A CO2 laser-guided weeding device for agricultural drones based on omnidirectional wheel drive

Abstract

The application provides a CO2 laser directional weeding device of an agricultural unmanned aerial vehicle based on omni-directional wheel driving, which comprises an unmanned aerial vehicle, a dual-mode control system and a laser emission pose adjusting mechanism; the dual-mode control system is fixedly installed on the laser emission pose adjusting mechanism, and the laser emission pose adjusting mechanism is magnetically connected with the unmanned aerial vehicle; the unmanned aerial vehicle adopts a four-axle unmanned aerial vehicle structure, the dual-mode control system is fixed on a partition plate, and through the speed difference of rotation of the omni-directional wheels and the friction between the omni-directional wheels and the upper hemispherical shell, the real-time adjustment of the laser emission pose is realized. The device uses the friction between the omni-directional wheels and the inner surface of the spherical shell to adjust the laser emission pose through the laser emission pose adjusting mechanism with active adaptive adjustment ability carried by the unmanned aerial vehicle, so as to ensure the stable identification and positioning of the target weeds in vision, realize the stability of the CO2 laser weeding, and improve the weeding efficiency and accuracy.

Description

Technical Field

[0001] This invention relates to the field of agricultural intelligent equipment technology, and in particular to a CO2 laser directional weeding device for agricultural drones based on omnidirectional wheel drive. Background Technology

[0002] In modern farmland management, weed control is a key aspect of ensuring crop yield. Traditional weeding methods mainly rely on chemical spraying or mechanical weeding. While the former is highly efficient, it leads to environmental pollution and increases weed resistance. In the long run, the only way to suppress weed growth is to increase the toxicity of chemical herbicides. Mechanical weeding, on the other hand, can easily damage cash crops and has low operational efficiency.

[0003] In the process of agricultural development, existing drone-based weeding mechanisms have revealed many insurmountable problems when dealing with complex environmental factors such as wind disturbance and vibration, severely limiting the widespread application and promotion of drone weeding. When the wind speed reaches a certain level, the drone sways and vibrates in the wind, causing its onboard visual camera to lose stable imaging, and the laser to fail to accurately target the weeds. This makes it difficult to clearly identify the weeds in the visual camera image, and the laser angle deviates, causing the laser beam to miss the target weeds, greatly increasing the probability of missed weeds and accidental damage to crops. Therefore, it is essential to design a CO2 laser-guided weeding device for agricultural drones based on omnidirectional wheel drive. Summary of the Invention

[0004] The purpose of this invention is to provide a CO2 laser directional weeding device for agricultural drones based on omnidirectional wheel drive. The device uses a laser emission posture adjustment mechanism with active adaptive adjustment capability mounted on the drone to adjust the laser emission posture by friction between the omnidirectional wheel and the inner surface of the spherical shell, so as to ensure visual stability in identifying and locating target weeds.

[0005] To achieve the above objectives, the present invention provides the following solution: A CO2 laser-guided weeding device for agricultural drones based on omnidirectional wheel drive includes: a drone, a dual-mode control system, and a laser emission attitude adjustment mechanism; the dual-mode control system is fixedly installed on the laser emission attitude adjustment mechanism, and the laser emission attitude adjustment mechanism is magnetically connected to the drone; The laser emission attitude adjustment mechanism includes: a magnet, a magnet bracket, an omnidirectional wheel, an omnidirectional wheel chassis, an upper hemisphere, a lower hemisphere, and a partition. The upper hemisphere is tangent to the chassis of the UAV. The upper hemisphere is threadedly connected to the lower hemisphere via the partition. The magnet bracket is threadedly connected to the omnidirectional wheel chassis. The omnidirectional wheel is fixed to the drive motor of the omnidirectional wheel chassis. The omnidirectional wheel is tangent to the upper hemisphere. The magnet is fixed to the outer surface of the magnet bracket. The dual-mode control system is fixed to the partition.

[0006] Optionally, the drone includes: a drone body, a powerful magnet, a powerful magnet bracket, and a gyroplane; the powerful magnet bracket and the gyroplane are fixed to the chassis of the drone body, the powerful magnet is bonded to the powerful magnet bracket, and the magnets are coaxially attracted to each other.

[0007] Optionally, the dual-mode control system includes: a laser emitter, a laser power supply, an IMU pose sensor, a laser galvanometer, a camera bracket, and a vision camera; the laser emitter, laser power supply, and camera bracket are threadedly connected to the partition, the vision camera is fixed on the camera bracket, the laser galvanometer is fixed at the outlet of the laser emitter, and the IMU pose sensor is fixed on the partition.

[0008] Optionally, the number of both strong magnets and omnidirectional balls shall not be less than three.

[0009] Optionally, the number of magnets shall be no less than three.

[0010] According to specific embodiments provided by the present invention, the following technical effects are disclosed: The present invention provides an agricultural drone CO2 laser directional weeding device based on omnidirectional wheel drive. The device includes: a drone, a dual-mode control system, and a laser emission attitude adjustment mechanism. The dual-mode control system is fixedly mounted on the laser emission attitude adjustment mechanism, which is magnetically connected to the drone. The drone adopts a quadcopter structure, and the dual-mode control system is fixed on a partition. Real-time adjustment of the laser emission attitude is achieved through the speed difference of the omnidirectional wheels, combined with the friction between the omnidirectional wheels and the upper hemispherical shell. This device, through the laser emission attitude adjustment mechanism equipped on the drone with active adaptive adjustment capabilities, utilizes the friction between the omnidirectional wheels and the inner surface of the hemispherical shell to adjust the laser emission attitude, ensuring stable visual identification and positioning of target weeds. This achieves stability in CO2 laser weeding, improving weeding efficiency and accuracy. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the overall structure of the weeding device of the present invention; Figure 2 This is a schematic diagram of the specific structure of the weeding device of the present invention.

[0013] Reference numerals: 1. Dual-mode control system; 11. Laser emitter; 12. Laser power supply; 13. IMU pose sensor; 14. Laser galvanometer; 15. Camera bracket; 16. Visual camera; 2. Laser emission pose adjustment mechanism; 21. Magnet; 22. Magnet bracket; 23. Omnidirectional wheel; 24. Omnidirectional wheel chassis; 25. Upper hemisphere; 26. Partition; 27. Lower hemisphere; 3. Unmanned aerial vehicle (UAV); 31. Strong magnet bracket; 32. Strong magnet; 33. Omnidirectional ball. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] like Figure 1 and Figure 2 As shown, the present invention provides an agricultural drone CO2 laser directional weeding device based on omnidirectional wheel drive, comprising: drone 3, dual-mode control system 1 and laser emission posture adjustment mechanism 2; the dual-mode control system 1 is fixedly installed on the laser emission posture adjustment mechanism 2, and the laser emission posture adjustment mechanism 2 is magnetically connected to the drone 3.

[0017] Specifically, the drone 3 adopts a quadcopter structure, including: the drone 3 fuselage, a strong magnet 32, a strong magnet bracket 31, and a omnidirectional ball 33; the strong magnet bracket 31 and the omnidirectional ball 33 are fixed on the chassis of the drone 3 fuselage, and the strong magnet 32 ​​is fixed on the strong magnet bracket 31 by adhesive bonding.

[0018] Specifically, the laser emission posture adjustment mechanism 2 includes: a magnet 21, a magnet bracket 22, an omnidirectional wheel 23, an omnidirectional wheel chassis 24, an upper hemisphere 25, a lower hemisphere 27, and a partition 26; the outer surface of the upper hemisphere 25 is tangent to the chassis of the UAV 3, the upper hemisphere 25 is threadedly connected to the lower hemisphere 27 through the partition 26, the magnet bracket 22 is threadedly connected to the omnidirectional wheel chassis 24, the omnidirectional wheel 23 is connected to the drive motor on the omnidirectional wheel chassis 24, the omnidirectional wheel 23 is tangent to the inner surface of the upper hemisphere 25, and the laser emission posture can be adjusted in real time by utilizing the friction between the omnidirectional wheel 23 and the upper hemisphere 25; the magnet 21 is fixed to the outer surface of the magnet bracket 22, and the magnet 21 is coaxially attracted to the powerful magnet 32 ​​of the UAV 3, thereby fixing the entire laser emission posture adjustment mechanism 2 to the chassis of the UAV 3, and the dual-mode control system 1 is fixed to the partition 26.

[0019] Specifically, the dual-mode control system 1 includes: a laser emitter 11, a laser power supply 12, an IMU pose sensor 13, a laser galvanometer 14, a camera bracket 15, and a vision camera 16; the laser emitter 11, the laser power supply 12, and the camera bracket 15 are threadedly connected to the partition 26, the vision camera 16 is fixed on the camera bracket 15, the laser galvanometer 14 is fixed at the outlet of the laser emitter 11, the laser galvanometer 14 receives the laser beam emitted by the laser emitter 11 and reflects it, and the IMU pose sensor 13 is fixed on the partition 26.

[0020] Furthermore, the IMU pose sensor 13 can sense the pose of the UAV 3 in real time. When the UAV 3 is affected by wind disturbance, vibration and speed change, causing the pose to deviate, the IMU pose sensor 13 feeds back the pose information to the external controller. The controller drives the four drive motors of the omnidirectional wheel chassis 24 to make the omnidirectional wheel 23 rotate, thereby realizing the real-time adjustment of the laser emission pose.

[0021] Specifically, the number of strong magnets 32 and omnidirectional balls 33 is no less than three.

[0022] Specifically, the number of magnets 21 is no less than three.

[0023] It should be noted that during field weeding operations, when the UAV 3 experiences a tilt due to wind disturbance, vibration, or speed changes, the IMU pose sensor 13 senses the UAV 3's pose in real time and drives the four drive motors of the omnidirectional wheel chassis 24 via an external controller, causing the omnidirectional wheels 23 to rotate. By controlling the speed difference of each omnidirectional wheel 23 on the omnidirectional wheel chassis 24 and the friction between them and the upper hemispherical shell 25, the laser emission pose is adjusted in real time. When the vision camera 16 identifies the target weed, it feeds back the weed coordinates to the controller. The controller sends an electrical signal to the laser power supply 12, which then supplies power to the laser emitter 11 to generate a laser beam. Simultaneously, the laser emitter 11 transmits the laser beam to the laser galvanometer 14. The controller adjusts the angle of the reflector inside the laser galvanometer 14 in real time, ensuring that the laser beam acts on the target weed point within the visual area, thereby achieving precise weed removal.

[0024] The beneficial effects of this invention are as follows: by using an IMU pose sensor to perceive the drone's pose in real time, and by using an omnidirectional wheel to quickly drive the laser emission pose adjustment mechanism, the problem of low accuracy and stability of visual recognition and laser scanning caused by factors such as drone pose deviation, wind disturbance and mechanical vibration is solved, so that the laser beam can accurately act on weeds, greatly improving weeding efficiency.

[0025] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0026] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A CO2 laser-guided weeding device for agricultural drones based on omnidirectional wheel drive, characterized in that, include: The system includes a drone, a dual-mode control system, and a laser emission attitude adjustment mechanism; the dual-mode control system is fixedly mounted on the laser emission attitude adjustment mechanism, and the laser emission attitude adjustment mechanism is magnetically connected to the drone. The laser emission attitude adjustment mechanism includes: a magnet, a magnet bracket, an omnidirectional wheel, an omnidirectional wheel chassis, an upper hemisphere, a lower hemisphere, and a partition; the upper hemisphere is tangent to the chassis of the UAV, the upper hemisphere is threadedly connected to the lower hemisphere through the partition, the magnet bracket is threadedly connected to the omnidirectional wheel chassis, the omnidirectional wheel is fixed to the drive motor of the omnidirectional wheel chassis, the omnidirectional wheel is tangent to the upper hemisphere, the magnet is fixed to the outer surface of the magnet bracket, and the dual-mode control system is fixed to the partition; The drone includes: a drone body, a powerful magnet, a powerful magnet bracket, and a omnidirectional ball; the powerful magnet bracket and the omnidirectional ball are fixed to the chassis of the drone body, the powerful magnet is bonded to the powerful magnet bracket, and the magnets are coaxial and attracted to each other; The dual-mode control system includes: a laser emitter, a laser power supply, an IMU pose sensor, a laser galvanometer, a camera bracket, and a vision camera; the laser emitter, the laser power supply, and the camera bracket are threadedly connected to the partition plate, the vision camera is fixed on the camera bracket, the laser galvanometer is fixed at the outlet of the laser emitter, and the IMU pose sensor is fixed on the partition plate.

2. The CO2 laser directional weeding device for agricultural drones based on omnidirectional wheel drive according to claim 1, characterized in that, The number of both the powerful magnet and the omnidirectional ball is no less than three.

3. The CO2 laser-guided weeding device for agricultural drones based on omnidirectional wheel drive according to claim 1, characterized in that, The number of magnets is no less than three.

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