Intelligent laser weeding robot

Abstract

The invention discloses an intelligent laser weeding robot which comprises a rack, a plurality of laser weeding modules, a mechanical weeding module and an intelligent control module. The laser weeding module comprises a frame-shaped seat body, and a plurality of laser modules and lighting devices are dispersedly mounted on the frame-shaped seat body; the laser module comprises a laser generator, a digital galvanometer and a controller, and the mechanical weeding module comprises a plurality of weeding components; the laser module and the weeding component are staggered in the left-right direction. The four corners of the frame-shaped seat body are connected with the walking rack through a damping sliding pipe mechanism, and a laser focus self-adaptive regulation and control mechanism and a binocular depth camera are further arranged; and the laser focus self-adaptive regulation and control mechanism comprises a field lens and a driving mechanism for driving the field lens to move up and down. According to the invention, the shock-absorbing slide tube mechanism effectively buffers the impact in operation, so that the influence of the terrain on the operation of the laser module is small; and the binocular depth camera is matched with the laser focus self-adaptive regulation and control mechanism, so that three-dimensional coordinates of weeds can be quickly obtained, the focal length can be adjusted, and stable operation and weeding precision of the laser module are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent weeding machinery, in particular to an intelligent laser weeding robot. Background Art

[0002] During crop cultivation, weed control is crucial for ensuring healthy crop growth and increasing yields. Weeds not only compete with crops for soil nutrients, water, and light, but also severely interfere with normal crop growth, leading to reduced yields and decreased quality. Traditional weed control methods primarily include manual weeding, mechanical weeding, and chemical weed control. Chemical weed control is the primary weed control method, contributing to improved efficiency in modern agricultural production. However, the extensive use of chemical herbicides can lead to numerous adverse consequences, including risks to human health, an increase in herbicide-resistant weed populations, and soil and environmental pollution. Manual weeding is labor-intensive and inefficient, making it difficult to adapt to the needs of large-scale farmland. Mechanical weeding, while more in line with modern green and sustainable concepts than chemical weed control, is generally associated with challenges such as high seedling injury rates, low efficiency, and insufficient economic efficiency.

[0003] In recent years, with the advancement of environmental protection needs and intelligent agricultural technology, laser weeding technology has gradually become a research hotspot. In the existing technology, patent CN 118120442 A provides a weeding robot with a laser weeding device and a mechanical weeding device arranged in an interlaced manner. The mechanical weeding module removes weeds between rows, and the laser weeding device removes weeds between plants. This can reduce the operating intensity of the laser weeding device and improve the weeding efficiency. This device has the following disadvantages: (1) Due to the poor flatness of the field, the robot will be bumped when walking, which will affect the operation of the laser weeding module. In other existing technologies, such as patents such as CN221653490U, a shock-absorbing mechanism is set between the frame and the supporting wheel feet. Although it can reduce the impact of ground conditions on laser weeding to a certain extent, it is still poor in actual measurement. Other factors in the robot (such as mechanical weeding components) will have an additional impact on the operation of the laser module, and road bumps will cause dynamic changes in the laser focus, affecting the stability of weeding. (2) The mechanical weeding module removes the part of weeds above the soil by rotating blades, which has a poor weeding effect and cannot meet the diverse weeding needs. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an intelligent laser weeding robot that can ensure the operating stability and accuracy of the laser module.

[0005] Technical solution: To achieve the above-mentioned purpose, the intelligent laser weeding robot of the present invention comprises a frame on which a laser weeding module, a mechanical weeding module, and an intelligent control module are installed;

[0006] All the laser weeding modules include a frame-shaped base, a plurality of laser modules are dispersedly mounted on the connecting frame, and an illumination device is also installed; the laser module includes a laser generator, a digital galvanometer and a controller;

[0007] The mechanical weeding module includes a weeding beam and a plurality of weeding components dispersedly installed in the left and right directions of the weeding beam; the laser module and the weeding components are staggered with each other in the left and right directions;

[0008] The four corners of the frame-shaped seat are connected to the walking frame through a shock-absorbing sliding tube mechanism;

[0009] The laser module also includes a laser focus adaptive control mechanism and a binocular depth camera; the laser focus adaptive control mechanism includes a field lens and a driving mechanism for driving the field lens to move up and down; the field lens is connected to the digital galvanometer through a compressible protective tube.

[0010] Furthermore, the shock-absorbing sliding tube mechanism includes an upper pull tube, a lower pull tube, a shock absorber and a guide rail plate;

[0011] The L-shaped portion is formed by removing material from the square tube, and the whole plate portion constituting the L-shaped portion is a complete side plate on one side of the original square tube, and the half-width plate portion is half of the side plate on the other side of the original square tube, and a slide rail portion with a right-angled trapezoidal cross-section is installed on the edge of the half-width plate portion; the guide rail plate has an isosceles trapezoidal guide groove; the slide rail portions corresponding to the upper pull tube and the lower pull tube are both placed in the guide groove and can slide up and down relative to the guide groove respectively; the overall width of the half-width plate portions of the upper pull tube and the lower pull tube after splicing is consistent with the width of the square tube portion, and in the top view, the outer contour of the overall projection of the upper pull tube and the lower pull tube is the outer contour of the square tube portion;

[0012] The square tube portions of the upper and lower pull-down tubes are connected to the traveling frame and the frame-shaped base, respectively, and hinged seats are fixed to the ends of their L-shaped portions. The shock absorber is connected between the two hinged seats, and when viewed from above, the hinged seats do not extend beyond the outer contour of the square tube portion. This ensures that the main body of the shock absorber does not extend beyond the outer contour of the square tube portion. In this embodiment, the shock absorber is a nitrogen reducer.

[0013] Furthermore, the frame-shaped base has slots extending left and right; the laser module is fixed to the frame-shaped base by screws passing through the slots, and the position of the laser module can be adjusted along the slots;

[0014] The weeding component can be adjusted left and right relative to the weeding beam;

[0015] The number of both the laser modules and the weeding components can be increased or decreased as needed.

[0016] Furthermore, the laser module includes a machine box, in which the laser generator, the digital galvanometer and the controller are all installed; an optical path shaper connecting the laser generator and the digital galvanometer is also installed in the machine box;

[0017] The binocular depth camera is installed at the bottom of the machine box, and an air curtain dust removal device and the driving mechanism are respectively installed on both sides of the machine box.

[0018] The binocular depth camera and the digital galvanometer are relatively fixed in spatial position to ensure the accuracy of laser strike coordinate mapping.

[0019] Furthermore, the driving mechanism includes a servo motor, a steering component, a connecting plate, a guide column, a screw, a slider and a clamping arm;

[0020] The servo motor drives the screw to rotate through the steering component, so that the slider slides up and down along the guide column; the field lens is fixed on the slider through the clamping arm.

[0021] Furthermore, the upper and lower sides of the front end of the weeding beam are connected to the walking frame through connecting rods and connecting frames respectively, and the connecting rods and the connecting frames and the components connected thereto are all in a rotational connection relationship; the mechanical weeding module also includes a hydraulic suspension device connected between the walking frame and the connecting frame;

[0022] The hydraulic suspension device includes an electric hydraulic cylinder and a wire-type displacement sensor.

[0023] The weeding component includes a sliding adjustment base, a hoe shovel, and a spring component. The sliding adjustment base can be laterally adjusted and fixed relative to the weeding beam. The hoe shovel is rotatably mounted relative to the sliding adjustment base. The spring component connects the sliding adjustment base and the hoe shovel. This structure can provide protection for the hoe shovel. When the hoe shovel strikes a hard object, the spring component acts as a buffer to prevent damage to the hoe shovel.

[0024] Furthermore, the hoe shovel of the weeding module includes a hoe shovel body, a widening part that can rotate relative to the hoe shovel body, and a driving mechanism that drives the widening part to rotate relative to the hoe shovel body. The driving mechanism includes a connecting rod connecting the widening part and a rotary drive motor that drives the connecting rod to rotate.

[0025] Furthermore, wheel leg assemblies are installed at the four corners of the walking frame;

[0026] The wheel-leg assembly includes a mounting seat, a slewing turntable, a slewing frame, a wheel-side motor, a wheel, a steering motor and a rotation angle sensor;

[0027] The slewing frame is rotatably mounted relative to the mounting seat via the slewing turntable, and its rotation is driven by the steering motor. The angle sensor can obtain the steering angle of the slewing frame, and the slewing frame can achieve ±90° steering relative to the mounting seat; the wheels can be driven by the wheel-side motor to rotate relative to the slewing frame.

[0028] Furthermore, an extended-range energy supply system is installed inside the frame, and the extended-range energy supply system includes a fuel generator, a power battery pack, an AC / DC converter, a charger and a power controller;

[0029] The fuel generator is connected to the power battery pack via the AC / DC converter. The charger is used to charge the power battery pack. The power controller can dynamically switch between pure electric mode and hybrid mode based on operational needs. In addition, the extended-range energy supply system also includes a photovoltaic interface to support expanded photovoltaic power supply capabilities.

[0030] Furthermore, an intelligent control module is installed on the frame, and the intelligent control module includes a main controller, a panoramic camera, two sets of GNSS receivers, an inertial sensor, a gyroscope, four sets of laser radars, an industrial controller and a display screen;

[0031] The main controller, inertial sensor and gyroscope are installed inside the frame, the panoramic camera is arranged at the center of the front end of the frame, two groups of GNSS receivers are arranged at the two corners of the front end of the frame, four groups of lidars are distributed on the four sides of the frame, and the industrial controller and display are installed on the same side of the frame.

[0032] The main controller achieves centimeter-level precision path planning and navigation by fusing data from the GNSS receiver, inertial sensor, and gyroscope. The panoramic camera and lidar collaborate to construct a three-dimensional field environment model to ensure the reliability of obstacle detection and dynamic path adjustment.

[0033] Beneficial effects: The intelligent laser weeding robot of the present invention has the following beneficial effects:

[0034] (1) In the present invention, on the one hand, by providing a shock-absorbing sliding tube mechanism between the frame-type base and the traveling frame, the bumps and impacts during the operation of the machine are effectively buffered, so that the laser module is less affected by the terrain during operation. Compared with providing a shock-absorbing mechanism between the traveling wheels and the frame, the structure of the present invention can further reduce the impact of other components such as the mechanical weeding module on the operation of the laser module; on the other hand, by providing a binocular depth camera and a laser focus adaptive control mechanism, the controller can obtain the three-dimensional position coordinates of the weeds in real time and quickly respond to adjust the field lens height to adjust the laser focal length, thereby ensuring the operational stability of the laser module. The combined operation of these two aspects can effectively eliminate the impact of the bumpy conditions in the field and ensure the operational stability and weeding accuracy of the laser module.

[0035] (2) The structural design of the shock-absorbing sliding tube mechanism enables the frame-type seat to be relatively moved and raised as a whole. Through the unique L-shaped structure of the upper pull tube and the lower pull tube, the trapezoidal slide rail part on its edge slides with the trapezoidal guide groove of the guide rail plate, a compact layout of the shock-absorbing sliding tube mechanism is achieved. The overall structure takes into account both high shock absorption performance and compact space utilization.

[0036] (3) By enabling the laser module and weeding components to be adjusted left and right, and allowing the number of both to be increased or decreased as needed, the weeding spacing can be flexibly adapted to different crop row spacings, improving the accuracy of weeding between seedlings and reducing the risk of seedling damage. At the same time, the modular design enhances the adaptability of the equipment to different farmland working conditions.

[0037] (4) The servo motor drives the screw to drive the slider to rise and fall precisely along the guide column, realizing dynamic adjustment of the field mirror height and ensuring that the laser focus always acts accurately on the weed meristem; the compressible protective tube seals the connection between the field mirror and the laser generator to prevent field dust from contaminating the optical path, significantly improving the laser's target reliability and adaptability to complex terrain.

[0038] (5) The use of independent wheel-leg components can achieve flexible steering and precise trajectory control between narrow ridges in the field. The steering angle sensor provides real-time feedback of the steering angle to correct the path deviation in a closed loop, significantly improving the passability and operating efficiency in complex terrain.

[0039] (6) Dynamic switching between pure electric and hybrid modes is achieved through the extended-range energy supply system. Combined with the efficient coordination of the fuel generator and the power battery pack, it can ensure the endurance of long-term field operations. The expansion of the photovoltaic interface further improves the sustainability of energy utilization and adapts to the needs of complex farmland operation scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is the first-person structural diagram of the intelligent laser weeding robot;

[0041] Figure 2 This is the second perspective structural diagram of the intelligent laser weeding robot;

[0042] Figure 3 This is the structural diagram of the laser weeding module;

[0043] Figure 4 It is a structural diagram of the shock-absorbing sliding tube mechanism;

[0044] Figure 5 is a cross-sectional view of the shock-absorbing sliding tube mechanism;

[0045] Figure 6 This is the structural diagram of the laser module;

[0046] Figure 7 This is a structural diagram of the interior of the laser module box;

[0047] Figure 8 This is a structural diagram of the laser focus adaptive control mechanism;

[0048] Figure 9 This is the structural diagram of the mechanical weeding module;

[0049] Figure 10 This is a structural diagram of the first state of the weeding module in the preferred embodiment;

[0050] Figure 11 This is a second state structure diagram of the weeding module in the preferred embodiment;

[0051] Figure 12 This is a structural diagram of the wheel-leg assembly;

[0052] Figure 13 This is a schematic diagram of the operation of the intelligent laser weeding robot.

[0053] Figure: A-main controller; B-panoramic camera; C-GNSS receiver; D-inertial sensor; E-gyroscope; F-lidar; G-industrial controller; H-display; 1-travel frame; 2-laser weeding module; 21-frame base; 21a-slot; 22-laser module; 221-machine box; 222-laser generator; 223-optical path shaper; 224-digital galvanometer; 225-air curtain dust removal device; 226-Binocular depth camera; 227-Laser focus adaptive control mechanism; 2271-Servo motor; 2272-Steering component; 2273-Connecting plate; 2274-Guide column; 2275-Screw; 2276-Slider; 2277-Clamping arm; 2278-Field lens; 2279-Compressible protective tube; 228-Controller; 23-Illuminating device; 24-Shock-absorbing sliding tube mechanism; 241-Upper pull tube; 242-Lower pull tube ; 24b-slide rail; 243-shock absorber; 244-guide rail plate; 245-hinge seat; 24a-guide slide; 3-mechanical weeding module; 31-weeding beam; 31-weeding beam; 32-weeding component; 321-sliding adjustment seat; 322-hoe; 32a-hoe body; 32b-widening part; 32c-connecting rod; 32d-rotation drive motor; 323-spring component; 33-connecting frame; 34-connecting rod ;35-Hydraulic suspension device;351-Electric hydraulic cylinder;352-Pull-wire displacement sensor;4-Wheel leg assembly;41-Mounting seat;42-Turntable;43-Turntable frame;44-Wheel side motor;45-Wheel;46-Steering motor;47-Angle sensor;5-Extended range energy supply system;51-Fuel generator;52-Power battery pack;AC / 53-DC converter;54-Charger;55-Power controller. DETAILED DESCRIPTION

[0054] The present invention will be further described below with reference to the accompanying drawings.

[0055] like Figure 1 and Figure 2 The intelligent laser weeding robot shown includes a frame 1 on which a laser weeding module 2, a mechanical weeding module 3, and an intelligent control module are installed;

[0056] like Figure 3 As shown, all the laser weeding modules 2 include a frame-type base 21, a plurality of laser modules 22 are dispersedly mounted on the connecting frame 21, and a lighting device 23 is also installed; Figure 7 As shown, the laser module 22 includes a laser generator 222 , a digital galvanometer 224 and a controller 228 ;

[0057] like Figure 9As shown, the mechanical weeding module 3 includes a weeding beam 31 and a plurality of weeding components 32 dispersedly installed in the left and right directions of the weeding beam 31; the laser module 22 and the weeding components 32 are staggered with each other in the left and right directions; Figure 13 As shown, during operation, the mechanical weeding module 3 is used to weed the weeds between the rows, and the laser weeding module 2 is used to weed the weeds between the plants.

[0058] The four corners of the frame-shaped seat body 21 are connected to the walking frame 1 through a shock-absorbing sliding tube mechanism 24;

[0059] like Figure 6 As shown, the laser module 22 also includes a laser focus adaptive control mechanism 227 and a binocular depth camera 226; the laser focus adaptive control mechanism 227 includes a field lens 2278 and a driving mechanism for driving the field lens 2278 to move up and down; the field lens 2278 is connected to the digital galvanometer 224 through a compressible protective tube 2279.

[0060] The controller 228 automatically adjusts the laser focus adaptive control mechanism 227 based on the weed height obtained by the binocular depth camera 226 and the focal length of the laser beam, so that the laser beam focus directly acts on the weed meristem. For example, if the meristem depth of the weed seedling is detected to be 50 cm and the current laser beam focus operating depth is 48 cm, accurate focus striking can be achieved by lowering the field mirror height by 2 cm. At the same time, the laser power and burning time are matched according to the weed type, and the optimal striking path of the digital galvanometer 224 is planned. Combined with the forward speed of the laser weeding robot, dynamic compensation of the laser striking position is achieved by adjusting the digital galvanometer 224. The continuous tracking time of a single weed can be set within 0.4 to 0.8 seconds.

[0061] In the present invention, on the one hand, by providing a shock-absorbing slide tube mechanism 24 between the frame-type base 21 and the traveling frame 1, the bumps and impacts during the operation of the machine are effectively buffered, making the laser module 22 less affected by the terrain during operation. Compared with providing a shock-absorbing mechanism between the traveling wheels and the frame, the structure of the present invention can greatly reduce the impact of other components such as the mechanical weeding module on the operation of the laser module 22. On the other hand, by providing a binocular depth camera 226 and a laser focus adaptive control mechanism 227, the controller 228 can obtain the three-dimensional position coordinates of weeds in real time and quickly adjust the height of the field lens 2278 to adjust the laser focal length. The combined operation of these two aspects can effectively eliminate the impact of field bumps and ensure the operational stability and weeding accuracy of the laser module 22.

[0062] Preferably, if Figure 4As shown, the shock-absorbing sliding tube mechanism 24 includes an upper pull tube 241, a lower pull tube 242, a shock absorber 243 and a guide plate 244;

[0063] like Figure 5 As shown, both the upper pull tube 241 and the lower pull tube 242 have a square tube portion and an L-shaped portion, and each L-shaped portion is composed of a full plate portion and a half-width plate portion; the L-shaped portion is processed by removing material on the basis of the square tube, the full plate portion constituting the L-shaped portion is a complete side plate on one side of the original square tube, the half-width plate portion is half of the other side plate of the original square tube, and the edge of the half-width plate portion is installed with a slide rail portion 24b with a right-angled trapezoidal cross-section; the guide rail plate 244 has an isosceles trapezoidal guide groove 24a; the slide rail portions 24b corresponding to the upper pull tube 241 and the lower pull tube 242 are both placed in the guide groove 24a and can slide up and down relative to the guide groove 24a respectively; the overall width of the half-width plate portions of the upper pull tube 241 and the lower pull tube 242 after splicing is consistent with the width of the square tube portion, and in the top view, the outer contour of the overall projection of the upper pull tube 241 and the lower pull tube 242 is the outer contour of the square tube portion;

[0064] The square tube portions of the upper pull tube 241 and the lower pull tube 242 are connected to the traveling frame 1 and the frame-shaped base 21, respectively. A hinged seat 245 is fixed to the ends of the L-shaped portions of the upper pull tube 241 and the lower pull tube 242. The shock absorber 243 is connected between the two hinged seats 245. When viewed from above, the hinged seats 245 do not extend beyond the outer contour of the square tube portion. This ensures that the main body of the shock absorber 243 does not extend beyond the outer contour of the square tube portion. In this embodiment, the shock absorber 243 is a nitrogen reducer.

[0065] The structural design of the shock-absorbing sliding tube mechanism 24 enables the frame-type seat body 21 to be relatively moved and raised as a whole. Through the unique spliced ​​L-shaped structure of the upper pull tube 241 and the lower pull tube 242, the trapezoidal slide rail portion on its edge slides with the trapezoidal guide groove of the guide rail plate 244, thereby realizing a compact layout of the shock-absorbing sliding tube mechanism 24. The overall structure takes into account both high shock-absorbing performance and compact space utilization.

[0066] Preferably, the frame-shaped base 21 has a slot 21a extending left and right; the laser module 22 is fixed to the frame-shaped base 21 by screws passing through the slot 21a, and the position of the laser module 22 can be adjusted along the slot 21a;

[0067] The weeding component 32 can be adjusted left and right relative to the weeding beam 31;

[0068] The number of the laser modules 22 and the weeding components 32 can be increased or decreased as needed.

[0069] By enabling left and right adjustment of the laser module 22 and the weeding component 32, and allowing their number to be increased or decreased as needed, the weeding spacing can be flexibly adapted to different crop row spacings, improving the accuracy of inter-seedling weeding and reducing the risk of seedling damage. At the same time, the modular design enhances the adaptability of the equipment to different farmland working conditions.

[0070] Preferably, if Figure 6 As shown, the laser module 22 includes a machine box 221, and the laser generator 222, the digital galvanometer 224 and the controller 228 are all installed in the machine box 221; Figure 7 As shown, the box 221 is further provided with an optical path shaper 223 connecting the laser generator 222 and the digital galvanometer 224;

[0071] The binocular depth camera 226 is installed at the bottom of the machine box 221, and the air curtain dust removal device 225 and the driving mechanism are respectively installed on both sides of the machine box 221.

[0072] The binocular depth camera 226 and the digital galvanometer 224 are relatively fixed in spatial position to ensure the accuracy of laser strike coordinate mapping.

[0073] Through modular integrated design, weed identification, laser targeting and focus control are integrated and coordinated to improve operational reliability in complex farmland environments.

[0074] Preferably, if Figure 8 As shown, the driving mechanism includes a servo motor 2271, a steering component 2272, a connecting plate 2273, a guide column 2274, a screw 2275, a slider 2276 and a clamping arm 2277;

[0075] The servo motor 2271 drives the screw 2275 to rotate through the steering component 2272 so that the slider 2276 slides up and down along the guide column 2274 ; the field lens 2278 is fixed to the slider 2276 through the clamping arm 2277 .

[0076] The servo motor 2271 drives the screw 2275 to drive the slider 2276 to rise and fall precisely along the guide column 2274, thereby realizing dynamic height adjustment of the field mirror 2278 and ensuring that the laser focus always acts accurately on the weed meristem; the compressible protective tube 2279 seals and connects the field mirror and the laser generator 222 to prevent field dust from contaminating the optical path, significantly improving the laser's target reliability and adaptability to complex terrain.

[0077] The lighting device 23 is a long, strip-shaped light source mounted on either side of the frame-shaped base 21, extending horizontally. This long, strip-shaped light source can illuminate a large area below the laser module 22, facilitating image acquisition by the camera in the laser module 22. Based on the captured images, the control system can accurately distinguish between plants and weeds.

[0078] Preferably, if Figure 9 As shown, the upper and lower sides of the front end of the weeding beam 31 are connected to the walking frame 1 through connecting rods 34 and connecting frames 33 respectively, and the connecting rods 34 and the connecting frames 33 and the components connected thereto are all in a rotational connection relationship; the mechanical weeding module 3 also includes a hydraulic suspension device 35 connected between the walking frame 1 and the connecting frame 33;

[0079] The hydraulic suspension device 35 includes an electric hydraulic cylinder 351 and a cable-type displacement sensor 352 .

[0080] The weeding member 32 includes a sliding adjustment base 321, a hoe 322, and a spring member 323. The sliding adjustment base 321 can be laterally adjusted and fixed relative to the weeding beam 31. The hoe 322 is rotatably mounted relative to the sliding adjustment base 321. The spring member 323 connects the sliding adjustment base 321 and the hoe 322. This structure protects the hoe 322. When the hoe 322 strikes a hard object, the spring member 323 acts as a buffer to prevent damage to the hoe 322.

[0081] The shovel 322 includes a shovel body 32a, a widening portion 32b that can rotate relative to the shovel body 32a, and a driving mechanism that drives the widening portion 32b to rotate relative to the shovel body 32a. The driving mechanism includes a connecting rod 32c connected to the widening portion 32b and a rotation driving motor 32d that drives the connecting rod 32c to rotate. The widening portion 32b can be driven by the driving mechanism to switch between a storage state and an operating state. Figure 10 As shown, in the stored state, the widened portion 32b is located at the rear side of the shovel body 32a, as shown in FIG. Figure 11 As shown, in the operating state, at least a portion of the widening portion 32b extends outward from one side of the hoe body 32a to reach between two adjacent plants and remove grass roots between them. In the operating state, the connecting rod 32c is perpendicular to the widening portion 32b. In actual use, each weeding component 32 can be equipped with an image acquisition unit. The control system controls the switching state of the widening portion 32b based on the images captured by the image acquisition unit. With this structure, the hoe 322 can not only weed between rows, but also remove grass roots between plants, further improving the weeding effect.

[0082] The weeding depth of the hoe 322 can be adjusted by the electric hydraulic cylinder 351 to meet the weeding depth requirements of different weeds. The pull-wire displacement sensor 352 can provide feedback to the control system to ensure the accuracy of the weeding depth.

[0083] Preferably, wheel leg assemblies 4 are installed at the four corners of the walking frame 1;

[0084] like Figure 12 As shown, the wheel-leg assembly 4 includes a mounting base 41, a rotary turntable 42, a rotary frame 43, a wheel-side motor 44, a wheel 45, a steering motor 46 and a rotation angle sensor 47;

[0085] The rotating frame 43 is rotatably mounted relative to the mounting seat 41 via the rotating turntable 42, and its rotation is driven by the steering motor 46. The angle sensor 47 can obtain the steering angle of the rotating frame 43, and the rotating frame 43 can achieve ±90° steering relative to the mounting seat 41; the wheel 45 can be driven by the wheel-side motor 44 to rotate relative to the rotating frame 43.

[0086] The use of independent wheel-leg components 4 can achieve flexible steering and precise trajectory control in narrow ridges in the field. The steering angle sensor 47 provides real-time feedback of the steering angle to correct the path deviation in a closed loop, significantly improving the passability and working efficiency in complex terrain.

[0087] Preferably, an extended-range energy supply system 5 is installed inside the frame 1, and the extended-range energy supply system 5 includes a fuel generator 51, a power battery pack 52, an AC / DC converter 53, a charger 54 and a power controller 55;

[0088] The fuel generator 51 is connected to the power battery pack 52 via the AC / DC converter 53. The charger 54 is used to charge the power battery pack 52. The power controller 55 can dynamically switch between pure electric mode and hybrid mode according to operational needs. In addition, the extended-range energy supply system 5 also includes a photovoltaic interface to support expanded photovoltaic power supply capabilities.

[0089] 6 Dynamic switching between pure electric and hybrid modes is achieved through the extended-range energy supply system 5. Combined with the efficient coordination of the fuel generator 51 and the power battery pack 52, it can ensure the endurance of long-term field operations. The expansion of the photovoltaic interface further improves the sustainability of energy utilization and adapts to the needs of complex farmland operation scenarios.

[0090] Preferably, if Figure 2 As shown, the frame 1 is equipped with an intelligent control module, which includes a main controller A, a panoramic camera B, two sets of GNSS receivers C, an inertial sensor D, a gyroscope E, four sets of laser radars F, an industrial controller G, and a display screen H;

[0091] The main controller A, inertial sensor D and gyroscope E are installed inside the frame 1, the panoramic camera B is arranged at the center of the front end of the frame 1, two groups of GNSS receivers C are arranged at the two corners of the front end of the frame 1, four groups of laser radars F are distributed on the four sides of the frame 1, and the industrial controller G and display screen H are installed on the same side of the frame 1.

[0092] The main controller A achieves centimeter-level precision path planning and navigation by fusing data from the GNSS receiver C, inertial sensor D, and gyroscope E. The panoramic camera B and lidar F collaborate to construct a three-dimensional field environment model to ensure the reliability of obstacle detection and dynamic path adjustment.

[0093] The multimodal perception system integrates the main controller A, panoramic camera B, GNSS receiver C, inertial sensor D, gyroscope E, and lidar F to achieve high-precision navigation and environmental perception, significantly improving operational safety and path planning efficiency in complex field environments. The industrial controller G and display screen H provide an intuitive human-computer interaction interface, enhancing the convenience of equipment operation.

[0094] The above is only a preferred embodiment of the present invention. 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 invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent laser weeding robot, comprising a frame (1), on which a laser weeding module (2), a mechanical weeding module (3), and an intelligent control module are mounted; All the laser weeding modules (2) include a frame-shaped base (21), a plurality of laser modules (22) are dispersedly mounted on the connecting frame (21), and an illumination device (23) is also mounted thereon; the laser modules (22) include a laser generator (222), a digital galvanometer (224), and a controller (228); The mechanical weeding module (3) comprises a weeding beam (31) and a plurality of weeding components (32) dispersedly installed in the left and right directions of the weeding beam (31); the laser module (22) and the weeding components (32) are staggered with each other in the left and right directions; Its characteristics are: The four corners of the frame-shaped seat (21) are connected to the walking frame (1) via a shock-absorbing sliding tube mechanism (24); The laser module (22) further comprises a laser focus adaptive control mechanism (227) and a binocular depth camera (226); the laser focus adaptive control mechanism (227) comprises a field mirror (2278) and a driving mechanism for driving the field mirror (2278) to move up and down; the field mirror (2278) is connected to the digital galvanometer (224) via a compressible protective tube (2279).

2. The intelligent laser weeding robot according to claim 1, characterized in that: The shock-absorbing sliding tube mechanism (24) includes an upper pull tube (241), a lower pull tube (242), a shock absorber (243) and a guide rail plate (244); Both the upper pull tube (241) and the lower pull tube (242) have a square tube portion and an L-shaped portion, and each L-shaped portion is composed of a full plate portion and a half-width plate portion; a trapezoidal slide rail portion (24b) is installed on the edge of the half-width plate portion; an isosceles trapezoidal guide groove (24a) is provided on the guide rail plate (244); the slide rail portions (24b) corresponding to the upper pull tube (241) and the lower pull tube (242) are both placed in the guide groove (24a) and can slide relative to the guide groove (24a) respectively; The square tube portions of the upper pull tube (241) and the lower pull tube (242) are respectively connected to the walking frame (1) and the frame-type seat body (21), and the ends of the L-shaped portions of the two are respectively fixed with hinge seats (245): the shock absorber (243) is connected between the two hinge seats (245), and the hinge seats (245) do not exceed the outer contour range of the square tube portion in the top view direction.

3. The intelligent laser weeding robot according to claim 1, characterized in that: The frame-shaped base (21) has a slotted hole (21a) extending leftward and rightward; the laser module (22) is fixed to the frame-shaped base (21) by screws passing through the slotted hole (21a), and the position of the laser module (22) can be adjusted along the slotted hole (21a); The weeding component (32) can be adjusted left and right relative to the weeding beam (31); The number of both the laser modules (22) and the weeding components (32) can be increased or decreased as needed.

4. The intelligent laser weeding robot according to claim 1, characterized in that: The laser module (22) includes a machine box (221), wherein the laser generator (222), the digital galvanometer (224), and the controller (228) are all installed in the machine box (221); an optical path shaper (223) connecting the laser generator (222) and the digital galvanometer (224) is also installed in the machine box (221); The binocular depth camera (226) is installed at the bottom of the machine box (221), and an air curtain dust removal device (225) and the driving mechanism are respectively installed on both sides of the machine box (221).

5. The intelligent laser weeding robot according to claim 1, characterized in that: The driving mechanism includes a servo motor (2271), a steering component (2272), a connecting plate (2273), a guide column (2274), a screw (2275), a slider (2276) and a clamping arm (2277); The servo motor (2271) drives the screw (2275) to rotate via the steering component (2272), so that the slider (2276) slides up and down along the guide column (2274); the field lens (2278) is fixed on the slider (2276) via the clamping arm (2277).

6. The intelligent laser weeding robot according to claim 1, characterized in that: The upper and lower sides of the front end of the weeding beam frame (31) are connected to the walking frame (1) through connecting rods (34) and connecting frames (33) respectively; the mechanical weeding module (3) also includes a hydraulic suspension device (35) connected between the walking frame (1) and the connecting frame (33); The hydraulic suspension device (35) includes an electric hydraulic cylinder (351) and a pull-wire displacement sensor (352).

7. The intelligent laser weeding robot according to claim 1, characterized in that: The hoe (322) of the weeding module (32) includes a hoe body (32a), a widening portion (32b) that can rotate relative to the hoe body (32a), and a driving mechanism that drives the widening portion (32b) to rotate relative to the hoe body (32a). The driving mechanism includes a connecting rod (32c) connected to the widening portion (32b) and a rotary drive motor (32d) that drives the connecting rod (32c) to rotate.

8. The intelligent laser weeding robot according to claim 1, characterized in that: Wheel leg assemblies (4) are installed at the four corners of the walking frame (1); The wheel-leg assembly (4) comprises a mounting seat (41), a rotary turntable (42), a rotary frame (43), a wheel-side motor (44), a wheel (45), a steering motor (46) and a rotation angle sensor (47); The rotating frame (43) is rotatably mounted relative to the mounting seat (41) via the rotating turntable (42), and its rotation is driven by the steering motor (46). The angle sensor (47) can obtain the steering angle of the rotating frame (43); the wheel (45) can be driven by the wheel-side motor (44) to rotate relative to the rotating frame (43).

9. The intelligent laser weeding robot according to claim 1, characterized in that: An extended-range energy supply system (5) is installed inside the frame (1), and the extended-range energy supply system (5) includes a fuel generator (51), a power battery pack (52), an AC / DC converter (53), a charger (54), and a power controller (55); The fuel generator (51) is connected to the power battery pack (52) via the AC / DC converter (53); the charger (54) is used to charge the power battery pack (52); and the power controller (55) can dynamically switch between a pure electric mode and a hybrid mode according to operational requirements.

10. The intelligent laser weeding robot according to claim 1, characterized in that: An intelligent control module is installed on the frame (1), and the intelligent control module includes a main controller (A), a panoramic camera (B), two groups of GNSS receivers (C), an inertial sensor (D), a gyroscope (E), four groups of laser radars (F), an industrial controller (G) and a display screen (H); The main controller (A), inertial sensor (D) and gyroscope (E) are installed inside the frame (1), the panoramic camera (B) is arranged at the center of the front end of the frame (1), two groups of GNSS receivers (C) are arranged at the two corners of the front end of the frame (1), four groups of laser radars (F) are distributed on the four sides of the frame (1), and the industrial controller (G) and display screen (H) are installed on the same side of the frame (1).

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