Small field intelligent laser weeding robot with laser striking function

Abstract

The invention relates to the technical field of agricultural intelligent equipment, in particular to a small field intelligent laser weeding robot with a laser striking function. Comprising a first fixing shell, a second fixing shell is fixed to the top of the first fixing shell, connecting frames are fixed to the two ends between the first fixing shell and the second fixing shell, and moving legs are installed on the two sides of each connecting frame; and lasers are arranged at one ends of two sides in the first fixed shell. According to the small field intelligent laser weeding robot with the laser striking function, through cooperation of the first fixing shell, the second fixing shell, the closing cover and the movable legs, the heights of the first fixing shell and the second fixing shell are adaptively adjusted through the multiple movable legs; and meanwhile, the internal structure of the second fixing shell can be overhauled by separating the closing cover from the second fixing shell, and the internal structures of the first fixing shell and the second fixing shell can be fixed in a layered manner, so that the structure can be placed more properly, and heat dissipation is improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural intelligent equipment technology, and in particular to a small intelligent laser weeding robot for field use with laser striking function. Background Technology

[0002] Agriculture is the foundation of the national economy and a vital support for national security and social stability. As my country's agricultural modernization accelerates, agricultural production methods are undergoing a profound transformation from the traditional extensive model reliant on manpower and experience to a more efficient, green, and intelligent approach. In this historical process, how to leverage advanced equipment to support improved agricultural quality and efficiency, and promote green and low-carbon agricultural development, has become a crucial issue that urgently needs to be addressed in the field of agricultural science and technology.

[0003] Throughout the entire agricultural production process, weed control in farmland is a fundamental, essential, and long-term task. Weeds not only compete for crop growth resources and weaken crop resistance, but they also easily become vectors for the spread of pests and diseases, seriously threatening crop yield and quality. This is a crucial challenge that must be addressed in the sustainable development of agriculture. For a long time, farmland weeding has mainly relied on manual labor, chemical agents, or traditional mechanical equipment. However, all three methods have significant limitations: manual weeding is labor-intensive and inefficient; while chemical weeding is fast-acting, it has a significant impact on the ecological environment and food safety; and traditional mechanical weeding equipment is also unable to meet the diverse and complex operational needs of modern agriculture in terms of adaptability, precision, and safety.

[0004] To achieve the dual goals of green transformation and intelligent upgrading in agriculture, we must accelerate the intelligent and green development of agricultural production equipment, vigorously develop new types of efficient, precise, energy-saving, and environmentally friendly agricultural machinery, and realize the overall goal of "improving quality, increasing efficiency, reducing losses, promoting green development, and ensuring safety" in agriculture. In particular, developing high-performance, low-energy-consumption, and highly adaptable intelligent terminal equipment is an essential path to propelling my country's agriculture from mechanization to intelligentization, especially in key aspects of farmland management.

[0005] Against this backdrop, laser weeding technology, as an emerging green method for weed control in farmland, has become an important direction for the innovative development of intelligent agricultural machinery due to its significant advantages such as non-contact operation, high precision, zero residue, and flexible operation. However, current laser weeding systems still face several challenges at the hardware level: firstly, they require highly adaptable mobile platforms to cope with different terrains and crop conditions; secondly, they demand extremely high installation stability and light output accuracy from the laser operating system; and thirdly, the overall structure must meet the characteristics of modularity, lightweight design, and strong environmental adaptability to achieve long-term field deployment. The practical application of laser weeding in farmland requires a hardware platform with advanced structure, stable performance, and complete functions. The various core components, such as laser devices, visual sensing devices, control power systems, and mobile chassis structures, place higher demands on the overall hardware architecture of the device in terms of spatial integration, operational coordination, and operational reliability.

[0006] Therefore, building an intelligent terminal hardware system that is designed for complex field environments, adaptable to various crop morphologies, and capable of stably supporting the core components of laser weeding operations is not only a practical breakthrough for overcoming key technological bottlenecks in agricultural engineering, but also an important supporting means for implementing the national agricultural science and technology strategy and assisting in the transformation and upgrading of green agriculture. It has significant contemporary significance and promotional value.

[0007] To address this issue, a small, intelligent laser weeding robot with laser-based attack capabilities was designed to provide a technical solution for the aforementioned technical problems. Summary of the Invention

[0008] Therefore, it is necessary to provide a small, intelligent laser weeding robot with laser attack capability to address the aforementioned technical problems.

[0009] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0010] A small intelligent laser weeding robot for field use with laser attack function includes a first fixed shell, a second fixed shell fixed to the top of the first fixed shell, connecting frames fixed at both ends between the first fixed shell and the second fixed shell, and movable legs installed on both sides of each connecting frame.

[0011] In a preferred embodiment of the small intelligent laser weeding robot with laser attack function provided by the present invention, the top of the second fixed shell is bolted with a closed cover.

[0012] As a preferred embodiment of the small intelligent laser weeding robot with laser attack function provided by the present invention, a laser is provided at one end of each side inside the first fixed shell, and a galvanometer is fixed at the outlet of the laser inside the first fixed shell.

[0013] In a preferred embodiment of the small intelligent laser weeding robot with laser attack function provided by the present invention, a positioning component for fixing the laser is installed inside the first fixed shell. The positioning component includes a fixed frame, an adjusting frame, and fastening screws. The top of the fixed frame is bolted to the second fixed shell. An adjusting frame is provided at the bottom of the laser. The end of the adjusting frame near the galvanometer is rotatably connected to the fixed frame, and the end of the adjusting frame away from the galvanometer is slidably connected to the fixed frame. The other end of the fixed frame is fixed to the adjusting frame by fastening screws.

[0014] In a preferred embodiment of the small intelligent laser weeding robot with laser attack function provided by the present invention, a controller is fixed to one end of the top of the second fixed shell, a lithium battery is fixed to the top of the first fixed shell, and a heat dissipation mesh is fixed to one side of one end of the second fixed shell.

[0015] In a preferred embodiment of the small intelligent laser weeding robot with laser attack function provided by the present invention, an industrial control computer is fixed on the front of the second fixed shell.

[0016] As a preferred embodiment of the small intelligent laser weeding robot with laser attack function provided by the present invention, the moving leg includes a support shell, an adjustable drive motor, a threaded rod and a lifting block. The lifting block is slidably connected inside the support shell and is bolted to the connecting frame. An adjustable drive motor is fixed inside the top of the support shell. The output end of the adjustable drive motor is connected to the threaded rod, and the outer side of the threaded rod is threadedly connected to the lifting block.

[0017] As a preferred embodiment of the small intelligent laser weeding robot with laser attack function provided by the present invention, the moving leg includes a Mecanum wheel, a steering drive motor and a rotating frame. The steering drive motor is fixed at the bottom inside the support shell, and the rotating frame is provided at the bottom of the support shell. The output end of the steering drive motor is connected to the rotating frame, and the Mecanum wheel is provided on the inner side of the bottom end of the rotating frame.

[0018] As a preferred embodiment of the small intelligent laser weeding robot with laser attack function provided by the present invention, a camera is fixed to the bottom of the first fixed shell, and supplementary lights are fixed to both sides of the bottom of the first fixed shell.

[0019] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

[0020] Meanwhile, through the above technical solutions, the present invention has at least the following beneficial effects:

[0021] 1. The present invention provides a small intelligent laser weeding robot for field use with laser striking function. Through the cooperation of a first fixed shell, a second fixed shell, a closed cover and moving legs, the height of the first fixed shell and the second fixed shell can be adaptively adjusted by multiple moving legs. At the same time, the internal structure of the second fixed shell can be inspected by separating the closed cover from the second fixed shell. Furthermore, the internal structure of the first fixed shell and the second fixed shell can be fixed in layers, which can make the structure more appropriately placed and improve heat dissipation. It has the ability to operate precisely, control efficiently and adapt to all weather conditions, and is suitable for various crop planting conditions and complex field environments.

[0022] 2. This invention, through the cooperation of an industrial control computer, a controller, and a lithium battery, can support the switching between remote control and automatic operation. It is suitable for various crop planting environments and has the advantages of precise operation, strong adaptability, and high level of intelligence. It has good application prospects and promotion value.

[0023] 3. The present invention, through the cooperation of a fixing frame, an adjusting frame and a fastening screw, can adjust and fix the output angle of the laser, and then perform laser weeding in cooperation with a galvanometer.

[0024] 4. By adjusting the coordination of the drive motor, threaded rod, lifting block, steering drive motor and Mecanum wheel, the present invention enables the robot to adjust the height of the first fixed shell and the second fixed shell according to the lifting of the lifting block during use, so as to adapt to weeding different crops. At the same time, the robot can move and turn through the operation of the steering drive motor and Mecanum wheel. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a bottom view of the present invention;

[0028] Figure 3This is a schematic diagram of the internal structure of the second fixing shell of the present invention;

[0029] Figure 4 This is an internal side view of the second fixing shell of the present invention;

[0030] Figure 5 This is a schematic diagram of the internal structure of the first fixing shell of the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the laser of the present invention;

[0032] Figure 7 This is a schematic diagram of the movable leg of the present invention;

[0033] Figure 8 This is a block diagram illustrating the principle of the electrical control system of the present invention.

[0034] In the diagram: 1. First fixed shell; 2. Second fixed shell; 3. Closed cover; 4. Moving leg; 5. Connecting frame; 6. Fill light; 7. Camera; 8. Galvanometer; 9. Laser; 10. Fixed frame; 11. Adjusting frame; 12. Fastening screw; 13. Industrial computer; 14. Lithium battery; 15. Controller; | 16. Mecanum wheel; 17. Heat dissipation mesh; 18. Support shell; 19. Adjustment drive motor; 20. Threaded rod; 21. Lifting block; 22. Steering drive motor; 23. Rotating frame. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0036] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0037] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0038] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0039] Example 1

[0040] Reference Figures 1-8A small intelligent laser weeding robot for field use with laser attack capability includes a first fixed shell 1, a second fixed shell 2 fixed to the top of the first fixed shell 1, allowing the structure to be fixed in layers inside the first and second fixed shells 1 and 2. A closing cover 3 is bolted to the top of the second fixed shell 2, allowing the second fixed shell 2 and the closing cover 3 to be separated by bolts for inspection of the internal structure of the second fixed shell 2. Connecting frames 5 are fixed at both ends between the first fixed shell 1 and the second fixed shell 2. Movable legs 4 are installed on both sides of each connecting frame 5, allowing the first and second fixed shells 1 and 2 to move or turn via the movable legs 4. The height of the connecting frame 5 can also be adjusted via the two movable legs 4 at the same end to adapt to weeding different crops.

[0041] In this embodiment, dustproof sealing strips are provided between the first fixing shell 1 and the second fixing shell 2, and between the second fixing shell 2 and the closing cover 3.

[0042] Lasers 9 are installed at one end of each of the two sides inside the first fixed housing 1. A galvanometer 8 is fixed inside the first fixed housing 1 at the outlet of the laser 9, allowing the laser 9 to irradiate the bottom through the galvanometer 8, achieving laser weed removal at the bottom of the first fixed housing 1. Simultaneously, the galvanometer 8 controls the laser beam output direction and focuses it onto the working surface. A positioning assembly for fixing the laser 9 is installed inside the first fixed housing 1. The positioning assembly includes a fixing frame 10, an adjusting frame 11, and fastening screws 12. The top of the fixing frame 10 is bolted to the second fixed housing 2, and the adjusting frame 11 is located at the bottom of the laser 9. The laser 9 is then supported at the bottom by the adjusting frame 11. The end of the adjusting frame 11 near the galvanometer 8 is rotatably connected to the fixed frame 10, and the end of the adjusting frame 11 away from the galvanometer 8 is slidably connected to the fixed frame 10. The height of the other end of the adjusting frame 11 slidably connected to the fixed frame 10 can be adjusted by using the rotatably connected position of the adjusting frame 11 and the fixed frame 10 as the center. This allows for adjustment of the tilt of the laser 9. The other end of the fixed frame 10 is fixed to the adjusting frame 11 by a fastening screw 12. The connection position of the adjusting frame 11 and the fixed frame 10 away from the galvanometer 8 is fixed by tightening the nut on the outside of the fastening screw 12.

[0043] Preferably, a camera 7 is fixed to the bottom of the first fixed shell 1, so that the camera 7 can identify and photograph the object at the bottom of the first fixed shell 1, and ensure the spatial accuracy of the laser strike of the laser 9. Fill lights 6, specifically LED fill lights, are fixed to both sides of the bottom of the first fixed shell 1, so that the fill lights 6 can provide supplementary light for the camera 7 in dim environments, and the fill lights 6 can support remote intelligent switch control.

[0044] In this application, the camera 7 integrates RGB images, depth maps and an inertial measurement unit (IMU), and can output a color image containing depth coordinates in real time, which is used by the industrial control computer 13 to analyze and identify the location of the target weeds and calculate their spatial coordinate information relative to the light output port of the laser 9.

[0045] In this embodiment, the industrial-grade control computer 13 serves as the core processing unit for the entire vehicle, uniformly managing various functional modules such as motion control, image processing, laser strike, navigation and obstacle avoidance, and communication transmission. All hardware interface modules, including the laser 9, camera 7, radar, and battery management system, are connected to the main control platform via multiple channels such as USB, CAN FD, and serial port. The vehicle's power supply utilizes a high-capacity lithium battery system, with the inverter providing different voltage conversion channels. All power supply circuits feature voltage monitoring, overload protection, temperature protection, and remote control functions. The control system supports remote OTA upgrades, fault self-diagnosis, and operation log storage, facilitating future management and maintenance.

[0046] In other embodiments, the angle between the fill light 6 and the camera 7 is adjustable, and they are arranged symmetrically on both sides of the laser 9.

[0047] In this embodiment, laser 9 is a CO2 radio frequency excited laser (model RLT-50), galvanometer 8 system supports XY2-100 communication protocol, and camera is Intel RealSense D435i.

[0048] A controller 15 is fixed to one end of the top of the second fixed shell 2, thereby controlling the moving leg 4. A lithium battery 14 is fixed inside the top of the first fixed shell 1, which provides power to the robot's electrical system. The output laser beam is focused vertically downwards by a field lens with a focal length of 300mm. The two lasers 9 are arranged symmetrically with a center distance of approximately 300mm, which can cover the standard row spacing of crops. The laser beam is directed vertically towards the ground, striking the root tissue area of ​​the target weeds to achieve non-contact thermal damage. The laser module is mounted on a quick-release guide rail structure for easy daily disassembly and maintenance.

[0049] A heat dissipation mesh 17 is fixed to one side of one end of the second fixed shell 2, so that the heat dissipation mesh 17 can allow the interior of the second fixed shell 2 to exchange heat with the outside air, thereby dissipating the heat inside the second fixed shell 2. An industrial control computer 13 is fixed to the front of the second fixed shell 2, so that the screen can be processed and the robot can be controlled by the industrial control computer 13.

[0050] Preferably, a lithium battery 14 is fixed to the other end inside the top of the second fixed shell 2, thereby increasing the robot's stroke through the large-capacity lithium battery 14, and lithium batteries 14 of different capacities can be selected as needed.

[0051] The movable leg 4 includes a Mecanum wheel 16, a support shell 18, an adjustment drive motor 19, a threaded rod 20, a lifting block 21, a steering drive motor 22, and a rotating frame 23. The lifting block 21 is slidably connected inside the support shell 18. The lifting block 21 is bolted to the connecting frame 5, so that the lifting block 21 moves inside the support shell 18 to drive the connecting frame 5 to drive the first fixed shell 1 to adjust its height. At the same time, the lifting stroke of the connecting frame 5 is controlled within a range of 30cm to 60cm. The adjustment drive motor 19 is fixed inside the top of the support shell 18. The output end of the adjustment drive motor 19 is connected to the threaded rod 20, so that the output shaft of the adjustment drive motor 19 is connected to the threaded rod 20 through a universal joint.

[0052] The outer side of the threaded rod 20 is threadedly connected to the lifting block 21, so that the rotation of the threaded rod 20 drives the lifting block 21 to rise and fall inside the support shell 18. The bottom of the support shell 18 is fixed with a steering drive motor 22, and a rotating frame 23 is set at the bottom of the support shell 18. The output end of the steering drive motor 22 is connected to the rotating frame 23, so that the operation of the steering drive motor 22 drives the rotating frame 23 to rotate at the bottom of the support shell 18. Mecanum wheels 16 are set on the inner side of the bottom end of the rotating frame 23, so that the robot can move at multiple angles and turn in place through the moving leg 4, thus enabling the moving leg 4 to have the functions of turning in place and turning around flexibly, adapting to complex small row spacing movement paths in farmland.

[0053] In this embodiment, the Mecanum wheel 16 is a prior art structure that features multi-directional movement. Each Mecanum wheel 16 incorporates a DC brushless motor and a Hall position sensor, enabling precise drive control. This type of wheel has strong omnidirectional movement capabilities, allowing it to perform forward, backward, left and right translation, and diagonal sliding operations.

[0054] In this embodiment, Figure 8 The lifting stepper controller, steering stepper controller, and walking controller are all structures found in controller 15.

[0055] In this embodiment, the robot is controlled in a manual remote control mode. In other embodiments, it can also be controlled in an automatic navigation mode, specifically through a path learning-based automatic navigation mode. Specifically, the robot is first manually remotely controlled to run the path and record it. The next time, it can automatically navigate to the corresponding path. Its automatic navigation module includes a VX1000 integrated navigation module, a Livox Mid-360 solid-state LiDAR and a CAN FD communication gateway module, which are used to realize path learning, pose localization, obstacle detection and obstacle avoidance control. The path learning function is based on the initial remote control-guided path, automatically records GPS coordinates, direction information, node attitude, etc., and generates a reusable trajectory model.

[0056] In this embodiment, the robot's frame is constructed based on aluminum alloy and steel components, which ensures mechanical strength while also taking into account the requirements of outdoor operation for equipment weight, corrosion resistance, and protection level. At the same time, the robot platform shell adopts a closed design, and all cable outlets, battery compartment doors, and joints are equipped with elastic sealing strips to improve the reliability of the equipment in environments such as high dust, humidity, and mud.

[0057] In this embodiment, each structure has its own service life. In actual manufacturing and application, the corresponding structure made of different materials can be replaced according to the needs of use.

[0058] In this embodiment, all motors are self-locking motors, and different models can be replaced as needed.

[0059] The operation of a small intelligent laser weeding robot with laser attack function provided by the present invention is as follows: During use, based on the height of the crops, the lithium battery 14, powered by the controller 15, enables the adjustment drive motor 19 to operate. The operation of the adjustment drive motor 19 drives the threaded rod 20 to rotate, which in turn drives the threaded lifting block 21 to adjust its height. The adjustment of the lifting block 21, through the connecting frame 5, drives the first fixed shell 1 to adjust its height, thereby positioning the bottom of the first fixed shell 1 at an appropriate height. At this time, the robot moves by controlling the Mecanum wheel 16 through the lithium battery 14. When turning, the steering drive motor 22 drives the rotating frame 23 to rotate, thereby driving the Mecanum wheel 16 to turn, realizing the robot's turning or turning around.

[0060] Then, once the robot moves to the appropriate position, it uses the laser 9 and the galvanometer 8 to irradiate the bottom of the first fixed shell 1 with a laser, thus achieving laser weed removal.

[0061] Example 2

[0062] To enhance obstacle avoidance capabilities and ensure operational safety, this robot is equipped with a Livox Mid-360 solid-state LiDAR on its top. This LiDAR boasts a 360-degree field of view and high-density point cloud output, enabling it to detect static and dynamic obstacles as small as 5cm. During navigation, the LiDAR continuously scans the surrounding environment. When an obstacle is detected, the control system automatically calculates an obstacle avoidance path or pauses to wait. The navigation module, LiDAR module, vision system, and main control computer communicate via a CAN FD communication gateway for high-speed data exchange, enabling real-time data transmission and multi-module collaborative control, thus improving the overall system response efficiency and operational robustness.

[0063] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A small intelligent laser weeding robot for field use with laser-based targeting capabilities, characterized in that, It includes a first fixed shell (1), a second fixed shell (2) is fixed to the top of the first fixed shell (1), and connecting frames (5) are fixed at both ends between the first fixed shell (1) and the second fixed shell (2). Each connecting frame (5) has a movable leg (4) installed on both sides.

2. The small intelligent laser weeding robot with laser attack function according to claim 1, characterized in that, The top of the second fixed shell (2) is bolted with a closing cover (3).

3. A small intelligent laser weeding robot with laser attack function as described in claim 1, characterized in that, A laser (9) is provided at one end of each side inside the first fixed shell (1), and a galvanometer (8) is fixed at the outlet of the laser (9) inside the first fixed shell (1).

4. A small intelligent laser weeding robot with laser attack function as described in claim 3, characterized in that, The first fixed housing (1) is equipped with a positioning component for fixing the laser (9). The positioning component includes a fixing frame (10), an adjusting frame (11), and a fastening screw (12). The top of the fixing frame (10) is bolted to the second fixed housing (2). The bottom of the laser (9) is provided with an adjusting frame (11). The end of the adjusting frame (11) near the galvanometer (8) is rotatably connected to the fixing frame (10). The end of the adjusting frame (11) away from the galvanometer (8) is slidably connected to the fixing frame (10). The other end of the fixing frame (10) is fixed to the adjusting frame (11) by the fastening screw (12).

5. A small intelligent laser weeding robot with laser attack function as described in claim 1, characterized in that, A controller (15) is fixed inside the top of the second fixed shell (2), a lithium battery (14) is fixed inside the top of the first fixed shell (1), and a heat dissipation mesh (17) is fixed on one side of one end of the second fixed shell (2).

6. A small intelligent laser weeding robot for field use with laser attack function as described in claim 1, characterized in that, An industrial control computer (13) is fixed to the front of the second fixed shell (2).

7. A small intelligent laser weeding robot with laser attack function as described in claim 1, characterized in that, The movable leg (4) includes a support shell (18), an adjustment drive motor (19), a threaded rod (20), and a lifting block (21). The lifting block (21) is slidably connected inside the support shell (18). The lifting block (21) is bolted to the connecting frame (5). The adjustment drive motor (19) is fixed inside the top of the support shell (18). The output end of the adjustment drive motor (19) is connected to the threaded rod (20). The outer side of the threaded rod (20) is threadedly connected to the lifting block (21).

8. A small intelligent laser weeding robot with laser attack function as described in claim 7, characterized in that, The movable leg (4) includes a Mecanum wheel (24), a steering drive motor (22), and a rotating frame (23). The steering drive motor (22) is fixed at the bottom inside the support shell (18). The rotating frame (23) is provided at the bottom of the support shell (18). The output end of the steering drive motor (22) is connected to the rotating frame (23). The Mecanum wheel (16) is provided on the inner side of the bottom end of the rotating frame (23).

9. A small intelligent laser weeding robot with laser attack function as described in claim 1, characterized in that, A camera (7) is fixed to the bottom of the first fixed shell (1), and supplementary lights (6) are fixed to both sides of the bottom of the first fixed shell (1).

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