Laser clearing device and clearing method

Abstract

The invention discloses a laser clearing device and a laser clearing method. The laser removing device comprises a visual positioning unit and a laser emitting unit, the laser emitting unit is configured to be capable of emitting a first laser beam and a second laser beam, the first laser beam is used for indicating the position of a second target object around a first target object, and the second laser beam is used for removing the second target object. When the second target object around the first target object is removed, the laser emission unit obtains the characteristic parameters of the first target object and the second target object based on the visual positioning unit, first emits the first laser beam to indicate the position of the second target object, and the second target object is removed under the condition that the first laser beam accurately indicates the position of the second target object. And the laser emitting unit emits the second laser beam to remove the second target object, so that the second target object can be accurately removed by the second laser beam emitted in the movement process, and meanwhile, the damage rate of the first target object is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural intelligent equipment, and in particular to a laser cleaning device and a cleaning method. Background Art

[0002] During the emergence period of crops, weeds have strong ecological competitiveness because the plants are small and have not yet formed a dense canopy. This can hinder crop growth and development, weaken the plants, and reduce fruit set. At the same time, field weeds can serve as hosts for pathogens and pests, making pest and disease control more difficult and seriously affecting crop yields. In agricultural production, field weeding is primarily carried out by spraying chemicals manually or by machine. This method of weeding not only adversely affects the growth and development of the current crop, but also pollutes the soil with residual herbicides, making it difficult to remove, affecting the yield of subsequent crops. This is especially true for intercropping and rotation fields. It also poses a serious threat to the health of workers, and pesticide residues on crops after harvest can affect the quality and safety of agricultural products.

[0003] Currently, the industry is researching an emerging weed control technology that uses lasers for weed control. By emitting a laser beam of a specific power at the meristem at the top of the weed stem, the laser's thermal effect quickly raises the water temperature in plant cells, reducing weed cell activity and effectively inhibiting or slowing weed growth, achieving laser thermal weed control. Existing laser weed control robots primarily consist of three main components: a visual imaging system, a laser weed control system, and a control system. The visual imaging system locates weeds and provides feedback to the control system. The control system then uses this weed location information to control the laser weed control system's laser firing to remove the weeds. For example, patent document CN101589705B discloses a laser weed control robot, and document CN215775112U discloses a laser intelligent weed control robot.

[0004] Existing laser weeding robots rely on visual image systems to locate weeds. However, laser weeding robots weed while constantly moving. Due to factors such as mechanical vibration and uneven fields, after positioning using machine vision images, there is no guarantee that the laser emitted by the robot during movement can accurately hit the weeds. While removing weeds, there is still a high rate of seedling damage. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides a laser cleaning device and a cleaning method for cleaning a second target object around a first target object, solving the problem of how to improve the accuracy of cleaning the second target object and reduce the damage rate of the first target object.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A first aspect of the present invention is to provide a laser cleaning device for cleaning a second target object around a first target object, the laser cleaning device comprising:

[0008] Movable stage;

[0009] a visual positioning unit, disposed on the movable platform, for acquiring characteristic parameters of the first target and the second target;

[0010] A laser emitting unit is provided on the movable platform, and is used to emit a first laser beam to the second target object according to the characteristic parameters, indicate the position of the second target object, and emit a second laser beam to the second target object according to the position indication result of the first laser beam to clear the second target object.

[0011] In a specific solution, the laser emitting unit includes a laser light source, a collimator, a first reflector and a second reflector. The laser light source is configured to emit the first laser beam and the second laser beam. The laser emitted by the laser light source is collimated by the collimator, reflected by the first reflector to the second reflector, and then reflected by the second reflector to the second target object. At least the second reflector is a scanning reflector capable of adjusting the laser emission angle.

[0012] In a specific solution, the laser light source includes a first laser and a second laser, the first laser is used to emit the first laser beam, and the second laser is used to emit the second laser beam.

[0013] In a specific embodiment, the laser light source further includes a spectrometer, wherein one of the first laser beam and the second laser beam is incident from a first surface of the spectrometer and is emitted from a second surface opposite to the first surface, and the other of the first laser beam and the second laser beam is incident from a third surface of the spectrometer and is emitted from the second surface after being reflected in the spectrometer.

[0014] In a specific solution, the laser light source includes a laser, and the laser is configured to emit the first laser beam and the second laser beam in sequence based on different power adjustments.

[0015] In a specific solution, the laser cleaning device includes a plurality of the laser emitting units, and the plurality of the laser emitting units are arranged in an array on the movable carrier.

[0016] In a specific solution, the visual positioning unit includes an image acquisition subunit and an image calculation subunit. The image acquisition subunit is used to acquire image data of the first target object and the second target object, and the image calculation subunit is used to process the image data and calculate and obtain characteristic parameters of the first target object and the second target object.

[0017] In a specific scheme, the image acquisition subunit includes a first camera assembly and a second camera assembly, the first camera assembly is installed at the front end of the moving direction of the movable platform, and the main optical axis of the first camera assembly is set perpendicular to the bottom surface of the movable platform, and the second camera assembly is installed at the rear end of the moving direction of the movable platform, and the main optical axis of the second camera assembly is tilted toward the direction of the first camera assembly.

[0018] In a specific solution, the movable platform includes a platform body and a walking mechanism, the visual positioning unit and the laser emitting unit are respectively installed on the platform body, and the platform body is connected to the walking mechanism through a lifting mechanism; the walking mechanism is used to control the platform body to walk on the working surface, and the lifting mechanism is used to control and adjust the height of the platform body relative to the working surface.

[0019] A second aspect of the present invention is to provide a laser cleaning method for cleaning a second target object around a first target object, wherein the laser cleaning device described above is used; the laser cleaning method comprises:

[0020] Acquire characteristic parameters of the first target and the second target by the visual positioning unit;

[0021] The laser emitting unit emits a first laser beam toward the second target according to the characteristic parameter to indicate the position of the second target;

[0022] Determine whether the first laser beam accurately indicates the position of the second target object. If so, emit the second laser beam toward the second target object by the laser emitting unit to remove the second target object.

[0023] The laser cleaning device and cleaning method provided by the embodiment of the present invention include a visual positioning unit and a laser emitting unit, wherein the laser emitting unit is configured to emit a first laser beam and a second laser beam, the first laser beam being used to indicate the position of a second target (such as weeds) around a first target (such as a crop seedling), and the second laser beam being used to remove the second target. When removing the second target around the first target, the laser emitting unit obtains characteristic parameters of the first target and the second target based on the visual positioning unit, and first emits the first laser beam to indicate the position of the second target. When the first laser beam accurately indicates the position of the second target, the laser emitting unit then emits the second laser beam to remove the second target. This ensures that the second laser beam emitted by the laser cleaning device during movement accurately hits the second target, greatly reducing the damage rate of the first target while removing the second target, and even achieving the effect of zero damage to the first target. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the structure of the laser cleaning device in an embodiment of the present invention;

[0025] Figure 2 is a structural block diagram of a laser cleaning device in an embodiment of the present invention;

[0026] Figure 3 Schematic diagram of the structure of the laser emitting unit in an embodiment of the present invention;

[0027] Figure 4 Schematic diagram of the structure of the laser light source in an embodiment of the present invention;

[0028] Figure 5 FIG. 4 is a schematic diagram of the object-image relationship of the 3D camera imaging system in an embodiment of the present invention. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the present invention more apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the accompanying drawings. The embodiments of the present invention shown in and described with reference to the accompanying drawings are merely exemplary, and the present invention is not limited to these embodiments.

[0030] It should be noted that the same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0031] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, the accompanying drawings only show structures and / or processing steps closely related to the solutions according to the present invention, while other details that are not closely related to the present invention are omitted.

[0032] The embodiment of the present invention first provides a laser cleaning device, which is used to clean a second target object around a first target object. Figure 1 and Figure 2 The laser cleaning device mainly includes a movable stage 1, a visual positioning unit 2 and a laser emitting unit 3. The visual positioning unit 2 and the laser emitting unit 3 are respectively arranged on the movable stage 1.

[0033] The movable platform 1 is configured to be able to move within a working area, such as a field.

[0034] The visual positioning unit 2 is configured to obtain characteristic parameters of the first target 5 and the second target 6 in the work area. Specifically, the visual positioning system 2 collects image data and calculates and obtains characteristic parameters of the first target 5 and the second target 6 around it.

[0035] Specifically, in some embodiments, the first target 5 may be seedlings of various crops, such as crop seedlings, and the second target 6 mainly refers to weeds and / or pests around the seedlings. Figure 1The first target object 5 shown in the figure is a crop seedling, and the second target object 6 is the weeds around the crop seedling. In some other embodiments, the first target object 5 can also be the main seedling selected from a dense group of seedlings (i.e., the seedling plant that needs to be retained), and the second target object 6 is the remaining seedlings located around the selected main seedling (i.e., the seedling plant that needs to be removed). For example, in the case of crops such as cabbage, rapeseed, mustard, soybeans, and corn in the seedling stage, when only a few or one plant needs to be retained in the same location, the optimal density will be selected to retain the best plant and the unnecessary seedlings will be removed. The optimal density refers to the spatial density, and the optimal plant refers to the developmental state, including three-dimensional size and health condition.

[0036] Specifically, the characteristic parameters calculated and obtained by the visual positioning system 2 mainly include the position coordinates of the first target object 5 and the second target object 6, the distance between the first target object 5 and the second target object 6, and the size of the second target object 6.

[0037] In which, the laser emitting unit 3 is configured to emit a first laser beam 7 and a second laser beam 8, the first laser beam 7 is used to indicate the position of the second target 6 around the first target 5, and the second laser beam 8 is used to clear the second target 6, and the power of the first laser beam 7 is less than the power of the second laser beam 8.

[0038] Specifically, the laser emitting unit 3 first emits a first laser beam 7 to the second target object 6 according to the characteristic parameters to indicate the position of the second target object 7, and then emits a second laser beam 8 to the second target object 6 according to the position indication result of the first laser beam 7 to clear the second target object 6.

[0039] The emission optical path is configured so that the first laser beam 7 and the second laser beam 8 emitted by the laser emitting unit 3 satisfy a predetermined irradiation position relationship. The predetermined irradiation position relationship specifically states that when the first laser beam 7 irradiates the second target 6 and accurately indicates the position of the second target 6, the second laser beam 8 can irradiate the second target 6 to remove the second target 6, and the second laser beam 8 cannot irradiate the first target 5.

[0040] Based on the laser removal device described in the above embodiment, the process of using laser to remove the second target 6 around the first target 5 mainly includes:

[0041] First, the first target 5 and the second target 6 around it are positioned based on the visual positioning unit 2, for example Figure 1 In area A, the first target object 5 and the second target object 6 around it are located by collecting the acquired image data.

[0042] Secondly, when the laser cleaning device moves so that the second target object 6 enters the operating range of the laser emitting unit 3, for example Figure 1 In area B, the laser emitting unit 3 emits laser light to remove the second target 6 based on the positioning information and other characteristic parameters of the second target 6. Specifically, based on the positioning information and other characteristic parameters, the laser emitting unit 3 first emits the first laser beam 7 to indicate the position of the second target 6. The visual positioning unit 2 then detects and determines whether the first laser beam 7 can accurately indicate the position. If so, the laser emitting unit 3 then emits the second laser beam 8 to remove the second target 6.

[0043] Therefore, the laser cleaning device can ensure that the second laser beam 8 emitted during the movement accurately hits the second target object 6, greatly reducing the damage rate of the first target object 5 while removing the second target object 6, and even achieving the effect of zero damage to the first target object 5. It is particularly suitable for removing weeds and / or pests (second target object 6) from the periphery of seedlings (first target object 5) of various crops by laser.

[0044] As a preferred solution, in this embodiment, the laser emitting unit 3 is configured to sequentially emit the first laser beam 7 and the second laser beam 8 along the same optical path. That is, the first laser beam 7 and the second laser beam 8 are coaxially arranged. As a result, a relatively simple optical path can be used to achieve the predetermined irradiation position relationship described above for the first laser beam 7 and the second laser beam 8. Of course, in other embodiments, the first laser beam 7 and the second laser beam 8 can also be non-coaxially arranged, in which case the optical path in the laser emitting unit 3 is relatively more complex.

[0045] In a specific case, in this embodiment, if Figure 3 As shown, the laser emitting unit 3 includes a laser light source 31, a collimator 32, a first reflector 33, and a second reflector 34. The laser light source 31 is configured to emit a first laser beam 7 and a second laser beam 8. The laser light emitted by the laser light source 31 is collimated by the collimator 32, then reflected by the first reflector 33 to the second reflector 34, and then reflected by the second reflector 34 to the second target 6. As a result, the laser emitting unit 3 is configured to sequentially emit the first laser beam 7 and the second laser beam 8 along the same optical path. The second reflector 34 is configured as a scanning reflector capable of adjusting the laser emission angle.

[0046] It should be noted that Figure 1 and Figure 3 , the first laser beam 7 and the second laser beam 8 are marked simultaneously in a staggered manner, just to illustrate that the laser emitting system 3 is configured to be able to emit the first laser beam 7 and the second laser beam 8. In this embodiment, the first laser beam 7 and the second laser beam 8 are emitted at different times and are coaxial.

[0047] In this embodiment, Figure 4 As shown, the laser light source 31 includes a first laser 311 and a second laser 312. The first laser 311 is used to emit the first laser beam 7, and the second laser 312 is used to emit the second laser beam 8. A beam splitter 313 is provided on the output optical paths of the first laser 311 and the second laser 312. The second laser beam 8 is incident on the first surface of the beam splitter 313 and emitted from the second surface opposite to the first surface. The first laser beam 7 is incident on the third surface of the beam splitter 313 and is reflected by the beam splitter 313 before being emitted from the second surface. Thus, the first laser beam 7 and the second laser beam 8 are configured to be coaxially emitted by the beam splitter 313. In some other optional embodiments, the laser light source 31 can also be configured to include only one laser, which is configured to sequentially emit the first laser beam 7 and the second laser beam 8 based on different power adjustments.

[0048] Furthermore, an aperture 314 is provided on the optical path between the first laser 311, the second laser 312 and the beam splitter 313 (the figure only shows the aperture 314 between the first laser 311 and the beam splitter 313 as an example), and the aperture 314 is used to control the spot size of the laser emitted by the corresponding laser.

[0049] The first laser beam 7 emitted by the first laser 312 is used to locate and indicate the second target object 6. It is preferably configured as a visible light laser. For example, the first laser 312 is selected as a green laser. During device debugging, the human eye can assist in identifying whether the first laser beam 7 can accurately locate and indicate the second target object 6. The second laser 312 is preferably configured as a near-infrared laser.

[0050] Based on the laser emitting unit 3 described in the above embodiment, the predetermined irradiation position relationship between the first laser beam 7 and the second laser beam 8 is preferably set according to the following rules: the spot of the first laser beam 7 is set to cover the second target object 6 without irradiating the first target object 5, and the spot of the second laser beam 8 is set to be no larger than the spot of the first laser beam 7. In a preferred embodiment, the spot diameter of the second laser beam 8 is set to be 0.6 to 1 times the spot diameter of the first laser beam 7.

[0051] Of course, in some optional embodiments, based on the characteristic parameters calculated and obtained by the visual positioning system 2, if the distance between the first target 5 and the second target 6 is large, the spot diameter of the second laser beam 8 can also be set to be slightly larger than the spot diameter of the first laser beam 7 by controlling the corresponding aperture.

[0052] As a preferred solution, in this embodiment, the laser cleaning device includes a plurality of laser emitting units 3, which are arranged in an array on the movable stage 1. The plurality of laser emitting components 3 are configured to have a plurality of different spot diameters. For example, 16 laser emitting units 3 are arranged in an array of 4 rows × 4 columns. The 4 laser emitting units 3 in each row are configured to emit laser beams with different spot diameters, and the 4 laser emitting units 3 in each column are configured to emit laser beams with the same spot diameter. Figure 1 In this embodiment, four laser emitting units 3 arranged in an array are exemplarily shown. During the process of removing the second target 6, the laser removal device selects and controls a corresponding laser emitting unit 3 based on the characteristic parameters calculated and obtained by the visual positioning system 2 to emit a laser toward the second target 6, thereby removing the second target 6 by laser. For example, based on the position coordinates of the second target 6, the distance between the first target 5 and the second target 6, and the size of the second target 6, a laser emitting unit 3 with matching position coordinates and a matching spot diameter is selected to emit a laser toward the second target 6.

[0053] In this embodiment, the movable platform 1 includes a platform body 11 and a walking mechanism 12. The visual positioning unit 2 and the laser emitting unit 3 are respectively installed on the platform body 11. The platform body 11 is connected to the walking mechanism 12 through a lifting mechanism 13. The walking mechanism 12 is used to control the platform body 11 to walk on the working surface, and the lifting mechanism 13 is used to control and adjust the height of the platform body 11 relative to the working surface.

[0054] In this embodiment, refer to Figure 2 The laser removal device further includes a control unit 4, to which the visual positioning system 2 and the laser emitting unit 3 are respectively connected. The visual positioning system 2 sends the calculated characteristic parameters to the control unit 4, and the control unit 4 controls the laser emitting unit 3 to emit the first laser beam 7 and the second laser beam 8 based on the characteristic parameters to remove the second target object 6.

[0055] As a preferred solution, in this embodiment, the control unit 4 is integrated with the visual positioning system 2 and the laser emitting unit 3 and is arranged on the movable platform 1 (attached). Figure 1 Of course, in some other optional embodiments, the control unit 4 can also be set outside the movable platform 1, for example, in a remote control terminal, and the control unit 4 is connected to the visual positioning system 2 and the laser emitting unit 3 through wireless communication.

[0056] The walking mechanism 12 and the lifting mechanism 13 are respectively connected to the control unit 4 . The control unit 4 controls the walking mechanism 12 to drive the supporting platform body 11 to walk and move. The control unit 4 controls the lifting mechanism 13 to drive the supporting platform body 11 to rise and fall relative to the walking mechanism 12 .

[0057] Specifically, if Figure 2 As shown, the control unit 4 includes a control chip 41 and a travel control module 42, a lifting control module 43, and a laser emission control module 44, respectively connected to the control chip 41. The travel control module 42 is connected to the travel mechanism 12. The control chip 41 sends control instructions to the travel control module 42 to control the travel control module 42 to drive the travel mechanism 12 to move the support platform body 11. The travel mechanism 12 is, for example, a wheel equipped with a drive motor. The lifting control module 43 is connected to the lifting mechanism 13. The control chip 41 sends control instructions to the lifting control module 43 to control the lifting control module 43 to drive the lifting mechanism 13 to move the support platform body 11. The lifting mechanism 13 is, for example, a linear drive module such as a linear motor. The laser emission control module 44 is connected to the laser emission unit 3. The control chip 41 sends control instructions to the laser emission control module 44 to control the laser emission control module 44 to drive the laser emission unit 3 to emit laser light.

[0058] Among them, Figure 2As shown, the visual positioning unit 2 includes an image acquisition subunit 21 and an image calculation subunit 22. The image acquisition subunit 21 is connected to the image calculation subunit 22, and the image calculation subunit 22 is connected to the control chip 41 in the control unit 4. The image acquisition subunit 21 is used to acquire image data of the first target object 5 and the second target object 6 and send it to the image calculation subunit 22. The image calculation subunit 22 is used to process the image data, calculate and obtain feature parameters of the first target object 5 and the second target object 6, and send them to the control chip 41.

[0059] In this embodiment, Figure 1 As shown, the image acquisition subunit 21 includes a first camera component 21a and a second camera component 21b. The first camera component 21a is installed in the direction of travel of the movable stage 1 (such as Figure 1 In some embodiments, the image acquisition subunit 21 may include only the first camera assembly 21a.

[0060] In this embodiment, the first camera component 21a and the second camera component 21b are respectively provided at the front and rear ends of the movable stage 1 for image data acquisition, and the main optical axis of the second camera component 21b is tilted in the direction toward the first camera component 21a, so that the fields of view of the first camera component 21a and the second camera component 21b have a large overlapping area. Therefore, when the image calculation subunit 22 performs fusion processing on the image data acquired by the image acquisition subunit 21, the image processing speed can be accelerated and the accuracy can be improved, and more accurate characteristic parameters of the first target object 5 and the second target object 6 around it can be calculated and acquired.

[0061] Specifically, if Figure 1As shown, the first camera assembly 21a and the second camera assembly 21b each include: a 3D camera 211 and two 2D cameras 212. The 3D camera 211 and the 2D camera 212 are respectively connected to the movable stage 1, and the two 2D cameras 212 are arranged on opposite sides of the 3D camera 211. The 3D camera 211 is used to capture and obtain three-dimensional image data and send it to the image calculation subunit 22. The 2D camera 212 is used to capture and obtain two-dimensional image data and send it to the image calculation subunit 22. The image calculation subunit 22 performs deep fusion on the three-dimensional image data and the two-dimensional image data based on a pre-trained deep learning image processing model, and calculates and obtains characteristic parameters including the position coordinates of the first target 5 and the second target 6, the distance between the first target 5 and the second target 6, and the size of the second target 6.

[0062] In this embodiment, the 3D camera 211 is an RGBD camera, but in other embodiments, a binocular camera may also be used. The 2D camera 212 is a high-definition camera comprising multiple sub-lenses, which are used to acquire spectral images and color images. In this embodiment, each 2D high-definition camera includes four sub-lenses, which acquire red, green, and blue spectral images and color / grayscale images. Because crops have different spectra than weeds or pests, using spectral images enables more accurate detection and identification.

[0063] Among them, the image calculation subunit 22 identifies the growth status of the first target 5 and the second target 6, such as the current height and density, based on the image and point cloud fusion image data acquired by the 3D camera, and adjusts the object-image relationship of the 2D high-definition camera system (the distance between the camera and the first target 5 and the second target 6) by controlling the lifting and lowering of the supporting platform body 11, to provide the image calculation subunit 22 with two-dimensional image data with the best resolution, thereby solving the problem of low accuracy of target detection, recognition and tracking due to insufficient resolution, and achieving the best target detection, recognition and tracking effect.

[0064] Among them, combined Figure 5 As shown, the image calculation subunit 22 fuses the image data with the point cloud based on the image acquired by the 3D camera, according to the formula: Calculate and obtain the size of the first target 5 and the size of the second target 6, where w is the half-height / half-width size of the first target 5 or the second target 6, D is the vertical distance between the RGBD camera and the first target 5 or the second target 6, p is the half-height / half-width image size of one dimension of the first target 5 or the second target 6 in the two-dimensional image, and f′ RGBD is the image side focal length of the RGBD camera. The calculation formula for p is p x =X×Sx , p y =Y×S y , where (X, Y) is the number of two-dimensional pixels, (S x ,S y ) is the size of the pixel in two dimensions. The calculation formula for D is d is the distance measured by the RGBD camera relative to the first target 5 or the second target 6 .

[0065] As described above, in this embodiment, the image acquisition subunit 21 includes a first camera assembly 21a and a second camera assembly 21b. The first camera assembly 21a and the second camera assembly 21b each include a 3D camera 211 and two 2D cameras 212 disposed on opposite sides of the 3D camera 211. In the image acquisition subunit 21, in addition to the 3D camera 211, the two 2D cameras 212 of the first camera assembly 21a can form a binocular camera, the two 2D cameras 212 of the second camera assembly 21b can also form a binocular camera, and any one of the 2D cameras of the first camera assembly 21a and any one of the 2D cameras of the second camera assembly 21b can also form a binocular camera. Thus, the image acquisition subunit 21 can capture and acquire three-dimensional image data from multiple dimensions, thereby improving the accuracy of the characteristic parameters of the first target object 5 and the surrounding second target objects 6 calculated by the image calculation subunit 22, and enhancing the effectiveness of target detection, recognition, and tracking.

[0066] Furthermore, in this embodiment, if Figure 1 As shown, the first camera assembly 21a and the second camera assembly 21b are further provided with an illumination device 213. When the ambient light for imaging is insufficient, the illumination device 213 is controlled to illuminate without blind spots, thereby improving the imaging quality. The illumination device 213 is preferably a shadowless lamp.

[0067] The embodiment of the present invention further provides a laser cleaning method for cleaning a second target object around a first target object, wherein the laser cleaning device described in the above embodiment is used. Specifically, the laser cleaning method includes the following steps:

[0068] S1. Start the laser cleaning device and control the laser cleaning device to move in the working area.

[0069] Specifically, the control unit 4 sends a control instruction to drive the walking mechanism 12 to drive the supporting platform body 11 to walk and move in the working area.

[0070] S2. Acquire characteristic parameters of the first target and the second target through the visual positioning unit.

[0071] Specifically, step S2 includes the following sub-steps:

[0072] S21 , the image acquisition subunit 21 acquires three-dimensional image data and two-dimensional image data of the first target object 5 and the second target object 6 around it, and sends the data to the image calculation subunit 22 .

[0073] Among them, the control unit 4 can send a control instruction to drive the lifting mechanism 13 to drive the supporting platform body 11 to rise or fall, adjust the object-image relationship of the 2D camera system, and enable the image acquisition subunit 21 to acquire two-dimensional image data with optimal resolution.

[0074] When the ambient light for imaging is insufficient, the lighting device 213 is controlled to be activated for lighting without blind spots, thereby improving the imaging quality.

[0075] S22. The image calculation subunit 22 performs deep fusion of the three-dimensional image data and the two-dimensional image data based on a pre-trained deep learning image processing model, calculates and obtains characteristic parameters including the position coordinates of the first target object 5 and the second target object 6, the distance between the first target object 5 and the second target object 6, and the size of the second target object 6, and sends the characteristic parameters to the control unit 4.

[0076] S3. The laser emitting unit emits a first laser beam toward the second target according to the characteristic parameter to indicate the position of the second target.

[0077] Specifically, when the laser cleaning device moves so that the second target object 6 enters the operating range of the laser emitting unit 3, the control unit 4 controls the laser emitting unit 3 to emit a first laser beam 7 toward the second target object 6 based on the characteristic parameters obtained in step S2, thereby indicating the position of the second target object 6.

[0078] S4. Determine whether the first laser beam accurately indicates the position of the second target object. If so, emit the second laser beam toward the second target object by the laser emitting unit to remove the second target object.

[0079] Specifically, the visual positioning system 2 detects and determines whether the first laser beam 7 can accurately indicate the position of the second target object 6: if so, the control unit 4 controls the laser emitting unit 3 to emit a second laser beam 8 to the second target object 6 to clear the second target object 6; if not, the laser emitting unit 3 is controlled to adjust the laser emission angle, and the above step S3 is repeated until the first laser beam 7 can accurately indicate the position of the second target object 6.

[0080] The emission angle of the laser can be adjusted by adjusting the reflection direction of the second reflector 34 in the laser emitting unit 3 .

[0081] In summary, the laser cleaning device and cleaning method provided by the embodiments of the present invention, wherein the laser emitting unit is configured to emit a first laser beam and a second laser beam, the first laser beam is used to indicate the position of a second target (such as weeds) around a first target (such as a crop seedling), and the second laser beam is used to clear the second target. When clearing the second target around the first target, the laser emitting unit obtains the characteristic parameters of the first target and the second target based on the visual positioning unit, and first emits the first laser beam to indicate the position of the second target. When the first laser beam accurately indicates the position of the second target, the laser emitting unit then emits the second laser beam to clear the second target. This ensures that the second laser beam emitted by the laser cleaning device during movement accurately hits the second target, greatly reducing the damage rate of the first target while removing the second target, and can even achieve the effect of zero damage to the first target.

[0082] The above is only a specific implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A laser cleaning device for cleaning a second target object around a first target object, characterized in that: The laser cleaning device comprises: Movable stage; a visual positioning unit, disposed on the movable platform, for acquiring characteristic parameters of the first target and the second target; A laser emitting unit is provided on the movable platform, and is used to emit a first laser beam to the second target object according to the characteristic parameters, indicate the position of the second target object, and emit a second laser beam to the second target object according to the position indication result of the first laser beam to clear the second target object.

2. The laser cleaning device according to claim 1, characterized in that The laser emitting unit includes a laser light source, a collimator, a first reflector and a second reflector. The laser light source is configured to emit the first laser beam and the second laser beam. The laser emitted by the laser light source is collimated by the collimator, reflected by the first reflector to the second reflector, and then reflected by the second reflector to the second target object. At least the second reflector is a scanning reflector capable of adjusting the laser emission angle.

3. The laser cleaning device according to claim 2, characterized in that The laser light source includes a first laser and a second laser, the first laser is used to emit the first laser beam, and the second laser is used to emit the second laser beam.

4. The laser cleaning device according to claim 3, characterized in that The laser light source also includes a spectrometer, one of the first laser beam and the second laser beam is incident from a first surface of the spectrometer and emitted from a second surface opposite to the first surface, and the other of the first laser beam and the second laser beam is incident from a third surface of the spectrometer and emitted from the second surface after being reflected in the spectrometer.

5. The laser cleaning device according to claim 2, characterized in that The laser light source includes a laser configured to sequentially emit the first laser beam and the second laser beam based on different power adjustments.

6. The laser cleaning device according to any one of claims 2 to 5, characterized in that: The laser cleaning device includes a plurality of laser emitting units, and the plurality of laser emitting units are arranged in an array on the movable stage.

7. The laser cleaning device according to claim 1, characterized in that The visual positioning unit includes an image acquisition subunit and an image calculation subunit. The image acquisition subunit is used to acquire image data of the first target object and the second target object, and the image calculation subunit is used to process the image data and calculate and obtain characteristic parameters of the first target object and the second target object.

8. The laser cleaning device according to claim 7, characterized in that: The image acquisition subunit includes a first camera assembly and a second camera assembly, the first camera assembly is installed at the front end of the moving direction of the movable platform, and the main optical axis of the first camera assembly is arranged perpendicular to the bottom surface of the movable platform, and the second camera assembly is installed at the rear end of the moving direction of the movable platform, and the main optical axis of the second camera assembly is arranged obliquely toward the first camera assembly.

9. The laser cleaning device according to claim 1, characterized in that The movable platform includes a platform body and a walking mechanism. The visual positioning unit and the laser emitting unit are respectively installed on the platform body. The platform body is connected to the walking mechanism through a lifting mechanism. The walking mechanism is used to control the platform body to walk on the working surface, and the lifting mechanism is used to control and adjust the height of the platform body relative to the working surface.

10. A laser cleaning method for cleaning a second target object around a first target object, characterized in that: The laser cleaning device according to any one of claims 1 to 9 is used; the laser cleaning method comprises: Acquire characteristic parameters of the first target and the second target by the visual positioning unit; The laser emitting unit emits a first laser beam toward the second target according to the characteristic parameter to indicate the position of the second target; Determine whether the first laser beam accurately indicates the position of the second target object. If so, emit the second laser beam toward the second target object by the laser emitting unit to remove the second target object.

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