;

[0012] A multi-angle deflection device, the multi-angle deflection device is fixed to the lower end surface of the pan / tilt stabilization control device;

[0013] Among them, the pan-tilt stabilization control device can realize multi-angle automatic adjustment to ensure that the laser transmitter head always remains stable during the movement of the vehicle; the multi-angle deflection device includes a cross-mounted screw rotation device and a deflection device to realize left and right deflection and rotation of the laser.

[0014] In some embodiments, the pan-tilt stabilization control device includes:

[0015] an airfoil-shaped consolidation mechanism, fixedly connected to the upper frame of the pan / tilt stabilization control device;

[0016] A rotating motor is fixed at the center of the pan / tilt stabilization control device;

[0017] The bottom bearing module is connected to the bottom frame of the cloud platform stability control device.

[0018] In some embodiments, the gimbal stabilization control device further includes a supporting cross arm, and the supporting cross arm is connected to both sides of the airfoil consolidation mechanism.

[0019] In some embodiments, the screw rotating device includes:

[0020] A rotating device, the rotating device is annular, a rotating support ring is provided inside the rotating device, and a gear is provided on the circumference of the rotating support ring;

[0021] A worm is engaged with a gear on the circumference of the rotating support ring to drive the rotating support ring to rotate.

[0022] In some embodiments, the screw rotating device further includes a first motor installed together with the worm.

[0023] In some embodiments, the deflection device comprises:

[0024] a laser deflection block, wherein the laser deflection block is connected to a laser head;

[0025] The left spherical supporting shell and the right spherical supporting shell are installed on the left and right sides of the laser deflection block.

[0026] In some embodiments, the deflection device further includes: a second motor, which is installed and connected to the laser deflection block to drive the laser deflection block to deflect.

[0027] In some embodiments, the laser weeding chassis includes a binocular camera and a battery. The binocular camera is connected to the front end surface of the laser weeding chassis through a fixed bracket, and the battery is arranged in an internal battery compartment of the laser weeding chassis.

[0028] In some embodiments, the laser weeding chassis further includes wheels and a wheel drive device, wherein the wheels are connected to both sides of the laser weeding chassis, and the wheel drive device is fixed to the rear end support plane of the laser weeding chassis and is connected to the wheels through a drive shaft.

[0029] The present invention has the following beneficial effects:

[0030] The laser weeding robot with integrated multi-angle deflection and pan-tilt stabilization control provided by the present invention combines a multi-angle deflection device and a pan-tilt stabilization control system. The multi-angle deflection device realizes rapid and precise steering of the laser emission head through deflection movement caused by bearing rotation and gear meshing. Without changing the travel path of the machine chassis, the emission direction of the laser beam can be flexibly adjusted to directly hit the target weeds.

[0031] This invention provides a multi-angle deflection device. This device utilizes a rotating mechanism to achieve 360° rotation about its central axis, while a deflection mechanism simultaneously achieves 150° deflection around the central axis. These two devices are mounted crosswise, enabling the laser to cover a "hemispherical" operating area, significantly improving coverage and efficiency. This device is particularly suitable for use in complex weed distribution environments such as Chinese herbal medicine fields.

[0032] The laser weeding robot, featuring multi-angle deflection and integrated pan-tilt stabilization control, significantly improves its flexibility and weeding efficiency. The pan-tilt stabilization control system effectively compensates for vehicle vibration caused by terrain fluctuations, eliminates deviations in the laser emission angle, and ensures that the laser beam remains stably focused on the target location. Leveraging its stabilization control system and laser emission device, the laser weeding robot can maintain high precision and efficiency even in complex field environments.

[0033] To address the poor coordination between conventional rotation and deflection mechanisms, which complicates control operations, the present invention utilizes a deflection motion design approach that combines bearing rotation with gear meshing. Motor 1 drives the meshing of large and small gears to achieve left and right deflection of the laser. Simultaneously, motor 2 drives the bearings to complete the rotational motion, and the deflection mechanism is mounted on the upper end face of the rotation mechanism. These two mechanisms work together to complete the weeding operation. This design achieves efficient coordination between the rotation and deflection mechanisms, simplifying the control process and improving operational efficiency, further enhancing the overall performance of the device.

[0034] The laser weeding robot with integrated multi-angle deflection and pan-tilt stable control provided by the present invention not only solves the problem of unstable operation of existing laser weeding robots caused by jitter, but also overcomes the shortcomings of traditional devices such as poor flexibility and complex adjustment, thereby achieving the effect of improving the accuracy, stability and efficiency of laser weeding operations, and significantly optimizing the performance and applicability of the laser weeding robot in practical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the overall structure of the multi-angle laser weeding robot shown in an embodiment of the present invention;

[0036] Figure 2 Schematic diagram of the structure of the pan-tilt stabilization control device according to an embodiment of the present invention;

[0037] Figure 3 This is a schematic structural diagram of a multi-angle deflection device according to an embodiment of the present invention;

[0038] Figure 4 This is a structural schematic diagram of the multi-angle deflection device in another state according to an embodiment of the present invention;

[0039] Figure 5This is a structural schematic diagram of the multi-angle deflection device in another state according to an embodiment of the present invention;

[0040] Figure 6 This is a structural schematic diagram of a screw rotating device according to an embodiment of the present invention;

[0041] Figure 7 Schematic diagram of the structure of a deflection device according to an embodiment of the present invention;

[0042] Figure 8 This is a schematic diagram of the laser weeding chassis structure shown in an embodiment of the present invention;

[0043] Wherein, the reference numerals:

[0044] 1-Laser weeding chassis;

[0045] 11- Binocular camera;

[0046] 12-battery;

[0047] 13-wheel;

[0048] 14-wheel drive;

[0049] 2-Pan-tilt stabilization control device;

[0050] 21-wing-shaped consolidation mechanism;

[0051] 22-rotating motor;

[0052] 23- bottom bearing module;

[0053] 24-support cross arms;

[0054] 3-Multi-angle deflection device;

[0055] 31-screw rotating device;

[0056] 311-rotating device;

[0057] 312-rotating support ring;

[0058] 3121-Gear;

[0059] 313-worm;

[0060] 314-first motor;

[0061] 32-deflection device;

[0062] 321-Laser deflection block;

[0063] 322-laser head;

[0064] 323-left spherical support housing;

[0065] 324-right spherical support housing;

[0066] 325-second motor;

[0067] 326-Motor charging port. DETAILED DESCRIPTION

[0068] The technical solution of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments to further understand the purpose, solution and effect of the present invention, but it is not intended to limit the scope of protection of the appended claims of the present invention.

[0069] Certain words are used in the specification and subsequent claims to refer to specific components or parts. It should be understood by those skilled in the art that technical users or manufacturers may refer to the same component or part with different nouns or terms. This specification and the subsequent claims do not use differences in names as a way to distinguish components or parts, but rather use differences in the functions of components or parts as the criteria for distinction. The words "include" and "comprising" mentioned throughout the specification and the subsequent claims are open-ended terms and should be interpreted as "including but not limited to". In addition, the word "connect" herein includes any direct and indirect electrical connection means. Indirect electrical connection means include connection through other devices.

[0070] It should be noted that, in the description of the present invention, the terms "horizontal", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and "about", or "approximately", "substantially", "left and right" and the like to indicate directions or positional relationships or parameters are all based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description content, and do not indicate or imply that the device or element referred to must have a specific direction, specific size or be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0071] See Figure 1-8 An embodiment of the present invention provides a laser weeding robot integrated with multi-angle deflection and pan-tilt stabilization control, comprising: a laser weeding chassis 1; a pan-tilt stabilization control device 2, the upper end surface of which is fixed to the laser weeding chassis 1 by screws; a multi-angle deflection device 3, the multi-angle deflection device 3 being fixed to the lower end surface of the pan-tilt stabilization control device 2 by a support buckle;

[0072] Among them, the pan-tilt stabilization control device 2 can realize multi-angle automatic adjustment to ensure that the laser transmitter head always remains stable during the movement of the vehicle; the multi-angle deflection device 3 includes a cross-mounted screw rotation device 31 and a deflection device 32 to realize left and right deflection and rotation of the laser.

[0073] Furthermore, the gimbal stabilization control device 2 in this embodiment includes: an airfoil fastening mechanism 21, fixedly connected to the upper frame of the gimbal stabilization control device 2 by screws; a rotary motor 22, fixed to the center of the gimbal stabilization control device 2 by a motor bracket; and a bottom support module 23, connected to the bottom frame of the gimbal stabilization control device 2 by a spring damper. The gimbal stabilization control device 2 also includes a support cross arm 24, which is connected to both sides of the airfoil fastening mechanism 21 via a hinge mechanism and fixed by bolts.

[0074] In this embodiment, the screw rotating device 31 includes: a rotating device 311, which is annular and has a rotating support ring 312 disposed within it. A gear 3121 is disposed on the periphery of the rotating support ring 312; and a worm 313, which engages with the gear 3121 disposed on the periphery of the rotating support ring 312 to drive the rotating support ring 312 to rotate. The screw rotating device 31 also includes a first motor 314, which is mounted together with the worm 313.

[0075] In this embodiment, the deflection device 32 includes: a laser deflection block 321 connected to a laser head 322 ; a left spherical support shell 323 and a right spherical support shell 324 installed on the left and right sides of the laser deflection block 321 .

[0076] The deflection device also includes: a second motor 325, which is installed and connected to the laser deflection block 321. The second motor 325 drives the large and small gears to engage to further drive the laser deflection block 321 to deflect. The second motor is also provided with a motor charging hole 326.

[0077] In this embodiment, the laser weeding chassis 1 includes a binocular camera 11 and a battery 12. The binocular camera 11 is connected to the front surface of the laser weeding chassis 1 via a fixed bracket, and the battery 12 is installed in the internal battery compartment of the laser weeding chassis 1 via an embedded clip. The laser weeding chassis 1 also includes wheels 13 and a wheel drive device 14. The wheels 13 are connected to both sides of the laser weeding chassis 1 via bearings and support rods. The wheel drive device 14 is fixed to the rear support surface of the laser weeding chassis 1 via bolts and is connected to the wheels 13 via a drive shaft.

[0078] The laser weeding robot with integrated multi-angle deflection and pan-tilt stabilization control provided by the present invention combines a multi-angle deflection device with a pan-tilt stabilization control system. The multi-angle deflection device achieves rapid and precise steering of the laser transmitter through deflection motion caused by bearing rotation and gear meshing. This allows for flexible adjustment of the laser beam's emission direction, without changing the machine chassis' travel path, to directly target weeds, significantly improving the device's flexibility and weeding efficiency. Furthermore, the pan-tilt stabilization control system effectively compensates for vehicle vibration caused by undulating terrain, eliminating deviations in the laser emission angle and ensuring that the laser beam remains stably focused on the target location. This stabilization control system enables the laser transmitter to maintain high precision and efficiency even in complex field environments.

[0079] A laser weeding robot with integrated multi-angle deflection and pan / tilt control addresses the problem of limited flexibility in existing laser adjustment devices, which reduces weeding efficiency. A multi-angle deflection device has been designed. This device uses a screw rotation mechanism to achieve 360° rotation about the central axis, while the deflection device can also achieve 150° deflection around the central axis. These two devices are cross-mounted, enabling the laser to cover a "hemispherical" operating area, significantly improving coverage and efficiency. This is particularly suitable for the complex weed distribution in Chinese herbal medicine fields.

[0080] To further address the issue of laser device accuracy degradation caused by jitter caused by uneven terrain during laser weeding, this invention introduces a pan-tilt stabilization control device. This device utilizes floating support frames on the Z, Y, and X axes to achieve multi-angle automatic adjustment, ensuring the laser head remains stable during vehicle movement. This effectively compensates for laser deviation caused by vehicle jitter, significantly improving the accuracy and stability of laser weeding operations.

[0081] To address the poor coordination between conventional rotation and deflection devices, which leads to complex control operations, the present invention provides a laser weeding robot with integrated multi-angle deflection and pan / tilt control, employing a deflection motion design approach that combines bearing rotation and gear meshing. A motor drives the meshing of large and small gears to achieve left and right deflection of the laser. Simultaneously, a motor drives the bearings to complete the rotational motion, and the deflection and rotation devices work together to complete the weeding operation. This efficient coordination between the rotation and deflection devices not only simplifies the control process, but also improves operational efficiency and further enhances the overall performance of the device.

[0082] The above description is merely a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any person skilled in the art may utilize the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes for application in other fields. However, any simple modification, equivalent change, and modification of the above embodiments made in accordance with the technical essence of the present invention without departing from the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A laser weeding robot with integrated multi-angle deflection and pan / tilt control, characterized by: include: Laser weed control chassis; A pan-tilt stabilization control device, wherein the upper end surface of the pan-tilt stabilization control device is fixed to the laser weeding chassis; A multi-angle deflection device, the multi-angle deflection device is fixed to the lower end surface of the pan / tilt stabilization device; Among them, the pan-tilt stabilization control device can realize multi-angle automatic adjustment to ensure that the laser transmitter head always remains stable during the movement of the vehicle; the multi-angle deflection device includes a cross-mounted screw rotation device and a deflection device to realize left and right deflection and rotation of the laser.

2. The laser weeding robot with integrated multi-angle deflection and pan / tilt stable control according to claim 1 is characterized by: The pan / tilt platform stable control device comprises: an airfoil-shaped consolidation mechanism, fixedly connected to the upper frame of the pan / tilt stabilization control device; A rotating motor is fixed at the center of the pan / tilt stabilization control device; The bottom bearing module is connected to the bottom frame of the cloud platform stability control device.

3. The laser weeding robot with integrated multi-angle deflection and pan / tilt stable control according to claim 2 is characterized by: The gimbal stabilization control device further includes a supporting cross arm, which is connected to both sides of the airfoil consolidation mechanism.

4. The laser weeding robot with integrated multi-angle deflection and pan / tilt stable control according to claim 1 is characterized by: The screw rotating device comprises: A rotating device, the rotating device is annular, a rotating support ring is provided inside the rotating device, and a gear is provided on the circumference of the rotating support ring; A worm is engaged with a gear on the circumference of the rotating support ring to drive the rotating support ring to rotate.

5. The laser weeding robot with integrated multi-angle deflection and pan / tilt stable control according to claim 4 is characterized by: The screw rotating device further includes a first motor, which is mounted together with the worm.

6. The laser weeding robot with integrated multi-angle deflection and pan / tilt stable control according to claim 1, characterized in that: The deflection device comprises: a laser deflection block, wherein the laser deflection block is connected to a laser head; The left spherical supporting shell and the right spherical supporting shell are installed on the left and right sides of the laser deflection block.

7. The laser weeding robot with integrated multi-angle deflection and pan / tilt stable control according to claim 6, characterized in that: The deflection device further includes: a second motor, which is installed and connected to the laser deflection block to drive the laser deflection block to deflect.

8. The laser weeding robot with integrated multi-angle deflection and pan / tilt stable control according to claim 1, characterized in that: The laser weeding chassis includes a binocular camera and a battery. The binocular camera is connected to the front end surface of the laser weeding chassis through a fixed bracket, and the battery is arranged in the internal battery compartment of the laser weeding chassis.

9. The laser weeding robot with integrated multi-angle deflection and pan / tilt stable control according to claim 8, characterized in that: The laser weeding chassis also includes wheels and wheel drive devices. The wheels are connected to both sides of the laser weeding chassis. The wheel drive device is fixed to the rear end support plane of the laser weeding chassis and is connected to the wheels through a drive shaft.

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