Inter-row machinery-inter-plant laser combined weeding device

Abstract

The invention discloses an inter-row mechanical and inter-plant laser combined weeding device, which relates to the technical field of agricultural intelligent equipment and specifically comprises a field walking chassis, a mechanical weeding system, a laser weeding system and a weed collecting system. The mechanical weeding system can accurately remove weeds between rows, and by means of a drawing mode and cooperation with negative pressure adsorption of the weed collection system, weed collection is achieved, and weed residue breeding is avoided; according to the laser weeding system, the types and positions of weeds are positioned through visual recognition, laser energy is precisely regulated and controlled in a non-contact scanning mode, weeds of different types and maturity are selectively ablated, and economic crops are prevented from being damaged while inter-plant weed inactivation is achieved; by means of mechanical-laser synergistic weeding operation, the problems that traditional inter-plant mechanical weeding operation is poor in environment adaptability, soil and crops are prone to damage, single laser weeding is large in energy consumption, efficiency is difficult to improve and the like are effectively solved, and cost reduction and efficiency improvement of complex farmland weeding operation are expected to be achieved.

Description

Technical Field

[0001] This invention relates to the field of agricultural intelligent equipment technology, specifically to a combined inter-row mechanical and inter-plant laser weeding device, which is suitable for weeding operations in farmland scenarios and can contribute to the green and sustainable development of modern agriculture. Background Technology

[0002] In modern farmland management, weed control is a crucial link in ensuring crop yield. Traditional weeding methods have significant drawbacks, such as chemical weeding, which easily causes soil pollution and eutrophication of water bodies, and weeds are prone to developing resistance, creating a vicious cycle of increasing pesticide use; manual weeding is inefficient and labor-intensive, making it difficult to adapt to large-scale production. Therefore, neither chemical nor manual weeding is a sustainable and long-term solution.

[0003] Existing mechanical weeding equipment is prone to missing weeds when operating between rows and in complex terrains due to varying crop row spacing and the risk of damaging seedlings and disrupting soil structure when operating between plants. Furthermore, it cannot recover removed weeds, making them susceptible to regrowth. In contrast, most existing laser weeding equipment is only effective against seedlings, and the energy consumption of multiple laser systems is high. Especially when dealing with mature weeds, it suffers from long laser irradiation times and insufficient operational efficiency, failing to meet the requirements for efficient and rapid weed removal in the field.

[0004] Compared with other intelligent field weeding equipment, the inter-row mechanical and inter-plant laser combined weeding device of this invention not only has the advantages of being non-contact and residue-free, but also effectively reduces the energy consumption of the laser weeding system while minimizing the impact of the weeding equipment on field crops and soil. It avoids the problems of long irradiation time and insufficient operational efficiency of single laser weeding, and the significant disturbance to the field and easy regeneration of weeds caused by mechanical weeding. Summary of the Invention

[0005] The main objective of this invention is to propose a combined mechanical and laser weeding device for inter-row and inter-plant weeding, which aims to solve the problems of low efficiency, easy damage to cash crops during inter-plant mechanical weeding, poor adaptability to complex field environments, and easy soil damage of traditional mechanical weeding methods, so as to achieve efficient, precise and green weed control in all scenarios of farmland.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] A combined mechanical and laser weeding device for inter-row and inter-plant weeding includes a field-walking chassis, a mechanical weeding system, a laser weeding system, and a weed collection system;

[0008] The mechanical weeding system consists of a mechanical weeding end effector, a robotic arm support, a universal joint, a forearm, a boom, a coupling, a motor, and a motor bracket.

[0009] The mechanical weeding system is fixed to the chassis with screws via a motor bracket. The motor is mounted on the motor bracket. One end of the main arm is connected to the motor shaft via a coupling, and the other end is connected to the forearm via a universal joint. The end of the forearm is connected to the robot arm support via a universal joint. The mechanical weeding end effector is mounted on the robot arm support via screws. The ventilation pipe of the weed collection system passes through the robot arm support and is aligned with the mechanical weeding end effector for weed collection.

[0010] Optionally, the number of motors, motor brackets, booms, and forearms are all 4 sets;

[0011] The mechanical weeding end effector consists of rollers, a conveyor belt, a robotic arm frame, small pulleys, pins, belts, large pulleys, and a servo motor.

[0012] The servo motor is fixed to the motor base with screws. The motor base is fixed to the bottom of the robot arm bracket. The robot arm frame is installed below the motor base. Rollers are installed around the robot arm frame using pins. The conveyor belt is arranged around the rollers and is arranged on the surface of the robot arm frame. The large pulley is fixed to the servo motor shaft with screws, and the small pulley is fixed to the pin. The large pulley and the small pulley are driven by a belt, which drives the rollers to drive the conveyor belt to work together. The conveyor belts on the two sets of robot arm modules rotate in opposite directions, which can realize the pulling action of weeds between rows. In conjunction with the weed collection system, the weeds are transported to the weed collection box by air suction.

[0013] The weed collection system includes ventilation ducts, ventilation boxes, fans, and weed collection boxes, etc.

[0014] The fan is fixed on the ventilation box. One end of the ventilation pipe is connected to the weed output end of the mechanical weeding end effector, and the other end is connected to the ventilation box. The negative pressure is used to transport the weeds collected by the mechanical weeding end effector to the weed collection box through the ventilation pipe, so as to collect the weeds and prevent the weeds from remaining and regenerating.

[0015] The laser weeding system includes a laser emitter, a laser galvanometer, a galvanometer support, a vision recognition system, a spot shaping component, and a posture adaptive adjustment unit.

[0016] The galvanometer support is fixed to the top of the field walking chassis with screws. The laser galvanometer is fixed on the galvanometer support, and the laser emitter is connected to the laser galvanometer input port. The vision recognition system is fixed next to the laser galvanometer. When the vision recognition system detects weeds, it feeds back the position coordinates of the weeds to the controller. The controller outputs a signal to control the laser power supply, so that the laser emitter emits a laser beam. The laser beam is reflected through the internal optical path of the laser galvanometer and is precisely applied to the stem of the weed, thereby removing weeds between the economic crops.

[0017] The system moves along the planned path via a field-walking chassis. The mechanical weeding system can accurately remove weeds between rows, while the weed collection system can simultaneously collect the pulled weeds through negative pressure adsorption. The laser weeding system works in conjunction with the visual recognition system to accurately locate and target weeds between plants. This non-contact method effectively reduces damage to crops and soil. The coordinated operation of each system enables efficient weeding in complex field scenarios.

[0018] Compared with the prior art, the beneficial effects of the present invention are: (1) The operation mode of “inter-row mechanical and inter-plant laser” is adopted. Mechanical weeding can efficiently and accurately cover the inter-row area, while laser can target and remove weeds between plants. This effectively reduces the adverse disturbance of mechanical weeding to crops and soil, while reducing the energy consumption of single laser weeding and improving its weeding efficiency. (2) When mechanical weeding misses weeds or when facing seedling weeds, the weeds can be identified and located by a visual recognition system. The high-speed laser beam emitted by the laser weeding system can be used to remove weeds between rows or remove weed seedlings, effectively reducing the distance and time of mechanical weeding end movement and improving the efficiency and success rate of weeding operations. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0020] Figure 1 This is a schematic diagram of a combined inter-row mechanical and inter-plant laser weeding device;

[0021] Figure 2 This is a schematic diagram of a laser weeding system;

[0022] Figure 3 This is a schematic diagram of a mechanical weeding and weed collection system;

[0023] Figure 4 This is a schematic diagram of the end effector structure for mechanical weeding;

[0024] In the diagram, 1 represents a laser weeding system, 2 represents a mechanical weeding system, 3 represents a weed collection system, 4 represents a field walking chassis, 1-1 represents a laser emitter, 1-2 represents a laser galvanometer, 1-3 represents a galvanometer support, 1-4 represents a vision recognition system, 2-1 represents a mechanical weeding end effector, 2-2 represents a robotic arm support, 2-3 represents a universal joint, 2-4 represents a forearm, 2-5 represents a large arm, 2-6 represents a coupling, 2-7 represents a motor, 2-8 represents a motor bracket, 3-1 represents a ventilation duct, 3-2 represents a ventilation box, 3-3 represents a fan, 3-4 represents a weed collection box, 2-1-1 represents a roller, 2-1-2 represents a conveyor belt, 2-1-3 represents a robotic arm frame, 2-1-4 represents a small pulley, 2-1-5 represents a pin, 2-1-6 represents a belt, 2-1-7 represents a large pulley, 2-1-8 represents a motor mount, and 2-1-9 represents a servo motor. Detailed Implementation

[0025] 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 a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0026] This invention provides an inter-row mechanical and inter-plant laser combined weeding device, see [link / reference]. Figures 1 to 4 . Figure 1 The diagram shows the overall structure of the mechanical-laser combined weeding device. The laser weeding system 1, the mechanical weeding system 2, and the weed collection system 3 are all installed on the field walking chassis 4. During the field weeding operation, the field walking chassis 4 autonomously navigates and plans the operation path using sensors such as Beidou, vision, and radar. Figure 2 The image shows a laser weeding system 1. When the visual recognition system 1-4 detects weeds, it determines the type and maturity of the weeds, locates their positions, and feeds the weed information back to the controller. The controller outputs a signal to adjust the laser energy and irradiation time generated in the laser emitter 1-1. The laser beam emitted by the laser emitter 1-1 enters the laser galvanometer 1-2, and the direction of the laser beam is controlled through the optical path within it, so that it can accurately act on the weeds between plants, inactivating them and thus achieving the purpose of weed control.

[0027] When the visual recognition system 1-4 detects weeds between rows, the motor 2-7 drives the large arms 2-5 and the small arms 2-4 through the coupling 2-6, thereby moving the robot arm support 2-2 and its components (such as the end of the ventilation pipe 3-1 and the mechanical weeding end effector 2-1) to the location of the weeds. At the same time, the servo motor 2-1-9 in the mechanical weeding end effector 2-1 drives the large pulley 2-1-7 to rotate. The large pulley 2-1-7 drives the small pulley 2-1-4 to move through the belt drive. At the same time, the small pulley drives the pin 2-1-5 and the roller 2-1-1 to rotate. The rollers 2-1-1 distributed around the robot arm frame 2-1-3 drive the conveyor belt 2-1-2 to move. The two conveyor belts 2-1-2 rotate in opposite directions, and the friction between the two conveyor belts 2-1-2 can be used to pull the weeds up by the roots.

[0028] The mechanical weeding end effector 2-1 transports the pulled weeds to the end of the ventilation pipe 3-1 via two conveyor belts 2-1-2. The fan 3-3 starts working and uses negative pressure adsorption to transport the weeds from the end of the ventilation pipe 3-1 to the weed collection box, thus completing the removal and collection of weeds between rows and reducing the regeneration rate of weeds.

[0029] When mechanical weeding misses a weed or when dealing with seedlings between rows, the visual recognition system 1-4 can provide feedback to the controller and output a signal to the laser transmitter 1-1 and the laser galvanometer 1-2. This allows for coordinated control of the laser beam to irradiate the missed weeds or seedlings, enabling the removal of weeds between rows. This reduces the end-effector movement time of the mechanical weeding process and improves the efficiency and success rate of weeding operations.

[0030] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A combined inter-row mechanical and inter-plant laser weeding device, characterized in that: It includes a field-walking chassis, a mechanical weeding system, a laser weeding system, and a weed collection system; the mechanical weeding system, the laser weeding system, and the weed collection system are all installed on the field-walking chassis.

2. The inter-row mechanical-inter-plant laser combined weeding device according to claim 1, characterized in that: The mechanical weeding system includes a mechanical weeding end effector, a robotic arm support, a universal joint, a forearm, a main arm, a coupling, a motor, and a motor bracket; the motor is connected to the main arm via a coupling, the main arm and the forearm are connected via a universal joint, the end of the forearm is connected to the robotic arm support, and the mechanical weeding end effector is mounted below the robotic arm support.

3. The mechanical weeding system according to claim 2, wherein the mechanical weeding end effector includes rollers, a conveyor belt, a robotic arm frame, small pulleys, pins, belts, large pulleys, and a servo motor, etc.; the servo motor is fixed on a motor base, the robotic arm frame is installed below the motor base, rollers are installed around the robotic arm frame via pins, and the conveyor belt is arranged around the rollers on the surface of the robotic arm frame.

4. The mechanical weeding end effector according to claim 3, characterized in that: The large pulley is fixed on the servo motor shaft, and the small pulley is fixed on the pin shaft. The large pulley and the small pulley are driven by a belt. When the mechanical weeding system drives the mechanical weeding end effector to move to the target weed position, it can drive the servo motor to drive the rollers, conveyor belts and other components to work together. By rotating the two sets of conveyor belts in opposite directions, the weeds between the rows can be removed.

5. The inter-row mechanical-inter-plant laser combined weeding device according to claim 1, characterized in that: The laser weeding system includes a laser emitter, a laser galvanometer, a galvanometer support, and a visual recognition system. The laser galvanometer is mounted on the galvanometer support, and the laser output center of the laser emitter is aligned with the input center of the laser galvanometer. The visual recognition system is installed next to the galvanometer. When a target weed is detected, the laser emitter emits a laser beam, which is emitted through the optical path in the laser galvanometer to precisely irradiate the stem of the weed, thereby achieving precise weed removal.

6. The inter-row mechanical-inter-plant laser combined weeding device according to claim 1, characterized in that: The weed collection system includes a ventilation pipe, a ventilation box, a fan, and a weed collection box. One end of the ventilation pipe is installed on the support of the robotic arm and aligned with the weed output end of the mechanical weeding end effector. The other end is connected to the ventilation box, and the end extends to the weed collection box. The weeds pulled out by the mechanical weeding end effector are collected into the collection box through the ventilation pipe by negative pressure adsorption, thus preventing weed residue and regeneration.

7. The inter-row mechanical-inter-plant laser combined weeding device according to claim 1, characterized in that: During field weeding, when weeds or weed seedlings are missed between rows, the mechanical weeding system can identify and locate the weeds through a visual recognition system, and coordinate with the laser weeding system to emit a high-speed laser beam to remove or eliminate them, thereby effectively reducing the travel distance and time of the mechanical weeding end and improving the efficiency of weeding operations.

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