Field laser intelligent weeding and thinning robot

Abstract

The utility model discloses a field laser intelligent weeding and thinning robot which comprises four sets of wheel leg assemblies driven by servo motors, a front telescopic swing bridge, a rear telescopic fixed bridge, a base assembly, a liftable laser striking platform and electric control equipment such as a power generator and a three-dimensional laser terrain scanning radar. A plurality of modularized high-power carbon dioxide laser modules, four groups of laser range finders and five groups of double-axis tilt angle sensors are respectively mounted on and around a laser striking platform, each laser module comprises a digital galvanometer, a pseudo-coaxial camera and a miniature windscreen wiper dust removal system, and a digital galvanometer, a pseudo-coaxial camera and a miniature windscreen wiper dust removal system are mounted below the laser striking platform. A plurality of AI intelligent identification and positioning cameras and lighting devices are installed. Therefore, the robot can automatically identify and position weeds and seedlings through the AI intelligent camera and guide the laser to accurately strike the target, has the advantages of easy realization of modularization, universalization and standardization in the later period, is beneficial to cost saving, and is suitable for large-scale popularization and application in the later period.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a field laser intelligent weeding and thinning robot. Background Art

[0002] Due to the relatively low manufacturing cost and selling price, carbon dioxide glass tube lasers have been widely used in production and life fields such as laser marking and laser cutting of clothing fabrics. In particular, a large number of domestic and foreign practices in recent years have proved that the 10.6-micron laser wavelength of carbon dioxide lasers is more easily absorbed by the leaves and stems of field weeds and crops. Therefore, using a 150w high-power carbon dioxide laser beam, through machine vision technology and AI intelligent algorithms, accurately lock and irradiate the apical meristem of field weeds or crop seedlings that need to be topped or the roots of crops that need to be thinned, and accurately give it a certain irradiation time and irradiation intensity, a prominent laser flame can be instantly formed, or the tops of weeds and the tops of crops that need to be topped and the roots of crops that need to be thinned can be burned to ashes, or the tops of the seedlings can be scorched and withered. It can not only cause significant damage and inactivation effects on field weeds, but also efficiently complete the weeding or topping operations of crops. Therefore, using a high-power carbon dioxide laser for weeding, thinning or topping has high cost performance and working efficiency compared with manual and other mechanical operations. In the emerging field of mobile robot laser weeding or thinning and topping, high-power carbon dioxide lasers are thus quite popular and become the first choice.

[0003] However, existing laser weeding and thinning robots mostly use hydraulic drive, with complex structures, low precision, poor reliability, high maintenance costs, and short battery life. Therefore, a more suitable robot structure is urgently needed. Summary of the Invention

[0004] The purpose of this application is to innovatively provide a field laser intelligent weeding and thinning robot to solve the problems raised in the above background art.

[0005] To solve the above technical problems, this application provides the following technical solutions:

[0006] A field laser intelligent weeding and thinning robot includes a base assembly, a laser striking platform assembly, 4 groups of drive wheel leg assemblies, and on-vehicle equipment;

[0007] The on-vehicle equipment is installed on the base assembly, the laser striking platform assembly is suspended below the base assembly, and 2 groups of drive wheel leg assemblies are fixed on each side of the base assembly;

[0008] The on-vehicle equipment is respectively connected to the laser striking platform assembly and the drive wheel leg assemblies;

[0009] The described driving wheel leg assembly includes a driving wheel leg box body and a gear assembly;

[0010] The described driving wheel leg box body is provided with a bearing mounting hole adapted to the gear assembly;

[0011] The gear assembly includes: a gear, a gear expansion sleeve, a gear shaft, a double-row self-aligning ball bearing with a locking collar, and a bearing bushing;

[0012] The bearing bushing is sleeved in the bearing mounting hole, the double-row self-aligning ball bearing with a locking collar is sleeved in the bearing bushing, and the gear shaft penetrates through the inner ring of the double-row self-aligning ball bearing with a locking collar;

[0013] The gear shaft has a positioning shoulder. The gear and the gear shaft are fixedly connected through the gear expansion sleeve, and the gear and the gear expansion sleeve are limited by the positioning shoulder.

[0014] Preferably, the laser strike platform assembly includes a frame assembly and a plurality of sets of laser modules mounted on the frame assembly.

[0015] Preferably, a laser obstacle avoidance radar is provided at the front end of the frame assembly.

[0016] Preferably, laser distance sensors are provided at the four corners of the frame assembly.

[0017] Preferably, inclination sensors are provided at the four corners and the center position of the frame assembly.

[0018] Preferably, the frame assembly includes a frame. A laser module backing plate is provided on the upper surface of the frame. The laser module backing plate is provided with guiding sliding grooves, and the number of the guiding sliding grooves is adapted to the number of laser tubes of the laser modules.

[0019] Preferably, a guiding flat key is provided at the front end of the frame assembly.

[0020] Preferably, a vehicle bottom camera and a lighting assembly are provided at the bottom of the laser strike platform assembly. The vehicle bottom camera and the lighting assembly include a vehicle bottom camera and a lighting frame. The vehicle bottom camera and the lighting frame are provided with a stroboscopic lamp, a front-end remote rough prediction camera, a flash strip, and a near-field precise prediction camera.

[0021] Preferably, the vehicle-mounted equipment includes a variable-frequency gasoline generator, a laser power supply, an electric control box, a chiller, a UPS, and an industrial control computer.

[0022] Compared with the prior art, the beneficial effects achieved by this application are as follows: For a field laser intelligent weeding and thinning robot, on the one hand, it adopts a modular high-power carbon dioxide laser module. The laser module includes a carbon dioxide laser tube, a digital galvanometer, a pseudo-coaxial camera, and a supporting micro wiper dust removal system, which solves the installation, maintenance, and replacement problems of the high-power carbon dioxide laser module required for mobile laser weeding and thinning robots. It has reliable long-term working positioning, good maintainability of laser hitting accuracy, efficient and convenient replacement of the laser tube, and the laser digital galvanometer and the lens of the pseudo-coaxial camera are equipped with a micro wiper dust removal system, which can eliminate the pollution and adverse effects of dust and haze on the galvanometer lens and the pseudo-coaxial camera lens, and is beneficial to the improvement of laser weeding efficiency. The laser module has the advantages of being easy to achieve modularization, generalization, and standardization in the later stage, which is beneficial to mass production, saves and reduces production and manufacturing costs, and is suitable for large-scale promotion and use in the later stage. On the other hand, an electric telescopic component is used to adjust the wheelbase and the laser hitting height, which can not only adapt to the changes in different operation ridge distances and ridge heights in relatively flat fields, but also, through the cooperation of the three-dimensional laser terrain scanning radar installed at the front end of the robot and a complete set of multiple biaxial inclination sensors and laser ranging sensors installed on the laser hitting platform, can better adapt to field operations on various slopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings are used to provide a further understanding of this application, and constitute a part of the specification. They are used together with the embodiments of this application to explain this application, and do not constitute a limitation to this application. In the drawings:

[0024] Figure 1 -- Front view of the whole machine; Figure 2 -- Left view of the whole machine; Figure 3 -- Rear view of the whole machine; Figure 4 -- Top view of the whole machine; Figure 5 -- 3D view of the whole machine Figure 1 ; Figure 6 -- Bottom-up view of the whole machine; Figure 7 -- Right view of the whole machine; Figure 8 -- 3D view of the whole machine Figure 2 ; Figure 9 -- Lateral slope operation of the whole machine Figure 1 ; Figure 10 -- Lateral slope operation of the whole machine Figure 2 ; Figure 11 -- 3D view of the whole machine Figure 3 ; Figure 12 -- Exploded view of the whole machine; Figure 13 -- Right view of the whole machine Figure 2 ; Figure 14 -- Right view of the whole machine Figure 2 H-H sectional view of; Figure 15 -- Right view of the whole machine Figure 2J-J sectional view; Figure 16 -- 3D view of the laser strike platform assembly; Figure 17 -- 3D view of the frame assembly; Figure 18 -- Exploded view of the frame assembly; Figure 19 -- Exploded view of the laser strike platform assembly; Figure 20 -- 3D view of the vehicle bottom camera and lighting assembly; Figure 21 -- 3D view of the base assembly Figure 1 ; Figure 22 -- 3D view of the base assembly Figure 2 ; Figure 23 -- Base frame; Figure 24 -- Exploded view of the base assembly; Figure 25 -- Front view of the front axle swing and telescopic assembly; Figure 26 -- Left view and H-H sectional view of the front axle swing and telescopic assembly; Figure 27 -- Top view and K-K sectional view of the front axle swing and telescopic assembly; Figure 28 -- 3D view of the front axle swing and telescopic assembly; Figure 29 --- Exploded view of the front axle swing and telescopic assembly; Figure 30 -- 3D view of the front axle swing and telescopic assembly Figure 2 ; Figure 31 — 3D view of the rear axle telescopic assembly; Figure 32 -- 3D view of the whole machine without equipment Figure 1 ; Figure 33 -- 3D view of the whole machine without equipment Figure 2 ; Figure 34 -- 3D view of the whole machine without equipment Figure 3 ; Figure 35 -- Exploded view of the whole machine without equipment; Figure 36 -- 3D view of the drive wheel leg assembly; Figure 37 -- Exploded view of the drive wheel leg assembly; Figure 38 -- Left view of the drive wheel leg assembly; Figure 39 -- A-A sectional view of the left view of the drive wheel leg assembly; Figure 40 -- Upper part of the A-A sectional view of the left view of the drive wheel leg assembly above the break line B-B; Figure 41 -- View between the break lines B-B and C-C of the A-A sectional view of the left view of the drive wheel leg assembly;

[0025] Figure 42 -- View between the break lines D-D and E-E of the A-A sectional view of the left view of the drive wheel leg assembly; Figure 43 -- Front view and D-D sectional view of the upper gear assembly;

[0026] In the figure: Base assembly 1, 3D laser terrain scanning radar 11, base frame 12, front axle swing and telescopic assembly 13, telescopic inner tube 131, front axle swing arm 132, swing bearing seat 133, shock absorber spring assembly 134, left electric telescopic assembly 135, right electric telescopic assembly 136, guide rail plastic-coated wear-resistant sheet 137, rear axle telescopic assembly 14, electric telescopic assembly for height adjustment 15, axle inner stop positioning hole 16, laser strike platform assembly 2, laser obstacle avoidance radar 21, frame assembly 22, frame 221, laser module backing plate 222, guide key 223, key pressing screw 224, laser module 23, biaxial inclination sensor 24, laser ranging sensor 25, drive wheel leg assembly 3, drive wheel leg box 31, upper gear assembly 32, upper gear 321, expansion sleeve for upper gear 322, upper bearing bushing 323, upper cover 324, double-row self-aligning ball bearing with locking collar 325, upper gear shaft 326, expansion sleeve for reducer shaft 327, upper blind cover 328, upper adjusting ring 329, upper spacer ring 3210, upper gear centering and spacing ring 3211, O-ring 3212, planetary reducer 33, servo motor 34, middle and upper gear assembly 35, axle connection plate 36, outer stop positioning boss 361 of axle connection plate, middle and lower gear assembly 37, lower gear assembly 38, tire assembly 39, cover plate 310, filter breather cap 311, hexagon plug 312, vehicle-mounted equipment 4, vehicle bottom camera and lighting assembly 5, flash lamp 51, front-end remote rough prediction camera 52, flash light bar 53, near-field precise prediction camera 54, vehicle bottom camera and lighting frame 55, front and rear leg limit rod assembly 6. Detailed implementation mode

[0027] This embodiment provides a field laser intelligent weeding and thinning robot, as Figures 1 to 15 shown, which includes a basic vehicle body composed of a base assembly and 4 drive wheel leg assemblies. The drive wheel leg assemblies on the same side are fixedly connected by the front and rear leg limit rod assemblies. There is also a laser strike platform assembly suspended under the base through 4 electric telescopic assemblies for height adjustment and universal floating joints. There is also a vehicle bottom camera and lighting assembly installed under the laser strike platform assembly; there are also some vehicle-mounted equipment installed on the base assembly.

[0028] The vehicle-mounted equipment of the laser weeding and thinning robot in this application includes: 2 frequency-converting gasoline generators with one-key start. One generator is mainly used to supply power to the drive motors of 4 wheel-leg walking components, the front axle swing telescopic component, the rear axle telescopic component, and the electric telescopic component for height adjustment, as well as related sensors, radars, etc. The other is used to supply power to the laser tubes, the electric control system of the laser strike platform component, and the supporting electrical facilities of the chiller. In this way, using 2 frequency-converting gasoline generators to supply power separately is beneficial to the overall power load balance and coordination of the laser weeding and thinning robot, and can better meet the different power demands in different operation modes such as the vehicle walking drive system and the laser strike system working independently and collaboratively. This is not only beneficial to energy conservation and environmental protection, but also can make the power generation equipment work more stably and reasonably.

[0029] The vehicle-mounted equipment of the laser weeding and thinning robot also includes a high-power chiller for cooling each laser tube, several sets of laser power supplies adapted to the number of the laser modules, an electric control box for the electrical control of the whole system, a UPS and an industrial control computer. Among them, the UPS and the frequency-converting gasoline generator can achieve seamless power switching, ensuring the stable operation of the industrial control computer and ensuring that there is always power and data preservation without loss during the overall intelligent control of the industrial control computer.

[0030] As Figures 16 to 20 shown, the laser strike platform component can install more than 1 group of high-power carbon dioxide laser modules. In this embodiment, 4 groups are adopted, mainly based on the specific width of the vehicle body. Installing 4 groups of high-power carbon dioxide laser modules can just cover the specific ridge width for laser strike operation requirements. The height of the laser emission point of the laser module in this application from the laser strike working surface is about 80 cm. This height can give full play to and utilize the best energy strike effect of the carbon dioxide laser, especially the 10.6-micron laser wavelength of the carbon dioxide laser. Years of laser strike experiments and agricultural production practices at home and abroad have fully proved that it is more easily absorbed by the stems and leaves of field weeds and crops. Therefore, using a 150w high-power carbon dioxide laser beam, through machine vision technology and AI intelligent algorithms, accurately lock and irradiate the apical meristem of field weeds or crop seedlings that need to be topped or thinned, and accurately give it a certain irradiation time and irradiation intensity, and it can instantly form a prominent laser flame, or burn the top of the weeds to ashes, or scorch the top of the seedlings to wither. It can not only cause significant damage and inactivation effects on field weeds, but also efficiently complete the operation of thinning or topping crops.

[0031] The laser strike platform adopts specialized modular laser modules. Each group of carbon dioxide laser modules includes 5 major components: a front bracket component, a laser tube encapsulation component, a rear bracket component, a laser digital scanning galvanometer component, and a pseudo coaxial camera component. Moreover, the galvanometer and the pseudo coaxial camera lens are equipped with a micro auxiliary wiper component, which is beneficial to improving the modularity and reliability of the equipment.

[0032] The components of the laser strike platform include a frame component for installing a high-power carbon dioxide laser tube. The frame component includes: a frame, and a laser obstacle avoidance radar is provided at the front end of the frame. The obstacle avoidance radar is mainly used for scanning and detecting obstacles in the front, rear, and surrounding areas of the vehicle, mainly to prevent the vehicle from hitting obstacles during forward and backward movement. Especially, cameras and lighting equipment are installed under the vehicle. The installation height of the obstacle avoidance radar is lower than the lowest working part under the vehicle, so that any obstacle higher than the working part can be scanned and detected by the obstacle avoidance radar, and then an alarm can be given in time to let the vehicle avoid it.

[0033] A laser module backing plate is arranged between the frame and the carbon dioxide laser tube. The laser module backing plate is provided with a guiding sliding groove for cooperating with the bottom protrusion of the fixing ring for fixing the carbon dioxide laser module, which is convenient for the positioning and installation of the carbon dioxide laser module. A guiding flat key is arranged at the front end of the frame and fixed by a pressing key screw. The guiding flat key is adapted to the front bracket component for fixing the carbon dioxide laser head. A groove is arranged at the bottom of the front bracket component, which is exactly adapted to the guiding flat key, so that the front bracket component can slide back and forth along the guiding flat key, which is convenient for the assembly, fixing, and disassembly of the carbon dioxide laser module.

[0034] Four electric telescopic components with universal floating joints are used at the four corners of the laser strike platform and are suspended on the chassis. They can automatically adjust the laser strike height according to the ridge height and slope. For this purpose, laser ranging sensors are installed at the four corners of the frame to measure the ground clearance corresponding to each corner of the frame assembly in real time, so as to collect the frame ground clearance data and provide it to the intelligent control system of the laser weeding and thinning robot. At the same time, at the front and rear ends of the frame, 2 tilt sensors are installed respectively, specifically dual-axis tilt sensors. In addition, 1 tilt sensor, specifically a dual-axis tilt sensor, is also set at the center position of the bottom of the frame assembly. These 4 groups of laser ranging sensors and 5 dual-axis tilt sensors are used for height measurement at the four corners and overall leveling of the frame respectively. The leveling process is that the 4 groups of laser ranging sensors and 5 dual-axis tilt sensors transmit data to the intelligent control system of the laser weeding and thinning robot in real time. The intelligent control system calculates based on the real slope of the current working ground detected in real time by the 3D laser terrain scanning radar mounted at the front end of the vehicle body, and the real-time data feedback of the 5 dual-axis tilt sensors mounted on the frame on the inclination angle of the current strike platform relative to the ground. After calculation by the intelligent control system of the laser weeding and thinning robot, a leveling command is sent to the 4 groups of electric telescopic components for height adjustment. The electric telescopic components for height adjustment perform leveling and height adjustment of the strike platform frame in real time according to the adjustment data given by the control system.

[0035] The vehicle bottom camera and lighting assembly includes: a stroboscopic lamp, a front-end remote coarse prediction camera (specifically, it can be a front-end remote coarse prediction AI intelligent camera), a flash strip, a near-field precise prediction camera (specifically, it can be a near-field precise prediction AI intelligent camera), a vehicle bottom camera, and a lighting frame. The stroboscopic lamp is arranged at the front end of the bottom of the vehicle bottom camera and lighting frame. Two flash strips are arranged in the middle and at the rear end of the bottom of the vehicle bottom camera and lighting frame. Between the two flash strips, directly in front of the light outlet hole of each galvanometer and parallel to the direction of the laser tube, there are near-field precise prediction cameras (4 in this example) with the same number as the galvanometers. Between the stroboscopic lamp and the middle position of the bottom of the vehicle bottom camera and lighting frame, along the direction parallel to the laser tube, at an appropriate position in front of the midline between two adjacent near-field precise prediction cameras, there are evenly arranged front-end remote coarse prediction cameras (2 in this example) with a number half of that of the near-field precise prediction cameras. In this application example, these 2 front-end remote coarse prediction cameras are used for rough prediction recognition and rough positioning of strike targets in the distance in the forward direction. The 4 near-field precise prediction cameras perform small-range screening, further precise recognition, and positioning prediction on the strike targets under the galvanometers of the adjacent lasers according to the feedback data of the front-end remote coarse prediction AI intelligent camera, and then feedback the evaluated precise data to the laser strike control system. The control system automatically selects one of the pseudo-coaxial AI intelligent cameras on 2 adjacent laser modules to guide the supporting galvanometer to perform precise laser strikes on the target. Finally, the adjacent near-field precise prediction cameras are responsible for evaluating the damage effect after the laser strike.

[0036] In addition, in individual cases, when the pseudo coaxial camera on the laser module fails to work properly for some reason, etc., these 4 near-field precise prediction cameras can be directly used as strike cameras to be used emergently to replace the faulty pseudo coaxial camera after simple settings through the options preset in the system, thereby enhancing the working performance of the robot.

[0037] As Figures 21 to 31 shown, the base assembly includes a base frame body and a three-dimensional laser terrain scanning radar installed at the front end of the base frame body, and also includes a front axle swing telescopic assembly, a rear axle telescopic assembly, and an electric telescopic assembly for height adjustment. The front axle swing telescopic assembly is composed of a telescopic inner tube, a front axle swing arm, a swing bearing seat, a shock absorption spring assembly, a left electric telescopic assembly, and a right electric telescopic assembly. A guide rail plastic wear-resistant sheet is arranged inside the telescopic inner tube. On the one hand, it is used to reduce the movement gap between the inner and outer telescopic tubes, improve the movement rigidity of the drive wheel leg assembly, and reduce the slack swing amplitude of the drive wheel leg assembly at the moment of starting and stopping. On the other hand, it can reduce the friction force of the telescopic inner tube, improve the wear resistance of the telescopic inner tube, and reduce the energy consumption during the wheelbase telescopic adjustment.

[0038] The three-dimensional laser terrain scanning radar in front of the vehicle is used to scan the ground slope of the field where the robot is located, providing a measurement and control basis for subsequent adjustment of the parallelism or levelness of the strike platform and the ground. It can automatically scan and measure the slope of the working ground in front of the vehicle, then upload it to the industrial control computer, and then transmit the slope information of the working ground in front of the vehicle to the four electric telescopic mechanisms through the industrial control computer to adjust the heights of the four corners of the strike platform, and real-time measure and control and feedback the adjustment results through 4 laser distance sensors. At the same time, with the help of 5 two-axis inclination sensors at the four corners and in the middle of the strike platform for final verification to confirm whether the adjustment results are consistent with the detection results of the laser terrain scanning radar.

[0039] The swing bearing seat is divided into a front seat and a rear seat, and the front axle swing arm is fixedly installed in the middle. Through the bearing connection, the front axle swing arm can swing up and down with a certain amplitude. A shock absorption spring assembly is arranged on each of the left and right sides of the front axle swing arm to buffer the impact force of the up and down swing and make the operation more stable.

[0040] The rear axle telescopic assembly also includes a telescopic inner tube, a left electric telescopic assembly, and a right electric telescopic assembly, but unlike the front axle swing telescopic assembly, it cannot swing up and down. Instead, the rear axle crossbeam nested with the telescopic inner tube is directly fixed on the base frame body, and therefore there is no need for a shock absorption spring assembly.

[0041] The front axle swing structure uses the center of the front axle as the swing center and is hinged to the vehicle body through bearings. By releasing the rotational freedom of the entire axle, it can adapt to the unevenness of the ground. Due to the unevenness of the ground, the supporting forces of the two wheels on both sides of the swing axle are different according to the length of the lever arm from the wheel to the swing center. The wheel with a longer lever arm has a smaller supporting force, and the wheel with a shorter lever arm has a larger supporting force. This floating structure enables the two wheels on the left and right wheel legs to adapt to the uneven road surface through swinging. In fact, it can also be regarded as evolving the two wheels on the front axle into a large wheel on the entire axle. Thus, the 4-wheel layout of the entire vehicle is evolved into a 3-wheel layout. According to the theory that three points determine a plane, the three wheels must touch the ground simultaneously, so that the four tires are always in contact with the ground, and no single tire will be in a suspended state. Therefore, the technical defect of a single tire not touching the ground is overcome, and it can be applied to more complex terrain scenarios.

[0042] The front and rear axles connected and fixed to the wheel leg assembly respectively have the function of telescoping and adjusting the wheelbase, that is, the ridge width. Among them, the front axle adopts a swing structure, the rear axle adopts a fixed telescopic structure, and an electric telescopic assembly is used for automatic adjustment.

[0043] The 4 groups of wheel leg assemblies can automatically adjust the wheelbase, that is, the ridge width in field operations, through the electric telescopic assemblies on the base assembly and the front and rear telescopic axles.

[0044] The laser strike platform assembly is suspended under the base assembly through 4 groups of electric telescopic assemblies and universal floating joints. It can not only adjust the overall laser strike height to adapt to different ridge heights on the field ground, but also, through the combined control of the telescopic heights of the 4 groups of electric telescopic assemblies, adapt to different slopes of the field ground operations, including transverse slopes and longitudinal slopes, so that the laser strike platform is always dynamically parallel to the ridge surface where the weeds or crops are located, and finally ensure that the laser beam accurately strikes the top of the required weeds or the roots of the thinned crops.

[0045] A three-dimensional laser terrain scanning radar is provided at the front end of the base frame body, which is used to scan the slope of the field ground where the robot is located and feedback the measured and controlled slope to the robot control system to adjust the parallelism between the laser strike platform and the operation ground, ensuring that the laser beam accurately strikes, for example, the top of the required weeds or the roots of the thinned crops.

[0046] Therefore, in summary, the laser weeding and thinning robot of the present application, under the configuration of this embodiment, the laser weeding and thinning process in the field is as follows:

[0047] First, the 3D laser terrain scanning radar installed in front of the vehicle scans the terrain slope in front of the vehicle, sends the measured current operation slope data to the control system such as the industrial control computer. Then, according to the task instruction data of the current operation, the control system combines the current data fed back by the 4 laser ranging sensors and 5 biaxial inclination sensors around the laser strike platform, and through the internal algorithm, quickly gives the respective real-time telescopic amounts of the 4 electric telescopic components around the strike platform, and synchronously adjusts the working tilt angle of the laser strike platform;

[0048] Secondly, when the robot enters the working field, the lighting device installed under the laser strike platform is turned on at the same time, and 2 front-end remote coarse prediction AI intelligent cameras are started to conduct coarse prediction recognition and coarse positioning on the strike target slightly farther ahead in the advancing direction. According to the feedback data of the front-end remote coarse prediction AI intelligent cameras, 4 near-field precise prediction AI intelligent cameras conduct a small-range screening and further precise recognition and positioning prediction on the strike target under the laser galvanometer of the adjacent laser, and then feedback the evaluated precise data to the control system. According to the optimized result, the control system selects the pseudo-coaxial AI intelligent camera on a certain adjacent and most suitable laser module. The pseudo-coaxial AI intelligent camera locks the ideal part of the strike target in real time, and guides the laser module to emit a laser beam with a specific intensity and duration, and accurately irradiates the meristem at the top of the weed or the root of the seedling that needs to be thinned, in order to achieve the expected damage effect.

[0049] Finally, the adjacent near-field precise prediction AI intelligent camera evaluates the damage effect in real time and uploads it to the industrial control computer, so that the system can decide whether to end the current laser strike and whether to adjust the strike parameters in real time for additional strikes, or start such a cycle for the next strike target.

[0050] As Figures 32 to 35 shown, if the laser weeding and thinning robot of the present application does not carry the vehicle-mounted equipment and the laser strike platform components, it can separately become an intelligent walking robot for field operations. The intelligent walking robot can realize different functions based on different carried equipment. For example, if it carries multiple cameras, it can be transformed into a terrain map acquisition vehicle. If it carries a pesticide spraying machine, it can be transformed into a precise quantitative pesticide spraying intelligent robot. It can also carry a rice transplanter to realize intelligent rice transplanting. The structure of the intelligent walking robot of the present application can be applied to many scenarios in industry, agriculture and life.

[0051] As Figures 36 to 43As shown in the figure, the main structure of the drive wheel-leg assembly is a five-axis drive wheel-leg box body. Power is transmitted from top to bottom through an upper gear assembly, a middle-upper gear assembly, two middle-lower gear assemblies, and a lower gear assembly connected to the tire assembly at the bottom. The upper gear assembly is connected to the servo motor through a planetary reducer to transmit power. The housing of the planetary reducer is fixed to the drive wheel-leg box body through an adapter plate interface and bolts. A vehicle bridge connection plate is fixed to the outside of the middle-upper gear assembly near the vehicle body side. The vehicle bridge connection plate is fixed to the drive wheel-leg box body through bolts. The vehicle bridge connection plate is provided with an outer stop mouth positioning boss that fits with the vehicle bridge inner stop mouth positioning hole of the telescopic inner tube of the front axle swing telescopic assembly or the rear axle telescopic assembly for positioning. After positioning, the telescopic inner tube is fixed to the drive wheel-leg box body through bolts, thus completing the connection between the telescopic inner tube and the drive wheel-leg box body. Such a design makes the disassembly and assembly of the drive wheel-leg assembly and the base assembly not only more convenient, but also its structure is reasonably stressed and the positioning connection is firm and reliable.

[0052] The drive wheel-leg box body uses a commercially available high-strength rectangular steel pipe as the box body welding body, and its two larger sides are provided with bearing installation holes adapted to the bearings of the gear assemblies. At the same time, on the joint surface with the telescopic inner tubes of the front and rear axles, an outer stop mouth corresponding to the telescopic inner tube is provided; the installation of all gears in the box body can enter and exit through the openings at both ends of the rectangular steel pipe respectively.

[0053] The upper gear assembly is specifically composed of an upper gear, a shrink disc for the upper gear, an upper bearing bushing, an upper gland, a double-row self-aligning ball bearing with a locking collar, an upper gear shaft, a shrink disc for the reducer shaft, an upper blind cover, an upper adjusting ring, an upper spacer ring, an upper gear centering and spacing ring, and an O-ring. The installation process is as follows:

[0054] The following installation process takes Figure 37 and Figure 43 as an example for display. Figures 39 to 42 The installation process of

[0055] ① Insert the upper gear into the inner cavity of the drive wheel-leg box body from the upper opening of the drive wheel-leg box body and translate it to be coaxial with the upper bearing hole;

[0056] ② Snap the upper gear centering and spacing ring into the right side of the upper gear hole from the bearing hole of the box body on the right side of the figure;

[0057] ③ Insert the upper gear shaft into the upper gear centering and spacing ring and the gear hole respectively from the bearing hole of the box body on the right side of the figure, and at the same time penetrate the drive wheel-leg box body; through the gear centering and spacing ring, the gear can be easily coaxially installed with the gear shaft initially, so that it will be very labor-saving and convenient to install the shrink disc for the gear subsequently;

[0058] ④ Slide the right upper spacer ring onto the upper gear shaft from the bearing hole of the box body on the right side of the figure;

[0059] ⑤ Insert the right upper bearing bushing into the right through-hole of the driving wheel leg box body;

[0060] ⑥ Insert the double-row self-aligning ball bearing with an adapter sleeve on the right side into the upper bearing bushing, and at the same time, it is also sleeved on the upper gear shaft. Fix it temporarily with the fixing nut of the double-row self-aligning ball bearing with an adapter sleeve;

[0061] ⑦ From the left through-hole of the driving wheel leg box body, sleeve the upper gear on the upper gear shaft with a shrink disc, and fix the gear with the tightening screw of the shrink disc according to the required torque;

[0062] ⑧ Sleeve the left upper spacer ring onto the upper gear shaft;

[0063] ⑨ Sleeve the left upper bearing bushing and the double-row self-aligning ball bearing with an adapter sleeve; Fix it temporarily with the fixing nut of the double-row self-aligning ball bearing with an adapter sleeve;

[0064] ⑩ By detecting and adjusting the meshing condition between the upper gear and the middle upper gear loaded previously, finally fix the double-row self-aligning ball bearings with adapter sleeves on both the left and right sides simultaneously;

[0065] Finally, sleeve the upper adjusting ring and the O-ring on the left and right sides respectively. Install the upper cover on the left side and the blind cover on the right side to preliminarily complete the assembly of the upper gear assembly. The installation methods of other middle upper gear assemblies, 2 middle lower gear assemblies, and the lower gear assembly connected to the tire assembly at the bottom are similar and will not be elaborated here.

[0066] Since the upper gear assembly is connected to the planetary reducer, the upper gear shaft is designed to be hollow, while the gear shafts of other middle upper gear assemblies, 2 middle lower gear assemblies, and the lower gear assembly connected to the tire assembly at the bottom are designed to be solid.

[0067] The installation process of the upper gear shaft and the planetary reducer is as follows. Since there is a shrink disc for the reducer shaft at one end of the shaft of the planetary reducer connected to the upper gear shaft, after the double-row self-aligning ball bearings with adapter sleeves in step ⑩ are finally fixed simultaneously, it is necessary to insert the shrink disc for the reducer shaft from the right side of the upper gear shaft, and then fix the shrink disc, so as to fix the rotating shaft of the planetary reducer and the upper gear shaft. Then connect the rotating shaft of the servo motor to the input end of the planetary reducer. Finally, install the remaining parts according to the above step Install the remaining parts.

[0068] Since the lower gear assembly has to bear the axial force that may be generated when the wheel is walking or turning, therefore, the bearing used on the lower gear shaft is changed to a double-row self-aligning roller bearing with a tapered bore that can bear a large axial force. Except for this, the remaining structure is similar to that of the upper gear assembly.

[0069] The connection method between the lower gear assembly and the tire assembly is as follows: Through similar operations as above, first fixedly install the lower gear assembly in the drive wheel leg box body. The left side of the lower gear shaft protrudes outside the drive wheel leg box body. The hub disc of the tire assembly is sleeved on the lower gear shaft, and the two are fixedly connected through a shrink fit, which is convenient for disassembly and assembly.

[0070] Cover plates with rubber sealing pads are provided at the upper and lower ends of the drive wheel leg box body for convenient installation and maintenance. After installation, the upper and lower cover plates need to be fixed on the drive wheel leg box body with the provided rubber sealing pads. A filter breather cap is provided above the drive wheel leg box body where the upper gear assembly is fixed to balance the air pressure inside and outside the box body. Hexagon socket plugs are provided on the side wall of the box body between different fixed gear assemblies of the drive wheel leg box body, which is convenient for subsequent replenishment of gear grease and maintenance.

[0071] The vehicle body of this application uses a five-axis gearbox driven by 4 servo motors as the drive wheel legs, forming a 4-wheel 4-wheel drive differential structure, which can flexibly turn or steer precisely in place and move precisely.

[0072] The 4 drive wheel legs use a five-axis gearbox. The gearbox body is composed of closed rectangular steel pipes with a large cross-section. The gears therein are connected to the shafts through shrink fits, and the bearings use double-row self-aligning ball bearings with locking collars. The purpose is to facilitate installation and later maintenance. At the same time, it reduces the parallelism and coaxiality accuracy requirements for machining the bearing holes of the gearbox and the machining cost, and also eliminates the additional conditions of supporting process equipment required for processes such as hot fitting or cold fitting of gears.

[0073] The wheel leg assembly and the front and rear axles are respectively matched through the outer stop positioning bosses on the axle connection plates on the wheel legs and the axle inner stop positioning holes of the telescopic inner tubes of the front and rear axles. The assembly is more convenient. For the traditional structure where the gear and the shaft are connected by a key, a large press is required for press fitting, or induction heating for hot fitting, or liquid nitrogen freezing of the gear shaft for cold fitting, which requires supporting special process equipment and is not conducive to disassembly, assembly, and maintenance by users or in the field and farmland.

Claims

1. A field laser intelligent weeding and thinning robot, characterized in that: Including base assembly, laser strike platform assembly, 4 sets of driving wheel leg assemblies, and on-board equipment; The vehicle-mounted equipment is installed on the base assembly, the laser strike platform assembly is suspended below the base assembly, and two sets of driving wheel leg assemblies are fixed on both sides of the base assembly; The vehicle-mounted equipment is connected to the laser striking platform assembly and the driving wheel leg assembly respectively.

2. The field laser intelligent weeding and thinning robot according to claim 1, characterized in that: The laser striking platform assembly includes a frame assembly and a plurality of laser modules installed on the frame assembly.

3. The field laser intelligent weeding and thinning robot according to claim 2, characterized in that: A laser obstacle avoidance radar is arranged at the front end of the frame assembly.

4. The field laser intelligent weeding and thinning robot according to claim 2, characterized in that: Laser distance measuring sensors are arranged at the four corners of the frame assembly.

5. The field laser intelligent weeding and thinning robot according to claim 2, characterized in that: The four corners and the center of the frame assembly are provided with inclination sensors.

6. The field laser intelligent weeding and thinning robot according to claim 2, characterized in that: The frame assembly comprises a frame, a laser module pad is arranged on the frame, the laser module pad is provided with guide slots, and the number of the guide slots matches the number of laser tubes of the laser module.

7. The field laser intelligent weeding and thinning robot according to claim 6, characterized in that: A guide flat key is arranged at the front end of the frame assembly.

8. The field laser intelligent weeding and thinning robot according to claim 1, characterized in that: The bottom of the laser strike platform assembly is provided with an underbody camera and a lighting assembly, and the underbody camera and the lighting assembly include an underbody camera and a lighting frame, and the underbody camera and the lighting frame are provided with a flash light, a front remote coarse prediction camera, a flash light bar and a near-field precise prediction camera.

9. The field laser intelligent weeding and thinning robot according to claim 1, characterized in that: The vehicle-mounted equipment includes a variable frequency gasoline generator, a laser power supply, an electric control box, a chiller, a UPS and an industrial computer.

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