Three-dimensional striking optical vision assembly of laser module for field laser weeding and laser weeding and thinning robot

Abstract

The utility model relates to the technical field of lasers, in particular to a three-dimensional striking optical vision assembly of a laser module for field laser weeding and a laser weeding and thinning robot, which comprise a laser digital scanning galvanometer connected with a rear support, a pseudo coaxial camera assembly and two sets of micro wiper devices, wherein the micro wiper device further comprises a micro digital steering engine, a micro digital steering engine support, a micro wiper and a liquid spraying pipe assembly and is used for cleaning lenses of a galvanometer and a camera through dust removal, mist removal, rain removal and dirt removal, daily maintenance of window lenses of equipment in field operation is facilitated, and the operation efficiency of the equipment is indirectly improved. The laser module with the device can realize large-scale modular and standardized batch production, and can be very conveniently and flexibly assembled, disassembled, used, adjusted and maintained on a mobile robot. And large-scale modularized and standardized batch production can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of lasers, in particular to a three-dimensional strike optical vision component of a laser module for field laser weeding. Background Technique

[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. Especially in recent years, a large number of domestic and foreign practices 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 AI and 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, it can instantly form a conspicuous laser flame, or burn the top of the weeds to ashes, or burn the top or roots of the seedlings to wither. It can not only cause significant damage and inactivation effects on field weeds, but also efficiently complete the operations of thinning or topping 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 therefore quite popular and become the only choice.

[0003] However, because the high-power carbon dioxide glass tube lasers available for weeding are relatively fragile, their own length is close to 2 meters, and their size is relatively large, which brings some inconveniences in actual applications. Although there have been various forms of carbon dioxide laser modules in reality, which have initially solved the basic protection problem of the laser glass tube, there is still a lack of an integrated functional module that is convenient for transportation, installation, replacement, adjustment and maintenance, and at the same time integrates a laser digital scanning galvanometer and a pseudo-coaxial camera. There are also some other necessary auxiliary functions and accessories suitable for field operations such as lens dust removal, so it is not convenient for mobile robot laser weeding or thinning and topping operations. Summary of the Invention

[0004] The purpose of the utility model is to provide a three-dimensional strike optical vision component of a laser module for field laser weeding, so as to solve the problems put forward in the above background technique.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0006] A three-dimensional strike optical vision component for a laser module used in field laser weeding, comprising: a front support component, a laser tube encapsulation component, and a rear support component connected in sequence, and a laser digital scanning galvanometer component and a pseudo-coaxial camera component connected to the rear support component;

[0007] On one side of the rear support component where it is connected to the laser digital scanning galvanometer component in the axial direction of the laser output by the laser tube, a laser tube laser output hole and a galvanometer mounting positioning boss are provided. The laser digital scanning galvanometer component is provided with a galvanometer laser input hole and a galvanometer mounting positioning hole, and the laser tube laser output hole and the galvanometer mounting positioning boss are matched with the galvanometer laser input hole and the galvanometer mounting positioning hole.

[0008] Preferably, a pseudo-coaxial camera mounting positioning groove stop is provided below the laser tube laser output hole and the galvanometer mounting positioning boss. The pseudo-coaxial camera component is provided with a pseudo-coaxial camera mounting positioning boss stop, and the pseudo-coaxial camera mounting positioning groove stop is matched with the pseudo-coaxial camera mounting positioning boss stop.

[0009] Preferably, the pseudo-coaxial camera component includes a pseudo-coaxial base, a measurement and control camera component mounted on the pseudo-coaxial base, and a camera dust-proof component sleeved on the measurement and control camera component;

[0010] A laser window lens is provided on the inclined plane where the pseudo-coaxial base passes through the laser, and a micro-rain wiper component is provided outside the laser window lens;

[0011] The camera dust-proof component is provided with a camera dust-proof lens, and a micro-rain wiper component is provided outside the camera dust-proof lens.

[0012] Preferably, a liquid spraying tube component is provided outside the laser window lens, and a liquid spraying tube component is provided outside the camera dust-proof lens.

[0013] Preferably, the micro-rain wiper component is composed of a micro digital servo, a micro digital servo bracket, and a micro brush. The micro digital servo is connected to the micro brush, and the micro digital servo bracket fixes the micro digital servo on the pseudo-coaxial base.

[0014] Preferably, the liquid spraying tube component is composed of a liquid spraying tube bracket and a liquid spraying tube.

[0015] Preferably, a laser window lens pressing plate is provided outside the laser window lens, and a camera dust-proof lens pressing plate is provided outside the camera dust-proof lens.

[0016] Preferably, the angle of the inclined plane is 45°.

[0017] A laser weeding and thinning robot includes a three-dimensional striking optical vision component of the laser module for field laser weeding described in any one of the foregoing.

[0018] Compared with the prior art, the beneficial effects achieved by the present utility model are as follows: The present utility model is aimed at the needs of mobile robot laser weeding, thinning or topping operations. It efficiently integrates a 150w high-power carbon dioxide laser, as well as a matching laser digital scanning galvanometer and a pseudo-coaxial camera into a modular general laser module. At the same time, a micro wiper dust removal system is equipped for the galvanometer and the camera lens to solve the many technical requirements of the mobile laser weeding robot in field weeding operations for the compactness and working reliability of the laser module, as well as the convenience of maintenance, repair and replacement, and corresponding solutions are given. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings are used to provide a further understanding of the present utility model, and constitute a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model and do not constitute a limitation to the present utility model. In the drawings:

[0020] Figure 1 : Side view of the laser module; Figure 2 : Cross-sectional view of the laser module; Figure 3 : Exploded view of the laser module; Figure 4 : Front view of the laser module; Figure 5 : View in the direction of the laser module; Figure 6 : Cross-sectional view of the laser tube alignment adjustment section of the laser module; Figure 7 : Cross-sectional view of the guide frame of the laser module; Figure 8 : Front support assembly diagram; Figure 9 : Rear support assembly diagram; Figure 10 : Side view of the laser tube encapsulation assembly; Figure 11 : Exploded view of the laser tube encapsulation assembly; Figure 12 : Cross-sectional view of the laser tube encapsulation assembly; Figure 13 : Cross-sectional view of the front cover assembly; Figure 14 : Side view of the front cover assembly; Figure 15 : Exploded view of the front cover assembly; Figure 16 : Side view and cross-sectional view of the rear cover assembly; Figure 17 : Exploded view of the rear cover assembly; Figure 18 : Side view of the outer sleeve assembly; Figure 19 : Exploded view of the outer sleeve assembly;

[0021] Figure 20 : Cross-sectional view of the outer sleeve assembly; Figure 21 : Cross-sectional view of the outer sleeve assembly; Figure 22 : Side view of the laser tube assembly; Figure 23 : Exploded view of the laser tube assembly; Figure 24: Front and rear sealing plates of the laser tube assembly; Figure 25 : Fixed ring diagram of the laser tube assembly; Figure 26 : Side view of the laser tube Figure 1 ; Figure 27 : Side view of the laser tube Figure 2 ; Figure 28 : Assembly side view of the rear bracket assembly, galvanometer assembly and pseudo coaxial camera assembly; Figure 29 : Assembly exploded view of the rear bracket assembly, galvanometer assembly and pseudo coaxial camera assembly; Figure 30 : Assembly sectional view of the rear bracket assembly, galvanometer assembly and pseudo coaxial camera assembly; Figure 31 : Schematic diagram of the assembly of the rear bracket assembly and the galvanometer assembly Figure 1 ; Figure 32 : Schematic diagram of the assembly of the rear bracket assembly and the galvanometer assembly Figure 2 ; Figure 33 : Assembly side view of the rear bracket assembly and the pseudo coaxial camera assembly; Figure 34 : Assembly sectional view of the rear bracket assembly and the pseudo coaxial camera assembly; Figure 35 : Side view and exploded view of the pseudo coaxial camera assembly; Figure 36 : Side view and exploded view of the pseudo coaxial base; Figure 37 : Sectional view of the pseudo coaxial base; Figure 38 : Side view and exploded view of the measurement and control camera assembly; Figure 39 : Side view and exploded view of the camera dust-proof assembly; Figure 40 : Side view of the laser module application - mobile robot laser strike platform; Figure 41 : Exploded view of the laser module;

[0022] In the figure: 1. front bracket assembly; 11. front bracket installation positioning cone surface; 12. anti-rotation screw; 13. guide keyway; 14. slideway; 15. slideway screw; 2. laser tube packaging assembly; 21. front cover assembly; 211. front cover installation positioning cone surface; 212. DC high-voltage spiral quick-change socket; 212a. DC high-voltage spiral quick-change socket fixed end plug; 212b. DC high-voltage spiral quick-change socket outer active end plug; 213. three-core aviation socket; 214. pagoda connector; 214a. pagoda connector (water inlet); 214b. pagoda connector (water outlet); 215. anti-rotation screw insertion hole; 22. outer sleeve assembly; 221. laser tube Centering screw; 222, injection hole screw plug; 223, locking nut; 224, self-tapping screw sleeve; 23, rear cover assembly; 231 rear cover installation positioning cone; 232, dust sleeve; 24, laser tube assembly; 241, laser tube; 2412, laser tube red light indicator; 2413, red light indicator positive and negative leads; 2414, laser cathode low-voltage lead; 2415, laser cooling water outlet pipe; 2416, laser cooling water inlet pipe; 2417, laser cathode high-voltage lead; 242, support rod; 243, laser tube front cover; 244, light outlet positioning block; 245, pipeline bracket; 2451, laser cathode cable and red light indicator positive and negative 2452, wiring hole for polar cable; 2453, wiring hole for cooling water outlet hose; 246, EVA foam single-sided soft tape; 247, fixing ring; 2471, upper half ring pressure block for fixing ring; 2472, lower half ring pressure block for fixing ring; 2473, fixing ring connecting screw; 248, rear sealing plate for laser tube; 249, rear positioning block; 3, rear bracket assembly; 31, rear bracket mounting positioning cone; 32, laser tube laser output hole and galvanometer mounting positioning boss; 33, pseudo-coaxial camera mounting positioning groove stop; 4, laser digital scanning galvanometer assembly; 41, laser window lens; 42, laser window lens pressure plate; 43, micro wiper assembly; 431, micro digital servo; 4 32. Micro digital servo bracket; 433. Micro scraper; 44. Spray pipe assembly; 441. Spray pipe bracket; 442. Spray pipe; 45. Galvanometer laser input hole and galvanometer mounting positioning hole; 5. Pseudo-coaxial camera assembly; 51. Pseudo-coaxial base; 511. Pseudo-coaxial camera mounting positioning boss stop; 52. Measurement and control camera assembly; 521. Measurement and control camera; 522. Measurement and control camera lens; 523. Camera adapter plate; 53. Camera dustproof assembly; 531. Camera dustproof lens; 532. Camera dustproof lens pressure plate; 533. Camera dustproof cover; 534. Camera connector cover; 6. Guide frame; 61. Guide boss; 62. Guide frame fastening screw. DETAILED DESCRIPTION

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated position or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0025] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0026] This embodiment provides a high-power carbon dioxide laser module that is applicable to laser weeding or thinning and topping of mobile robots, as Figures 1 to 41, including a laser tube encapsulation assembly 2 with an outer sleeve, a front support assembly 1 and a rear support assembly 3, as well as a laser digital scanning galvanometer assembly 4 and a pseudo-coaxial camera assembly 5 respectively installed on the rear support assembly. Among them, the laser tube encapsulation assembly includes a 150w high-power carbon dioxide glass tube laser tube 241 with a coaxial red light indicator, the laser tube and several concentric pipeline supports 245, and two groups of fixing rings 247 (i.e., centering supports) for adjusting the concentricity of the laser tube, combined with two aluminum alloy support rods 242, a laser tube front seal plate 243 and a laser tube rear seal plate 248 to form a laser tube assembly 24. The laser tube assembly is coaxially installed in the cavity at the center of the outer sleeve assembly 22 and is coaxially installed with the front cover assembly 21 and the rear cover assembly 23 respectively to form a relatively complete laser tube encapsulation assembly. The front support assembly, the rear support assembly, the galvanometer and the pseudo-coaxial camera assembly can be pre-installed on the laser strike platform of the mobile robot. Since the front and rear cover assemblies of the laser tube encapsulation assembly and the front and rear support assemblies each have a 1:5 mating taper surface that is convenient for positioning and disassembly, the laser tube encapsulation assembly can be installed and mated through these 1:5 taper surfaces, and can be easily combined with the front and rear support assemblies to form a complete laser module suitable for laser weeding or thinning and topping of mobile robots. The laser module can achieve large-scale modular and standardized mass production, and can be flexibly installed, disassembled, used, adjusted and maintained on the mobile robot very conveniently. Moreover, micro wiper assemblies 43 suitable for window lens dust removal are respectively integrated and installed on the galvanometer on the rear support and the pseudo-coaxial camera assembly, which also facilitates the daily maintenance of the window lens of the equipment during field operations and indirectly improves the operation efficiency of the equipment.

[0027] As shown in Figures 1 to 3 , the laser module of the present invention can be decomposed into the following 5 major components: front support assembly, laser tube encapsulation assembly, rear support assembly, laser digital scanning galvanometer assembly, pseudo-coaxial camera assembly.

[0028] As a preferred solution, as shown in Figure 2 and Figure 3 , the front support assembly and the rear support assembly respectively have a conical hole that can be coaxially assembled, specifically the front support installation positioning taper surface 11 and the rear support installation positioning taper surface 31, and the taper is a common standard taper such as 1:5 that is convenient for disassembly and assembly, as shown in Figure 8 and Figure 9 ; while Figure 3 on the front and rear cover assemblies of the laser tube encapsulation assembly, there are also respectively a conical boss that can be coaxially assembled, specifically the front cover installation positioning taper surface 211 and the rear cover installation positioning taper surface 231, and the taper is also such as 1:5, as shown in Figure 12 , Figure 13 and Figure 16Therefore, the front bracket assembly, the laser tube packaging assembly and the rear bracket assembly can be coaxially installed through these concave and convex conical mating surfaces with the same 1:5 taper. Moreover, the conical mating with this taper can not only achieve accurate coaxial positioning, but also is very convenient for disassembly and assembly.

[0029] At the same time, Figure 8 A guide key slot 13 is provided in the middle of the bottom surface of the front bracket. By installing a guide flat key of corresponding width on the striking platform, the front bracket assembly can be slid forward and backward. Figure 8 Two slide grooves 14 are arranged on the horizontal mounting surface of the front bracket, and two rows of slide groove screws 15 are arranged in the slide grooves. The front bracket can be fixed to the striking platform through these screws, so that together with the guide keyway below, Figure 40 The coaxial assembly and disassembly of the front bracket assembly, the laser tube packaging assembly and the rear bracket assembly are realized on the striking platform.

[0030] At the same time, Figure 8 Below the tapered hole of the front bracket assembly, a stop screw hole and a stop screw 12 are also provided. Figure 13 A stop screw insertion hole 215 is also provided at a corresponding position on the front cover assembly. The stop screw and the stop screw insertion hole are used to lock the laser tube packaging assembly to prevent it from rotating on the conical matching axis of the front and rear brackets and maintain the correct position;

[0031] like Figure 4 , Figure 5 , Figures 13 to 15 As shown, a DC high-voltage spiral quick-change socket 212 (including a DC high-voltage spiral quick-change socket fixed end plug 212a and a DC high-voltage spiral quick-change socket outer active end plug 212b) and a three-core aviation socket 213, as well as two pagoda connectors 214 (pagoda-type cooling water pipe connectors) are integrated and installed on the front cover assembly of the laser module. The pagoda connectors are further divided into pagoda connectors (water inlet) 214a and pagoda connectors (water outlet) 214b, which are respectively used for quick connection and separation of the positive and negative cables of the laser power supply and the positive and negative cables of the red light indicator and the inlet and outlet cooling water pipes; in order to prevent wrong connection, corresponding identification characters and symbols are also provided at the corresponding positions on the front cover;

[0032] like Figures 10 to 12 As shown, the laser tube packaging assembly can be decomposed into a rear cover assembly, an outer sleeve assembly, a front cover assembly and a laser tube assembly. The laser tube assembly is coaxially installed in the cavity at the center of the outer sleeve assembly, and then coaxially installed with the front cover assembly with an outer cone and the rear cover assembly with an outer cone, respectively, to form a complete laser tube packaging assembly module.

[0033] like Figure 26 and Figure 27As shown, the laser tube includes a laser tube red light indicator 2412, positive and negative leads 2413 of the red light indicator, a laser cathode low-voltage lead 2414, a laser cooling water outlet pipe 2415, a laser cooling water inlet pipe 2416, and a laser cathode high-voltage lead 2417; the positive and negative leads of the red light indicator and the laser cathode low-voltage lead are connected to a three-core aviation plug and then to a three-core aviation socket, the laser cathode high-voltage lead is connected to a DC high-voltage spiral quick-change socket, the laser cooling water outlet pipe is connected to a pagoda connector (water outlet), and the laser cooling water inlet pipe is connected to a pagoda connector (water inlet); before the laser tube is activated, firstly, the axis of the red light needs to be pre-adjusted through the two sets of self-aligning screws for laser tube centering provided on the red light indicator so as to coincide with the axis of the laser emitted by the laser tube;

[0034] like Figure 22 and Figure 23 The laser tube assembly includes a 150W high-power carbon dioxide glass tube laser tube with a coaxial red light indicator, and is composed of several pipeline brackets, two sets of fixing rings, two support rods, and front and rear sealing plates. The pipeline brackets and fixing rings are respectively mounted on the laser tube and maintained at an appropriate distance, and then these pipeline brackets are connected in series through two or more support rods made of lightweight materials (such as aluminum alloy). Then, the positive and negative leads of the red light indicator attached to the laser tube and the laser cathode low-voltage leads are passed through the laser cathode cable and the red light indicator positive and negative cable routing holes 2451 on the pipeline bracket, and the laser cooling water outlet hose is passed through the cooling water outlet hose routing holes 2452 on the pipeline bracket, and then these cables are neatly fixed on the support rods through nylon tie bands, and finally the support rods are connected with screws through the laser tube front sealing plate, the laser tube rear sealing plate and the light outlet positioning block 244 and the rear positioning block 249, so as to fix the laser tube to form a laser tube assembly module;

[0035] like Figure 20 , the diameter of the cavity at the center of the outer sleeve is Φb1,

[0036] like Figure 24 The outer diameters of the front and rear sealing plates of the laser tube and the pipeline bracket are both Φb2.

[0037] Furthermore, in order to facilitate the subsequent fine-tuning of the laser tube centering, b2 should be slightly smaller than b1 as appropriate, depending on the diameter, shape, and position error of the glass tube of the laser tube;

[0038] Furthermore, in order to facilitate the subsequent fine-tuning of the laser tube centering and protect the glass tube of the laser tube from being squeezed, several strips of EVA foam single-sided soft tape 246 with appropriate thickness and surrounding the laser tube can be pasted between the center hole of each pipeline bracket and the fixing ring and the laser glass tube.

[0039] like Figure 25, The fixing ring consists of an upper half-ring pressing block 2471 and a lower half-ring pressing block 2472 of engineering plastic materials such as nylon, and two left and right fixing ring connecting screws 2473. It serves as a bracket for centering the laser tube to adjust the coaxiality error between the laser axis emitted by the laser tube and the outer sleeve.

[0040] As Figures 18 to 21 , The outer sleeve assembly includes an outer sleeve, two guiding frames 6, and two sets of centering screw groups for centering the laser tube, specifically including: a locking nut 223, a self-tapping screw sleeve 224, and a laser tube centering and aligning screw 221. The outer sleeve is made of lightweight materials (such as alloy polypropylene PPH pipe or carbon fiber pipe); the guiding frames are respectively sleeved on the front and rear ends of the middle part of the outer sleeve and fixed on the outer sleeve with two guiding frame set screws 62. As Figure 7 shown, in addition, the guiding convex platform 61 at the lower end of the guiding frame can cooperate with the grooves provided on the striking platform, which is convenient for assembly and positioning and can also prevent the outer sleeve assembly from rotating randomly.

[0041] As Figure 21 , At appropriate distances from the two end faces of the outer sleeve and at positions corresponding to the center of the fixing ring as Figure 22 , two sets of centering screw mounting screw holes are respectively opened, and a stainless steel self-tapping screw sleeve is embedded in each screw hole to prevent the screw holes from slipping and becoming damaged; at the same time, a locking nut is used to prevent the laser tube centering and aligning screw from loosening, so as to maintain and enhance the working reliability and service life of the laser tube centering and aligning screw.

[0042] As Figure 13 and Figure 16 , On the inner side of the outer cylindrical surfaces of the front cover assembly and the rear cover assembly, an outer stop with a diameter of Φd is respectively machined;

[0043] As Figure 20 , At the front and rear ends of the outer sleeve, inner stops with a diameter of Φd are respectively machined;

[0044] As Figure 12 , The outer stops of the front cover assembly and the rear cover assembly respectively form a precise clearance fit with the inner stops at the front and rear ends of the outer sleeve to ensure that inside the laser tube encapsulation assembly, the laser tube assembly and the outer sleeve assembly are precisely coaxially installed. As a preferred solution, as Figure 6 and Figure 21 , Above the cross-section where each set of centering screw holes of the outer sleeve is located, a glue injection screw hole is provided. After the laser axis of the laser module is adjusted and centered in the later stage, through this glue injection hole, an appropriate amount of structural glue is injected into the circular ring channel where the fixing ring on the laser tube assembly is located below this glue injection hole to fix and maintain the position of the laser tube and prevent loosening during subsequent use. After the glue injection is completed, the glue injection hole is blocked with a glue injection hole plug 222.

[0045] AsFigure 16 and Figure 17 The central hole inside the outer conical surface of the rear cover assembly is the light output channel of the laser tube. An engineering plastic dust-proof sleeve 232 is inserted therein to prevent external dust from entering the interior of the laser tube encapsulation assembly.

[0046] Such as Figures 28 to 30 is a side view, an exploded view and a sectional view of the assembly relationship among the rear support assembly, the laser digital scanning galvanometer assembly and the pseudo-coaxial camera assembly;

[0047] Such as Figure 31 and Figure 32 , the laser digital scanning galvanometer is fitted with the laser output hole of the laser tube and the galvanometer mounting positioning boss 32 of the rear support through its own galvanometer laser input hole and galvanometer mounting positioning hole 45, ensuring that the laser output by the laser tube enters the galvanometer through this hole, and then the two are reliably connected by the positioning pins and screws on both sides; furthermore, such as Figure 2 and Figure 6 , by further finely adjusting the 2 groups of centering and alignment screws of the laser tube before and after, it is ensured that the red light emitted by the red light indicator of the laser tube coaxially installed (the coaxiality of the red light and the output laser has been adjusted previously) can accurately hit the center of the first mirror of the galvanometer, such as Figure 30 ;

[0048] Such as Figure 33 and Figure 34 , the pseudo-coaxial camera assembly is fitted with the pseudo-coaxial camera mounting positioning groove stop 33 of the rear support through its own pseudo-coaxial camera mounting positioning boss stop 511, ensuring the alignment of the optical axis of the camera and the output optical axis of the laser galvanometer, and then the two are reliably connected by screws.

[0049] Such as Figure 35 , the pseudo-coaxial camera assembly is disassembled into a pseudo-coaxial base 51, a measurement and control camera assembly 52 and a camera dust-proof assembly 53;

[0050] Such as Figure 36 and Figure 37 , the pseudo-coaxial base includes a mounting base, a laser window lens 41 and a laser window lens pressing plate 42. The laser window lens is installed on a 45° inclined plane of the mounting base and is pressed tightly by the laser window lens pressing plate and screws. Among them, the material of the laser window lens is a zinc selenide or zinc sulfide single-sided coated window lens, which has good penetration and low absorption rate for carbon dioxide laser, and the coating is conducive to reflecting visible light into the camera lens; such as Figure 36, the pseudo coaxial base includes a micro windshield wiper assembly consisting of a set of a micro digital servo 431, a micro digital servo bracket 432, and a micro wiper 433. The micro digital servo is a commercially available common DC micro digital servo, the micro wiper is a special micro windshield wiper similar to that of an automobile, and the micro digital servo bracket is a matching servo bracket; the pseudo coaxial base further includes a liquid spraying pipe assembly 44 composed of a liquid spraying pipe bracket 441 and a liquid spraying pipe 442. By externally connecting a complete set of liquid spraying tanks and liquid spraying motors similar to those of an automobile windshield wiper, the liquid spraying on the laser window lens can be achieved. However, the liquid sprayed here must be a special liquid such as acetone or anhydrous alcohol that is compatible with the material of the laser window lens; as Figure 38 , the measurement and control camera assembly includes a measurement and control camera 521, a measurement and control camera lens 522, and a camera adapter plate 523. The measurement and control camera assembly is installed on the installation base as shown in Figure 35 .

[0051] As Figure 39 , the camera dust-proof assembly includes a camera dust-proof cover 533. The camera dust-proof cover is made of sheet metal and is connected to the installation base by a set of screws, as shown in Figure 35 ; the camera dust-proof assembly further includes a camera dust-proof lens 531 and a camera dust-proof lens pressing plate 532. The camera dust-proof lens is installed on the inner flange of the camera dust-proof cover and is fixed by the camera dust-proof lens pressing plate and screws; the camera dust-proof assembly further includes a micro windshield wiper assembly consisting of a set of a micro digital servo, a micro digital servo bracket, and a micro wiper. The micro digital servo is a commercially available common DC micro digital servo, the micro wiper is a special micro windshield wiper similar to that of an automobile, and the micro digital servo bracket is a matching servo bracket; the camera dust-proof assembly further includes a liquid spraying pipe assembly composed of a liquid spraying pipe bracket and a liquid spraying pipe. By externally connecting a complete set of liquid spraying tanks and liquid spraying motors similar to those of an automobile windshield wiper, the liquid spraying on the laser window lens can be achieved. However, the liquid sprayed here must be a special liquid such as acetone or anhydrous alcohol that is compatible with the material of the laser window lens. A camera connector cover 534 is provided at the camera connector to play a role in dust and water protection.

[0052] As Figure 40 , it is an application example of using Figure 1 laser modules, which is used to form a laser strike platform for a mobile robot and can be applicable to laser weeding, or similar operations such as thinning out seedlings and topping of a mobile robot. Using 4 groups of laser modules is only an example. The actual available quantity is related to the operation requirements and overall design of the equipped mobile robot.

[0053] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Finally, it should be stated that the above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A three-dimensional striking optical vision component of a laser module for field laser weeding, characterized in that: It includes: a front bracket assembly, a laser tube packaging assembly and a rear bracket assembly connected in sequence, a laser digital scanning galvanometer assembly and a pseudo-coaxial camera assembly connected to the rear bracket assembly; The rear bracket assembly is provided with a laser tube laser output hole and a galvanometer mounting positioning boss on one side connected to the laser digital scanning galvanometer assembly in the axial direction of the laser tube laser output. The laser digital scanning galvanometer assembly is provided with a galvanometer laser input hole and a galvanometer mounting positioning hole. The laser tube laser output hole and the galvanometer mounting positioning boss cooperate with the galvanometer laser input hole and the galvanometer mounting positioning hole.

2. The three-dimensional striking optical vision component of the laser module for field laser weeding according to claim 1 is characterized in that: A pseudo-coaxial camera installation positioning groove stop is arranged below the laser output hole of the laser tube and the galvanometer installation positioning boss, and the pseudo-coaxial camera assembly is provided with a pseudo-coaxial camera installation positioning boss stop, and the pseudo-coaxial camera installation positioning groove stop matches the pseudo-coaxial camera installation positioning boss stop.

3. The three-dimensional striking optical vision component of the laser module for field laser weeding according to claim 2 is characterized in that: The pseudo-coaxial camera assembly comprises a pseudo-coaxial base, a measurement and control camera assembly mounted on the pseudo-coaxial base, and a camera dustproof assembly sleeved on the measurement and control camera assembly; A laser window lens is arranged on the inclined surface of the pseudo-coaxial base passing through the laser, and a micro-wiper assembly is arranged outside the laser window lens; The camera dustproof component is provided with a camera dustproof lens, and a micro-wiper component is provided outside the camera dustproof lens.

4. The three-dimensional striking optical vision component of the laser module for field laser weeding according to claim 3 is characterized in that: The laser window lens is provided with a liquid spraying pipe assembly outside, and the camera dustproof lens is provided with a liquid spraying pipe assembly outside.

5. The three-dimensional striking optical vision component of the laser module for field laser weeding according to claim 3 is characterized in that: The micro wiper assembly is composed of a micro digital servo, a micro digital servo bracket, and a micro scraper brush. The micro digital servo is connected to the micro scraper brush, and the micro digital servo bracket fixes the micro digital servo on the pseudo coaxial base.

6. The three-dimensional striking optical vision component of the laser module for field laser weeding according to claim 4 is characterized in that: The liquid spray pipe assembly consists of a liquid spray pipe bracket and a liquid spray pipe.

7. The three-dimensional striking optical vision component of the laser module for field laser weeding according to claim 3 is characterized in that: A laser window lens pressure plate is arranged on the outer side of the laser window lens, and a camera dustproof lens pressure plate is arranged on the outer side of the camera dustproof lens.

8. The three-dimensional striking optical vision component of the laser module for field laser weeding according to claim 3 is characterized in that: The angle of the inclined surface is 45°.

9. A laser weeding and thinning robot, characterized in that: A three-dimensional striking optical vision component of a laser module for field laser weeding comprising any one of claims 1 to 8.

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