Laser target gun and laser weeding machine

Abstract

The utility model belongs to the technical field of laser target guns, and discloses a laser target gun and a laser weeding machine. The laser target gun comprises a laser emitter for emitting a laser beam; the beam combiner is configured to change the light path direction of the laser beam and transmit the visible light beam; the double-shaft galvanometer is arranged below the beam combiner; the offset applying unit is configured to apply offset to the laser beam in the direction parallel to the X-axis and / or in the direction parallel to the Y-axis, so that the laser beam aims at a target in the target area; and the camera shooting assembly is configured to capture the formed visible light beam so as to obtain image information of the corresponding target and the nearby area. According to the laser target gun, the image information of the corresponding target and the nearby area is obtained through the camera shooting assembly, the aiming point of the laser beam is confirmed and guided, it is guaranteed that the laser beam accurately aims at the corresponding target, the number of parts is reduced, a conduction light path is optimized, the laser energy loss is smaller, and the overall compactness of the laser target gun is higher.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of laser target gun, concretely relates to a laser target gun and laser weeding machine. BACKGROUND

[0002] The laser target gun is a device for controlling a laser beam to aim at and act on a target.

[0003] Attached Figure 1 The laser target gun is designed by a foreign science and technology company. As shown in the figure, the laser beam 11 emitted by the laser emitter 1 changes from the horizontal direction to the vertical direction through the light path of the reflector 10; then, the laser beam 11 passes through the middle beam combiner 2' downward, and then passes through the double-axis oscillation mirror 3, so that the laser beam 11 is aimed at the target 41 in the target area 4. The visible light beam 42 is captured by the camera assembly 5 after being reflected through the double-axis oscillation mirror 3 and the middle beam combiner 2'; wherein, the reflector 10 is high reflection (HR, High Reflection) to the laser beam; the middle beam combiner 2' is high transmission (HT, High Transmission) to the laser beam 11, and high reflection (HR, High Reflection) to the visible light beam 42. The light path of the design scheme is complex, the laser energy loss is large, the performance stability is not high, the component redundancy is high, the overall volume of the device is large, and the actual use experience is poor.

[0004] Therefore, it is urgent to provide a laser target gun with simpler structure, smaller laser energy loss and higher integration on the basis of ensuring normal function, to overcome the above problems.

[0005] Therefore, the present application is proposed. UTILITY MODEL CONTENT

[0006] The technical problem to be solved by the utility model is to overcome the defects of high component redundancy, large laser energy loss and low integration of the prior art, and to provide a laser target gun.

[0007] Another purpose of the utility model is to provide a laser weeding machine provided with the laser target gun, for laser weeding.

[0008] To solve the above technical problems, the basic idea of the technical scheme of the utility model is as follows: a laser target gun, comprising:

[0009] A laser emitter is horizontally arranged, and the laser emitter emits a horizontal laser beam;

[0010] A beam combiner is arranged at an angle of 45 degrees with the horizontal laser beam, and is configured to change the path of the laser beam from horizontal to vertical and to transmit visible light; the beam combiner has high reflectivity for laser beams and high transmittance for visible light;

[0011] A dual-axis galvanometer is arranged below the beam combiner, and is configured to impart a shift to the laser beam in the vertical direction along the X-axis direction and / or along the Y-axis direction, so that the laser beam after the shift is aimed at a target in the target area; the target can reflect visible light, and the visible light reflected by the target forms a visible light beam through the dual-axis galvanometer and the beam combiner;

[0012] A camera assembly is arranged above the beam combiner, and is configured to capture the formed visible light beam to obtain image information of the corresponding target and the surrounding area.

[0013] According to an embodiment of the present application, the laser target gun further comprises a fixed shell frame configured to fix the positions of the laser emitter, the beam combiner and the dual-axis galvanometer.

[0014] According to an embodiment of the present application, the laser emitter is a CO2 gas laser tube, or the laser emitter is a radio frequency pulse CO2 laser emitter.

[0015] According to an embodiment of the present application, the wavelength of the laser beam generated by the laser emitter is 10.6 μm.

[0016] According to an embodiment of the present application, the beam combiner has a structure in which the main body is made of quartz material and coated with a film.

[0017] The beam combiner has high reflectivity for laser beams with a wavelength of 10.6 μm, and high transmittance for visible light beams with a wavelength of 400-700 nm.

[0018] According to an embodiment of the present application, the film is a dielectric multilayer film.

[0019] The present application also provides a laser weeding machine provided with the laser target gun, and the laser weeding machine further comprises:

[0020] A control assembly is configured to control the dual-axis galvanometer to impart a corresponding shift to the laser beam according to the image information obtained by the camera assembly of the laser target gun, so that the laser beam is aimed at weeds in a corresponding area to perform burning treatment on the weeds.

[0021] According to an embodiment of the present application, the laser weeding machine further comprises:

[0022] The lighting assembly supplements light for the corresponding area;

[0023] The area brightness detection assembly detects the light intensity in the corresponding area; when detecting that the light intensity in the corresponding area is lower than the minimum visible light standard, the lighting assembly is controlled to start supplementing light.

[0024] Compared with the prior art, the present application has the following beneficial effects:

[0025] 1) In the present application, the camera assembly is arranged to obtain image information of the corresponding target and the surrounding area, to confirm and guide the aiming point of the laser beam, and to ensure that the laser beam is accurately aimed at the corresponding target.

[0026] 2) Compared with the prior art, the present application reduces the use of components, optimizes the light transmission path, and makes the laser energy loss smaller and the overall compactness of the laser target gun higher.

[0027] 3) In the present application, the laser weeding machine uses the collected image information of the weeds to be removed and the surrounding area to guide the laser beam to burn the weeds, effectively removing the weeds without damaging the crops in the field.

[0028] The specific embodiments of the present application will be described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings are part of the present application and serve to provide a further understanding of the present application, and the illustrative embodiments of the present application and their descriptions serve to explain the present application, but do not constitute an improper limitation on the present application. Obviously, the drawings described below are only some embodiments, and other drawings can be obtained by those skilled in the art without creative labor. In the drawings:

[0030] Figure 1 The present application is a structure diagram of the prior art in the background art;

[0031] Figure 2 The present application is a structure diagram of the laser target gun in the embodiment of the present application;

[0032] Figure 3 The present application is an information transmission relationship diagram of the constituent parts of the laser weeding machine in the embodiment of the present application.

[0033] Explanation of main elements in the drawings:

[0034] 1, laser emitter; 10, mirror; 11, laser beam; 2', intermediate beam combiner; 2, beam combiner; 3, two-axis galvanometer; 4, target area; 41, target; 42, visible light beam; 5, camera assembly; 6, control assembly; 7, illumination assembly; 8, area brightness detection assembly; 9, movement assembly.

[0035] It should be noted that the drawings and the written description are not intended to limit the scope of the present application in any way, but are merely to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments will be described clearly and completely below with reference to the drawings of the embodiments of the present application. The following embodiments are used to illustrate the present application, but not to limit the scope of the present application.

[0037] In the description of the present application, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] Figure 1 It is a structural schematic diagram of the laser target gun in the background art; Figure 2 It is a structural schematic diagram of a laser target gun provided by the present application; Figure 3 It is an information transmission relationship diagram of the constituent parts of a laser weeding machine provided by the present application.

[0040] As Figure 2 shown, the laser target gun provided by the present application comprises:

[0041] The laser emitter 1 is horizontally arranged, and the light path of the laser emitter 1 is a horizontal laser beam 11;

[0042] a beam combiner 2, which is arranged at an angle of 45° with respect to the horizontal laser beam 11 (the laser emitter 1); the beam combiner 2 is configured to change the direction of the laser beam 11 from horizontal to vertical by reflection and to transmit visible light; the beam combiner 2 has high reflectivity (HR) for the laser beam 11 and high transmission (HT) for visible light;

[0043] a two-axis galvanometer 3, which is arranged below the beam combiner 2; the two-axis galvanometer 3 is configured to impart a shift to the laser beam 11 in the vertical direction along the X-axis and / or along the Y-axis, so that the laser beam 11 after the shift is aimed at a target 41 in the target area 4; the target 41 can reflect visible light, and the visible light reflected by the target 41 forms a visible light beam 42 by the two-axis galvanometer 3 and the beam combiner 2;

[0044] a camera assembly 5, which is arranged above the beam combiner 2; the camera assembly 5 is configured to capture the formed visible light beam 42 to obtain image information of the corresponding target 41 and the surrounding area;

[0045] The obtained image information is used for real-time control and guidance of the laser beam 11 aiming at the target 41 in the target area 4.

[0046] In the utility model, the camera assembly 5 is arranged to obtain image information of the corresponding target and the surrounding area, to confirm and guide the aiming point of the laser beam 11, and to ensure that the laser beam 11 is accurately aimed at the corresponding target 41; compared with the prior art, the arrangement of the utility model reduces the use of components, optimizes the transmission path, reduces the loss of laser energy, and improves the overall compactness of the laser target gun.

[0047] Specifically, the two-axis galvanometer 3 is composed of two cooperating mirrors, which are installed on two mutually perpendicular axes, and the propagation direction of the laser beam and the visible light beam can be quickly changed by controlling the angle of the cooperating mirrors. The specific structure is a known technique in the art and will not be described here.

[0048] Please refer to the accompanying Figure 1 and the accompanying Figure 2Compared with the laser target gun scheme in the background art, the scheme of the present application saves at least one reflecting mirror 10, reduces the use of components, reduces redundancy, optimizes the optical path, and also reduces the loss of laser energy due to the reduction of one laser transmission (at the intermediate beam combining mirror 2'), thereby achieving a reasonable and optimized design of optical components. Specifically, due to mechanical structure, heat dissipation, safety protection and other reasons, the laser emitter usually needs to be installed horizontally; at the same time, the target area 4 is usually located on the horizontal plane (for example, the field ground). The first light path change at the beam combining mirror 2 (i.e. the laser beam 11 changes from horizontal to vertical) in the present application is a step that cannot be saved; on the other hand, in order to aim at any target 41 in the target area 4, the double-axis galvanometer 3 cannot be saved. The present scheme only uses the beam combining mirror 2 and the double-axis galvanometer 3, without using more redundant optical devices.

[0049] It should also be noted that attention should be paid to the difference between the model and performance of the intermediate beam combining mirror 2' in the background art and the beam combining mirror 2 described in the present application. The intermediate beam combining mirror 2' in the background art has high transmission (HT) for laser beams and high reflection (HR) for visible light; the beam combining mirror 2 in the present application has high reflection (HR) for laser beams 11 and high transmission (HT) for visible light 42.

[0050] In a specific embodiment of the present embodiment, the laser target gun further comprises a fixed shell frame (not shown in the figure), which is configured to fix the positions of the laser emitter 1, the beam combining mirror 2, the double-axis galvanometer 3 and the camera assembly 5.

[0051] In the present utility model, the fixed shell frame is set to integrate the components of the laser target gun, which provides a positive significance for its large-scale manufacturing.

[0052] In another specific embodiment of the present embodiment, the laser emitter 1, the beam combining mirror 2 and the double-axis galvanometer 3 in the laser target gun are fixed in position by the fixed shell frame, and the camera assembly 5 is separately installed and fixed in the corresponding position.

[0053] This scheme separately installs and fixes the relatively heavy camera assembly 5, and the remaining components are light components, which is convenient for the installation, fixing and maintenance of each component, and also facilitates the anti-seismic design of the whole device.

[0054] In a specific embodiment of the present embodiment, the laser emitter 1 is a CO2 gas laser tube, or the laser emitter is a radio frequency pulse CO2 laser emitter.

[0055] In a specific embodiment of the present embodiment, the laser beam 11 generated by the laser emitter 1 has a wavelength of 10.6 μm (microns).

[0056] In a specific embodiment of the present embodiment, the beam combiner 2 is in the form of a quartz material body coated with a film;

[0057] The beam combiner 2 has a high reflection (HR) property for the laser beam 11 with a wavelength of 10.6 μm (microns), and a high transmission (HT) property for the visible light beam with a wavelength of 400-700 nm (nanometers).

[0058] In a specific embodiment of the present embodiment, the film is a dielectric multilayer film.

[0059] The film can meet the following specifications: reflectivity of the laser beam 11 with a wavelength of 10.6 μm (HR > 95% @ 10.6 μm), and transmittance of the visible light beam with a wavelength of 400-700 nm (HT > 50% @ 400-700 nm).

[0060] In a specific embodiment of the present embodiment, the film is a dielectric multilayer film, and more specifically, the film is a multilayer composite film of zirconium dioxide (ZrO2) and aluminum oxide (Al2O3).

[0061] In a specific embodiment of the present embodiment, the film is a dielectric multilayer film, and more specifically, the film is a multilayer composite film of magnesium fluoride (MgF2) and zinc sulfide (ZnS).

[0062] Please refer to the accompanying Figure 3 The present application also provides a laser weeding machine provided with the laser target gun described above, and the laser weeding machine further comprises:

[0063] A control assembly 6, which controls the biaxial galvanometer 3 to apply a corresponding offset amount to the laser beam 11 according to the image information obtained by the camera assembly 5 of the laser target gun, so that the laser beam 11 aims at the weeds in the corresponding area and performs burning treatment on the weeds.

[0064] In the present utility model, the control assembly 6 is set to guide the biaxial galvanometer 3 to adjust the offset amount of the laser beam 11 according to the image information obtained by the camera assembly 5, so that the laser beam 11 aims at the weeds (target 41) in the corresponding area (target area 4).

[0065] It can be understood that the path of the visible light beam captured by the camera assembly 5 and the laser beam emitted by the laser emitter 1 is exactly the same under the beam combiner 2, and the image information obtained by the camera assembly 5 can effectively guide the light path adjustment of the laser beam 11.

[0066] Specifically, the control component 6 controls the biaxial vibration mirror 3 to adjust the light path to the weed to be removed according to the image information obtained by the camera component 5, and controls the laser emitter 1 to start, so that the laser beam 11 generated by the laser emitter 1 acts on the weed to be removed through the adjusted light path.

[0067] In the utility model, the laser emitter 1 emits the laser beam 11 with a wavelength of 10.6um, and the weed is burned twice, specifically:

[0068] Physical effect: the laser with a wavelength of 10.6um belongs to the middle infrared band, and after the weed absorbs the laser, heat energy is converted, and with the increase of temperature, the cell structure of the weed may be damaged, such as protein denaturation and cell membrane rupture, so that the weed is rapidly dehydrated and burned;

[0069] Physiological effect: the laser with a wavelength of 10.6um can damage the chlorophyll of the weed and affect the efficiency of photosynthesis; the damage to the local tissue of the weed can affect the absorption and transportation of water and interfere with the normal metabolic process of the weed.

[0070] Please refer to the accompanying drawings Figure 3 In a specific embodiment of the embodiment, the laser weeding machine further comprises:

[0071] The lighting component 7 supplements light to the corresponding area;

[0072] The area brightness detection component 8 detects the illumination intensity in the corresponding area; when it is detected that the illumination intensity in the corresponding area is lower than the preset minimum visible light standard (determined in advance according to the specific illumination condition of the local area), the lighting component 7 is controlled to start light supplement.

[0073] In the utility model, the lighting component 7 is arranged to illuminate the weed, so as to ensure the accuracy of image acquisition and the accuracy of weed burning; the area brightness detection component 8 is arranged to detect the illumination intensity in the corresponding area (target area 4), so as to accurately know the weed condition and weed removal condition in the corresponding area.

[0074] Specifically, when the area brightness detection component 8 detects that the illumination intensity in the corresponding area is lower than the preset minimum visible light standard, a signal of insufficient brightness is sent to the control component 6, the control component 6 sends a lighting start instruction, and the lighting component 7 starts after receiving the lighting start instruction.

[0075] In a specific embodiment of the embodiment, the laser weeding machine further comprises: a moving component 9, which is used to enable the laser weeding machine to freely move in the field or other working area and reach the position where the weed needs to be removed.

[0076] It should be noted that the corresponding area (target area 4) refers to the field area covered by the laser weeder body; as the movement assembly 9 moves, the actual position of the corresponding area changes.

[0077] In a specific embodiment of the present embodiment, the laser weeder travels at a speed of about 1 m / s under the driving of the movement assembly 9.

[0078] In a specific embodiment of the present embodiment, the movement assembly 9 moves in the form of driving a track, or the movement assembly 9 moves in the form of driving a wheel.

[0079] In a specific embodiment of the present embodiment, at this time, the weeds (targets 41) in the corresponding area (target area 4) are removed from the direction away from the movement assembly 9 advancing to the direction close to the movement assembly 9 advancing;

[0080] At this time, after the weeds in half of the corresponding area are removed, the movement assembly 9 moves a certain distance under the control of the control assembly 6; at this time, the laser weeder corresponds to a new area, and it can be understood that the previous area at least partially overlaps with the new area.

[0081] In a specific embodiment of the present embodiment, a plurality of laser target guns are arranged on the laser weeder, and the plurality of laser target guns are arranged on the side of the laser weeder close to the ground of the field; any one of the plurality of laser target guns has its own working range (determined by the maximum offset amount provided by the dual-axis galvanometer 3), and the working ranges of any two adjacent laser target guns at least partially overlap.

[0082] The laser target gun arranged on the laser weeder is provided with 4, or 8, or 10, or 14, or 16, or 24, or other number (not limited in number here, determined according to actual use requirements).

[0083] After the control assembly 6 controls the dual-axis galvanometer 3 to apply a corresponding offset amount to the laser beam 11 for light path adjustment, the camera assembly 5 is further used to detect whether the adjusted laser beam 1 light path is accurately aimed at the weeds;

[0084] When it is confirmed that the light path adjusted laser beam 11 has accurately aimed at the weeds, a confirmation instruction is sent to the control assembly 6, and the laser emitter 1 starts to emit the laser beam 11 according to the confirmation instruction.

[0085] When it is detected that the light path adjusted laser beam 11 is still not accurately aimed at the weed, a mis-aiming instruction is sent to the control component 6, the control component 6 adjusts the biaxial oscillating mirror 3 again (within an adjustable range) to adjust the light path of the laser beam 11, and detection is performed again until it is confirmed that the light path adjusted laser beam 11 is accurately aimed at the weed.

[0086] In a specific embodiment of the present embodiment, the laser weeding machine further comprises an overview camera (not shown in the figure) that pre-photographs weeds (target 41) in a corresponding area (target area 4) before weeding.

[0087] The control component 6 distinguishes crops and weeds (target 41) in the corresponding area (target area 4) according to the field image photographed by the overview camera, so as to assist the laser target gun in accurately positioning the weeds (target 41) during the weeding stage and avoid damaging the crops.

[0088] It can be understood that, for example, at a certain time, the field image photographed by the overview camera at least includes a set of image information photographed by the camera assembly 5 of the plurality of laser target guns.

[0089] In a specific embodiment of the present embodiment, during the process in which the camera assembly 5 detects whether the light path adjusted laser beam 11 is accurately aimed at the weed, the image information of the weed (target 41) and the surrounding area is also acquired to determine the required burning time of the corresponding weed (target 41) (determined according to the plant variety and size of the weed; for example, the higher the heat resistance of the plant variety, the longer the corresponding burning time, and vice versa; for example, the larger the plant, the longer the corresponding burning time, and vice versa).

[0090] The determined burning time is sent to the control component 6, and the control component 6 controls the starting duration of the laser emitter 1 according to the burning time.

[0091] By applying the laser weeding machine provided by the present application, the image information of the weeds to be removed and the surrounding area is collected to guide the laser beam to perform burning treatment on the weeds, and the weeds are effectively removed without damaging the crops in the field.

[0092] The above merely describes preferred embodiments of the present application and is not intended to limit the present application in any form, although the present application has been disclosed as above with preferred embodiments, however, it is not intended to limit the present application, any person skilled in the art without departing from the technical scheme of the present application can make some changes or modifications to the above-mentioned technical content for equivalent embodiments, the implementation schemes in the above-mentioned embodiments can be further combined or replaced, as long as it does not deviate from the technical scheme of the present application, any simple modification, equivalent change and modification made to the above-mentioned embodiments according to the technical essence of the present application still belongs to the scope of the present application.

Claims

1. A laser target gun characterized by, The laser target gun comprises: a laser emitter (1) arranged horizontally, the laser emitter (1) emitting a horizontal laser beam (11); a beam combiner (2) arranged at an angle of 45° with the horizontal laser beam (11); the beam combiner (2) is configured to change the direction of the laser beam (11) from horizontal to vertical and transmit visible light; the beam combiner (2) has high reflectivity to the laser beam (11) and high transmissivity to visible light; a dual-axis galvanometer (3) arranged below the beam combiner (2); the dual-axis galvanometer (3) is configured to apply a shift to the vertical laser beam (11) in the direction parallel to the X-axis and / or in the direction parallel to the Y-axis, so that the laser beam (11) after the shift is aimed at a target (41) in a target area (4); the target (41) can reflect visible light, and the visible light reflected by the target (41) forms a visible light beam (42) through the dual-axis galvanometer (3) and the beam combiner (2); a camera assembly (5) arranged above the beam combiner (2); the camera assembly (5) is configured to capture the formed visible light beam (42) to obtain image information of the corresponding target (41) and the surrounding area.

2. A laser target gun according to claim 1, wherein, The laser target gun further comprises a fixed housing configured to fix the positions of the laser emitter (1), the beam combiner (2) and the dual-axis galvanometer (3).

3. A laser target gun according to claim 1, wherein, The laser emitter (1) is a CO2 gas laser tube, or the laser emitter is a radio frequency pulse CO2 laser emitter.

4. A laser target gun according to claim 3, wherein, The laser beam (11) generated by the laser emitter (1) has a wavelength of 10.6 μm.

5. A laser target gun according to any one of claims 1 to 4, wherein The beam combiner (2) has a structure in which a main body is made of quartz material and coated with a film; The beam combiner (2) has high reflectivity to the laser beam (11) with a wavelength of 10.6 μm, and high transmissivity to the visible light beam with a wavelength of 400-700 nm.

6. A laser target gun according to claim 5, wherein, The film is a dielectric multilayer film.

7. A laser weeder characterized by comprising: The laser target gun according to any one of claims 1-6 further comprises: a control assembly (6) configured to control the dual-axis galvanometer (3) to apply a corresponding shift to the laser beam (11) according to the image information obtained by the camera assembly (5) of the laser target gun, so that the laser beam (11) is aimed at weeds in a corresponding area to perform burning treatment on the weeds.

8. A laser weeder according to claim 7, wherein The laser target gun further comprises: an illumination assembly (7) configured to provide light to a corresponding area; a region brightness detection assembly (8) configured to detect the light intensity in a corresponding area; when the light intensity in the corresponding area is detected to be lower than a minimum visible light standard, the illumination assembly (7) is controlled to turn on the light.

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