A CO2 laser weeding device with self-cleaning function

Abstract

The application discloses a CO2 laser weeding device with a self-cleaning function, and relates to the technical fields of agricultural machinery and intelligent robots. Specifically, the device comprises an agricultural robot chassis, a laser weeding system, a self-cleaning system, a visual recognition camera and the like. The laser weeding system adopts a CO2 laser emitter and a laser galvanometer mirror, and can quickly destroy the meristem of weeds. The visual recognition camera and the laser galvanometer mirror are cooperatively controlled, weeds and crops can be identified in real time, and the action points of weeds can be accurately positioned. The self-cleaning system cooperatively moves a fan, a self-cleaning component and a multi-station lens, can effectively reduce the interference of dust and smoke generated by the combustion of weeds on the laser galvanometer mirror, guarantee the transmittance of the CO2 laser beam and the stability of weed removal, and can realize all-weather 24-hour laser weeding operation.

Description

Technical Field

[0001] This invention relates to the field of agricultural intelligent equipment technology, and more specifically to a CO2 laser weeding device with self-cleaning function, suitable for all-weather field CO2 laser weeding operations. Background Technology

[0002] In modern farmland management systems, weed control is a core element in ensuring high and stable crop yields. Traditional weeding methods mainly rely on two approaches: chemical spraying and mechanical weeding. While chemical weeding offers advantages in terms of efficiency and convenience, it also leads to increasingly prominent environmental pollution problems and exacerbates the evolution of weed resistance, forcing researchers to continuously increase the toxicity of herbicides to suppress weed growth. Mechanical weeding, on the other hand, has significant drawbacks such as easily damaging cash crops and low operational efficiency.

[0003] Compared to lasers in other wavelengths such as ultraviolet and infrared, CO2 lasers offer significant advantages in farmland weed control due to their unique 10.6μm far-infrared wavelength. This wavelength is easily absorbed by plant organic tissues, and its Gaussian beam distribution can form a focused energy field, rapidly destroying the meristematic tissue of weeds, reducing the impact on soil microbial activity, and lowering energy consumption. However, the dust and smoke generated by burning weeds during field operations can affect the transmittance and focusing performance of the lens on the galvanometer, causing fluctuations in laser weed control energy and operational efficiency, making it difficult to reliably remove weeds and hindering its large-scale promotion and application. Therefore, there is an urgent need for a stable CO2 laser weed control device with self-cleaning capabilities. Summary of the Invention

[0004] In view of this, the present invention provides a CO2 laser weeding device with self-cleaning function, which aims to solve the problems of dust and smoke generated by burning weeds in the field adhering to the lens of the galvanometer, resulting in insufficient laser beam transmittance and poor focusing ability.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A CO2 laser weeding device with self-cleaning function includes a vehicle body and a controller. An agricultural robot chassis is installed on the vehicle body, and a laser weeding system, a self-cleaning system and a visual recognition camera are installed on the agricultural robot chassis. The laser weeding system includes a laser power supply, a CO2 radio frequency laser, a laser galvanometer, a galvanometer bracket, and a platform. The laser power supply, CO2 radio frequency laser, and galvanometer bracket are all fixedly mounted on the platform. The laser galvanometer is fixed on the galvanometer bracket, and the laser receiving port of the laser galvanometer is aligned with the emitting port of the CO2 radio frequency laser. The self-cleaning system includes an installation module, a lifting module, and a cleaning module. The lifting module and the cleaning module are installed at the bottom of the platform via the installation module to clean the laser weeding system. The visual recognition camera is mounted on the chassis of the agricultural robot to identify weeds and provide real-time feedback of their position coordinates. Both the laser weeding system and the self-cleaning system are electrically connected to the controller.

[0006] Furthermore, the installation module includes a base, a motor platform, a guide post, and an end cap. The base is fixed to the platform, the guide post is fixed to the base, the motor platform is fixed to the shoulder of the guide post, the lifting platform slides with the guide post through a linear bearing, and the end cap is fixed to the end of the guide post away from the base.

[0007] Furthermore, the lifting module includes a lifting motor and a lifting platform. The lifting motor is fixed to the motor platform via a threaded connection. One end of the motor shaft of the lifting motor is connected to a screw via a coupling. The other end of the screw is threadedly engaged with the lifting platform. The lifting motor drives the screw to rotate in order to adjust the height of the lifting platform.

[0008] Furthermore, the cleaning module includes a rotary motor, a rocker arm, a hollow shaft motor, a cleaning brush, an air tube, a suction cup, test paper, a stepper motor, and a fan; The rotary motor is mounted on the lifting platform. The rocker arm is mounted on the end of the lifting platform away from the rotary motor by bolts and nuts. The rocker arm end face is provided with a pulley. A small pulley is connected to the motor shaft of the rotary motor. The pulley and the small pulley are connected by a transmission belt to drive the rocker arm and its components to rotate. The end of the rocker arm away from the lifting platform is connected to the hollow shaft motor. The output shaft of the hollow shaft motor is connected to the shaft of the cleaning brush through a shaft hole. The air pipe is fixed on the rocker arm and connected to the suction cup. The air pipe is externally connected to a negative pressure generator. A central shaft is fixed to the galvanometer bracket via bearings. A pulley A is mounted on the central shaft. A rotating disk is fixed to the end of the central shaft away from pulley A via a locking nut. A lens is mounted on the rotating disk, and the lens is positioned corresponding to the laser emission side of the laser galvanometer. A stepper motor is fixed to the galvanometer bracket. A pulley B is connected to the output shaft of the stepper motor. Pulley B and pulley A are connected by a synchronous belt drive to drive the rotating disk and switch the lens position. The test strips are pressed into the test strip box by an elastic pressure plate, and the test strip box is installed below the platform; The fan is fixed on the platform and is connected to a smoke exhaust hood via a pipe.

[0009] Furthermore, the CO2 radio frequency laser, laser galvanometer, stepper motor, rotary motor, lifting motor, hollow shaft motor, and fan are all electrically connected to the controller, which controls the coordinated operation of each component.

[0010] Preferably, there are three guide posts and three linear bearings, with the three guide posts arranged in a triangle on the base. Preferably, the number of lenses is two or more, and each lens is evenly distributed along the circumference of the rotating disk. Preferably, the suction cup is a negative pressure suction cup, used to adsorb the test strip in the test strip box and deliver it to the cleaning position, and the cleaning brush cooperates with the test strip to rotate and wipe the lens.

[0011] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a CO2 laser weeding device with self-cleaning function, which has the following beneficial effects: This invention has a self-cleaning function, which can effectively solve the problem that dust and smoke generated by weed burning during field work affect the transmittance and focusing performance of the laser galvanometer, thereby improving the efficiency and energy stability of CO2 laser weeding operations. This invention utilizes a smoking device to effectively absorb the smoke generated by burning dust and weeds, reducing its interference with laser transmission and weeding effect. At the same time, in conjunction with a self-cleaning component and a multi-position lens working together, it can achieve 24-hour weeding operation. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present 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 only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the overall structure of a laser weeding machine; Figure 2 This is a schematic diagram of a laser weeding system; Figure 3 This is a schematic diagram of a self-cleaning system; In the diagram: 1. Agricultural robot chassis; 2. Laser weeding system; 3. Self-cleaning system; 4. Vision recognition camera; 2-1. Laser power supply; 2-2. CO2 RF laser; 2-3. Laser galvanometer; 2-4. Galvanometer bracket; 2-5. Platform; 3-1. Pulley A; 3-2. Synchronous belt; 3-3. Bearing; 3-4. Central shaft; 3-5. Pulley B; 3-6. Stepper motor; 3-7. End cap; 3-8. Rotary motor; 3-9. Guide column; 3-10. Lifting platform; 3-11. Linear bearing; 3-12. Screw; 3-13. Small pulley; 3-14. Drive belt; 3-15. Coupling, 3-16 Air pipe, 3-17 Rocker arm, 3-18 Motor platform, 3-19 Hollow shaft motor, 3-20 Lifting motor, 3-21 Cleaning brush, 3-22 Suction cup, 3-23 Base, 3-24 Lens, 3-25 Rotary disc, 3-26 Locking nut, 3-27 Test paper box, 3-28 Test paper, 3-29 Elastic pressure plate, 3-30 Fan, 3-31 Pipe, 3-32 Smoke hood. Detailed Implementation

[0014] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0015] like Figure 1-3 As shown, a CO2 laser weeding device with self-cleaning function includes a vehicle body and a controller. An agricultural robot chassis 1 is installed on the vehicle body. A laser weeding system 2, a self-cleaning system 3 and a visual recognition camera 4 are installed on the agricultural robot chassis 1. The laser weeding system 2 includes a laser power supply 2-1, a CO2 radio frequency laser 2-2, a laser galvanometer 2-3, a galvanometer bracket 2-4, and a platform 2-5. The laser power supply 2-1, the CO2 radio frequency laser 2-2, and the galvanometer bracket 2-4 are all fixedly mounted on the platform 2-5. The laser galvanometer 2-3 is fixed above the galvanometer bracket 2-4, and the laser receiving port of the laser galvanometer 2-3 is aligned with the emitting port of the CO2 radio frequency laser 2-2. The self-cleaning system includes pulley A3-1, synchronous belt 3-2, bearing 3-3, pulley B3-5, stepper motor 3-6, central shaft 3-4, end cap 3-7, rotary motor 3-8, guide column 3-9, lifting platform 3-10, motor platform 3-18, linear bearing 3-11, screw 3-12, small pulley 3-13, transmission belt 3-14, coupling 3-15, air pipe 3-16, rocker arm 3-17, hollow shaft motor 3-19, lifting motor 3-20, cleaning brush 3-21, suction cup 3-22, base 3-23, lens 3-24, rotating disk 3-25, locking nut 3-26, fan 3-30, pipe 3-31, fume hood 3-32, test paper box 3-27, test paper 3-28, and elastic pressure plate 3-29; The base 3-23 is fixed on the platform 2-5, the guide column is fixed on the base, the motor platform 3-18 is fixed on the shoulder of the guide column 3-9, the lifting platform 3-10 is slidably engaged with the guide column 3-9 through the linear bearing 3-11, and the end cap 3-7 is fixed to the end of the guide column 3-9 away from the base 3-23. The lifting motor 3-20 is fixed to the motor platform 3-18 by a threaded connection. The motor shaft of the lifting motor 3-20 is connected to one end of the screw 3-12 through the coupling 3-15. The other end of the screw 3-12 is threadedly engaged with the lifting platform 3-10. The lifting motor 3-20 drives the screw 3-12 to rotate in order to adjust the height of the lifting platform 3-10. The rotary motor 3-8 is fixed to the lifting platform 3-10 by a threaded connection. The small pulley 3-13 is fixed to the motor shaft of the rotary motor 3-8 by a thread. The rocker arm 3-17 is fixed to the end of the lifting platform 3-10 away from the rotary motor 3-8 by bolts and nuts. The rocker arm 3-17 has a pulley on its end face. The pulley and the small pulley 3-13 are connected by a transmission belt 3-14 to drive the rocker arm and its components to rotate. The end of the rocker arm 3-17 furthest from the lifting platform is fixed to the hollow shaft motor 3-19 via a threaded connection. The output shaft of the hollow shaft motor 3-19 is fixed to the shaft of the cleaning brush 3-21 via a shaft hole. The air pipe 3-16 is fixed to the rocker arm 3-17 with a nut. The air pipe 3-16 passes through the hollow shaft of the cleaning brush 3-21, and the end of the air pipe 3-16 furthest from the rocker arm 3-17 is connected to the suction cup 3-22. The other end of the air pipe 3-16 is connected to a negative pressure generator. The central shaft 3-4 is fixed to the galvanometer bracket 2-4 via the bearing 3-3. The pulley A3-1 is fixed to the central shaft 3-4. The end of the central shaft 3-4 away from the pulley A3-1 is fixed to the rotating disk 3-25 via the locking nut 3-26. The lens 3-24 is mounted on the rotating disk 3-25, and the lens 3-24 is set corresponding to the laser emission side of the laser galvanometer 2-3. The stepper motor 3-6 is fixed below the galvanometer bracket 2-4. The pulley B3-5 is fixed on the output shaft of the stepper motor 3-6 by a threaded connection. The pulley B3-5 and the pulley A3-1 are connected by the synchronous belt 3-2 to drive the rotary disk 3-25 to switch the lens 3-24. The test paper box 3-27 is fixed below the platform 2-5 by a threaded connection, and the test paper 3-28 is pressed into the test paper box 3-27 by the elastic pressure plate 3-29; the fan 3-30 and the fume hood 3-32 are both fixed on the platform base plate 2-5, and the fan 3-30 and the fume hood 3-32 are connected through the pipe 3-31; The visual recognition camera 4 is mounted on the agricultural robot chassis 1 and is used to identify weeds and provide feedback on their position coordinates. The CO2 radio frequency laser 2-2, laser galvanometer 2-3, stepper motor 3-6, rotary motor 3-8, lifting motor 3-20, hollow shaft motor 3-19, and fan 3-30 are all electrically connected to the controller, which controls the coordinated operation of each component.

[0016] There are three guide posts 3-9 and three linear bearings 3-11, and the three guide posts 3-9 are distributed in a triangle on the base 3-23; The number of lenses 3-24 is two or more, and each lens 3-24 is evenly distributed along the circumference of the rotating disk 3-25; Suction cup 3-22 is a negative pressure suction cup.

[0017] The working process and principle of the above device are as follows: When the agricultural robot chassis 1 drives the laser weeding system 2 and self-cleaning system and other components to carry out all-weather laser weeding operations in the field, the visual recognition camera identifies the weeds and feeds back the weed position coordinates to the controller, which then controls the CO2 radio frequency laser 2-2 and the laser galvanometer 2-3 to remove the target weeds. During prolonged weeding, dust and smoke from burning weeds in the field adhere to the lens of lens 3-24, affecting the transmittance of the laser beam and the stability of weed removal. Therefore, the drive fan 3-30 discharges the dust and smoke through the exhaust hood 3-32 and pipe 3-31, and drives the stepper motor 3-6 to rotate pulley B 3-5 according to the weeding time or amount of weeding. At the same time, through the synchronous belt 3-2, it drives pulley A 3-1, central shaft 3-4 and rotating disk 3-25 to rotate, and the lens 3-24 switch working position to the cleaning position. After the lens 3-24 station is switched, the lifting motor 3-20 drives the coupling 3-15 and screw 3-12 to rotate, which in turn moves the lifting platform 3-10 and its rocker arm 3-17 and cleaning components up and down. At the same time, the rotary motor 3-8 controls the small pulley 3-13 to drive the pulley on the end face of the rocker arm 3-17 to rotate via the conveyor belt 3-14, so that the cleaning components installed on the rocker arm 3-17 move to the test paper box 3-27. At this time, the suction cup 3-22 uses negative pressure to adsorb the test paper 3-28, removes it from the test paper box 3-27, and the lifting motor 3-20 and the rotary motor 3-8 work together to move the rocker arm 3-17 and its components to the cleaning position, driving the hollow shaft motor 3-19 to drive the cleaning brush 3-21 and the test paper 3-28 to rotate on the lens 3-24, thus achieving the purpose of lens cleaning.

[0018] The embodiments described in this specification are presented in a progressive manner. The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A CO2 laser weeding device with self-cleaning function, comprising a vehicle body and a controller, characterized in that, The vehicle body is equipped with an agricultural robot chassis, and the agricultural robot chassis is equipped with a laser weeding system, a self-cleaning system and a visual recognition camera; The laser weeding system includes a laser power supply, a CO2 radio frequency laser, a laser galvanometer, a galvanometer bracket, and a platform. The laser power supply, CO2 radio frequency laser, and galvanometer bracket are all fixedly mounted on the platform. The laser galvanometer is fixed on the galvanometer bracket, and the laser receiving port of the laser galvanometer is aligned with the emitting port of the CO2 radio frequency laser. The self-cleaning system includes an installation module, a lifting module, and a cleaning module. The lifting module and the cleaning module are installed at the bottom of the platform via the installation module to clean the laser weeding system. The mounting module includes a base, a motor platform, a guide post, and an end cap. The base is fixed to the platform, the guide post is fixed to the base, the motor platform is fixed to the shoulder of the guide post, and the end cap is fixed to the end of the guide post away from the base. The lifting module includes a lifting motor and a lifting platform. The lifting motor is fixed to the motor platform by a threaded connection. The lifting platform is slidably engaged with the guide column by a linear bearing. The motor shaft of the lifting motor is connected to one end of a screw by a coupling. The other end of the screw is threadedly engaged with the lifting platform. The lifting motor drives the screw to rotate to adjust the height of the lifting platform. The cleaning module includes a rotary motor, a rocker arm, a hollow shaft motor, a cleaning brush, an air tube, a suction cup, test strips, a stepper motor, and a fan; The rotary motor is mounted on the lifting platform. The rocker arm is mounted on the end of the lifting platform away from the rotary motor by bolts and nuts. The rocker arm end face is provided with a pulley. A small pulley is connected to the motor shaft of the rotary motor. The pulley and the small pulley are connected by a transmission belt. The end of the rocker arm away from the lifting platform is connected to the hollow shaft motor. The output shaft of the hollow shaft motor is connected to the shaft of the cleaning brush through a shaft hole. The air pipe is fixed on the rocker arm and connected to the suction cup. The air pipe is externally connected to a negative pressure generator. A central shaft is fixed to the galvanometer bracket by bearings. A pulley A is mounted on the central shaft. A rotating disk is fixed to the end of the central shaft away from pulley A by a locking nut. A lens is mounted on the rotating disk, and the lens is positioned corresponding to the laser emission side of the laser galvanometer. A stepper motor is fixed to the platform. A pulley B is connected to the output shaft of the stepper motor. The pulley B and pulley A are connected by a synchronous belt drive. The test strips are pressed into the test strip box by an elastic pressure plate, and the test strip box is installed below the platform; The fan is fixed on the platform and is connected to a smoke exhaust hood via a pipe; The CO2 radio frequency laser, laser galvanometer, stepper motor, rotary motor, lifting motor, hollow shaft motor and fan are all electrically connected to the controller, and the controller controls the coordinated operation of each component. The visual recognition camera is mounted on the chassis of the agricultural robot to identify weeds and provide real-time feedback of their position coordinates. Both the laser weeding system and the self-cleaning system are electrically connected to the controller.

2. The CO2 laser weeding device with self-cleaning function according to claim 1, characterized in that, The number of guide posts and linear bearings is three, and the three guide posts are distributed in a triangle on the base.

3. The CO2 laser weeding device with self-cleaning function according to claim 1, characterized in that, The number of lenses is two or more, and each lens is evenly distributed along the circumference of the rotating disk.

4. The CO2 laser weeding device with self-cleaning function according to claim 1, characterized in that, The suction cup is a negative pressure suction cup.

Images