Laser weeding device based on unmanned aerial vehicle platform

Abstract

This invention discloses a laser weeding device based on a drone platform, belonging to the technical field of weeding equipment. The device includes a mounting frame, a connecting plate rotatably connected inside the moving block, and a leaf-removing assembly rotatably connected between the other ends of the connecting plates located on both sides of a limiting rod. This assembly forms a closed working chamber to physically isolate laser scattering. A laser emitter is installed in the center of the leaf-removing assembly. By employing the leaf-removing assembly, this invention physically isolates laser scattering, avoids interference from airflow and dust, and solves the problem of vegetation obstructing the laser from reaching the roots of weeds. It offers advantages such as precise weeding, safety and efficiency, compatibility with drone platforms, and strong versatility.

Description

Technical Field

[0001] This invention belongs to the field of weeding equipment technology, specifically relating to a laser weeding device based on a drone platform. Background Technology

[0002] Weed control is a crucial task in agricultural production, affecting not only the crop's growing environment but also its yield, quality, and economic benefits. If weeds are not effectively controlled, they compete for resources needed for crop growth, leading to poor growth and even reduced yields. Traditional weeding methods often rely on chemical herbicides, which not only pollute the environment but can also have long-term negative impacts on soil and water resources. Laser weeding kills weeds with precise laser beams, avoiding the use of chemicals and thus helping to reduce the environmental burden on agricultural production. Drones can accurately locate weeds, and laser weeding systems can precisely target and treat each weed based on real-time image recognition technology. This efficient and precise weeding method avoids damage to crops, thereby improving agricultural production efficiency and crop yield.

[0003] Currently, when using drones for weeding, the laser beam often fails to accurately reach the roots of weeds due to vegetation obstruction. In open environments, the laser is prone to scattering, which not only causes energy loss and reduces weeding efficiency but also poses a risk of accidentally damaging surrounding crops. Furthermore, airflow disturbances and dust in the field can interfere with the propagation path and energy concentration of the laser beam, further affecting weeding accuracy. Moreover, the lack of physical isolation in laser operations poses certain safety hazards and makes it difficult to meet the needs of modern agriculture for precise, safe, and efficient weeding. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a laser weeding device based on a drone platform.

[0005] The technical solution adopted to solve the above technical problems is: a laser weeding device based on a drone platform, including a mounting frame. The mounting frame has a rectangular symmetrical mounting hole through the middle, and two limiting rods are fixedly connected to the bottom of the mounting frame. At the same time, a double threaded rod that is rotatably connected to the mounting frame is provided between the two limiting rods. The two ends of the double threaded rod are threadedly connected to moving blocks, and the two limiting rods are slidably connected to the moving blocks. At the same time, the two limiting rods form a guide and limiting structure for the moving blocks, so that the moving blocks maintain synchronous translation when sliding along the axis of the limiting rods.

[0006] The moving block is rotatably connected to a connecting plate, and a leaf-pulling assembly is rotatably connected between the other ends of the connecting plates located on both sides of the limiting rod to form a closed working cavity to physically isolate laser scattering. At the same time, a laser emitter is installed in the middle of the leaf-pulling assembly.

[0007] Through the above technical solution, by utilizing the bidirectional thread characteristics of the double threaded rod and the guiding and limiting of the limiting rod, the synchronous opposing or reverse translation of the two moving blocks can be realized. Then, by rotating the connecting plate, the leaf-removing assembly is driven to rise and fall smoothly in the vertical direction, so that the leaf-removing assembly can adapt to the ground according to the field terrain, providing a structural basis for forming a closed working chamber, while ensuring that the working distance between the laser emitter and the weeds is always within the optimal range.

[0008] Furthermore, the leaf-grabbing assembly includes an isolation cover rotatably connected to two connecting plates. The isolation cover is a hollow structure, and a connecting frame is fixedly connected to the inner wall of the isolation cover. At the same time, the laser emitter is fixedly installed on the top of the connecting frame. The laser emission module of the laser emitter is located at the bottom of the connecting frame. A gear ring is rotatably connected to the top of the isolation cover, and the inner and outer rings of the gear ring are provided with meshing teeth. The outer ring of the gear ring is meshed with a second gear.

[0009] Through the above technical solution, the hollow structure of the isolation cover provides an installation carrier and protective space for the internal transmission mechanism and laser emitter. The connecting frame realizes the centered fixation of the laser emitter, ensuring that the laser beam irradiates vertically downwards. The toothed ring with double meshing teeth inside and outside can simultaneously realize the power input of the outer ring and the power output of multiple sets of the inner ring, providing a synchronous drive source for the circumferentially distributed leaf-picking mechanism and ensuring the consistency of multiple sets of leaf-picking actions.

[0010] Furthermore, the second gear is rotatably connected to the isolation cover, and a servo motor is installed and fixed to the isolation cover at the bottom of the second gear. The output end of the servo motor is rotatably connected to the isolation cover, and the end of the output end of the servo motor is rotatably connected to the second gear. The inner ring of the gear ring is connected to the first gear, which is symmetrically distributed in a circle. A connecting rod is fixedly connected to the center of the bottom of the first gear, and the other end of the connecting rod is rotatably connected to the connecting frame.

[0011] The above technical solution uses a servo motor as the power source, which can precisely control the speed and direction. Through the meshing transmission between the No. 2 gear and the outer ring of the gear ring, the power is transmitted to the gear ring and drives it to rotate smoothly. The inner ring of the gear ring simultaneously drives multiple sets of No. 1 gears that are symmetrically distributed in a circle to rotate synchronously. Then, through the connecting rod, the power is transmitted downward to the gear set at the bottom of the isolation cover, realizing the synchronous operation of multiple sets of actuators driven by a single power source. This simplifies the transmission structure, reduces the weight and energy consumption of the equipment, and adapts to the load limit of drones.

[0012] Furthermore, the bottom of the isolation cover is provided with several gear sets arranged in a circular symmetrical pattern, and the gear sets are rotatably connected to the isolation cover. The through end of the connecting rod is rotatably connected to the isolation cover, and the through end of the connecting rod is connected and fixed to one of the gears in the gear set, so that the gear set rotates synchronously under the drive of the connecting rod. The isolation cover located at the bottom of the gear set has a through groove, and a slider is provided in the groove. At the same time, the slider is slidably connected to the isolation cover, and the isolation cover limits and guides the slider.

[0013] Through the above technical solution, the connecting rod drives the active gear in the gear set to rotate, which in turn drives the driven gear in the gear set to rotate synchronously in the opposite direction, providing power for the reverse swing of the subsequent linkage mechanism. The sliding fit structure of the slide groove and the slider provides a stable reciprocating motion guide for the leaf-picking linkage mechanism, avoiding jamming or deviation during the movement, and ensuring the accuracy and smoothness of the leaf-picking action.

[0014] Furthermore, the bottom of the gear set is provided with two No. 1 connecting plates, one end of which is rotatably connected to the isolation cover. At the same time, the through ends of the two No. 1 connecting plates are respectively connected and fixed to two gears in the gear set. The two No. 1 connecting plates are arranged in different directions, so that the two No. 1 connecting plates rotate synchronously in opposite directions under the drive of the gear set. Two No. 2 connecting plates are rotatably connected at the center of one side of the slider, and the other end of the No. 2 connecting plates is rotatably connected to a No. 3 connecting plate. At the same time, the connection between the No. 2 connecting plates and the No. 3 connecting plates is located at the center of the No. 3 connecting plate.

[0015] The above technical solution transforms the rotational motion of the gear set into the planar oscillating motion of the linkage mechanism. The two opposing and synchronously rotating No. 1 connecting plates drive the corresponding No. 3 connecting plates to oscillate in opposite directions. At the same time, the No. 2 connecting plate drives the slider to reciprocate linearly along the slide groove, forming a linkage mechanism that couples the crank slider with the double rocker arm. This provides the motion basis for the wave-like reciprocating oscillation of the leaf-sweeping rod, enabling all-round sweeping of weed stems and leaves.

[0016] Furthermore, a drive motor is installed on one side of the mounting bracket, and the output end of the drive motor is rotatably connected to the mounting bracket. At the same time, the end of the output end of the drive motor is fixedly connected to one end of the double threaded rod. The ends of the two No. 1 connecting plates away from the gear set are rotatably connected to the No. 3 connecting plate, and a leaf-pulling rod is rotatably connected between the other ends of the two No. 3 connecting plates. The leaf-pulling rod is located at the bottom of the laser emitter.

[0017] Through the above technical solution, the drive motor provides power for the overall lifting and lowering of the leaf-picking assembly. It is independent of the leaf-picking power of the servo motor and can control the lifting height and leaf-picking frequency separately, adapting to weeds in different growth stages. The leaf-picking rod is set directly below the laser emitter, which can first separate the stems and leaves of the weeds before laser irradiation, so that the roots of the weeds are fully exposed to the laser beam, solving the problem of incomplete weeding caused by stem and leaf obstruction.

[0018] The beneficial effects of this invention are as follows:

[0019] (1) The present invention uses a double threaded rod and connecting plate lifting mechanism in conjunction with an isolation cover to achieve adaptive ground contact of the isolation cover, forming a closed microenvironment for laser operation. This can physically isolate the laser from scattering outward, avoid energy loss and accidental damage to surrounding crops, effectively block the disturbance of field airflow and dust interference, ensure the energy concentration and irradiation accuracy of the laser beam, and eliminate the safety hazards of laser operation in open environments.

[0020] (2) This invention drives a single servo motor to drive a gear ring, multiple gear sets, and a linkage coupling mechanism to drive multiple leaf-removing rods to swing back and forth in a wave-like manner. This can flexibly remove and guide the stems and leaves of weeds before laser irradiation, so that the roots of weeds are completely exposed to the laser beam. This completely solves the problem that the laser cannot reach the roots of weeds due to vegetation blockage, and achieves precise weed removal without dead angles, which greatly improves the efficiency and thoroughness of weed removal.

[0021] (3) The present invention adopts a modular design and can be quickly adapted to various mainstream UAV platforms through the mounting frame. The lifting mechanism and leaf-picking mechanism are independently controlled, and the operating parameters can be flexibly adjusted according to the type, height and density of weeds in the field. It has strong versatility and adaptability, and the overall structure is compact and lightweight, which meets the load and endurance requirements of UAVs. Attached Figure Description

[0022] Figure 1 This is a first-view structural schematic diagram of the present invention;

[0023] Figure 2 This is a schematic diagram of the second perspective structure of the present invention;

[0024] Figure 3 This is a schematic diagram of the top of the isolation cover of the present invention from a first-view perspective;

[0025] Figure 4 This is a schematic diagram of the second view of the top structure of the isolation cover of the present invention;

[0026] Figure 5 This is a schematic diagram of the connection between the gear set and the isolation cover of the present invention.

[0027] Reference numerals: 11. Mounting bracket; 12. Mounting hole; 13. Limiting rod; 14. Double threaded rod; 15. Moving block; 16. Connecting plate; 17. Drive motor; 18. Laser emitter; 2. Leaf-dispensing assembly; 21. Isolation cover; 22. Connecting bracket; 23. Gear ring; 24. Gear No. 1; 25. Connecting rod; 26. Gear No. 2; 27. Servo motor; 28. Gear set; 29. ​​Slide groove; 210. Slider; 211. Connecting plate No. 1; 212. Connecting plate No. 2; 213. Connecting plate No. 3; 214. Leaf-dispensing rod. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0029] like Figures 1-3 This embodiment of a laser weeding device using a drone as a platform includes a mounting frame 11. A rectangularly symmetrical mounting hole 12 is provided through the center of the mounting frame 11. Two limiting rods 13 are fixedly connected to the bottom of the mounting frame 11. A double-threaded rod 14, rotatably connected to the mounting frame 11, is provided between the two limiting rods 13. Utilizing the bidirectional thread characteristic of the double-threaded rod 14, combined with the guiding and limiting function of the limiting rods 13, the two moving blocks 15 can be synchronously moved in opposite directions. This, in turn, through the rotation of the connecting plate 16, drives the leaf-removing assembly 2 to smoothly rise and fall vertically, allowing the leaf-removing assembly 2 to adjust to the field terrain. Adapting to the ground and providing a structural foundation for forming a closed working chamber, while ensuring that the working distance between the laser emitter 18 and the weeds is always within the optimal range, the double threaded rod 14 has moving blocks 15 threadedly connected to both ends, and two limiting rods 13 are slidably connected to the moving blocks 15. The two limiting rods 13 also form a guiding and limiting structure for the moving blocks 15, ensuring synchronous translation when the moving blocks 15 slide along the axial direction of the limiting rods 13. A connecting plate 16 is rotatably connected inside the moving block 15, and a leaf-deflecting assembly 2 is rotatably connected between the other ends of the connecting plates 16 located on both sides of the limiting rods 13, used to form a closed working chamber to physically isolate laser scattering. The laser emitter 18 is installed in the middle of the leaf-deflecting assembly 2, which includes an isolation cover 21 rotatably connected to the two connecting plates 16.

[0030] like Figures 1-4As shown, the isolation cover 21 is a hollow structure, providing a mounting carrier and protective space for the internal transmission mechanism and laser emitter 18. The connecting frame 22 centrally fixes the laser emitter 18, ensuring that the laser beam irradiates vertically downwards. The toothed ring 23 with double meshing teeth can simultaneously realize the outer ring power input and multiple sets of inner ring power output, providing a synchronous drive source for the circumferentially distributed leaf-picking mechanism, ensuring the consistency of multiple sets of leaf-picking actions. The connecting frame 22 is fixedly connected to the inner wall of the isolation cover 21, and the laser emitter 18 is fixedly mounted on the top of the connecting frame 22. The laser emitting module of the laser emitter 18 is located at the bottom of the connecting frame 22. A gear ring 23 is rotatably connected to the top of the isolation cover 21. The inner and outer rings of the gear ring 23 are provided with meshing teeth. The outer ring of the gear ring 23 is meshed with a second gear 26. The second gear 26 is rotatably connected to the isolation cover 21. A servo motor 27 is installed at the bottom of the second gear 26 and fixed to the isolation cover 21. The servo motor 27 is used as a power source, which can precisely control the speed and direction. Through the meshing transmission between the second gear 26 and the outer ring of the gear ring 23, the power is transmitted to the gear ring 23 and drives it. Its smooth rotation, with the inner ring of gear 23 simultaneously driving multiple sets of circumferentially symmetrically distributed first gears 24 to rotate synchronously, and then transmitting power downwards through connecting rod 25 to gear set 28 at the bottom of isolation cover 21, realizes the synchronous operation of multiple actuators driven by a single power source, simplifies the transmission structure, reduces equipment weight and energy consumption, adapts to the load limitations of UAVs, and the output end connecting shaft of servo motor 27 is rotatably connected to isolation cover 21, while the through end of the output end connecting shaft of servo motor 27 is fixedly connected to second gear 26, and the inner ring of gear 23 is connected to circumferentially symmetrical gears 24. The first gear 24 is distributed and arranged. A drive motor 17 is installed on one side of the mounting bracket 11, and the output end of the drive motor 17 is rotatably connected to the mounting bracket 11. At the same time, the end of the output end of the drive motor 17 is fixedly connected to one end of the double threaded rod 14. The ends of the two first connecting plates 211 away from the gear set 28 are rotatably connected to the third connecting plate 213, and the other ends of the two third connecting plates 213 are rotatably connected to a leaf-pulling rod 214. The leaf-pulling rod 214 is located at the bottom of the laser emitter 18, and a connecting rod 25 is fixedly connected to the center of the bottom of the first gear 24.

[0031] like Figures 1-5As shown, the bottom of the isolation cover 21 is provided with several gear sets 28 arranged in a circular symmetrical pattern. The connecting rod 25 drives the driving gear in the gear set 28 to rotate, which in turn drives the driven gear in the gear set 28 to rotate synchronously in the opposite direction, providing power for the reverse swing of the subsequent linkage mechanism. The sliding fit structure between the slide groove 29 and the slider 210 provides a stable reciprocating motion guide for the leaf-picking linkage mechanism, avoiding jamming or deviation during the movement, and ensuring the accuracy and smoothness of the leaf-picking action. The bottom of the gear set 28 is provided with two No. 1 connecting plates 211, one end of which is rotatably connected to the isolation cover 21. At the same time, the through ends of the two No. 1 connecting plates 211 are respectively connected and fixed to two gears in the gear set 28. The two No. 1 connecting plates 211 are arranged in different directions, so that the two No. 1 connecting plates 211 rotate in opposite directions under the drive of the gear set 28. The slider 210 rotates synchronously. Two connecting plates 212 are rotatably connected to the center of one side of the slider 210, and a connecting plate 213 is rotatably connected to the other end of the connecting plate 212. The connection between the connecting plate 212 and the connecting plate 213 is located at the center of the connecting plate 213. The gear set 28 is rotatably connected to the isolation cover 21. The end of the connecting rod 25 is rotatably connected to the isolation cover 21, and the end of the connecting rod 25 is fixedly connected to one of the gears in the gear set 28, so that the gear set 28 rotates synchronously under the drive of the connecting rod 25. The isolation cover 21 at the bottom of the gear set 28 has a through groove 29, and a slider 210 is set in the groove 29. The slider 210 is slidably connected to the isolation cover 21, and the isolation cover 21 limits and guides the slider 210. At the same time, the other end of the connecting rod 25 is rotatably connected to the connecting frame 22.

[0032] The working principle of this embodiment is as follows: First, the existing drone is securely connected to the device through the mounting hole 12 on the top of the mounting frame 11. Then, when the drone is performing weeding operations, the camera module on the laser emitter 18 captures weed images in real time and transmits them to the main control unit. The main control unit accurately locates the weed position based on the image recognition algorithm. The main control unit then generates a laser weeding path command, driving the drive motor 17 to rotate the double threaded rod 14. The double threaded rod 14 drives two moving blocks 15 to move in opposite directions along the limit rod 13, thereby causing the connecting plate 16 to rotate. This causes the isolation cover 21 to move downward along the mounting frame 11 and fit tightly against the ground. At the same time, the servo motor 27 drives the second gear 26 to rotate. The second gear 26 drives the gear ring 23 to rotate synchronously. The gear ring 23 drives the first gear 24 to rotate. The first gear 24 drives the gear set 28 to rotate synchronously through the connecting rod 25.

[0033] The rotation of gear set 28 drives the two No. 1 connecting plates 211 to rotate asynchronously, which in turn causes the two No. 3 connecting plates 213 to swing in opposite directions. This causes the two No. 2 connecting plates 212 to drive the slider 210 to slide back and forth along the slide groove 29. At the same time, the two No. 2 connecting plates 212 alternately extend and retract with the slider 210 as the fulcrum, causing the leaf-pulling rod 214 to swing back and forth in a wave-like manner under the coupling effect of the reciprocating motion of the slider 210 and the connecting rod mechanism, accurately sweeping the stems and leaves of weeds on the ground to achieve coverage without dead angles.

[0034] The wave-like swing of the leaf-removing rod 214 gently removes and guides the weeds inside the isolation cover 21, allowing their stems and leaves to be fully exposed to the laser beam. The closed microenvironment formed by the synchronous downward pressure of the isolation cover 21 effectively blocks airflow disturbances and external light interference, transforming the laser operation space from an open environment into a controllable closed environment, while simultaneously solving the dual problems of preventing accidental injury and resisting dust.

[0035] The laser emitter 18 then emits a high-energy laser beam to precisely irradiate the root tissue of the weeds. Through the thermal effect, the weed cells are dehydrated and die, completing the precise weeding operation of a single weed. After the operation is completed, the drive motor 17 rotates in the opposite direction, causing the isolation cover 21 to rise and reset, and the drone can then fly to the next weed location to repeat the above operation process.

[0036] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A laser weeding device based on a drone platform, comprising a mounting frame (11), characterized in that: The mounting bracket (11) has a rectangular symmetrical mounting hole (12) through the middle, and two limiting rods (13) are fixedly connected to the bottom of the mounting bracket (11). At the same time, a double threaded rod (14) is provided between the two limiting rods (13) and is rotatably connected to the mounting bracket (11). The two ends of the double threaded rod (14) are threadedly connected to a moving block (15), and the two limiting rods (13) and the moving block (15) are slidably connected. At the same time, the two limiting rods (13) form a guide and limiting structure for the moving block (15), so that the moving block (15) maintains synchronous translation when sliding along the axial direction of the limiting rod (13). The moving block (15) is rotatably connected to a connecting plate (16), and a leaf-pulling assembly (2) is rotatably connected between the other ends of the connecting plates (16) on both sides of the limiting rod (13) to form a closed working cavity to physically isolate laser scattering. At the same time, a laser emitter (18) is installed in the middle of the leaf-pulling assembly (2).

2. The laser weeding device based on a drone platform according to claim 1, characterized in that, The leaf-grabbing assembly (2) includes an isolation cover (21) rotatably connected to two connecting plates (16). The isolation cover (21) is a hollow structure, and a connecting frame (22) is fixedly connected to the inner wall of the isolation cover (21). At the same time, the laser emitter (18) is fixedly installed on the top of the connecting frame (22). The laser emission module of the laser emitter (18) is located at the bottom of the connecting frame (22). A gear ring (23) is rotatably connected to the top of the isolation cover (21), and the inner and outer rings of the gear ring (23) are provided with meshing teeth. The outer ring of the gear ring (23) is meshed with a second gear (26).

3. The laser weeding device based on a drone platform according to claim 2, characterized in that, The second gear (26) is rotatably connected to the isolation cover (21), and a servo motor (27) is installed and fixed to the isolation cover (21) at the bottom of the second gear (26). The output end connecting shaft of the servo motor (27) is rotatably connected to the isolation cover (21), and the through end of the output end connecting shaft of the servo motor (27) is fixedly connected to the second gear (26). The inner ring of the gear ring (23) is connected to the first gear (24) which is symmetrically distributed in a circle. A connecting rod (25) is fixedly connected at the bottom center of the first gear (24), and the other end of the connecting rod (25) is rotatably connected to the connecting frame (22).

4. A laser weeding device based on a drone platform according to claim 3, characterized in that, The bottom of the isolation cover (21) is provided with a number of gear sets (28) arranged in a circular symmetrical manner, and the gear sets (28) are rotatably connected to the isolation cover (21). The end of the connecting rod (25) is rotatably connected to the isolation cover (21), and the end of the connecting rod (25) is connected and fixed to one of the gears in the gear set (28), so that the gear set (28) rotates synchronously under the drive of the connecting rod (25). The isolation cover (21) located at the bottom of the gear set (28) has a through groove (29), and a slider (210) is provided in the groove (29). At the same time, the slider (210) is slidably connected to the isolation cover (21), and the isolation cover (21) limits and guides the slider (210).

5. A laser weeding device based on a drone platform according to claim 4, characterized in that, The gear set (28) has two No. 1 connecting plates (211) at the bottom. One end of the No. 1 connecting plate (211) is rotatably connected to the isolation cover (21). At the same time, the through ends of the two No. 1 connecting plates (211) are respectively connected and fixed to the two gears in the gear set (28). The two No. 1 connecting plates (211) are arranged in different directions so that the two No. 1 connecting plates (211) rotate synchronously in opposite directions under the drive of the gear set (28). Two No. 2 connecting plates (212) are rotatably connected at the center of one side of the slider (210). The other end of the No. 2 connecting plate (212) is rotatably connected to the No. 3 connecting plate (213). At the same time, the connection between the No. 2 connecting plate (212) and the No. 3 connecting plate (213) is located at the center of the No. 3 connecting plate (213).

6. A laser weeding device based on a drone platform according to claim 5, characterized in that, A drive motor (17) is installed on one side of the mounting bracket (11), and the output end connecting shaft of the drive motor (17) is rotatably connected to the mounting bracket (11). At the same time, the end of the output end connecting shaft of the drive motor (17) is fixedly connected to one end of the double threaded rod (14). The two No. 1 connecting plates (211) are rotatably connected to the No. 3 connecting plate (213) at the end away from the gear set (28), and the other end of the two No. 3 connecting plates (213) is rotatably connected to the leaf-pulling rod (214). The leaf-pulling rod (214) is located at the bottom of the laser emitter (18).

Images