Optical weeding system and method

Abstract

The invention relates to the field of agricultural equipment, and provides an optical weeding system and method. The optical weeding system comprises a base and a solar weeding device, the solar weeding device is arranged on the base and comprises a lighting assembly, a collimating lens, a light guide assembly and a cylindrical lens, the lighting assembly comprises a supporting frame and a Fresnel lens, and the Fresnel lens is arranged on the upper portion of the supporting frame. Sunlight is focused to a focus through the Fresnel lens to form a high-energy light spot, light output by the Fresnel lens is collimated through the collimating lens, and the focused light is output through the cylindrical lens to form a linear high-temperature light spot on the ground; solar energy of renewable clean energy is directly utilized to form a light knife for physical thermal cutting weeding, consumption of non-renewable energy sources is reduced, and the use cost is reduced; due to the fact that optical weeding is adopted, chemical reagents are not needed, and pollution to soil and water sources is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural equipment, in particular to an optical weeding system and method. BACKGROUND

[0002] With the continuous expansion of the world population, food production needs to be increased to feed the population of 9 billion expected by 2050, and weed management will determine whether we can meet the demand for future food production. During the planting of crops, weeds will compete with crops for water, nutrients and light energy, interfere with and limit the growth of crops; at the same time, weeds are also intermediate hosts of crop diseases, which are easy to cause crops to be sick, thereby reducing crop yield. At present, the commonly used weeding methods are manual weeding, mechanical weeding and chemical weeding, but the manual weeding method is time-consuming and labor-intensive, and the efficiency is very low, the mechanical weeding is difficult to accurately remove inter-row weeds, and the chemical weeding has a relatively large risk of environmental pollution, and also has the problems of drug residues and increased herbicide resistance, which is difficult to meet the demand of modern agricultural production in China, and is not conducive to the sustainable development of agriculture in China.

[0003] In recent years, laser weeding as a new type of environmentally friendly weeding method has gradually attracted attention. Laser weeding is an innovative agricultural technology that uses laser beams to accurately target and destroy weeds without causing harm to surrounding crops. This technology combines advanced image recognition, machine learning algorithms and automated equipment, making the weeding process more efficient, accurate and environmentally friendly, and is expected to become an important technology in future precision agriculture and smart agriculture production. However, most existing laser weeding robot products use CO2 laser emitters, which are large in size, high in cost, and require water-cooled heat sinks, which have high requirements for the use environment, and are not suitable for installation on small weeding robots, and cannot be widely promoted. SUMMARY

[0004] The present application provides an optical weeding system to solve the problems of high energy consumption, limited use range, and soil and water pollution in the prior art.

[0005] The present application provides an optical weeding system, comprising: a base; a solar weeding device, the solar weeding device is arranged on the base, and the solar weeding device comprises: a light collecting assembly, the light collecting assembly comprises a support frame and a Fresnel lens, the Fresnel lens is arranged on the upper part of the support frame, and the Fresnel lens is used to focus sunlight to a focal point to form a high-energy light spot; a collimating lens, the collimating lens is arranged below the focal point of the Fresnel lens, and the collimating lens is used to collimate the light output by the Fresnel lens; A light guide assembly is arranged on the light path of the collimating lens output; A cylindrical lens is arranged on the light path of the light guide assembly output and connected with the light guide assembly, and the cylindrical lens is used to output focused light to form a linear high-temperature light spot on the ground.

[0006] According to the optical weeding system provided by the application, the optical weeding system further comprises: A carrier platform is arranged on the base, and the carrier platform is used to drive the solar weeding device and the laser weeding device to move.

[0007] According to the optical weeding system provided by the application, the solar weeding device further comprises a sunlight automatic tracking assembly, the sunlight automatic tracking assembly comprises an upper frame body, a lower frame body, a rotary table, a pitch driving motor and a rotation driving motor, the rotary table is arranged on the base, the lower frame body is rotationally connected with the rotary table through a first hollow rotary platform, the rotary shaft of the rotation driving motor is connected with the motor connecting shaft of the first hollow rotary platform, and the rotation driving motor is used to drive the lower frame body to rotationally move around a vertical axis; the support frame is connected with the upper frame body, the light guide assembly is connected with the upper frame body, the lower frame body and the rotary table; the two ends of the upper frame body are rotationally connected with the two ends of the lower frame body through second hollow rotary platforms, the rotary shaft of the pitch driving motor is connected with the motor connecting shaft of the second hollow rotary platform, and the pitch driving motor is used to drive the upper frame body to rotationally move around a horizontal axis.

[0008] According to the optical weeding system provided by the application, the sunlight automatic tracking assembly further comprises: A controller is electrically connected with the pitch driving motor and the rotation driving motor; A light sensor is arranged on the upper part of the support frame, the light sensor is electrically connected with the controller, the light sensor is used to collect sunlight intensity data in different directions, the controller is used to determine the relative position of the current sun according to the sunlight intensity data in different directions, determine the pitch angle and the azimuth angle according to the direction of the maximum light intensity, control the pitch driving motor to rotationally move according to the pitch angle, and control the rotation driving motor to rotationally move according to the azimuth angle, so that the Fresnel lens is always perpendicular to the sunlight.

[0009] According to the optical weeding system provided by the application, the light guide assembly comprises: A first light guide component is arranged on the light path of the collimating lens output and located between the upper frame body and the lower frame body; The second light guide component is disposed on the light path output by the first light guide component and is located at the lower part of the turntable.

[0010] According to an optical weeding system provided by the present invention, the collimating lens is disposed on a bracket, and the bracket is connected to the upper frame; the first light guide component includes a first reflecting mirror tube and a second reflecting mirror tube mechanism, the first reflecting mirror tube is disposed on the optical path output by the collimating lens, the first reflecting mirror tube is fixedly connected to the bracket, the second reflecting mirror tube mechanism is disposed on the optical path output by the first reflecting mirror tube, and the second reflecting mirror tube and the first reflecting mirror tube mechanism are rotatably connected by a bearing; The second light guiding component includes a cylindrical light guide tube, a third reflecting mirror tube, and a fourth reflecting mirror tube. The cylindrical light guide tube is disposed in the optical path output by the second reflecting mirror tube mechanism and is connected to the turntable. The third reflecting mirror tube is disposed in the optical path output by the cylindrical light guide tube and is rotatably connected to the turntable via a third hollow rotating platform. A light guide tube drive motor is disposed at the lower part of the turntable and is electrically connected to the controller. The fourth reflecting mirror tube is disposed in the optical path output by the third reflecting mirror tube and is rotatably connected to the third reflecting mirror tube via a bearing. The cylindrical lens is disposed in the optical path output by the fourth reflecting mirror tube and is fixedly connected to the fourth reflecting mirror tube.

[0011] An optical weeding system according to the present invention further includes: A laser weeding device is mounted on the base and is used to output a laser beam for weeding. A first image acquisition device is used to acquire image information of weeds; The controller is electrically connected to the solar-powered weeding device, the laser weeding device, and the first image acquisition device. The controller is also used to process the image information, determine whether the weed belongs to the hard-stemmed weed category based on the characteristics of the weed, and calculate the location information of the weed. If it is determined that the weed belongs to the hard-stemmed weed category and the sunlight intensity is greater than a preset intensity, the controller controls the solar-powered weeding device to weed. If it is determined that the weed does not belong to the hard-stemmed weed category or the sunlight intensity is less than a preset intensity, the controller controls the laser weeding device to weed.

[0012] According to an optical weeding system provided by the present invention, the laser weeding device includes: A horizontal linear drive unit, wherein the horizontal linear drive unit is horizontally disposed on the base; A vertical linear drive unit, wherein the vertical linear drive unit is vertically arranged and connected to the horizontal linear drive unit; A laser, which is connected to the vertical linear drive.

[0013] According to an optical weeding system provided by the present invention, the laser weeding device includes: The second image collector is disposed on the base and is used to collect image information of weeds.

[0014] The present invention also provides an optical weeding method, the method being based on the optical weeding system described in any one of the preceding claims, comprising: The first image acquisition device acquires image information of weeds and sends the image information to the controller; the controller processes the image information, determines whether the weeds belong to the hard-stemmed weeds based on their characteristics, and calculates the location information of the weeds; If the weeds are determined to be hard-stemmed weeds and the sunlight intensity is greater than a preset intensity, the solar-powered weeding device is controlled to weed; if the weeds are determined not to be hard-stemmed weeds or the sunlight intensity is less than a preset intensity, the laser weeding device is controlled to weed. Repeat the above steps in sequence.

[0015] The optical weeding system provided by this invention uses a Fresnel lens to focus sunlight to form a high-energy light spot, a collimating lens to collimate the light output from the Fresnel lens, and a cylindrical lens to output the focused light, thereby forming a linear high-temperature light spot on the ground. This system directly utilizes renewable and clean solar energy to form a light blade for physical thermal cutting and weeding, reducing the consumption of non-renewable energy and lowering operating costs. Since optical weeding eliminates the need for chemical reagents, it avoids pollution of soil and water sources. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is one of the three-dimensional structural schematic diagrams of the optical weeding system provided by the present invention.

[0018] Figure 2 This is the second three-dimensional structural schematic diagram of the optical weeding system provided by the present invention.

[0019] Figure 3 This is a schematic diagram of the optical weeding system provided by the present invention after removing the base and the carrier platform.

[0020] Figure 4 This is a schematic diagram of the structure of the solar-powered weeding device provided by the present invention.

[0021] Figure 5 This is a flowchart of the optical weeding method provided by the present invention.

[0022] Figure label: 100. Base; 200. Solar-powered weeding device; 210. Light-collecting component; 211. Support frame; 212. Fresnel lens; 220. Bracket; 230. Collimating lens; 240. Light guide component; 241. First reflecting mirror tube; 242. Second reflecting mirror tube; 243. Cylindrical light guide tube; 244. Third reflecting mirror tube; 245. Fourth reflecting mirror tube; 246. Third hollow rotating platform; 247. Light guide tube drive motor; 250. Cylindrical lens; 260. Automatic sunlight tracking component; 261. Upper frame; 262. Lower frame; 263. Turntable; 264. Pitch drive motor; 265. Rotation drive motor; 266. First hollow rotating platform; 267. Second hollow rotating platform; 270. Controller; 280. Photosensor; 300. Transport platform; 400. Laser weeding device; 410. Horizontal linear drive component; 420. Vertical linear drive component; 430. Laser; 500. First image acquisition unit; 600. Second image acquisition unit; 700. Linear high-temperature light spot. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0026] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0027] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0028] like Figures 1 to 3As shown, the optical weeding system includes a base 100 and a solar-powered weeding device 200. The base 100 features a hollow frame design and is made of aluminum profile to ensure the rigidity and corrosion resistance of the equipment, making it suitable for outdoor operation. The solar-powered weeding device 200 is mounted on the base 100. The solar-powered weeding device 200 includes a light-collecting component 210, a collimating lens 230, a light-guiding component 240, and a cylindrical lens 250. The light-collecting component 210 includes a support frame 211 and a Fresnel lens 212. The support frame 211 is made of aluminum alloy, which features high strength, corrosion resistance, and strong weather resistance. The Fresnel lens 212 is located on the upper part of the support frame 211 and is used to focus sunlight to a focal point to form a high-energy light spot. The Fresnel lens 212 is made of acrylic and measures 1100mm x 1100mm. Its focal length is 1300mm. Sunlight focused by the Fresnel lens 212 forms a high-energy light spot with a diameter of 5-10mm at the focal point. When the light intensity is 1.8 × 10^5 Lux, the temperature can reach over 600℃, sufficient to scorch and cut most hard-stemmed weeds. Preferably, the upper surface of the Fresnel lens 212 is covered with a transparent acrylic cover to prevent damage to the optical elements from dust, rainwater, or foreign objects from the farmland, while also facilitating maintenance and cleaning.

[0029] Collimating lens 230 is positioned below the focal point of Fresnel lens 212 and is used to collimate the light rays output from Fresnel lens 212. After sunlight is focused by Fresnel lens 212, it needs to undergo collimation and light guiding processes for efficient transmission in space. Collimating lens 230 includes two high-precision fused silica convex lenses and one plano-convex lens, which, when combined, can collimate the diffused beam into parallel light.

[0030] The light guide assembly 240 is disposed on the light path output by the collimating lens 230, and the cylindrical lens 250 is disposed on the light path output by the light guide assembly 240 and connected to the light guide assembly 240. The cylindrical lens 250 is used to output the focused light to form a linear high-temperature light spot 700 on the ground.

[0031] The optical weeding system provided by this invention focuses sunlight to a focal point using a Fresnel lens 212 to form a high-energy light spot. A collimating lens 230 collimates the light output from the Fresnel lens 212, and a cylindrical lens 250 outputs the focused light to form a linear high-temperature light spot 700 on the ground. This system directly utilizes renewable and clean solar energy to form a light blade for physical thermal cutting and weeding, reducing the consumption of non-renewable energy and lowering operating costs. Since optical weeding eliminates the need for chemical reagents, it avoids pollution of soil and water sources. Optical weeding can accurately identify and locate weeds, preventing damage to crops, and its faster operation improves work efficiency.

[0032] In one embodiment of the present invention, such as Figure 1 As shown, the optical weeding system also includes a transport platform 300, with a base 100 disposed on the transport platform 300. The transport platform 300 is used to drive the solar weeding device 200 and the laser weeding device 400 to move.

[0033] In one embodiment of the present invention, such as Figure 1 and Figure 2 As shown, the solar-powered weeding device 200 also includes an automatic sunlight tracking component 260. The automatic sunlight tracking component 260 includes an upper frame 261, a lower frame 262, a turntable 263, a pitch drive motor 264, and a rotation drive motor 265. The turntable 263 is mounted on the base 100 and is horizontally positioned. The turntable 263 supports the solar-powered weeding device 200. Both the upper frame 261 and the lower frame 262 are U-shaped, with the upper frame 261 positioned above the lower frame 262.

[0034] The lower frame 262 is rotatably connected to the turntable 263 via the first hollow rotating platform 266. The shaft of the rotation drive motor 265 is connected to the motor connecting shaft of the first hollow rotating platform 266. The rotation drive motor 265 is used to drive the lower frame 262 to rotate axially around the vertical axis. Specifically, the lower frame 262 is located on the upper part of the platform. The fixed seat of the first hollow rotating platform 266 is connected to the turntable 263 by bolts. The flange of the first hollow rotating platform 266 is connected to the bottom of the lower frame 262. The rotation drive motor 265 is located on the lower part of the turntable 263. The shaft of the rotation drive motor 265 is connected to the motor connecting shaft of the first hollow rotating platform 266. The rotation drive motor 265 directly drives the lower frame 262 to rotate via the first hollow rotating platform 266, reducing energy loss in traditional gear transmission. At the same time, the hollow structure reduces weight and improves the dynamic response speed of the system. When the shaft of the rotary drive motor 265 rotates, the rotary drive motor 265 drives the bearing of the first hollow rotary platform 266 to rotate, which in turn drives the lower frame 262 to rotate axially around the vertical axis, enabling the solar weeding device 200 to track the sun in all directions, significantly improving the light energy collection efficiency and extending the effective weeding time.

[0035] The bottom of the support frame 211 is connected to the upper frame 261 by bolts. The light guide assembly 240 is connected to the upper frame 261, the lower frame 262, and the turntable 263. A second hollow rotating platform 267 is provided at both ends of the lower frame 262. The fixing base of the second hollow rotating platform 267 is connected to the lower frame 262 by bolts. One end of the upper frame 261 is connected to the flange of one of the second hollow rotating platforms 267 by bolts, and the other end of the upper frame 261 is connected to the flange of the other second hollow rotating platform 267 by bolts. The shaft of the pitch drive motor 264 is connected to the motor connecting shaft of one of the second hollow rotating platforms 267. The pitch drive motor 264 drives the upper frame 261 to rotate around the horizontal axis, thereby driving the support frame 211 to perform pitch movements. By combining horizontal rotation and pitch adjustment, the Fresnel lens 212 achieves real-time tracking of the solar altitude angle and azimuth angle, ensuring that the light spot is always focused on the weed stems, improving weeding accuracy.

[0036] In one embodiment of the present invention, the automatic solar tracking component 260 further includes a controller 270 and a photosensor. The controller 270 is electrically connected to a pitch drive motor 264 and a rotation drive motor 265. The photosensor is disposed on the upper part of the support frame 211 and is electrically connected to the controller 270. The photosensor is used to collect solar intensity data in different directions. A plurality of photoresistors are arranged on the surface of the photosensor to form a light sensing array, which is used to collect solar intensity data and quickly detect changes in light intensity in different directions.

[0037] The controller 270 determines the relative position of the sun based on solar intensity data from different directions through differential analysis. A photoresistor array captures subtle changes in sunlight in three-dimensional space in real time, and the differential analysis algorithm minimizes environmental stray light interference, ensuring a sun position determination error of ≤0.5°. The controller 270 also determines the elevation and azimuth angles based on the direction of maximum solar intensity. Based on the elevation angle, it controls the rotation of the pitch drive motor 264, and based on the azimuth angle, it controls the rotation of the rotation drive motor 265, ensuring that the Fresnel lens 212 is always perpendicular to the sunlight, maximizing solar energy collection and utilization. The pitch drive motor 264 and rotation drive motor 265 have coded feedback functions, keeping the tracking error within ±5°. The system performs angle correction every minute, adapting to changes in the sun's position in real time and improving light energy utilization efficiency.

[0038] In one embodiment of the present invention, the light guide assembly 240 is used to guide the collimated light beam to the cylindrical lens 250. The light guide assembly 240 includes a first light guide component and a second light guide component. The first light guide component is disposed on the optical path output by the collimating lens 230 and is located between the upper frame 261 and the lower frame 262. The second light guide component is disposed on the optical path output by the first light guide component and is located at the lower part of the turntable 263.

[0039] In one embodiment of the present invention, such as Figure 1 and Figure 2 As shown, the collimating lens 230 is disposed inside the bracket 220, which is connected to the upper frame 261. Preferably, the bracket 220 and the upper frame 261 are connected by an adjusting bolt. By rotating the adjusting bolt, the height and horizontal position of the bracket 220 can be changed, thereby realizing the adjustment of the illumination and focal length position of the collimating lens 230.

[0040] The first light guide component includes a first reflecting mirror tube 241 and a second reflecting mirror tube 242 mechanism. The first reflecting mirror tube 241 is disposed in the light path output by the collimating lens 230 and is located below the support 220. The first reflecting mirror tube 241 is fixedly connected to the support 220. The second reflecting mirror tube 242 mechanism is disposed in the light path output by the first reflecting mirror tube 241. The second reflecting mirror tube 242 and the first reflecting mirror tube 241 mechanism are rotatably connected by a bearing. Preferably, the central axis of the bearing is collinear with the central axis of the bearing of the second hollow rotating platform 267. When the upper frame 261 pitches, the first reflecting mirror tube 241 rotates relative to the second reflecting mirror tube 242 mechanism. The second reflecting mirror tube 242 mechanism includes three second reflecting mirror tubes 242, which are sequentially connected between the first reflecting mirror tube 241 and the cylindrical light guide tube 243. Adjacent second reflecting mirror tubes 242 are provided with silicone connecting sleeves, which can play a role in shock absorption and resistance to thermal expansion and contraction. The three-section reflector tube and silicone sleeve form a flexible optical path, which can absorb low-frequency vibrations below 20 Hz caused by uneven ground. The measured light spot jitter amplitude is reduced by 85%, improving the weed cutting accuracy.

[0041] The second light guiding component includes a cylindrical light guide tube 243, a third reflecting mirror tube 244, and a fourth reflecting mirror tube 245. The cylindrical light guide tube 243 is disposed on the light path output by the second reflecting mirror tube 242 mechanism and is connected to the turntable 263. The cylindrical light guide tube 243 is vertically disposed and is used to guide the light output by the second reflecting mirror tube 242 mechanism to the third reflecting mirror tube 244.

[0042] The third reflecting mirror tube 244 is positioned in the optical path output from the cylindrical light guide tube 243. The fixed base of the third hollow rotating platform 246 is connected to the turntable 263 via bolts. The flange of the third hollow rotating platform 246 is connected to the third reflecting mirror tube 244. A light guide tube drive motor 247 is located at the lower part of the turntable 263 and is electrically connected to the controller 270. The fourth reflecting mirror tube 245 is positioned in the optical path output from the third reflecting mirror tube 244. The fourth reflecting mirror tube 245 and the third reflecting mirror tube 244 are rotatably connected via bearings. Rotating the fourth reflecting mirror tube 245 drives the cylindrical lens 250 to rotate, allowing for manual adjustment of the light knife angle. The cylindrical lens 250 is positioned in the optical path output from the fourth reflecting mirror tube 245 and is fixedly connected to the fourth reflecting mirror tube 245. When the light guide tube drive motor 247 rotates, it drives the third reflecting mirror tube 244 to rotate, which in turn drives the cylindrical lens 250 to rotate. This adjusts the direction of the light output from the cylindrical lens 250 so that the light spot is aligned with the weeds, cutting and removing them along the path. The cylindrical lens 250 further linearly focuses the bottom beam of the light guide system, forming a linear high-temperature light spot 700, i.e., a light knife, to achieve linear cutting of hard-stemmed weeds. The cylindrical lens 250 is made of fused silica, which is resistant to high temperatures.

[0043] It should be noted that the first reflecting mirror tube 241, the second reflecting mirror tube 242, the third reflecting mirror tube 244 and the fourth reflecting mirror tube 245 are all enclosed pipes to avoid obstruction by debris and heat loss; the interior of the reflecting mirror tube is adhered with a high reflectivity mirror (silver-coated fused silica substrate, reflectivity >97%) to ensure that the light beam is vertically introduced from the top and transmitted to the cylindrical lens 250 after multiple reflections.

[0044] In one embodiment of the present invention, the optical weeding system further includes a laser weeding device 400 and a first image acquisition device 500. The laser weeding device 400 is disposed on the base 100 and is used to output a laser beam for weeding. The first image acquisition device 500 is used to acquire image information of weeds and is a depth camera. The depth camera is fixed to the mounting bracket 220 of the cylindrical lens 250 by bolts. The depth camera establishes a communication connection with the controller 270 through a USB data interface, acquires field images of crops in real time, and transmits the image data and depth information to the controller 270.

[0045] The controller 270 is electrically connected to the solar-powered weeding device 200, the laser weeding device 400, and the first image acquisition device 500. The controller 270 is also used to process image information, determine whether the weeds belong to the hard-stemmed weeds based on the characteristics of the weeds, and calculate the location information of the weeds. If it is determined that the weeds belong to the hard-stemmed weeds and the sunlight intensity is greater than the preset intensity, the controller controls the solar-powered weeding device 200 to weed. If it is determined that the weeds do not belong to the hard-stemmed weeds or the sunlight intensity is less than the preset intensity, the controller controls the laser weeding device 400 to weed.

[0046] The optical weeding system provided by this invention combines optical weeding technology with machine vision and automation technology to achieve automatic weed identification, location, and removal, thus improving the intelligence of weeding. It employs a dual-mode weeding process: a laser targets the meristematic tissue at the top of the weeds to remove smaller seedlings between crop rows; when sunlight conditions are suitable, a solar-powered weeding process is activated, where a solar-powered laser targets the stems of hard-stemmed weeds to remove larger, mature weeds between crop rows.

[0047] In one embodiment of the present invention, such as Figure 3 As shown, the laser weeding device 400 includes a horizontal linear drive 410, a vertical linear drive 420, and a laser 430. The horizontal linear drive 410 is horizontally mounted on the base 100, and the vertical linear drive 420 is vertically mounted and connected to the horizontal linear drive 410. The laser 430 is connected to the vertical linear drive 420. Specifically, the horizontal linear drive 410 is a horizontally mounted lead screw module, and its mounting base is connected to the base 100 by bolts. The vertical linear drive 420 is a vertically mounted lead screw module, and its mounting base is connected to the slider of the horizontal lead screw module by bolts. The laser 430 is connected to the slider of the vertical lead screw module. The vertical linear drive 420 drives the laser 430 to move vertically to adjust the distance between the laser beam emitted by the laser 430 and the meristematic tissue at the top of the weed. The horizontal linear drive 410 is used to drive the vertical linear drive 420 and the laser 430 to move horizontally. By cooperating with the horizontal linear drive 410 and the vertical linear drive 420, the laser 430 can be quickly moved to the position of the weed to remove the weed.

[0048] Preferably, the laser 430 is a blue laser 430. The blue laser 430 has a relatively low price and has advantages such as small size, stable operation and long service life. The overall optical weeding device is cheaper than existing laser weeding robot products on the market and is easier to promote and use.

[0049] In one embodiment of the present invention, such as Figure 2As shown, the laser weeding device 400 includes a second image acquisition unit 600, which is mounted on the base 100. The second image acquisition unit 600 is used to acquire image information of weeds. Since the image information acquired by the first image acquisition unit 500 is mainly used by the controller 270 to determine whether the weeds belong to the hard-stemmed weed category, in order to accurately calculate the weeds' location information (three-dimensional coordinates), when it is determined that the weeds do not belong to the hard-stemmed weed category or the sunlight intensity is less than a preset intensity, the second image acquisition unit 600 acquires the weeds' image information. The controller 270 processes the image information and calculates the weeds' location information, which can further improve the positioning accuracy of the weeds and enhance the weeding effect.

[0050] like Figure 4 As shown, the optical weeding system provided by the present invention uses sunlight as an energy source and achieves efficient physical thermal cutting of weeds through an optical system. The entire optical path includes a Fresnel lens 212, a collimating lens 230, a light guide component 240, and a cylindrical lens 250, which ultimately forms a linear high-temperature light spot 700 on the ground to achieve the thermal cutting function.

[0051] First, parallel rays from the sun illuminate the Fresnel lens 212. The Fresnel lens 212, with its large aperture, effectively focuses sunlight to the focal region, forming a high-energy light spot through primary focusing. Experiments have verified that at a temperature of 31℃ and an illumination intensity of 1.8 × 10^5 Lux, the temperature of the focused light spot is no less than 600℃.

[0052] Subsequently, the focused light enters the collimating lens 230 behind the focal point. The collimating lens 230 collimates the incoming diverging beam to generate an approximately parallel beam, which facilitates the subsequent transmission of the beam to the bottom of the device.

[0053] The collimated light beam enters the light guide assembly 240, which consists of multiple reflector tubes. The function of the light guide assembly 240 is to change the transmission direction of the light beam and guide it to the cylindrical lens 250. The planar reflectors inside the reflector tubes are coated with a high reflectivity coating to ensure that the light energy maintains a high transmission efficiency after multiple reflections.

[0054] The cylindrical lens 250 has light focusing characteristics, which can focus the light beam emitted from the light guide component 240 into a linear high-temperature light spot 700 on the ground, also known as a "light knife". This light knife has the characteristics of high temperature and high energy density, which can instantly thermally cut the weeds detected on the ground to achieve non-contact weeding.

[0055] like Figure 5 As shown, the present invention also provides an optical weeding method, which is based on the optical weeding system described in any of the above embodiments, and includes: In step S100, the first image acquisition device 500 acquires image information of weeds and sends the image information to the controller 270; the controller 270 processes the image information, determines whether the weeds belong to the hard-stemmed weeds based on their characteristics, and calculates the location information of the weeds. It should be noted that the controller 270 processes the image information using the YOLOv11 deep learning model. This model identifies weeds and obtains the location information of the weed buds and stems through a pre-trained deep learning system. The location information is the three-dimensional coordinates of the weed's center.

[0056] Step S200: If it is determined that the weeds are hard-stemmed weeds and the sunlight intensity is greater than the preset intensity, control the solar weeding device 200 to weed; if it is determined that the weeds are not hard-stemmed weeds or the sunlight intensity is less than the preset intensity, control the laser weeding device 400 to weed. It should be noted here that controlling the solar-powered weeding device 200 to perform weeding includes the following steps: The pitch drive motor 264 and the rotation drive motor 265 are controlled to rotate, thereby adjusting the angle of the Fresnel lens 212. This allows the beam focused by the Fresnel lens 212 to pass through the collimating lens 230 and the light guide assembly 240, and finally be focused by the cylindrical lens 250 to form a linear high-temperature light spot 700 that acts on the target weeds. The light guide tube drive motor 247 is controlled to rotate, so that the position of the light spot coincides with the position of the weeds, completing the non-contact thermal cutting of the weed stems and achieving the purpose of weeding.

[0057] It should also be noted that the steps of controlling the laser weeding device 400 to perform weeding include: the controller 270 controls the horizontal linear drive 410 and the vertical linear drive 420 to move, so as to adjust the position of the laser 430, so that the laser beam moves to the center of the weed and performs targeted irradiation, burning the top tissue of the weed.

[0058] Step S300: Repeat the above steps sequentially.

[0059] Regardless of the weeding method used, once a target weed has been removed, the system returns to step S100 to process the next target weed until the weeding task for the entire work area is completed.

[0060] In one embodiment of the present invention, before executing step S100, a system initialization step is also executed: after the system starts, the depth camera establishes a communication connection with the controller 270 through the USB data interface, and prepares to receive image data.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An optical weeding system, characterized in that, include: Base (100); A solar-powered weeding device (200) is disposed on the base (100), and the solar-powered weeding device (200) includes: A light-collecting component (210) includes a support frame (211) and a Fresnel lens (212). The Fresnel lens (212) is disposed on the upper part of the support frame (211) and is used to focus sunlight to the focal point to form a high-energy light spot. A collimating lens (230) is disposed below the focal point of the Fresnel lens (212), and the collimating lens (230) is used to collimate the light output from the Fresnel lens (212); A light guide assembly (240) is disposed on the light path output by the collimating lens (230); A cylindrical lens (250) is disposed on the light path output by the light guide assembly (240) and connected to the light guide assembly (240). The cylindrical lens (250) is used to output focused light to form a linear high-temperature light spot (700) on the ground.

2. The optical weeding system according to claim 1, characterized in that, Also includes: A transport platform (300) is provided on which the base (100) is disposed, and the transport platform (300) is used to drive the solar weeding device (200) and the laser weeding device (400) to move.

3. The optical weeding system according to claim 1, characterized in that, The solar-powered weeding device (200) further includes a solar automatic tracking component (260), which comprises an upper frame (261), a lower frame (262), a turntable (263), a pitch drive motor (264), and a rotation drive motor (265). The turntable (263) is mounted on the base (100). The lower frame (262) is rotatably connected to the turntable (263) via a first hollow rotating platform (266). The rotating shaft of the rotation drive motor (265) is connected to the motor connecting shaft of the first hollow rotating platform (266). The rotation drive motor (265) is used to drive the weeding device. The lower frame (262) rotates axially around a vertical axis; the support frame (211) is connected to the upper frame (261), and the light guide assembly (240) is connected to the upper frame (261), the lower frame (262), and the turntable (263); the two ends of the upper frame (261) are respectively rotatably connected to the two ends of the lower frame (262) through a second hollow rotating platform (267), and the rotating shaft of the pitch drive motor (264) is connected to the motor connecting shaft of the second hollow rotating platform (267). The pitch drive motor (264) is used to drive the upper frame (261) to rotate around a horizontal axis.

4. The optical weeding system according to claim 3, characterized in that, The automatic solar tracking component (260) also includes: A controller (270) is electrically connected to the pitch drive motor (264) and the rotation drive motor (265); A light sensor is disposed on the upper part of the support frame (211). The light sensor is electrically connected to the controller (270). The light sensor is used to collect solar light intensity data in different directions. The controller (270) is used to determine the current relative position of the sun based on the solar light intensity data in different directions, determine the elevation angle and azimuth angle based on the direction of maximum light intensity, and control the pitch drive motor (264) to rotate based on the elevation angle and control the rotation drive motor (265) to rotate based on the azimuth angle so that the Fresnel lens (212) is always perpendicular to the sunlight.

5. The optical weeding system according to claim 4, characterized in that, The light guide assembly (240) includes: The first light guide component is disposed on the light path output by the collimating lens (230) and is located between the upper frame (261) and the lower frame (262); The second light guide component is disposed on the light path output by the first light guide component and is located at the lower part of the turntable (263).

6. The optical weeding system according to claim 5, characterized in that, The collimating lens (230) is mounted on the bracket (220), and the bracket (220) is connected to the upper frame (261). The first light guide component includes a first reflector tube (241) and a second reflector tube (242) mechanism. The first reflector tube (241) is mounted on the light path output by the collimating lens (230), and the first reflector tube (241) is fixedly connected to the bracket (220). The second reflector tube (242) mechanism is mounted on the light path output by the first reflector tube (241), and the second reflector tube (242) and the first reflector tube (241) mechanism are rotatably connected by bearings. The second light guiding component includes a cylindrical light guide tube (243), a third reflecting mirror tube (244), and a fourth reflecting mirror tube (245). The cylindrical light guide tube (243) is disposed on the optical path output by the second reflecting mirror tube (242) mechanism and connected to the turntable (263). The third reflecting mirror tube (244) is disposed on the optical path output by the cylindrical light guide tube (243) and is rotatably connected to the turntable (263) via a third hollow rotating platform (246). The turntable (263) A light guide tube drive motor (247) is provided at the lower part, and the light guide tube drive motor (247) is electrically connected to the controller (270); the fourth reflector tube (245) is disposed on the optical path output by the third reflector tube (244), and the fourth reflector tube (245) and the third reflector tube (244) are rotatably connected by bearings; the cylindrical lens (250) is disposed on the optical path output by the fourth reflector tube (245) and is fixedly connected to the fourth reflector tube (245).

7. The optical weeding system according to any one of claims 4 to 6, characterized in that, Also includes: A laser weeding device (400) is disposed on the base (100) and is used to output a laser beam for weeding. The first image acquisition device (500) is used to acquire image information of weeds; The controller (270) is electrically connected to the solar-powered weeding device (200), the laser weeding device (400), and the first image acquisition device (500). The controller (270) is also used to process the image information, determine whether the weed belongs to the hard-stemmed weed according to the characteristics of the weed, and calculate the location information of the weed. If it is determined that the weed belongs to the hard-stemmed weed and the sunlight intensity is greater than the preset intensity, the controller controls the solar-powered weeding device (200) to weed. If it is determined that the weed does not belong to the hard-stemmed weed or the sunlight intensity is less than the preset intensity, the controller controls the laser weeding device (400) to weed.

8. The optical weeding system according to claim 7, characterized in that, The laser weeding device (400) includes: A horizontal linear drive (410) is horizontally disposed on the base (100). A vertical linear drive (420) is provided, which is vertically arranged and connected to the horizontal linear drive (410); A laser (430) is connected to the vertical linear drive (420).

9. The optical weeding system according to claim 7, characterized in that, The laser weeding device (400) includes: The second image acquisition device (600) is disposed on the base (100) and is used to acquire image information of weeds.

10. An optical weeding method, said method being based on the optical weeding system according to any one of claims 1 to 9, characterized in that, include: The first image acquisition device (500) acquires image information of weeds and sends the image information to the controller (270); the controller (270) processes the image information, determines whether the weeds belong to the hard-stemmed weeds according to the characteristics of the weeds, and calculates the location information of the weeds; If it is determined that the weeds belong to the hard-stemmed weeds and the sunlight intensity is greater than the preset intensity, the solar weeding device (200) is controlled to weed; if it is determined that the weeds do not belong to the hard-stemmed weeds or the sunlight intensity is less than the preset intensity, the laser weeding device (400) is controlled to weed. Repeat the above steps in sequence.

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