Laser weeding robot

Abstract

The utility model discloses a laser weeding robot, and belongs to the field of robot equipment. A laser weeding robot comprises a frame, a 360-degree laser radar, an active antenna, an infrared camera, an ultrasonic radar and a laser machine. The active antenna (104) is positioned above the frame; the infrared camera is arranged at the front end of the frame; the ultrasonic radars are arranged on the periphery of the frame; the laser machine is positioned below the frame; a support is arranged above the frame, and a rotating set and a lifting set are arranged on the support. The laser weeding robot has the beneficial effect that the laser weeding robot capable of accurately weeding is provided.

Description

Technical Field

[0001] This utility model relates to the field of robotic equipment, and more specifically, to a laser weeding robot. Background Technology

[0002] The existing laser weeding machines are mainly of three types: robotic arm laser weeding robots, multi-degree-of-freedom platform laser weeding robots, and tracked laser weeding robots.

[0003] Chinese utility model patent CN220734185U discloses a laser-based automatic weeding robot, comprising a main body. Front support sleeves are fixedly connected to both sides of the front bottom of the main body. A support column is slidably connected to the bottom of the front support sleeve. A bearing is fixedly connected inside the bottom of the support column, and a wheel rod is fixedly connected inside the bearing. A front wheel is fixedly connected to the outer end of the wheel rod. Rear support sleeves are fixedly connected to both sides of the rear bottom of the main body. A support column is slidably connected to the bottom of the rear support sleeve, and a bearing is fixedly connected to the bottom of the support column. In use, this utility model allows for the synchronous lifting and lowering of the rear and front wheels via an electric telescopic cylinder, enabling electric height adjustment of the main body to accommodate different field terrains and weed heights, significantly improving its applicability. However, due to the numerous laser recognition devices, a key technical problem remains to be solved: how to easily and conveniently install laser components on the vehicle body to form a highly integrated laser weeding robot that facilitates the operation of each component. Utility Model Content

[0004] The purpose of this invention is to provide a laser weeding robot. This invention enables the integrated installation of various laser components on a vehicle frame, featuring high integration and good assemblability.

[0005] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0006] To address the technical problems mentioned in the background section above, some embodiments of this application provide a laser weeding robot, including:

[0007] The vehicle frame includes a 360-degree lidar, an active antenna, an infrared camera, an ultrasonic radar, and a laser. The active antenna (104) is located above the vehicle frame. The infrared camera is located at the front end of the vehicle frame. The ultrasonic radar is located around the vehicle frame. The laser is located below the vehicle frame. A bracket is installed above the vehicle frame, and the bracket is equipped with a rotating assembly and a lifting assembly.

[0008] The rotating assembly includes:

[0009] The first drive unit is mounted on the vehicle frame;

[0010] The rotating shaft is connected to the output end of the first driving component for transmission.

[0011] The track is located on the rotating shaft;

[0012] The lifting assembly is mounted on the rotating assembly; the 360-degree lidar is located on the lifting assembly; the lifting assembly includes:

[0013] Support plate, mounted on the track;

[0014] The drive assembly is mounted on the support plate;

[0015] Guide rod, mounted on the support plate;

[0016] The lifting plate is mounted on the guide rod and slides up and down.

[0017] The drive component moves the lifting plate up and down.

[0018] Furthermore, the driving components include:

[0019] The second driving component is mounted on the support plate;

[0020] The worm gear is rotatably mounted on the support plate and is connected to the second driving component for transmission.

[0021] The turbine is mounted on a support plate and meshes with a worm gear.

[0022] The guide rail is vertically mounted on the support plate;

[0023] The rack slides up and down on the guide rail and meshes with the turbine.

[0024] The connecting rod is fixed at both ends to the rack and the lifting plate, respectively.

[0025] Furthermore, laser weeding robots also include:

[0026] A 180-degree blind spot detection lidar is installed on both sides of the vehicle frame;

[0027] The galvanometer is mounted on the frame, located below the frame.

[0028] Furthermore, laser weeding robots also include:

[0029] The IMU (Inertial Navigation Unit) is mounted on the vehicle frame, located at the front of the frame.

[0030] The structured light lidar is mounted on the vehicle frame, located at the front of the frame.

[0031] Furthermore, laser weeding robots also include:

[0032] The industrial control computer is mounted on the vehicle frame;

[0033] The water chiller is mounted on the vehicle frame.

[0034] Furthermore, laser weeding robots also include:

[0035] LED light strips are located on both sides of the frame.

[0036] Compared with the prior art, this utility model has the following advantages: It integrates a 360-degree lidar, an active antenna, an infrared camera, an ultrasonic radar, and a laser machine on the vehicle frame, realizing the integrated installation of each laser component on the vehicle frame. It has high integration and good assemblability. At the same time, the 360-degree lidar is moved by the rotation group and the lifting group, which improves the detection range of the 360-degree lidar and facilitates the operation of the 360-degree lidar. Attached Figure Description

[0037] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application.

[0038] Furthermore, throughout the accompanying drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the elements are not necessarily drawn to scale.

[0039] In the attached diagram:

[0040] Figure 1 This is an overall schematic diagram based on an embodiment of this application;

[0041] Figure 2 This is a structural schematic diagram of a part of an embodiment, mainly showing the internal structure of the vehicle frame;

[0042] Figure 3 This is a structural schematic diagram of a part of the embodiment, mainly showing the galvanometer structure;

[0043] Figure 4 This is a structural diagram of a part of the embodiment, mainly showing the support structure;

[0044] Figure 5 yes Figure 4 Enlarged view of part A;

[0045] Figure 6 This is a structural schematic diagram of a part of an embodiment, mainly showing the structure of the first driving component;

[0046] Figure 7 This is a flowchart illustrating the overall operation of the laser weeding robot.

[0047] Figure 8 This is a flowchart of the laser weeding process using a laser weeding robot.

[0048] Figure label:

[0049] 101. Frame;

[0050] 102, bracket; 102a, rotating assembly; 102b, lifting assembly; 102c, first driving component; 102d, rotating shaft; 102e, track; 102f, support plate; 102g, driving assembly; 102h, guide rod; 102i, lifting plate; 102j, second driving component; 102k, worm gear; 102l, turbine; 102m, guide rail; 102n, rack; 102o, connecting rod;

[0051] 103. 360-degree lidar;

[0052] 104. Active antenna;

[0053] 105. Infrared camera;

[0054] 106. Ultrasonic radar;

[0055] 107. Laser machine;

[0056] 108-degree blind spot fill lidar;

[0057] 109. Galvanometer;

[0058] 110. IMU (Inertial Navigation Unit);

[0059] 111. Structured light lidar;

[0060] 112. Industrial control computer;

[0061] 113. Water chiller;

[0062] 114. LED light strip; Detailed Implementation

[0063] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0064] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0065] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0066] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0067] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0068] Reference Figure 1-8 The laser weeding robot includes: a frame 101, a support 102, a 360-degree lidar 103, an active antenna 104, an infrared camera 105, an ultrasonic radar 106, and a laser 107. The frame 101 has wheels. The support 102 is fixed to the frame 101 and located above the frame 101. The 360-degree lidar 103 is mounted on the support 102 and is used to detect the surrounding environment. The active antenna 104 is mounted on the frame 101 and located above the frame 101, and is used to transmit and receive signals. The infrared camera 105 is mounted on the frame 101 and is used to capture images of the surrounding environment. The ultrasonic radar 106 is mounted on the frame 101 and located around the frame 101, and is used to assist the 360-degree lidar 103 in detecting the surrounding environment. The laser 107 is mounted on the frame 101 and located below the frame 101, and is used to emit lasers to cut weeds.

[0069] The bracket 102 includes: a rotating assembly 102a and a lifting assembly 102b; the rotating assembly 102a is mounted on the frame 101; the lifting assembly 102b is mounted on the rotating assembly 102a, and the 360-degree laser radar 103 is fixed on the lifting assembly 102b.

[0070] The rotating assembly 102a includes: a first driving member 102c, a rotating shaft 102d, and a track 102e; the first driving member 102c is mounted on the frame 101 and is a servo motor; the rotating shaft 102d is connected to the output end of the first driving member 102c so that the first driving member 102c drives the rotating shaft 102d to rotate; the track 102e is fixed to the upper end of the rotating shaft 102d.

[0071] The lifting assembly 102b includes: a support plate 102f, a drive assembly 102g, a guide rod 102h, and a lifting plate 102i; the support plate 102f is fixed on the track 102e; the drive assembly 102g is fixed on the support plate 102f; the guide rod 102h is vertically mounted on the support plate 102f; the lifting plate 102i is slidably mounted on the guide rod 102h, and a 360-degree laser radar 103 is mounted on the lifting plate 102i.

[0072] The drive assembly 102g includes: a second drive member 102j, a worm gear 102k, a turbine gear 102l, a guide rail 102m, a rack 102n, and a connecting rod 102o; the second drive member 102j is mounted on the support plate 102f and is powered by a servo motor; the worm gear 102k is rotatably mounted on the support plate 102f and is connected to the second drive member 102j for transmission, and the second drive member 102j drives the worm gear 102k to rotate; the turbine gear 102l is rotatably mounted on the support plate 102f and meshes with the worm gear 102k; the guide rail 102m is vertically fixed on the support plate 102f; the rack 102n is slidably mounted on the guide rail 102m and meshes with the turbine gear 102l; the connecting rod 102o is fixed on the rack 102n and is used to connect the rack 102n and the lifting plate 102i.

[0073] When the laser weeding robot is working, the position of the 360-degree laser radar 103 can be adjusted according to the real-time situation. The second drive component 102j is started, and the rack 102n is driven to move up and down through the transmission of the worm gear 102k and the turbine 102l. Finally, the support plate 102f and the 360-degree laser radar 103 are moved up and down to adjust the height position.

[0074] The first driving component 102c is activated, and the track 102e is rotated via the rotating shaft 102d to adjust the horizontal position of the support plate 102f and the 360-degree lidar 103 on the support plate 102f.

[0075] The chassis 101 is also equipped with a 180-degree blind spot lidar 108, a galvanometer 109, an IMU inertial navigation system 110, a structured light lidar 111, an industrial control computer 112, a water chiller 113, and LED light strips 114. The 180-degree blind spot lidar 108 is located on both sides of the chassis 101 and is used to assist the 360-degree lidar in detecting the surrounding environment. The galvanometer 109 is located below the chassis 101. The IMU inertial navigation system 110 is located at the front of the chassis 101 and serves a positioning function. The structured light lidar 111 is located at the front of the chassis 101 and is used to assist the 360-degree lidar in detecting the surrounding environment. The industrial control computer 112 and the water chiller 113 are located inside the chassis 101. The industrial control computer 112 is used to control and execute all action modes, and the water chiller 113 serves a cooling function. The LED light strips 114 are fixed on both sides of the chassis 101 and serve an illumination function.

[0076] Working principle:

[0077] This laser weeding robot first achieves environmental perception through multi-modal fusion technology, including a 360-degree lidar 103, a structured light lidar 111, visual (visible light and infrared), and ultrasonic radar 106. This utility model's laser weeding robot integrates a multi-sensor system, including a forward-looking infrared camera for obstacle detection at night or in low-light conditions, enhancing the system's capabilities; and an under-vehicle industrial camera specifically for visual weed identification.

[0078] The rotating assembly drives the 360-degree lidar to rotate and adjust its horizontal position, while the lifting assembly drives the 360-degree lidar to move up and down and adjust its vertical position, so that the 360-degree lidar can increase its detection range.

[0079] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A laser weeding robot, comprising a frame (101), a 360-degree lidar (103), an active antenna (104), an infrared camera (105), an ultrasonic radar (106), and a laser (107); characterized in that: The active antenna (104) is located above the vehicle frame (101); the infrared camera (105) is located at the front end of the vehicle frame (101); the ultrasonic radar (106) is located around the vehicle frame (101); the laser (107) is located below the vehicle frame (101); a bracket (102) is provided above the vehicle frame (101), and the bracket (102) is provided with a rotating assembly (102a) and a lifting assembly (102b); The rotating assembly (102a) includes: A first drive unit (102c) is disposed on the vehicle frame (101); The rotating shaft (102d) is connected to the output end of the first driving member (102c) for transmission. The track (102e) is disposed on the rotating shaft (102d); The lifting assembly (102b) is mounted on the rotating assembly (102a); the 360-degree lidar (103) is located on the lifting assembly (102b); the lifting assembly (102b) includes: A support plate (102f) is disposed on the track (102e); A drive assembly (102g) is disposed on the support plate (102f); A guide rod (102h) is provided on the support plate (102f); The lifting plate (102i) is slidably mounted on the guide rod (102h); The drive assembly (102g) drives the lifting plate (102i) to move up and down.

2. The laser weeding robot according to claim 1, characterized in that: The drive assembly (102g) includes: The second driving component (102j) is disposed on the support plate (102f); The worm gear (102k) is rotatably mounted on the support plate (102f) and is connected to the second driving member (102j) in a transmission manner; The turbine (102l) is rotatably mounted on the support plate (102f) and meshes with the worm (102k); The guide rail (102m) is vertically mounted on the support plate (102f); The rack (102n) slides up and down on the guide rail (102m) and meshes with the turbine (102l); The connecting rod (102o) is fixed at both ends to the rack (102n) and the lifting plate (102i) respectively.

3. The laser weeding robot according to claim 1, characterized in that: The laser weeding robot also includes: A 180-degree blind spot fill lidar (108) is installed on both sides of the vehicle frame (101); A galvanometer (109) is disposed on the frame (101) and located below the frame (101).

4. The laser weeding robot according to claim 1, characterized in that: The laser weeding robot also includes: An inertial navigation unit (IMU) (110) is mounted on the vehicle frame (101) and located in front of the vehicle frame (101); A structured light lidar (111) is mounted on the vehicle frame (101) and located in front of the vehicle frame (101).

5. The laser weeding robot according to claim 1, characterized in that: The laser weeding robot also includes: An industrial control computer (112) is mounted on the vehicle frame (101); A water chiller (113) is mounted on the vehicle frame (101).

6. The laser weeding robot according to claim 1, characterized in that: The laser weeding robot also includes: LED light strips (114) are located on both sides of the frame (101).

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