A laser weeding robot and a control method thereof

Abstract

The present application relates to the field of laser weeding, and more particularly to a laser weeding robot and a control method thereof. The laser weeding robot comprises a laser weeding device, a vehicle frame, and is characterized in that: the vehicle frame is in a frame shape, and a middle part of the vehicle frame is provided with an electric box; a front side of the vehicle frame is provided with a bottom plate, and the bottom plate is provided with a plurality of laser emitting devices in pairs; an upper part of the vehicle frame is provided with a cover; an upper part of the laser emitting device is provided with a protective cover; and the electric box is provided with an RTK device. The control method comprises the following steps: S1, system initialization reset; S2, image acquisition and processing; S3, weed identification and screening; S4, dynamic tracking and aiming; S5, aiming accuracy determination; S6, laser weeding operation; and S7, effect verification cycle. According to the present application, a robot platform capable of carrying a laser emitting device and a control method thereof are provided. Compared with the existing weeding method, the robot platform is contactless, residue-free, precisely controllable, and capable of concentrating laser irradiation energy, shortening the action time, and avoiding damage to the root system and soil of crops during the weeding process.

Description

Technical Field

[0001] This invention relates to the field of laser weeding, and more particularly to a laser weeding robot and its control method. Background Technology

[0002] Traditional weeding methods are generally divided into three types: manual weeding, chemical weeding, and mechanical weeding. Manual weeding is costly, inefficient, labor-intensive, and difficult to scale up. Chemical weeding can pollute the soil and groundwater, affecting food safety, and weeds are becoming more resistant to herbicides, leading to an increase in the amount of herbicide used each year, creating a vicious cycle. Mechanical weeding can easily damage crop roots, can only remove weeds between rows, and is difficult to remove weeds between plants, and has poor adaptability to terrain.

[0003] Existing technologies CN202422604971.9 and CN202520354089.5 both disclose a laser head for a laser weeding robot, but lack a carrier for mounting the laser head. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a laser weeding robot that uses high-energy lasers to precisely irradiate the growth points of weeds, causing water to evaporate instantly and chlorophyll to be destroyed, thereby inhibiting or killing the weeds.

[0005] To solve the above-mentioned technical problems, a laser weeding robot is provided, comprising a laser weeder and a frame, characterized in that: the frame is frame-shaped with an electrical box in the middle, a base plate on the front side of the frame, a plurality of laser emitting devices arranged in pairs on the base plate, a cover on the top of the frame, a protective cover on the top of the laser emitting devices, and an RTK device on the electrical box; the laser emitting device includes a heat sink mounting base and a lens mounting base, the heat sink mounting base is frame-shaped with openings in the X-axis direction and at the top, a first adapter shaft is embedded in the heat sink mounting base in the Y-axis direction, the first adapter shaft is connected to a first servo motor; a first adapter plate and a second adapter plate are connected in the X-axis direction of the heat sink mounting base, a second adapter shaft is embedded in the second adapter plate, the second adapter shaft is connected to a second servo motor; the intersection of the line connecting the output ends of the first servo motor and the second servo motor coincides with the center of gravity of the heat sink mounting base.

[0006] The vehicle frame is equipped with track wheels on both the left and right sides. A track motor is installed on the vehicle frame located behind the electrical box. The track motors are connected to the track wheels. A radiator is installed on the vehicle frame between the two track motors.

[0007] Several laser controllers are provided on the front side of the frame of the vehicle frame. Each laser controller corresponds to a laser emitting device. An industrial control computer is provided on the front side of the frame above the laser controllers. From left to right, the rear side of the frame of the vehicle frame is provided with an electrical box charging port, a power display screen, a self-locking power switch button, and an emergency stop button.

[0008] The heat sink mounting base is provided with a motor mounting bracket, which is L-shaped and is located on the X-axis and Y-axis of the heat sink mounting base. The first adapter shaft passes through the motor mounting bracket and connects to the first bearing seat, and is fixed to the heat sink mounting base through the first bearing seat. The second adapter shaft passes through the motor mounting bracket from the outside to the inside and is fixed to the second adapter plate.

[0009] The heat sink mounting base is provided with a heat sink, and a lens mounting base is provided below the heat sink mounting base. A plano-convex lens is provided below the lens mounting base. A circular hole is provided in the middle of the lens mounting base, and a laser generator is provided inside the circular hole. The top of the laser generator is fixed to the bottom of the heat sink mounting base. A cooling fan is provided above the heat sink. A second bearing seat is provided on the heat sink mounting base opposite the first bearing seat. The first and second bearing seats are detachably connected to the second adapter plate. The heat sink mounting base is detachably connected to the second adapter plate through the first and second bearing seats. A first rotating link is provided on the outer side of the mounting plate, and a second rotating link is provided on the outer side of the heat sink mounting base in the same direction as the first servo motor along the Y-axis. The first and second rotating links are L-shaped, and round holes are respectively opened at both ends of the L-shape of the first and second rotating links. The round hole at one end of the first rotating link is rotatably connected to the first adapter plate through the adapter plate shaft. One end of the second rotating link is sleeved between the heat sink mounting base and the motor mounting bracket and is rotatably connected to the first adapter shaft. The round holes at the other end of the first and second rotating links overlap and are rotatably connected through the third adapter shaft.

[0010] The output end of the first servo motor is connected to the first reducer, and the output end of the second servo motor is connected to the second reducer. The first reducer and the second reducer are respectively connected to the first adapter shaft and the second adapter shaft through a deep groove ball bearing.

[0011] A control method for a laser weeding robot, characterized by the following steps: S1. System initialization and reset: The work equipment is powered on and completes hardware self-test. The self-test module verifies the working status of the camera, laser emission module, servo gimbal, odometer and safety protection module. After the self-test is passed, the servo gimbal is controlled to reset to the preset initial zero position. S2. Image Acquisition and Processing: Images of the field operation area are acquired through a camera, and the acquired images are preprocessed with distortion correction, noise filtering, and illumination compensation to remove interference from the field environment. S3. Weed Identification and Screening: Input the preprocessed image into the trained weed identification model to identify weed targets in the image and collect information on the location, size, and type of weeds; screen and sort the identified targets, remove invalid interference targets such as crops and stones, and prioritize the processing based on the growth status of the weeds. S4. Dynamic tracking and aiming: Based on the coordinate information of the weed target, the PID control algorithm is used to adjust the horizontal and vertical angles of the servo gimbal to track the weeds in real time and link the aiming mechanism to correct the laser emission path. S5. Aiming accuracy judgment: Acquire real-time aiming image and calculate the positional deviation between the center of the laser spot and the center of the weed target; if the deviation is greater than the preset error threshold, return to S4 to re-adjust and correct the PID; if the deviation is less than or equal to the preset error threshold, the aiming is judged to be complete. S6. Laser weeding operation: After aiming, turn on the laser emission module, match the preset laser power according to the type and size of the weeds, control the laser irradiation time in combination with the odometer, turn off the laser emission module after the fixed irradiation delay, and complete a single laser burning weeding operation. S7, Effect Verification Loop: After a single weeding operation is completed, the target area image is acquired again to determine the weed removal status. If the weeds are not completely dead, the laser parameters are adjusted for supplementary laser processing. If the weeds are completely removed, it is determined whether there are any untreated weeds in the current area. If so, the process jumps to S4 to process the next weed target. If not, the pan-tilt unit is reset, and the next image acquisition operation loop begins.

[0012] In the S1 system initialization and reset step, the hardware self-test includes laser module temperature detection, cooling system operating condition detection, and gimbal motor step loss detection. If any of these tests are abnormal, the device will trigger an audible and visual alarm and lock the weeding operation function.

[0013] In the S3 weed identification and screening step, the weed identification model is a deep learning image segmentation model that can distinguish between broadleaf weeds and pointed-leaf weeds, and can identify weed seedlings at different growth stages.

[0014] In the S4 dynamic tracking and aiming step, the PID control algorithm includes a position loop and a speed loop dual closed-loop adjustment to compensate for the positional offset caused by the movement of the field equipment and ensure the stability of dynamic aiming. In the S6 laser weeding operation step, the odometer and timer work in conjunction, the basic irradiation delay is set to 0.5s, the irradiation time is automatically extended for large weeds and shortened for seedlings and weeds.

[0015] According to the present invention, a robot platform and its control method that can be equipped with a laser emitting device are provided. Compared with existing weeding methods, it is contactless, residue-free, precise and controllable, the laser irradiation energy is concentrated, the action time is short, and the weeding process will not damage the root system of crops and soil. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention.

[0017] Figure 2 This is a front view of the present invention.

[0018] Figure 3 This is a rear view of the present invention.

[0019] Figure 4 This is a schematic diagram of the laser emitting device in this invention.

[0020] Figure 5 This is an exploded view of the laser emitting device in this invention.

[0021] Figure 6 This is a top view of the laser emitting device in this invention.

[0022] Figure 7 This is a flowchart of the control method of the present invention.

[0023] Figure 8 This is a flowchart of the process of S1 in the control method of the present invention.

[0024] Figure 9 This is a flowchart of the operation of S2-S5 in the control method of the present invention.

[0025] Figure 10 This is a flowchart of the process of S6 in the control method of the present invention.

[0026] Figure 11 This is a flowchart of the process of S7 in the control method of the present invention.

[0027] In this configuration, 1 is the first servo motor, 2 is the second servo motor, 3 is the first reducer, 4 is the second reducer, 5 is the first adapter shaft, 6 is the deep groove ball bearing, 7 is the first bearing housing, 8 is the first rotating link, 9 is the second rotating link, 10 is the cooling fan, 11 is the heat sink, 12 is the laser generator, 13 is the plano-convex lens, 14 is the lens mounting base, 15 is the motor mounting bracket, 16 is the heat sink mounting base, 17 is the second bearing housing, 18 is the first adapter plate, 19 is the second adapter plate, 20 is the second adapter shaft, 21 is the third adapter shaft, 22 is the adapter plate shaft, 23 is the track wheel, 24 is the chassis, 25 is the RTK device, 26 is the housing, 27 is the radiator, 28 is the track motor, 29 is the electrical box, 30 is the protective cover, 31 is the base plate, 32 is the laser emitting device, and 33 is the laser controller. 34 is the industrial control computer, 35 is the charging port of the electrical box, 36 is the power display screen, 37 is the self-locking power switch button, and 38 is the emergency stop button. Detailed Implementation

[0028] Below, in conjunction with Figure 1-6 The laser weeding robot according to an embodiment of the present invention will be described, wherein, Figure 1-3 The diagram shows the robot structure of the present invention, including a laser weeder and a frame. The frame 24 is frame-shaped and has an electrical box 29 in the middle. The front side of the frame 24 has a base plate 31. The base plate 31 has a plurality of laser emitting devices 32 arranged in pairs. The top of the frame 24 has a cover 26. The top of the laser emitting devices 32 has a protective cover 30. The electrical box 29 has an RTK device 25.

[0029] Track wheels 23 are provided on the left and right sides of the frame 24 respectively. A track motor 28 is provided on the frame 24 located behind the electrical box 29. The track motor 28 is connected to the track wheel 23 respectively. A radiator 27 is provided on the frame 24 between the two track motors 28.

[0030] The housing 26 can be provided with a rotating plate for the heat flow of the radiator 27 to pass through. In this way, the heat flow of the radiator 27 after helping to dissipate heat from the track motor 28 and the electrical box 29 can be transferred out of the housing 26 through the rotating plate, so as to achieve better heat dissipation.

[0031] Several laser controllers 33 are respectively provided on the front side of the frame 24. Each laser controller 33 corresponds to a laser emitting device 32. An industrial control computer 34 is provided on the front side of the frame 24 above the laser controllers 33. From left to right, the rear side of the frame 24 is provided with an electrical box charging port 35, a power display screen 36, a self-locking power switch button 37, and an emergency stop button 38.

[0032] like Figure 4-6The diagram shows the structure of the laser emitting device of the present invention, including a heat sink mounting base and a lens mounting base. The heat sink mounting base 16 has a frame-shaped structure with openings in the X-axis direction and at the top. A first adapter shaft 5 is embedded in the heat sink mounting base 16 in the Y-axis direction, and the first adapter shaft 5 is connected to a first servo motor 1. A first adapter plate 18 and a second adapter plate 19 are connected in the X-axis direction of the heat sink mounting base 16. A second adapter shaft 20 is embedded in the second adapter plate 19, and the second adapter shaft 20 is connected to a second servo motor 2. The intersection of the line connecting the output ends of the first servo motor 1 and the second servo motor 2 coincides with the center of gravity of the heat sink mounting base 16.

[0033] In this way, the problem of the center of gravity being off-center between the servo motor and the laser generator 12, heat sink 11, and cooling fan 10 in the existing technology can be solved, reducing the output power of the servo motor and making it more energy-efficient.

[0034] The heat sink mounting base 16 is provided with a motor mounting bracket 15. The motor mounting bracket 15 is L-shaped and is respectively located in the X-axis direction and Y-axis direction of the heat sink mounting base 16.

[0035] The first adapter shaft 5 passes through the motor mounting bracket 15 and connects to the first bearing seat 7, and is fixed to the heat sink mounting base 16 through the first bearing seat 7; the second adapter shaft 20 passes through the motor mounting bracket 15 from the outside to the inside and is fixed to the second adapter plate 19.

[0036] The heat sink mounting base 16 is provided with a heat sink 11, and a lens mounting base 14 is provided below the heat sink mounting base 16. A plano-convex lens 13 is provided below the lens mounting base 14. A circular hole is provided in the middle of the lens mounting base 14, and a laser generator 12 is provided in the circular hole of the lens mounting base 14. The top of the laser generator 12 is fixed below the heat sink mounting base 16. A cooling fan 10 is provided above the heat sink 11.

[0037] Thus, by adding a cooling fan 10 to the heat sink 11, the heat dissipation efficiency is improved, allowing the laser generator 12 to run for a longer time and improving weeding efficiency.

[0038] A second bearing seat 17 is provided on the heat sink mounting base 16 opposite to the first bearing seat 7. The first bearing seat 7 and the second bearing seat 17 are detachably connected to the second adapter plate 19. The heat sink mounting base 14 is detachably connected to the second adapter plate 19 through the first bearing seat 7 and the second bearing seat 17.

[0039] Thus, during the production and assembly process, the heat sink 11, cooling fan 10, etc., are first placed on the second adapter plate 19 along with the heat sink mounting base 16. Then, the first bearing seat 7 and the second bearing seat 17 are installed into the holes of the heat sink mounting base 16. The first bearing seat 7 and the second bearing seat 17 are fixedly connected to the second adapter plate 19 by screws, so that the laser generator 12 is tightly connected to the first rotating link 8 and the second rotating link 9. The first rotating link 8 and the second rotating link 9 are rotated by the servo motor to maintain the rotational stability of the laser generator 12 during operation.

[0040] A first rotating link 8 is provided on the outer side of the first adapter plate 18, and a second rotating link 9 is provided on the outer side of the heat sink mounting base 16 in the same direction as the first servo motor 1 along the Y-axis. The first rotating link 8 and the second rotating link 9 are L-shaped, and round holes are respectively opened at both ends of the L-shape of the first rotating link 8 and the second rotating link 9. The round hole at one end of the first rotating link 8 is rotatably connected to the first adapter plate 18 through the adapter plate shaft 22. One end of the second rotating link 9 is sleeved between the heat sink mounting base 16 and the motor mounting bracket 15 and is rotatably connected to the first adapter shaft 5. The round holes at the other end of the first rotating link 8 and the other end of the second rotating link 9 overlap and are rotatably connected through the third adapter shaft 21.

[0041] The output end of the first servo motor 1 is connected to the first reducer 3, and the output end of the second servo motor 2 is connected to the second reducer 4. The first reducer 3 and the second reducer 4 are respectively connected to the first adapter shaft 5 and the second adapter shaft 20 through a deep groove ball bearing 6.

[0042] This invention also provides a laser weeding method for automated identification and targeted removal of weeds in agricultural fields. The steps are as follows: S1. System Initialization and Reset Step: After power-on, the system first performs initialization operations, including hardware self-testing and calibration of the camera, laser emitter, servo gimbal, positioning module, and safety protection device. After self-testing, the servo gimbal resets to the preset initial position, and each module enters standby mode, ready to begin operation. S2. Image Acquisition and Preprocessing Step: The camera module acquires images of the work area, obtaining field scene images. The acquired images are then preprocessed, including distortion correction, noise filtering, and illumination compensation, to eliminate environmental interference and improve the accuracy of subsequent target recognition. S3. Weed Target Recognition and Screening Step: Based on a preset weed recognition model, target detection is performed on the preprocessed images to identify weed targets in the images, and the location, size, and type information of each weed target are output. Subsequently, the recognition results are screened and prioritized, filtering out non-weed targets, and determining the priority target sequence based on the weed's growth stage, location, and degree of harm. S4. Target Tracking and Gimbal Servo Control Step: Based on the selected target sequence, the servo gimbal begins real-time tracking of the weed targets. Through a PID control algorithm, the gimbal's horizontal and vertical angles are adjusted to drive the aiming mechanism of the laser emitter, aligning the laser beam with the center of the target weed. S5. Aiming Accuracy Verification Step: During PID adjustment, the aiming accuracy is continuously verified. Through secondary imaging feedback from the camera, the deviation between the laser spot center and the target weed center is verified to be within a preset error threshold. If the deviation exceeds the threshold, the system returns to the gimbal servo control step and re-adjusts the PID; if the deviation meets the requirements, aiming is considered successful. S6. Secondary Safety Condition Verification Step: After successful aiming, the system performs a secondary safety condition verification, including confirming that there are no personnel or flammable materials in the work area, the equipment temperature is normal, the cooling system is working properly, and the safety protection devices have not been triggered. Laser emission is only allowed to start when all safety conditions are met. S7. Laser Weeding Execution Step: The laser emitter is activated, and the target weed is irradiated at a fixed point according to the preset laser power and irradiation time parameters. The laser parameters can be dynamically adjusted according to the type, size, and growth stage of the weeds. Simultaneously, the irradiation duration is recorded by an odometer or timer, and the laser emitter automatically shuts off after the preset irradiation time is reached. S8. Weeding Effect Verification Step: After the laser is turned off, the camera module again acquires images of the target area. By comparing the image features before and after irradiation, it is determined whether the weeds have been effectively removed. If the weeds have not been removed, the laser parameters are adjusted, and the laser weeding execution step is returned for a follow-up irradiation; if the weeds have been removed, the target treatment is considered complete. S9. Data Recording and Cyclic Step: After the target treatment is completed, the system records relevant data for this weeding operation, including target location, laser parameters, processing time, and weeding results.Subsequently, if unprocessed weeds remain in the target sequence, the system returns to the target tracking step to process the next target; if the target sequence has been processed, the pan-tilt unit resets to its initial position, and the next image acquisition cycle begins, continuing the weeding operation. S10. System Maintenance and Shutdown Procedures During operation, the system periodically performs status maintenance operations, including equipment temperature monitoring, battery level monitoring, lens cleaning reminders, and cooling system status checks. Upon receiving a shutdown command or detecting a serious fault, the system shuts down all equipment, saves the operation data, and safely shuts down. Example

[0043] This embodiment provides a visual positioning intelligent laser weeding method, mounted on the robot platform described in this invention. The hardware includes an industrial camera, a 100W fiber laser emission module, a two-axis servo gimbal, a wheeled odometer, an AI edge computing module, a human infrared safety sensor, and an equipment temperature control module. The execution process fully covers the entire chain, including power-on self-test, visual recognition, gimbal tracking PID aiming, laser ablation weeding, effect closed-loop verification, and system maintenance shutdown. The specific steps are as follows: Step S1: System power-on and hardware initialization self-test.

[0044] When the robot is powered on and starts working in the field, the edge computing module simultaneously performs full hardware initialization: S11. Initialize the industrial camera, complete lens distortion calibration and adaptive calibration of exposure parameters; S12. Laser Emission Module Self-Test: Detects laser power output, cooling fan, semiconductor temperature control status, and collects laser operating temperature in real time; S13. Initialize the two-axis servo gimbal, perform motor origin homing and limit check, and eliminate motor step loss error; S14. The wheeled odometer and GPS positioning module are calibrated together to match the accuracy of displacement acquisition during field walking. S15. Initialize and activate the human infrared safety sensor, high temperature emergency stop module, and audible and visual alarm module; S16. System comprehensive status self-check, synchronously verifying the remaining battery power and the integrity of communication links of each module.

[0045] Self-test judgment: If any abnormality occurs, such as laser overheating, PTZ communication failure, safety sensor failure, or battery level below the threshold, the device will immediately trigger an audible and visual fault alarm, lock the laser emission function, and stop the machine to await manual maintenance; if all hardware self-test indicators meet the standards, it will jump to the main weeding cycle.

[0046] Step S2: Start the main weeding cycle and reset the gimbal to zero.

[0047] The servo gimbal automatically returns to the preset initial zero position, the camera lens is pointed directly in front of the robot in the field operation area, and the periodic system background maintenance thread is started. The background maintenance simultaneously performs four checks: equipment battery and laser temperature inspection, camera lens water mist / dust cleaning judgment, cooling system fan speed detection, and GPS positioning coordinate real-time update; the maintenance thread also monitors shutdown commands. If a shutdown command is issued by the remote terminal / machine emergency stop button, it directly jumps to the system shutdown process.

[0048] Step S3: Field image acquisition and weed AI recognition.

[0049] After the gimbal resets, the industrial camera acquires high-resolution field images of the current work area. The edge computing module performs preprocessing on the images, including illumination compensation, field dust and noise filtering, and crop row distortion correction, eliminating image interference caused by direct sunlight, soil splashes, and crop leaf occlusion. The preprocessed images are then input into a trained semantic segmentation deep learning model. The model distinguishes between five types of targets: corn seedlings (crops), broadleaf weeds, pointed-leaf grass weeds, stones, and soil. It outputs the pixel coordinates, plant size, weed type, and growth cycle information for each weed. The system determines whether weed targets exist in the image: if no weeds are found, it returns to the gimbal reset step and starts the next round of image acquisition; if weeds are detected, it enters the target filtering and sorting process.

[0050] Step S4: Weed target screening, priority sorting and gimbal tracking PID aiming.

[0051] S41. Target screening and sorting: Remove weed seedlings that are close to the crop roots and smaller than 5mm in size (to avoid laser burns to crops). The remaining weeds are prioritized according to plant size from largest to smallest and distance from the robot from closest to farthest, generating a sequence of targets to be hit. S42. Real-time target tracking: Extract the center pixel coordinates of priority weeds, convert them into gimbal horizontal and pitch angle control values, start the real-time target tracking thread, and continuously follow the positional shift of weeds caused by walking in the field. S43. Dual closed-loop PID servo control: The dual closed-loop PID algorithm of position loop + speed loop is used to adjust the two-axis servo gimbal and dynamically correct the laser emission path so that the laser spot moves closer to the center of the weed plants. S44. Aiming accuracy verification: The camera acquires the aiming image a second time, calculates the pixel deviation between the center of the laser spot and the center of the weeds, and sets a preset error threshold of ±1mm; if the deviation exceeds the threshold, it returns to the PID adjustment step to readjust the gimbal angle; if the deviation is ≤1mm, it is determined that aiming is complete and enters the safety verification stage.

[0052] Step S5: Secondary verification of safety conditions before laser emission.

[0053] S51. After the target is met, multiple security mechanisms simultaneously verify the following: S52. The human infrared sensor detects that no people or livestock have entered within 3m of the laser irradiation area; S53. The temperature control module detects that the laser temperature is below the safety threshold, and the cooling system is operating normally. S54. The work area must be free of flammable debris such as straw and plastic; the laser can only be started if all safety conditions are met; if any safety item fails to meet the standard, the current strike must be abandoned, and the process must return to the pan-tilt reset step to reacquire images.

[0054] Step S6: Laser dynamic burning weed removal and timing control.

[0055] S61. Security check passed. Activate fiber laser transmitting module. S62. Dynamically match laser parameters according to weed species and plant size: set 100W power and 0.5s basic irradiation time for broadleaf mature weeds; set 40W power and 0.2s short irradiation time for grass seedlings and weeds; automatically extend the irradiation time to 0.8s for extra-large weeds; S63. The wheel-type odometer is synchronized with the timer to accurately record the duration of laser irradiation and automatically shuts off the laser emission module after the preset duration is reached. S64. Store the data for this operation locally: GPS coordinates of weeds, laser power, irradiation duration, and weed species, for use in background operation statistics.

[0056] Step S7: Closed-loop verification of weeding effect and supplementary firing logic.

[0057] S71. After the laser is turned off, the camera re-captures images of the target area of ​​weeds. The AI ​​model compares the characteristics of the plants before and after scorching to determine whether the weeds are completely charred and dead. S72. If weeds are not completely removed (plants still have surviving green tissue), automatically increase laser power and extend irradiation time, then return to the laser activation step to perform supplementary irradiation. S73. If the weeds are completely cleared, the single target processing is considered complete. Read the sequence of targets to be hit and determine if there are any unprocessed weeds: S74. Weeds still present: Jump to the target tracking PID control step and process the next weed in the sequence; S75. No remaining weeds: Return to the gimbal reset step and start a new round of field image acquisition cycle.

[0058] Step S8: System shutdown and cleanup process.

[0059] S81. During operation, if any shutdown signal is received, such as a remote shutdown command, machine emergency stop trigger, low battery power, or laser overheating, the shutdown procedure shall be executed: S82. Immediately force shutdown of the laser emission module and reset the gimbal to zero; S83. All weeding operation data is cached locally and then synchronously uploaded to the cloud management platform; S84. Run the laser cooling fan continuously for 3 minutes until the laser cools down, then cut off the hardware power supply and the equipment enters standby mode.

[0060] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above embodiments.

[0061] In use, the tracked wheels drive the robot platform. The RTK device identifies the platform's specific location and obstacles. By adjusting the different speeds of the two tracked motors, the robot platform can be controlled to turn, stop, and perform other actions. The laser generators are controlled by their respective laser controllers.

[0062] During operation, the laser emitting device features a first rotating link that, driven by a second servo motor, allows the laser generator to rotate around the X-axis. The second rotating link, driven by the first servo motor, allows rotation around the Y-axis. The intersection of the extended output lines of the first and second servo motors coincides with the center of gravity of the laser generator and the heat sink, avoiding the wasted servo motor output power caused by eccentricity issues in existing technologies. Furthermore, multi-directional rotation significantly improves the flexibility of the laser generator. The addition of a cooling fan 10 enhances the heat dissipation of the laser generator 12, increasing its operating time and efficiency.

[0063] It should be understood that within the scope of this invention, the various parts of the embodiments can be freely combined, or the various parts of the embodiments can be appropriately modified or omitted.

Claims

1. A laser weeding robot, comprising a laser weeder and a frame, characterized in that: The frame (24) is frame-shaped and has an electrical box (29) in the middle. The front side of the frame (24) has a base plate (31). Several laser emitting devices (32) are arranged in pairs on the base plate (31). A cover (26) is provided on the top of the frame (24). A protective cover (30) is provided on the top of the laser emitting devices (32). An RTK device (25) is provided on the electrical box (29). The laser emitting device (32) includes a heat sink mounting base (16) and a lens mounting base (14). The heat sink mounting base (16) has a frame-shaped structure. The heat sink mounting base (16) has openings in the X-axis direction and at the top. The heat sink mounting base (16) is equipped with a first adapter shaft (5) in the Y-axis direction. The first adapter shaft (5) is connected to the first servo motor (1). The heat sink mounting base (16) is connected to a first adapter plate (18) and a second adapter plate (19) in the X-axis direction. The second adapter plate (19) is equipped with a second adapter shaft (20). The second adapter shaft (20) is connected to the second servo motor (2). The intersection of the line connecting the output ends of the first servo motor (1) and the second servo motor (2) coincides with the center of gravity of the heat sink mounting base (16).

2. The laser weeding robot according to claim 1, characterized in that: Track wheels (23) are provided on the left and right sides of the frame (24). A track motor (28) is provided on the frame (24) located behind the electrical box (29). The track motor (28) is connected to the track wheel (23). A radiator (27) is provided on the frame (24) between the two track motors (28).

3. The laser weeding robot according to claim 1, characterized in that: Several laser controllers (33) are provided on the front side of the frame (24). Each laser controller (33) corresponds to a laser emitting device (32). An industrial control computer (34) is provided on the front side of the frame (24) above the laser controllers (33). From left to right, the rear side of the frame (24) is provided with an electrical box charging port (35), a power display screen (36), a self-locking power switch button (37), and an emergency stop button (38).

4. The laser weeding robot according to claim 1, characterized in that: The heat sink mounting base (16) is provided with a motor mounting bracket (15), which is L-shaped. The L-shaped motor mounting brackets (15) are respectively located in the X-axis direction and Y-axis direction of the heat sink mounting base (16). The first adapter shaft (5) passes through the motor mounting bracket (15) and connects to the first bearing seat (7), and is fixed on the heat sink mounting base (16) through the first bearing seat (7). The second adapter shaft (20) passes through the motor mounting bracket (15) from the outside to the inside and is fixed on the second adapter plate (19).

5. A laser weeding robot according to claim 4, characterized in that: The heat sink mounting base (16) is provided with a heat sink (11), and a lens mounting base (14) is provided below the heat sink mounting base (16). A plano-convex lens (13) is provided below the lens mounting base (14). A circular hole is provided in the middle of the lens mounting base (14), and a laser generator (12) is provided in the circular hole of the lens mounting base (14). The top of the laser generator (12) is fixed below the heat sink mounting base (16). A cooling fan (10) is provided above the heat sink (11). A second bearing seat (17) is provided on the heat sink mounting base (16) opposite to the first bearing seat (7). The first bearing seat (7) and the second bearing seat (17) are detachably connected to the second adapter plate (19). The heat sink mounting base (16) is connected to the second adapter plate (19) through the first bearing seat (7) and the second bearing seat (17). 9) Detachable connection; the outer side of the first adapter plate (18) is provided with a first rotating link (8), and the outer side of the heat sink mounting base (16) in the same direction as the first servo motor (1) in the Y-axis direction is provided with a second rotating link (9). The first rotating link (8) and the second rotating link (9) are L-shaped. The two ends of the L-shape of the first rotating link (8) and the second rotating link (9) are respectively provided with round holes. The round hole at one end of the first rotating link (8) is rotatably connected to the first adapter plate (18) through the adapter plate shaft (22). One end of the second rotating link (9) is sleeved between the heat sink mounting base (16) and the motor mounting bracket (15) and is rotatably connected to the first adapter shaft (5). The round hole at the other end of the first rotating link (8) and the round hole at the other end of the second rotating link (9) overlap and are rotatably connected through the third adapter shaft (21).

6. A laser weeding robot according to claim 4, characterized in that: The output end of the first servo motor (1) is connected to the first reducer (3), and the output end of the second servo motor (2) is connected to the second reducer (4). The first reducer (3) and the second reducer (4) are respectively connected to the first adapter shaft (5) and the second adapter shaft (20) through a deep groove ball bearing (6).

7. The control method for a laser weeding robot according to claim 1, characterized in that... Includes the following steps: S1. System initialization and reset: The work equipment is powered on and completes hardware self-test. The self-test module verifies the working status of the camera, laser emission module, servo gimbal, odometer and safety protection module. After the self-test is passed, the servo gimbal is controlled to reset to the preset initial zero position. S2. Image Acquisition and Processing: Images of the field operation area are acquired through a camera, and the acquired images are preprocessed with distortion correction, noise filtering, and illumination compensation to remove interference from the field environment. S3. Weed Identification and Screening: Input the preprocessed image into the trained weed identification model to identify weed targets in the image and collect information on the location, size, and type of weeds. The targets to be identified are screened and sorted, and invalid interfering targets such as crops and stones are removed. The processing priority is also determined according to the growth status of weeds. S4. Dynamic tracking and aiming: Based on the coordinate information of the weed target, the PID control algorithm is used to adjust the horizontal and vertical angles of the servo gimbal to track the weeds in real time and link the aiming mechanism to correct the laser emission path. S5. Aiming accuracy judgment: Acquire real-time aiming image and calculate the positional deviation between the center of the laser spot and the center of the weed target; if the deviation is greater than the preset error threshold, return to S4 to re-adjust and correct the PID; if the deviation is less than or equal to the preset error threshold, the aiming is judged to be complete. S6. Laser weeding operation: After aiming, turn on the laser emission module, match the preset laser power according to the type and size of the weeds, control the laser irradiation time in combination with the odometer, turn off the laser emission module after the fixed irradiation delay, and complete a single laser burning weeding operation. S7, Effect Verification Loop: After a single weeding operation is completed, the target area image is acquired again to determine the weed removal status. If the weeds are not completely dead, the laser parameters are adjusted for supplementary laser processing. If the weeds are completely removed, it is determined whether there are any untreated weeds in the current area. If so, the process jumps to S4 to process the next weed target. If not, the pan-tilt unit is reset, and the next image acquisition operation loop begins.

8. The intelligent laser weeding method according to claim 1, characterized in that: In the S1 system initialization and reset step, the hardware self-test includes laser module temperature detection, cooling system operating condition detection, and gimbal motor step loss detection. If any of these tests are abnormal, the device will trigger an audible and visual alarm and lock the weeding operation function.

9. The intelligent laser weeding method according to claim 1, characterized in that: In the S3 weed identification and screening step, the weed identification model is a deep learning image segmentation model that can distinguish between broadleaf weeds and pointed-leaf weeds, and can identify weed seedlings at different growth stages.

10. The intelligent laser weeding method according to claim 1, characterized in that: In the S4 dynamic tracking and aiming step, the PID control algorithm includes a position loop and a speed loop dual closed-loop adjustment to compensate for the positional offset caused by the movement of the field equipment and ensure the stability of dynamic aiming. In the S6 laser weeding operation step, the odometer and timer work in conjunction, the basic irradiation delay is set to 0.5s, the irradiation time is automatically extended for large weeds and shortened for seedlings and weeds.

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