Intelligent weeding executing mechanism based on CO2 laser

Abstract

The invention discloses an intelligent weeding executing mechanism based on CO2 laser. The intelligent weeding executing mechanism comprises a rack, and a laser emitting mechanism and an IMU pose sensor are installed on the rack; the laser holder assembly comprises a Pitch shaft driving motor, the Pitch shaft driving motor is in transmission connection with a U-shaped support, a laser platform is arranged in the U-shaped support, a laser refraction mechanism is arranged on the laser platform, the Pitch shaft driving motor is in transmission connection with the laser refraction mechanism, and the laser platform is rotationally connected into the U-shaped support. An adjusting mechanism is arranged between the laser platform and the U-shaped bracket, and a CO2 laser transmitter is mounted on the laser platform; and a binocular vision camera is mounted on the CO2 laser transmitter. Comprehensive deviations such as ground fluctuation and body posture are sensed based on multi-source information fusion such as the IMU pose sensor and the visual identification camera, pose changes are effectively compensated through the stable holder structure, visual and laser positioning deviations are reduced, a laser beam is accurately and stably focused on a target weed action point, and the laser weeding operation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural intelligent equipment, in particular to an intelligent weeding execution mechanism based on CO2 laser. BACKGROUND

[0002] In modernized farmland management, weed control is a key link to ensure crop yield. The traditional weeding method mainly relies on chemical agent spraying or mechanical weeding. The former has high efficiency, but it will cause environmental pollution and enhance the weed resistance, and in the long run, only by enhancing the toxicity of chemical herbicides can the weed growth be inhibited. Mechanical weeding has problems such as easy damage to economic crops and low operation efficiency.

[0003] Compared with other waveband lasers (such as ultraviolet light, infrared light, etc.), the CO2 laser has unique 10.6 μm far-infrared wavelength characteristics, which shows significant advantages in farmland weeding applications. This wavelength is most easily absorbed by organic tissues in plants, and its Gaussian beam distribution characteristics can form a highly focused energy field, which can quickly and efficiently destroy the ground meristem of weeds, reduce the impact on soil microbial activity in the operation area, and reduce energy consumption. However, the farmland environment is complex, and the existing equipment is prone to visual and laser positioning deviations under the comprehensive deviations of ground undulations and body postures, which makes it difficult to accurately remove weeds and restricts its large-scale promotion and application.

[0004] Under the condition of field terrain coupling, the CO2 laser system in the existing intelligent weeding equipment based on CO2 laser technology has a complex structure and a large size, which is not conducive to the pose control of the entire laser system. In addition, the laser galvanometer in the existing system is difficult to adapt to the high-frequency transformation in field weeding operation, affecting the transmission accuracy and stability of the laser beam. The dust and smoke generated by weed combustion also affect the transmittance and focusing performance of the lens on the galvanometer, and the controllable moving range of the laser beam under the galvanometer transmission is small, which cannot cover a large area of farmland. Therefore, there is an urgent need for an intelligent laser weeding execution mechanism with stable performance, strong adaptability and wide laser beam scanning range. SUMMARY

[0005] The purpose of the present application is to provide an intelligent weeding execution mechanism based on CO2 laser, which aims to solve the problems of insufficient high-frequency transformation adjustment capability of the existing CO2 laser weeding system, small controllable range of laser beam and poor adaptability to complex field environment.

[0006] To achieve the above purpose, the present application provides the following scheme: the present application provides an intelligent weeding execution mechanism based on CO2 laser, comprising: a weeding robot body, the weeding robot body has a rack, and a laser emitting mechanism and an IMU pose sensor are installed on the rack; The utility model provides a laser holder assembly, which comprises two vertical plates, a U-shaped support rotatably connected between the two vertical plates, a pitch shaft driving motor fixedly connected to one of the vertical plates, the pitch shaft driving motor in transmission connection with the U-shaped support, a laser platform movably arranged in the U-shaped support, a laser refraction mechanism arranged on the laser platform, the pitch shaft driving motor in transmission connection with the laser refraction mechanism, an adjusting mechanism arranged between the laser platform and the U-shaped support, a CO2 laser emitter mounted on the laser platform, a through hole formed in the support, the CO2 laser emitter passing through the through hole, the laser emission mechanism emitting a laser beam towards the laser refraction mechanism, and the CO2 laser emitter being located below the laser refraction mechanism. A processor, a binocular vision camera mounted on the CO2 laser emitter, the pitch shaft driving motor, the laser emission mechanism, the IMU pose sensor and the CO2 laser emitter are electrically connected to the processor.

[0007] Preferably, the laser refraction mechanism comprises a mirror fixing plate and a mirror lens, the mirror lens is fixedly connected to the mirror fixing plate, a bearing seat is fixedly connected to the laser platform, a deflection shaft is fixedly connected to the mirror fixing plate, the deflection shaft is rotatably connected to the bearing seat through a bearing, the mirror lens is located above the CO2 laser emitter, the pitch shaft driving motor is in transmission connection with the deflection shaft, and the mirror lens is installed at the center of the U-shaped support.

[0008] Preferably, a connecting shaft is fixedly connected to the U-shaped support, the connecting shaft is rotatably connected to the vertical plate, a driving shaft of the pitch shaft driving motor is fixedly connected to the connecting shaft, a small transmission wheel is fixedly connected to the connecting shaft, a support is fixedly connected to the U-shaped support, two long holes are formed in the support, a center shaft is arranged in the two long holes, two threaded holes are formed in the support and communicate with the long holes, an adjusting screw is threadedly connected to the threaded hole, a tension spring is mounted in the long hole, the adjusting screw passes through the tension spring and the center shaft, two tension wheels are rotatably connected to the center shaft, a pitch shaft transmission wheel is fixedly connected to the deflection shaft, a belt is wound around the small transmission wheel, the two tension wheels and the pitch shaft transmission wheel, and the transmission ratio of the small transmission wheel to the pitch shaft transmission wheel is 1:2.

[0009] Preferably, the adjusting mechanism includes a Roll shaft driving motor, the laser platform is fixedly connected with a motor seat on the side, the Roll shaft driving motor is fixedly connected on the motor seat, a gear is fixedly connected on the driving shaft of the Roll shaft driving motor, a U-shaped rack is fixedly connected on the U-shaped support, the gear is engaged with the U-shaped rack, the Roll shaft driving motor is electrically connected with the processor, and two pulleys are rotatably connected on the laser platform and are slidably connected in the U-shaped support.

[0010] Preferably, the laser emitting mechanism includes a laser tube, the laser tube is fixedly connected on the laser platform through a laser tube support, a laser power supply and a water cooling box are fixedly connected on the laser platform, the laser power supply is electrically connected with the laser tube, and the laser tube is electrically connected with the processor.

[0011] The present application discloses the following technical effects: 1. The present application is based on IMU pose sensor and multi-source information fusion perception camera, etc. The ground undulation and the body attitude are comprehensively deviated, the pose change is effectively compensated through the stable holder structure, the visual and laser positioning deviation is reduced, the laser beam is accurately and stably focused on the target weed action point, and the laser weeding operation efficiency is improved. 2. In the laser weeding process, the deflection angle of the CO2 laser emitter is controlled by driving the double motor, so that it can adapt to the high-frequency conversion in the field weeding operation. Compared with the existing CO2 laser galvanometer scanning technology, the structure can expand the controllable scanning area range of the laser beam, and cover a large area of farmland weeds. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0013] Figure 1 The intelligent weeding execution mechanism based on CO2 laser of the present application is shown in the figure. Figure 2 The laser holder assembly and the laser emitting mechanism of the present application are shown in the figure. Figure 3 The laser holder assembly of the present application is shown in the figure. Figure 4 Another angle of the laser holder assembly of the present application is shown in the figure. Figure 5 The Figure 4 The enlarged view of a in the figure. Wherein, 1, laser holder assembly; 2, laser emission mechanism; 3, IMU pose sensor; 4, weeding robot body; 1-1, rack; 1-2, U-shaped rack; 1-3, motor seat; 1-4, Roll shaft drive motor; 1-5, gear; 1-6, pulley; 1-7, laser platform; 1-8, vertical plate; 1-9, U-shaped support; 1-10, Pitch shaft drive motor; 1-11, small transmission wheel; 1-12, belt; 1-13, support; 1-14, adjusting screw; 1-15, tension spring; 1-16, tension wheel; 1-17, center shaft; 1-18, Pitch shaft transmission wheel; 1-19, bearing seat; 1-20, bearing; 1-21, binocular vision camera; 2-1, laser power supply; 2-2, laser tube; 2-3, water-cooled box; 2-4, laser tube support; 2-5, reflector fixing plate; 2-6, reflector lens; 2-7, deflection shaft; 2-8, CO2 laser emitter. DETAILED DESCRIPTION

[0014] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0015] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0016] Reference Figures 1-5 The present application provides a CO2 laser-based intelligent weeding execution mechanism, comprising; The weeding robot body 4 has a rack 1-1, and the laser emission mechanism 2 and the IMU pose sensor 3 are installed on the rack 1-1; The laser holder assembly 1 comprises two vertical plates 1-8, a U-shaped support 1-9 is rotationally connected between the two vertical plates 1-8, one of the vertical plates 1-8 is fixedly connected with a pitch shaft driving motor 1-10, the pitch shaft driving motor 1-10 is in transmission connection with the U-shaped support 1-9, a laser platform 1-7 is movably arranged in the U-shaped support 1-9, the laser platform 1-7 is provided with a laser refraction mechanism, the pitch shaft driving motor 1-10 is in transmission connection with the laser refraction mechanism, an adjusting mechanism is arranged between the laser platform 1-7 and the U-shaped support 1-9, a CO2 laser emitter 2-8 is mounted on the laser platform 1-7, a through hole is formed in a rack 1-1, the CO2 laser emitter 2-8 is located in the through hole, a laser emission mechanism 2 emits a laser beam towards the laser refraction mechanism, and the CO2 laser emitter 2-8 is located below the laser refraction mechanism. A processor, a binocular vision camera 1-21 is mounted on the CO2 laser emitter 2-8, the pitch shaft driving motor 1-10, the laser emission mechanism 2, an IMU pose sensor 3 and the CO2 laser emitter 2-8 are all in electrical connection with the processor.

[0017] In the device, the weeding robot body 4 facilitates movement of the device, the laser emission mechanism 2 is used for emitting laser, the pitch shaft driving motor 1-10 can drive the U-shaped support 1-9 to rotate, the laser refraction mechanism can fold the laser beam emitted by the laser emission mechanism 2 towards the CO2 laser emitter 2-8, the CO2 laser emitter 2-8 is mounted on the laser platform 1-7, the adjusting mechanism can adjust the angle of the CO2 laser emitter 2-8 on the U-shaped support 1-9, when the pitch shaft driving motor 1-10 drives the U-shaped support 1-9 to rotate, the laser refraction mechanism also rotates, so that the laser beam can always enter the CO2 laser emitter 2-8; the binocular vision camera 1-21 is fixed on the CO2 laser emitter 2-8 and moves together with the CO2 laser emitter 2-8, and is mainly used for identifying and distinguishing weeds and field crops and positioning the weed action point in real time; when the weed is detected, the binocular vision camera 1-21 feeds back the position information to the processor, the pitch shaft driving motor 1-10 and the adjusting mechanism drive the laser platform 1-7 and the CO2 laser emitter 2-8 to move, and the IMU pose sensor 3 detects the field terrain and the body pitch deviation in real time, compensates and controls the attitude of the CO2 laser emitter 2-8, so that the CO2 laser emitter 2-8 can quickly and accurately burn the weed action point.

[0018] Further optimization scheme, the laser refraction mechanism includes a mirror fixing plate 2-5 and a mirror lens 2-6, the mirror lens 2-6 is fixedly connected on the mirror fixing plate 2-5, a bearing seat 1-19 is fixedly connected on the laser platform 1-7, a deflection shaft 2-7 is fixedly connected on the mirror fixing plate 2-5, the deflection shaft 2-7 is rotatably connected in the bearing seat 1-19 through a bearing 1-20, the mirror lens 2-6 is located above a CO2 laser emitter 2-8, a Pitch shaft driving motor 1-10 is in transmission connection with the deflection shaft 2-7, and the mirror lens 2-6 is installed at the center of the U-shaped support 1-9.

[0019] The mirror lens 2-6 is used for reflecting a laser beam, the laser emitting mechanism 2 emits laser towards the mirror lens 2-6, the deflection shaft 2-7 can rotate on the bearing seat 1-19, and the Pitch shaft driving motor 1-10 can drive the deflection shaft 2-7 to rotate, so that the mirror fixing plate 2-5 and the mirror lens 2-6 are adjusted in angle.

[0020] Further optimization scheme, the U-shaped support 1-9 is fixedly connected with a connecting shaft, the connecting shaft is rotatably connected on the vertical plate 1-8, a driving shaft of the Pitch shaft driving motor 1-10 is fixedly connected with the connecting shaft, a small transmission wheel 1-11 is fixedly connected on the connecting shaft, a support 1-13 is fixedly connected in the U-shaped support 1-9, two long holes are formed in the support 1-13, a center shaft 1-17 is arranged in the two long holes, two threaded holes are formed in the support 1-13 and communicate with the long holes, adjusting screws 1-14 are threadedly connected in the threaded holes, tension springs 1-15 are arranged in the long holes, the adjusting screws 1-14 pass through the tension springs 1-15 and the center shaft 1-17, two tension wheels 1-16 are rotatably connected on the center shaft 1-17, a Pitch shaft transmission wheel 1-18 is fixedly connected on the deflection shaft 2-7, the small transmission wheel 1-11, the two tension wheels 1-16 and the Pitch shaft transmission wheel 1-18 are wound with a belt 1-12, and the transmission ratio of the small transmission wheel 1-11 to the Pitch shaft transmission wheel 1-18 is 1:2.

[0021] When the Pitch shaft driving motor 1-10 drives the U-shaped support 1-9 to rotate, the small transmission wheel 1-11 will also rotate, the Pitch shaft transmission wheel 1-18 is fixed on the deflection shaft 2-7, when the small transmission wheel 1-11 rotates, the Pitch shaft transmission wheel 1-18 will be driven to rotate through the belt 1-12, and the two tension wheels 1-16 will also rotate simultaneously, The center shaft 1-17 can slide along the adjusting screw 1-14 after the adjusting screw 1-14 passes through the tension spring 1-15 and the center shaft 1-17, and when the Roll shaft driving motor 1-4 drives the gear 1-5 to rotate and drives each component on the laser platform 1-7 to rotate together around the support shaft center (Y-axis direction) along with the U-shaped support 1-9, the center shaft 1-17 and the tension pulley 1-16 thereon can keep the belt 1-12 in a real-time tension state through the tension spring 1-15. The deflection of the deflection shaft 2-7 will cause the mirror fixing plate 2-5 and the mirror lens 2-6 to rotate, and since the transmission ratio of the small transmission wheel 1-11 and the Pitch shaft transmission wheel 1-18 is 1:2, when the U-shaped support 1-9 drives the CO2 laser emitter 2-8 to rotate by α degrees around the U-shaped support axis, the mirror lens 2-6 deflects by α / 2 degrees; and since the center of the mirror lens 2-6 is installed at the center of the U-shaped support 1-9 and is aligned with the center shaft of the laser emitting mechanism 2, the mirror lens 2-6 is always aligned with the laser beam emitted by the laser emitting mechanism 2, and can accurately reflect the laser beam into the CO2 laser emitter 2-8, so as to achieve accurate transmission of the laser beam.

[0022] Further optimization scheme, adjustment mechanism includes Roll shaft driving motor 1-4, laser platform 1-7 side fixedly connected with motor seat 1-3, Roll shaft driving motor 1-4 is fixedly connected on motor seat 1-3, driving shaft of Roll shaft driving motor 1-4 is fixedly connected with gear 1-5, U-shaped support 1-9 is fixedly connected with U-shaped rack 1-2, gear 1-5 is engaged with U-shaped rack 1-2, Roll shaft driving motor 1-4 is electrically connected with processor, laser platform 1-7 is rotatably connected with two pulleys 1-6, pulley 1-6 is slidably connected in U-shaped support 1-9.

[0023] Roll shaft driving motor 1-4 drives gear 1-5 to rotate, since U-shaped rack 1-2 is fixed on U-shaped support 1-9, gear engages U-shaped rack 1-2, so that gear 1-5 rotates to drive Roll shaft driving motor 1-4, motor seat 1-3 and each component on laser platform 1-7 to rotate together around the support shaft center (Y-axis direction) along with U-shaped support 1-9; since the mirror lens 2-6 is installed at the center of the U-shaped support 1-9, the mirror lens 2-6 is always aligned with the center shaft of the laser emitting mechanism 2 during the rotation of the laser platform 1-7, so that the Roll shaft driving motor 1-4 can still emit the laser beam into the CO2 laser emitter 2-8 when it rotates; Roll shaft driving motor 1-4 and Pitch shaft driving motor 1-10 move cooperatively, that is, can control the bidirectional movement of CO2 laser emitter 2-8, so as to realize the large-scale coverage of laser beam on field weeds and achieve the purpose of weeding.

[0024] Further optimization scheme, laser emitting mechanism 2 includes laser tube 2-2, laser tube 2-2 is fixedly connected on laser platform 1-7 through laser tube support 2-4, laser power supply 2-1 and water cooling box 2-3 are fixedly connected on laser platform 1-7, laser power supply 2-1 is electrically connected with laser tube 2-2, and laser tube 2-2 is electrically connected with the processor.

[0025] Laser tube 2-2 emits laser, laser power supply 2-1, water cooling box 2-3 and laser tube support 2-4 are fixed on the gantry 1-1 by screws and bolts.

[0026] When the binocular vision camera 1-21 identifies the weeds, the Pitch shaft drive motor 1-10 drives the small transmission wheel 1-11 and the U-shaped support 1-9 to rotate, and drives the Pitch shaft transmission wheel 1-18 and the deflection shaft 2-7 to rotate by using the belt drive, and at the same time makes the reflector fixed plate 2-5 and the reflector lens 2-6 deflect; since the transmission ratio of the small transmission wheel 1-11 and the Pitch shaft transmission wheel 1-18 is 1:2, when the U-shaped support 1-9 drives the CO2 laser emitter 2-8 to rotate around the U-shaped support axis by α degrees, the reflector lens 2-6 deflects by α / 2 degrees; and since the center of the reflector lens 2-6 is installed at the center of the U-shaped support 1-9 and is aligned with the center axis of the laser tube 2-2, the reflector lens 2-6 is always aligned with the laser beam emitted from the laser tube 2-2, and can accurately reflect the laser beam into the CO2 laser emitter 2-8, to realize accurate transmission of the laser beam.

[0027] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0028] The above-described embodiments are only preferred modes of the present application, and do not limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A smart weeding actuator based on a CO2 laser, characterized in that, include: The weeding robot body (4) has a platform (1-1) on which a laser emitting mechanism (2) and an IMU pose sensor (3) are installed. A laser gimbal assembly (1) includes two upright plates (1-8), with a U-shaped bracket (1-9) rotatably connected between the two upright plates (1-8). A pitch axis drive motor (1-10) is fixedly connected to one of the upright plates (1-8), and the pitch axis drive motor (1-10) is drivenly connected to the U-shaped bracket (1-9). A laser platform (1-7) is movably arranged inside the U-shaped bracket (1-9), and a laser refraction mechanism is provided on the laser platform (1-7). The itch axis drive motor (1-10) is connected to the laser refraction mechanism. An adjustment mechanism is provided between the laser platform (1-7) and the U-shaped bracket (1-9). A CO2 laser emitter (2-8) is installed on the laser platform (1-7). A through hole is provided on the frame (1-1). The CO2 laser emitter (2-8) passes through the through hole. The laser emitting mechanism (2) emits a laser beam toward the laser refraction mechanism. The CO2 laser emitter (2-8) is located below the laser refraction mechanism. The processor is equipped with a binocular vision camera (1-21) on the CO2 laser emitter (2-8). The Pitch axis drive motor (1-10), the laser emission mechanism (2), the IMU pose sensor (3) and the CO2 laser emitter (2-8) are all electrically connected to the processor.

2. The intelligent weeding actuator based on CO2 laser according to claim 1, characterized in that: The laser refraction mechanism includes a reflector fixing plate (2-5) and a reflector lens (2-6). The reflector lens (2-6) is fixedly connected to the reflector fixing plate (2-5). A bearing seat (1-19) is fixedly connected to the laser platform (1-7). A deflection shaft (2-7) is fixedly connected to the reflector fixing plate (2-5). The deflection shaft (2-7) is rotatably connected to the bearing seat (1-19) through a bearing (1-20). The reflector lens (2-6) is located above the CO2 laser emitter (2-8). The Pitch axis drive motor (1-10) is connected to the deflection shaft (2-7). The reflector lens (2-6) is installed at the center of the U-shaped bracket (1-9).

3. The intelligent weeding actuator based on CO2 laser according to claim 1, characterized in that: A connecting shaft is fixedly connected to the U-shaped bracket (1-9), and the connecting shaft is rotatably connected to the upright plate (1-8). The drive shaft of the Pitch shaft drive motor (1-10) is fixedly connected to the connecting shaft. A small transmission wheel (1-11) is fixedly connected to the connecting shaft. A support (1-13) is fixedly connected inside the U-shaped bracket (1-9). Two elongated holes are opened on the support (1-13), and a central shaft (1-17) passes through the two elongated holes. Two threaded holes are opened on the support (1-13), and the threaded holes communicate with the elongated holes. An adjusting screw (1-14) is threaded into the threaded holes. A tension spring (1-15) is installed in the elongated hole. The adjusting screw (1-14) passes through the tension spring (1-15) and the central shaft (1-17). Two tension wheels (1-16) are rotatably connected to the central shaft (1-17). A pitch shaft drive wheel (1-18) is fixedly connected to the deflection shaft (2-7). A belt (1-12) is wound around the small drive wheel (1-11), the two tension wheels (1-16), and the pitch shaft drive wheel (1-18). The transmission ratio between the small drive wheel (1-11) and the pitch shaft drive wheel (1-18) is 1:

2.

4. The intelligent weeding actuator based on CO2 laser according to claim 2, characterized in that: The adjustment mechanism includes a Roll axis drive motor (1-4), a motor base (1-3) is fixedly connected to the side of the laser platform (1-7), the Roll axis drive motor (1-4) is fixedly connected to the motor base (1-3), a gear (1-5) is fixedly connected to the drive shaft of the Roll axis drive motor (1-4), a U-shaped rack (1-2) is fixedly connected to the U-shaped bracket (1-9), the gear (1-5) meshes with the U-shaped rack (1-2), the Roll axis drive motor (1-4) is electrically connected to the processor, and two pulleys (1-6) are rotatably connected to the laser platform (1-7), and the pulleys (1-6) are slidably connected inside the U-shaped bracket (1-9).

5. The intelligent weeding actuator based on CO2 laser according to claim 1, characterized in that: The laser emitting mechanism (2) includes a laser tube (2-2), which is fixedly connected to the laser platform (1-7) via a laser tube bracket (2-4). A laser power supply (2-1) and a water-cooled box (2-3) are fixedly connected to the laser platform (1-7). The laser power supply (2-1) is electrically connected to the laser tube (2-2), and the laser tube (2-2) is electrically connected to the processor.

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