Laser and mechanical combined weeding device and weeding method thereof

Abstract

The invention discloses a laser and mechanical combined weeding device and a weeding method thereof, and belongs to the technical field of agricultural machinery, the weeding device comprises a walking unit, a weeding unit and a detection unit, the walking unit comprises a walking vehicle body, and a light shield is arranged at the vehicle head end of the walking vehicle body; the weeding unit comprises a laser weeding module and a mechanical weeding module, the laser weeding module comprises a two-dimensional laser galvanometer system, and the mechanical weeding module comprises a manipulator; the detection unit comprises an illumination module and a visual identification module, and the illumination module and the visual identification module are installed in the light shield. The weeding method comprises the steps that under the load of the walking vehicle body, the illumination module illuminates; the visual recognition module recognizes crops and weeds and carries out positioning and category distinguishing on the weeds, the two-dimensional laser galvanometer system irradiates laser to remove the weeds, and the mechanical arm pulls out the mechanically-removed weeds. By combining laser weeding and mechanical arm weeding, the effects of high weeding efficiency and no chemical pollution in the weeding process are achieved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a laser-mechanical combined weeding device and its weeding method. Background Technology

[0002] In recent years, laser weeding has gradually gained attention as a new and environmentally friendly method of weed control. Laser weeding utilizes a laser beam to directly irradiate weeds, burning the leaves with high temperatures to achieve the desired weeding effect. However, laser weeding requires higher laser intensity and longer irradiation time when dealing with weeds with a diffuse distribution and those with large, stubborn roots, which can affect the weeding efficiency of the equipment. The diffuse distribution of weeds mainly targets monocotyledonous weeds, such as wild oats, whose leaves tend to spread outwards after a certain period. Summary of the Invention

[0003] The purpose of this invention is to solve the above-mentioned technical problems and provide a laser-mechanical combined weeding device and weeding method, which achieves high weeding efficiency and no chemical pollution during the weeding process by combining laser weeding and robotic weeding.

[0004] To achieve the above objectives, the present invention provides the following solution: The present invention discloses a laser-mechanical combined weeding device, comprising:

[0005] The walking unit includes a walking vehicle body, the front end of which is provided with a suspended sunshade, the opening of which extends to the ground, and the top of which is provided with an installation port.

[0006] The weeding unit includes a laser weeding module and a mechanical weeding module. The laser weeding module includes a two-dimensional laser galvanometer system installed at the mounting port. The mechanical weeding module includes a robotic arm installed at the bottom of the vehicle body.

[0007] The system also includes a detection unit, which comprises an illumination module and a visual recognition module, both of which are installed inside the light shield.

[0008] Preferably, the two-dimensional laser galvanometer system includes a laser galvanometer, a movable substrate, and a linear slide rail. The linear slide rail is installed on both sides of the mounting port, and the extension direction of the linear slide rail is parallel to the length direction of the vehicle body. The movable substrate is slidably connected to the linear slide rail, and the laser galvanometer is installed on the movable substrate. The movable substrate is provided with a light inlet, and the light inlet is aligned with the emitting end of the laser galvanometer.

[0009] Preferably, the laser weeding module includes a laser that provides a light source for the two-dimensional laser galvanometer system.

[0010] Preferably, the visual recognition module includes a camera or video camera mounted on the mobile substrate, and the camera or video camera is located inside the light shield.

[0011] Preferably, the lighting module includes LED lights, and the LED lights and the two-dimensional laser galvanometer system are spaced apart, with the direction of the spacing between the LED lights and the two-dimensional laser galvanometer system perpendicular to the length direction of the vehicle body.

[0012] Preferably, the light shield includes a mounting plate and a light-shielding cloth. The mounting plate is suspended and mounted on the front end of the vehicle body. The light-shielding cloth surrounds the bottom of the mounting plate, and the mounting opening is provided on the mounting plate.

[0013] Preferably, the system includes a control unit, which includes a controller installed inside the vehicle body. The controller is used to control the walking unit, the weeding unit, and the detection unit.

[0014] Preferably, it includes a power supply unit, which includes a power supply device located inside the vehicle body. The power supply device is used to provide power to the walking unit, the weeding unit, the detection unit, and the control unit.

[0015] A laser-mechanical combined weeding method is also disclosed, which adopts the aforementioned laser-mechanical combined weeding device and includes the following steps: under the load of the walking vehicle, the lighting module illuminates the area inside the light shield; the visual recognition module identifies the crops and weeds inside the light shield, locates and classifies the weeds, and divides the weeds into laser-removing weeds and mechanically-removing weeds; the two-dimensional laser galvanometer system irradiates the laser-removing weeds with laser, and the robotic arm removes the mechanically-removing weeds.

[0016] Preferably, the visual recognition module distinguishes between crops and weeds through a neural network, locates the coordinates of weeds and labels them according to the order in which they are detected, and assigns a task to the two-dimensional galvanometer system according to the labels in a numerical sequence. The neural network is either a target detection model or a semantic segmentation model.

[0017] The visual recognition module uses a neural network to locate the coordinate center position (x0, y0) of the weeds. max +x min ) / 2, (y max +y min ) / 2), where x0 and y0 are the center coordinates of a single weed, x max and xminare the maximum x - coordinate and the minimum x - coordinate of the minimum bounding rectangle of the weed detection box or detection mask, y max and ymin are the maximum y - coordinate and the minimum y - coordinate of the minimum bounding rectangle of the weed detection box or detection mask;

[0018] The visual recognition module determines the weed removal type through a neural network: It discriminates that the area S of the weed detection box is S=(x max -x min )×(y max -y min ). It compares the size of the area S of the weed detection box with a preset threshold S1. If S≥S1, it determines that the weed is a mechanically removed weed; if S<S1, it determines that the weed is a laser - removed weed.

[0019] The present invention has achieved the following technical effects compared with the prior art:

[0020] In the present invention, for weeds with relatively thin roots and stems, they are irradiated and removed by a two - dimensional laser galvanometer system, and for weeds with relatively thick roots and stems, they are pulled out by a manipulator, forming a laser - mechanical combined weeding device. Through the directional pulling of the manipulator, it can effectively compensate for the problem of low weeding efficiency of laser removal for weeds with relatively thick roots and stems and divergent weed morphology distribution, ensuring the weeding efficiency. Moreover, it does not require chemical agents, does not produce noise and air pollution, has little impact on the soil and water source, has high environmental protection and sustainability, and is expected to become an important technology in future agricultural production. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 is a schematic three - dimensional structure diagram of the laser - mechanical combined weeding device in the embodiment of the present invention;

[0023] Figure 2 is a schematic front - view structure diagram of the laser - mechanical combined weeding device in the embodiment of the present invention;

[0024] Figure 3 is a schematic bottom - view structure diagram of the laser - mechanical combined weeding device in the embodiment of the present invention;

[0025] Figure 4 is a schematic top - view structure diagram of the laser - mechanical combined weeding device in the embodiment of the present invention;

[0026] Figure 5 for Figure 1 A magnified view of a portion of the image;

[0027] Figure 6 for Figure 3 A magnified view of a portion of the image.

[0028] Explanation of reference numerals in the attached drawings: 1. Walking vehicle body; 2. Mounting plate; 3. Sunshade cloth; 4. Mounting port; 5. Laser galvanometer; 6. Moving base plate; 7. Linear slide rail; 8. Laser; 9. Robotic arm; 10. LED light; 11. Camera. Detailed Implementation

[0029] 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.

[0030] Example 1

[0031] This embodiment provides a laser-mechanical combined weeding device, such as... Figures 1 to 6 As shown, the system includes a walking unit, a weeding unit, and a detection unit. The walking unit includes a walking vehicle body 1, with a suspended light shield at the front end of the vehicle body 1. The opening of the light shield extends to the ground, and the top of the light shield has mounting ports 4, the number of which is determined as needed. The weeding unit includes a laser weeding module and a mechanical weeding module. The laser weeding module includes a two-dimensional laser galvanometer system, which is installed at each of the mounting ports 4. The number of two-dimensional laser galvanometer systems matches the number of mounting ports 4. The mechanical weeding module includes a robotic arm 9, which is installed under the walking vehicle body 1. The detection unit includes an illumination module and a vision recognition module, both installed inside the light shield. The number of mounting ports 4 is determined as needed, with at least one, and correspondingly at least one two-dimensional laser galvanometer system. When multiple two-dimensional laser galvanometer systems are used, they are preferably arranged side-by-side, with their arrangement direction perpendicular to the length direction of the walking vehicle body 1, which also means perpendicular to the direction of travel.

[0032] Work process:

[0033] The mobile vehicle 1 is responsible for the movement and parking of the weeding unit and the detection unit. The mobile vehicle 1 can be a self-propelled vehicle or a following suspended vehicle. The lighting module provides illumination to the farmland within the area covered by the shade cover, while the visual recognition module identifies crops and weeds within the area covered by the shade cover, and locates and classifies the weeds. Weeds with thinner roots are defined as laser-removable weeds, and weeds with thicker roots are defined as mechanically removed weeds. A standard thickness can be preset for the root thickness classification; weeds larger than the standard thickness are classified as thicker roots, and weeds smaller than the standard thickness are classified as thinner roots. For laser-based weed removal, a two-dimensional laser galvanometer system is used for irradiation and weeding. For mechanically removed weeds, a robotic arm 9 is used to pull them out, forming a laser-mechanical combined weeding device. The directional weeding by the robotic arm 9 can effectively overcome the problem of low weeding efficiency when lasers remove weeds with thick roots and diffuse distribution, ensuring weeding efficiency. It does not require chemical agents, and does not generate noise or air pollution. It has little impact on soil and water sources, has high environmental protection and sustainability, and is expected to become an important technology in future agricultural production.

[0034] In one implementation, such as Figures 1 to 6 As shown, the two-dimensional laser galvanometer system includes a laser galvanometer 5, a movable base plate 6, and a linear guide rail 7. The linear guide rail 7 is mounted on both sides of the mounting port 4, and its extension direction is parallel to the length direction of the vehicle body 1. The movable base plate 6 is slidably connected to the linear guide rail 7 and is driven by a drive mechanism to move along the linear guide rail 7, thereby moving the laser galvanometer 5 along the direction of the linear guide rail 7. The drive mechanism can be a belt drive mechanism. The laser galvanometer 5 is mounted on the movable base plate 6, which has a light inlet aligned with the emitting end of the laser galvanometer 5, allowing the laser light from the laser galvanometer 5 to enter the light shield.

[0035] In one implementation, such as Figures 1 to 6 As shown, the laser weeding module includes lasers 8, which provide a laser source for the two-dimensional laser galvanometer system (laser galvanometer 5). The number of lasers 8 is the same as the number of two-dimensional laser galvanometer systems (laser galvanometer 5). When there are multiple lasers 8, preferably, the lasers 8 are arranged side by side, with their arrangement direction perpendicular to the length direction of the vehicle body 1. Preferably, the power of the lasers 8 is set between 70 and 100 W, and the spot size of the laser galvanometer 5 is set between 4 and 6 mm.

[0036] In one implementation, such as Figures 1 to 6As shown, the visual recognition module includes a camera 11 or a video camera, which is mounted on the movable base plate 6 and located inside a light shield. Preferably, the camera 11 or video camera is located in front of the laser galvanometer 5, that is, the laser galvanometer 5 is located between the camera 11 and the front end of the vehicle body 1.

[0037] In one implementation, such as Figures 1 to 6 As shown, the lighting module includes LED lights 10, and the LED lights 10 and two-dimensional laser galvanometer systems are spaced apart. The direction in which the LED lights 10 and the two-dimensional laser galvanometer systems are spaced apart is perpendicular to the length direction of the vehicle body 1. For example, when three two-dimensional laser galvanometer systems are set, each two-dimensional laser galvanometer system is equipped with LED lights 10 on both sides, for a total of four sets of LED lights 10.

[0038] In one implementation, such as Figures 1 to 6 As shown, the light shield includes a mounting plate 2 and a light-shielding cloth 3. The mounting plate 2 is suspended at the front end of the vehicle body 1, and the light-shielding cloth 3 surrounds the bottom of the mounting plate 2. The mounting opening 4 is located on the mounting plate 2. The two-dimensional laser galvanometer system is mounted on the mounting plate 2, and the linear slide rail 7 is located on the mounting plate 2.

[0039] Furthermore, in one embodiment, such as Figures 1 to 6 As shown, the shading cloth 3 forms a rectangular cover, and the side of the rectangular cover perpendicular to the direction of travel is cut into strips, which facilitates the passage of crops during the journey.

[0040] In one implementation, such as Figures 1 to 6 As shown, the system includes a control unit, which in turn includes a controller. The controller is installed inside the vehicle body 1 and is used to control the walking unit, the weeding unit, and the detection unit. For example, the controller can control the drive mechanism to move the laser galvanometer 5 along the linear slide rail 7, control the camera 11 or video camera to work, control the galvanometer driver of the two-dimensional galvanometer system, control the manipulator driver of the robotic arm 9, control the laser driver of the laser 8, and control the LED light 10, etc.

[0041] The controller has a built-in control system, which includes a detection system, a laser control system, and a robotic arm execution system. The detection system is a pre-trained neural network, which can be a target detection model or a semantic segmentation model. The network distinguishes between crops and weeds, locates the coordinates of weeds, and labels the weeds according to the order in which they are detected. The workload of the galvanometer system is then assigned according to the labels in a numerical sequence.

[0042] The work process is as follows:

[0043] The camera 11 or the camera is transmitted to the controller in the form of a video stream. The controller uses a neural network to detect and distinguish weeds and locate the center position: (x0, y0) = ((x max +x min ) / 2, (y max +y min ) / 2), where x0 and y0 are the center coordinates of a single weed, and x max and xmin are the maximum x coordinate and the minimum x coordinate of the minimum bounding rectangle of the weed detection box or detection mask, and y max and ymin are the maximum y coordinate and the minimum y coordinate of the minimum bounding rectangle of the weed detection box or detection mask;

[0044] At the same time, sequentially mark the detected weeds with serial numbers, and allocate the task amount to the galvanometer system in the form of a sequence according to the labels: Taking three two-dimensional galvanometer systems as an example, the task labels of the two-dimensional galvanometer systems are A1, A2, and A3, then the labels of the weeds allocated to the three two-dimensional galvanometer systems are respectively d > 0 and is an integer;

[0045] Determine the weed removal type: Determine the area S of the weed detection box (or the minimum bounding rectangle of the detection mask) S=(x max -x min )×(y max -y min ), compare the size of the weed detection box area S with the preset threshold S1. If S≥S1, it is determined that the weed is a mechanically removed weed; if S < S1, it is determined that the weed is a laser-removed weed. The execution logic is where "1" is executed by the manipulator 9, and "0" is not executed by the manipulator 9. Mechanically removed weeds are weeds with thicker roots or weeds with a divergent morphology.

[0046] In one embodiment, as Figures 1 to 6 shown, it includes a power supply unit. The power supply unit includes a power supply device. The power supply device is inside the traveling vehicle body 1 and is used to provide power for the traveling unit, the weeding unit, the detection unit, and the control unit.

[0047] Example 2

[0048] This embodiment provides a laser-mechanical combined weeding method, as Figures 1 to 6As shown in the figure, the laser-mechanical combined weeding device in Embodiment 1 is adopted, including the following steps: Under the load of the walking vehicle body 1, the lighting module illuminates the inside of the light-shielding cover; the visual recognition module recognizes the crops and weeds inside the light-shielding cover, locates the weeds and differentiates their categories, classifies the weeds into laser-removable weeds and mechanically-removable weeds, and the mechanically-removable weeds are weeds with thicker roots or weeds with a divergent distribution pattern. The two-dimensional laser galvanometer system irradiates the laser-removable weeds with laser, and the mechanical arm 9 removes the mechanically-removable weeds.

[0049] In one embodiment, as Figures 1 to 6 shown, the visual recognition module differentiates crops and weeds through a neural network, locates the weed coordinates and numbers the weeds in the order of detection, and assigns the task volume to the two-dimensional galvanometer system in the form of a sequence. The neural network is an object detection model or a semantic segmentation model;

[0050] The visual recognition module locates the central position (x0, y0) of the weed coordinates through a neural network = ((x max +x min ) / 2, (y max +y min ) / 2), where x0 and y0 are the central coordinates of a single weed, and x max and xmin are the maximum x coordinate and the minimum x coordinate of the minimum bounding rectangle of the weed detection frame or detection mask, and y max and ymin are the maximum y coordinate and the minimum y coordinate of the minimum bounding rectangle of the weed detection frame or detection mask;

[0051] The visual recognition module determines the weed removal type through a neural network: discriminates the area S of the weed detection frame = (x max -x min ) × (y max [[ID=3)3]]-y min ), compares the size of the weed detection frame area (or the minimum bounding rectangle area of the detection mask) S with the preset threshold S1. If S ≥ S1, it is determined that the weed is a mechanically-removable weed; if S < S1, it is determined that the weed is a laser-removable weed.

[0052] In this invention, specific examples are used to elaborate on the principle and implementation manner of the invention. The description of the above embodiments is only used to help understand the method of the invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the invention.

Claims

1. A laser-mechanical combined weeding device, characterized in that, include: The walking unit includes a walking vehicle body, the front end of which is provided with a suspended sunshade, the opening of which extends to the ground, and the top of which is provided with an installation port. The weeding unit includes a laser weeding module and a mechanical weeding module. The laser weeding module includes a two-dimensional laser galvanometer system installed at the mounting port. The mechanical weeding module includes a robotic arm installed at the bottom of the vehicle body. The system also includes a detection unit, which comprises an illumination module and a visual recognition module, both of which are installed inside the light shield.

2. The laser-mechanical combined weeding device according to claim 1, characterized in that, The two-dimensional laser galvanometer system includes a laser galvanometer, a movable base plate, and a linear slide rail. The linear slide rail is installed on both sides of the mounting port, and the extension direction of the linear slide rail is parallel to the length direction of the vehicle body. The movable base plate is slidably connected to the linear slide rail, and the laser galvanometer is installed on the movable base plate. The movable base plate is provided with a light inlet, and the light inlet is aligned with the emitting end of the laser galvanometer.

3. The laser-mechanical combined weeding device according to claim 2, characterized in that, The laser weeding module includes a laser that provides a light source for the two-dimensional laser galvanometer system.

4. The laser-mechanical combined weeding device according to claim 2, characterized in that, The visual recognition module includes a camera or video camera mounted on the mobile substrate, and the camera or video camera is located inside the light shield.

5. A laser-mechanical combined weeding device according to claim 4, characterized in that, The lighting module includes LED lights, which are spaced apart from the two-dimensional laser galvanometer system. The direction in which the LED lights and the two-dimensional laser galvanometer system are spaced apart is perpendicular to the length direction of the vehicle body.

6. The laser-mechanical combined weeding device according to claim 1, characterized in that, The light shield includes a mounting plate and a light-shielding cloth. The mounting plate is suspended and installed at the front end of the vehicle body. The light-shielding cloth surrounds the bottom of the mounting plate, and the mounting opening is located on the mounting plate.

7. The laser-mechanical combined weeding device according to claim 1, characterized in that, The system includes a control unit, which includes a controller installed inside the vehicle body. The controller is used to control the walking unit, the weeding unit, and the detection unit.

8. A laser-mechanical combined weeding device according to claim 7, characterized in that, It includes a power supply unit, which includes a power supply device located inside the vehicle body. The power supply device is used to provide power to the walking unit, weeding unit, detection unit, and control unit.

9. A laser-mechanical combined weeding method, characterized in that, The laser-mechanical combined weeding device as described in any one of claims 1-8 includes the following steps: under the load of the vehicle body, the lighting module illuminates the area inside the light shield; the visual recognition module identifies the crops and weeds inside the light shield, locates and classifies the weeds, and divides the weeds into laser-removing weeds and mechanically-removing weeds; the two-dimensional laser galvanometer system irradiates the laser-removing weeds with laser, and the robotic arm removes the mechanically-removing weeds.

10. A laser-mechanical combined weeding method according to claim 9, characterized in that, The visual recognition module distinguishes between crops and weeds through a neural network, locates the coordinates of weeds, and labels the weeds according to the order in which they are detected. It then assigns a task to the two-dimensional galvanometer system according to the labels in a numerical sequence. The neural network is either a target detection model or a semantic segmentation model. The visual recognition module uses a neural network to locate the coordinate center position (x0, y0) of the weeds. max +x min ) / 2, (y max +y min ) / 2), where x0 and y0 are the center coordinates of a single weed, x max and xmin Let x be the maximum and minimum x-coordinates of the minimum bounding rectangle of the weed detection box or detection mask, and y be the minimum x-coordinates of the rectangle. max and ymin The maximum and minimum y-coordinates of the smallest bounding rectangle of the weed detection box or detection mask; The visual recognition module determines the weed removal type through a neural network: It discriminates the area S of the weed detection frame as S=(x max -x min )×(y max -y min ). It compares the size of the area S of the weed detection frame with a preset threshold S1. If S≥S1, it determines that the weed is a mechanically removed weed; if S<S1, it determines that the weed is a laser-removed weed.

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