A laser weeding robot

Abstract

This utility model belongs to the field of agricultural robot technology and discloses a laser weeding robot, including a chassis transmission system, an industrial control host, a laser weeding system, and a protective cover. The chassis transmission system includes a placement plate, a sleeve frame, a crossbeam, a connecting frame, and a wheel assembly. Two sets of sleeve frames and two crossbeams are spliced ​​together to form a rectangular frame. Two sets of connecting frames are symmetrically arranged in a portal shape on the outside of the crossbeams. The wheel assembly is installed at the bottom of the connecting frames. The industrial control host and the laser weeding system are both mounted on the placement plate. The industrial control host is used to control the operation of the chassis transmission system and the laser weeding system. The laser weeding system includes a lifting device and a galvanometer system. A clearance opening is machined on the placement plate, and the galvanometer system is fixed to the clearance opening through the lifting device. The protective cover is installed on the chassis transmission system, and a navigation module and a lighting module are installed on the outside of the protective cover. This utility model can adapt to the ridge width requirements of different crops and complex field environments, and can also perform precise weeding.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural robot technology, specifically relating to a laser weeding robot. Background Technology

[0002] Weeds are plants that grow in areas harmful to human survival and activities, and are one of the main factors restricting agricultural production. Especially when crops are in the seedling stage, weeds grow rapidly, increasing the difficulty and cost of field management. They not only compete with crops for nutrients and water resources in the soil, but also form root clusters that disrupt soil structure, reducing soil aeration and permeability. Therefore, weeds slow crop growth and, in severe cases, even cause crop wilting. Furthermore, the presence of weeds provides a favorable host environment for pests and diseases, exacerbating the threat of crop diseases and pests. Existing weed control methods mainly include manual pulling, mechanical weeding, and chemical weeding. While these methods can effectively control weeds to some extent, they suffer from drawbacks such as low efficiency, high cost, and serious environmental pollution.

[0003] In comparison, laser weeding robots have significant advantages in field applications for the following reasons: First, lasers can quickly identify and strike weeds; second, lasers do not pollute the soil and environment, making them more environmentally friendly; third, laser weeding has less impact on the soil and does not compact it, helping to maintain soil structure and biological activity; and fourth, lasers, when paired with different vehicles, can adapt to complex and irregular field operations.

[0004] Existing laser-based weeding robots primarily use two types of laser equipment. One type employs a small number of lasers, working in conjunction with X-axis and Z-axis movement mechanisms. This type of weeder moves according to the weed's location, allowing the laser head to target the weeds. While the lasers can cover a larger area through the movement mechanism, the X-axis movement increases the positioning error of the weeds, significantly impacting the accuracy and effectiveness of weeding. The other type uses a larger number of fixed lasers, which are responsible for a smaller area of ​​weeds. This improves the stability and efficiency of weeding, but it occupies more space and incurs higher power consumption and heat dissipation burdens, resulting in limited robot runtime. Therefore, laser weeding robots still have considerable room for improvement. Utility Model Content

[0005] The purpose of this invention is to solve the problems in the background technology and provide a laser weeding robot. Through improvements to the laser and chassis, this laser weeding robot has good precision and adaptability, and can effectively improve weeding efficiency.

[0006] The objective of this utility model is achieved through the following technical solution:

[0007] A laser weeding robot includes a chassis transmission system, an industrial control host, a laser weeding system, and a protective cover. The chassis transmission system includes a platform, a sleeve frame, crossbeams, connecting frames, and a wheel assembly. Two sets of sleeve frames and two crossbeams are spliced ​​together to form a rectangular frame and installed at the bottom of the platform. Two sets of connecting frames are symmetrically arranged in a portal shape on the outside of the crossbeams. Each set of connecting frames has a tube machined into its side wall for insertion into the sleeve frame. The sleeve frame and the tube have evenly spaced positioning holes at both ends. The wheel assembly is installed at the bottom of the connecting frames. The industrial control host and the laser weeding system are both mounted on the platform. The industrial control host is used to control the operation of the chassis transmission system and the laser weeding system. The laser weeding system includes a lifting device, a galvanometer system, a laser main unit, and a depth detection camera. A clearance opening is machined on the mounting plate, and the lifting device is fixed to the mounting plate at the clearance opening. The galvanometer system is mounted on the lifting device, and the laser main unit is mounted on the mounting plate and connected to the galvanometer system. The depth detection camera is mounted on the galvanometer system and connected to the lifting device. A protective cover is fitted onto the chassis transmission system outside the laser weeding system. A navigation module providing road parameters to the chassis transmission system and a lighting module providing illumination to the laser weeding system are installed on the outside of the protective cover. Both the navigation module and the lighting module are connected to the industrial control host.

[0008] The wheel assembly includes a beam, drive wheels, a geared motor, and a chain. The beam is parallel to the crossbeam and has an inverted U-shaped cross section. Two drive wheels are rotatably mounted at both ends of the beam, and the two drive wheels travel in the same direction as along the length of the beam. A geared motor is mounted on the wheel above each drive wheel. The geared motor drives the corresponding drive wheel via the chain. A power module for driving the geared motor is also installed on the beam between the two geared motors. A protective shell is installed on the beam to enclose the geared motor, chain, and power module.

[0009] The navigation module includes a navigation depth camera and radar. The navigation depth camera is mounted on a protective cover at the front end of the chassis drive system in the direction of travel. The navigation depth camera is used to detect obstacles in front of the vehicle and feed the signal back to the host. There are two radars, which are mounted on top of the wheel assembly respectively. The two radars are used to scan for obstacles on both sides.

[0010] The galvanometer system includes a fixed plate, a focusing assembly, a galvanometer machine, a beam expander assembly, a sensor assembly, and a field lens. The fixed plate is mounted on a lifting device. The focusing assembly is connected to the galvanometer machine and then mounted on the fixed plate. The beam expander assembly is mounted above the focusing assembly and is connected to the laser host. The sensor is mounted on the side of the focusing assembly away from the galvanometer machine. The field lens is mounted below the galvanometer machine. The galvanometer machine adjusts the emission angle of the mechanism according to the sensor assembly.

[0011] The lifting device includes a fixed base, a slider, a column, a ball screw, and a motor. The slider is mounted on the fixed base, and the side of the slider away from the fixed base is slidably connected to the column. A horizontally set support plate is installed on the top of the column, and a ball screw connected to the slider is installed on the support plate. A motor that drives the ball screw to rotate is also installed on the support plate.

[0012] The lighting module includes a supplementary light and a searchlight. The supplementary light is installed below the casing frame to provide supplementary lighting for the space below the casing frame, and the searchlight is installed on the side walls at both ends of the wheel assembly.

[0013] A telescopic light-blocking plate is installed below the sleeve frame. The telescopic light-blocking plate is set vertically, and the two ends of the two telescopic light-blocking plates are connected to the front and rear ends of the wheel assembly.

[0014] The beneficial effects of the laser weeding robot provided by this utility model are:

[0015] (1) By setting up a gate-shaped chassis transmission system, and the connecting frames on both sides of the chassis transmission system are adjustable, it can adapt to the ridge width requirements of different crops and complex field environments. Combined with the industrial control host and laser weeding system installed on the chassis transmission system, it can use lasers for precise weeding.

[0016] (2) By setting a navigation module on the protective cover, in conjunction with the chassis transmission system, the chassis transmission system can move to the site, thereby realizing automatic weeding;

[0017] (3) The light module installed on the protective cover can provide illumination at night, which can improve the weeding endurance. At the same time, by setting a telescopic light-blocking plate in conjunction with the light module, the influence of external light on weeding can be reduced. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural schematic diagram provided for an embodiment of the present utility model.

[0020] Figure 2 This is a schematic diagram of the exploded structure provided for an embodiment of the present utility model.

[0021] Figure 3 This is a schematic diagram of the chassis transmission system provided in an embodiment of the present utility model.

[0022] Figure 4 An exploded structural diagram of the chassis transmission system provided in an embodiment of this utility model.

[0023] Figure 5 This is an exploded structural diagram of the wheel assembly provided in an embodiment of the present utility model.

[0024] Figure 6 A schematic diagram of the industrial control host and laser weeding system provided in this embodiment of the utility model.

[0025] Figure 7 This is a schematic diagram of the structure of the laser weeding system provided in an embodiment of the present invention.

[0026] Figure 8 This is a structural schematic diagram of the lifting device provided in an embodiment of the present utility model.

[0027] The diagram shows the following components: 1. Chassis transmission system; 11. Storage plate; 12. Clearance opening; 13. Sleeve rack; 14. Crossbeam; 15. Connecting frame; 16. Insertion tube; 17. Positioning hole; 18. Wheel assembly; 181. Vehicle beam; 182. Drive wheel; 183. Gear motor; 184. Chain; 185. Power module; 186. Protective shell; 2. Industrial control host; 3. Laser weeding system; 31. Lifting device; 311. Fixed base; 312. Slider; 313. Column; 314, Ball screw; 315, Motor; 32, Galvanometer system; 321, Mounting plate; 322, Focusing assembly; 323, Galvanometer machine; 324, Beam expander assembly; 325, Sensor assembly; 326, Field lens; 33, Laser main unit; 34, Depth detection camera; 4, Protective cover; 41, Navigation module; 411, Navigation depth camera; 412, Radar; 42, Lighting module; 421, Fill light; 422, Searchlight; 423, Telescopic light shield. Detailed Implementation

[0028] like Figures 1-8As shown, the laser weeding robot provided in this embodiment includes a chassis transmission system 1, an industrial control host 2, a laser weeding system 3, and a protective cover 4. The chassis transmission system 1 includes a placement plate 11, a sleeve frame 13, a crossbeam 14, a connecting frame 15, and a wheel assembly 18. Two sets of sleeve frames 13 and two crossbeams 14 are spliced ​​into a rectangular frame and installed at the bottom of the placement plate 11. Two sets of connecting frames 15 are symmetrically arranged in a gate shape on the outside of the crossbeams 14. Each set of connecting frames 15 has a tube 16 machined on its side wall that can be inserted into the sleeve frame 13. The two ends of the sleeve frame 13 and the tube are connected to the sleeve frame 13. The 16 is machined with evenly spaced positioning holes 17. Pins connecting the sleeve frame 13 and the insertion tube 16 are installed in the positioning holes 17. A wheel assembly 18 is installed at the bottom of the connecting frame 15. By adjusting the length of the insertion tube 16 inserted into the sleeve frame 13, the width between the two wheel assemblies 18 can be directly adjusted, thus adapting to the ridge width requirements of different crops and complex field environments. The industrial control host 2 and the laser weeding system 3 are both mounted on the placement plate 11. The industrial control host 2 is used to control the operation of the chassis transmission system 1 and the laser weeding system 3. There are two sets of laser weeding systems 3 and 3. The laser weeding system 3 includes a lifting device 31, a galvanometer system 32, a laser main unit 33, and a depth detection camera 34. The placement plate 11 has a clearance opening 12. The lifting device 31 is fixed to the placement plate 11 at the clearance opening 12. The galvanometer system 32 is mounted on the lifting device 31. The laser main unit 33 is mounted on the placement plate 11 and connected to the galvanometer system 32. The depth detection camera 34 is mounted on the galvanometer system 32 and connected to the lifting device 31. The depth detection camera 34 can... To identify the galvanometer system 32 and the ridge height information, and then to adjust the distance between the galvanometer system 32 and the ground using the lifting device 31, ensuring that the laser covering the galvanometer system 32 can cover a certain range and guarantee the weeding effect, the protective cover 4 is mounted on the chassis transmission system 1 outside the laser weeding system 3. The protective cover 4 is used to protect the weeding robot. A navigation module 41 that provides road parameters to the chassis transmission system 1 and a lighting module 42 that provides illumination to the laser weeding system 3 are installed on the outside of the protective cover 4. Both the navigation module 41 and the lighting module 42 are connected to the industrial control host 2.

[0029] To improve the adaptability of the chassis drive system 1 to terrain, such as Figure 5As shown, the wheel assembly 18 includes a beam 181, drive wheels 182, a reduction motor 183, and a chain 184. The beam 181 is parallel to the crossbeam 14, and the cross section of the beam 181 is inverted U-shaped. Two drive wheels 182 are rotatably mounted at both ends of the beam 181, and the travel direction of the two drive wheels 182 is the same as that along the length of the beam 181. A reduction motor 183 is mounted on the wheel above each drive wheel 182. The reduction motor 183 drives the corresponding drive wheel 182 via the chain 184. All drive wheels 182 are powered, enabling four-wheel drive. Each drive wheel 182 can independently control its speed, thus giving the wheel assembly 18 sufficient power and differential steering capabilities. This allows the laser weeding system 3 to operate smoothly and turn on the spot in complex and diverse field environments. A power module 185 for driving the geared motors 183 is also installed on the beam 181 between the two geared motors 183. A protective shell 186 is installed on the beam 181 to enclose the geared motors 183, the chain 184, and the power module 185.

[0030] To improve the automation level of chassis drivetrain 1, such as Figure 1 , Figure 2 As shown, the navigation module 41 includes a navigation depth camera 411 and a radar 412. The navigation depth camera 411 is mounted on the protective cover 4 at the front end of the chassis transmission system 1 in the direction of travel. The navigation depth camera 411 is used to detect obstacles in front of the vehicle and feed the signal back to the host. There are two radars 412, which are respectively mounted on the wheel assembly 18. The two radars 412 are used to scan whether there are obstacles on both sides. The navigation module 41 enables the chassis transmission system 1 to automatically travel to the weeding area according to the set navigation.

[0031] In order to carry out precise weeding, such as Figures 6-8As shown, the galvanometer system 32 includes a fixed plate 321, a focusing assembly 322, a galvanometer machine 323, a beam expander 324, a sensor assembly 325, and a field lens 326. The fixed plate 321 is mounted on the lifting device 31. The focusing assembly 322 is connected to the galvanometer machine 323 and then mounted on the fixed plate 321. The beam expander 324 is mounted above the focusing assembly 322 and is connected to the laser host 33. The sensor is mounted on the side of the focusing assembly 322 away from the galvanometer machine 323. The field lens 326 is mounted below the galvanometer machine 323. The galvanometer machine 323 adjusts the laser emission angle according to the sensor assembly 325. The lifting device 31 includes a fixed base 311, a slider 312, a column 313, a ball screw 314, and a motor 315. The slider 312 is mounted on the fixed base 311, and the side of the slider 312 away from the fixed base 311 is slidably connected to the column 313. A horizontally set support plate is installed on the top of the column 313, and a ball screw connected to the slider 312 is installed on the support plate. A motor 315 that drives the ball screw to rotate is also installed on the support plate. The lifting device 31 can only move up and down in the laser weeding area. Compared with the horizontal movement of traditional laser weeding robots during operation, it effectively avoids the large weed positioning error of the horizontal movement parameters in the laser system, greatly improves the accuracy and weeding effect of the galvanometer system 32 during operation, has wider applicability, and is more adaptable to the actual conditions in the field.

[0032] To improve the weeding efficiency of weeding robots, such as Figure 1 , Figure 2 As shown, the lighting module 42 includes a supplementary light 421 and a searchlight 422. The supplementary light 421 is installed below the casing frame 13 to provide supplementary lighting for the space below the casing frame 13. The supplementary light 421 provides illumination below the chassis transmission system 1 to facilitate the laser weeding system 3 in identifying weeds. The searchlight 422 is installed on the side walls at both ends of the wheel assembly 18, providing auxiliary lighting for the wheel assembly 18 in cases of insufficient light or at night. Figure 4 As shown, a telescopic light-blocking plate 423 is installed below the sleeve frame 13. The telescopic light-blocking plate 423 is set vertically, and the two ends of the telescopic light-blocking plate 423 are connected to the front end and rear end of the wheel assembly 18. The telescopic light-blocking plate 423 blocks the ambient light for the wheel chassis, which on the one hand ensures the stability of the working state of the supplementary light 421, and on the other hand can block the galvanometer system to ensure the safety of the laser weeding system 3.

[0033] The method of using this utility model is as follows:

[0034] Before weeding: Remove the telescopic light-blocking plate 423 and adjust the wheel distance of the wheel assembly 18 between the two connecting frames 15 according to the row spacing of different crops. After adjustment, install the two ends of the telescopic light-blocking plate 423 on the wheel assembly 18 on both sides respectively. The telescopic light-blocking plate 423 can adapt to the changes in distance between the connecting frames 15 to ensure the light-blocking effect.

[0035] During weeding operations: The industrial control host 2 moves to the field to weed according to the set parameters. While moving, it uses the navigation depth camera 411 and two lidar sensors 412 to comprehensively perceive the environmental information surrounding the weeding robot, causing the chassis transmission system 1 to move to the site along the set route. It also plans the weeding route based on the field information. Subsequently, the two sets of laser weeding systems 3 can independently adjust the vertical position of the galvanometer system 32 according to the row width, thus adapting the galvanometer system 32 to the weeding needs of different crops. The galvanometer system 32 adjusts the laser irradiation position through the galvanometer machine 323. The focusing assembly 322 and field lens 326 adjust the laser focus position so that the laser head can irradiate the growth point of the weeds without moving, thus ensuring the weeding effect. In order to assist weeding, the supplementary light 421 and the depth detection camera 34 can acquire clear images of weeds and distinguish between weeds and crops. The laser host 33 sends the coordinates of the growth point of the weeds and the depth information to the industrial control host 2. The industrial control host 2 then controls the height of the galvanometer system 32 through the lifting device 31, and at the same time controls the galvanometer system 32 to emit lasers to the growth point of the weeds for precise weeding.

[0036] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications and substitutions based on the technical solutions and inventive concepts provided by the present invention should be covered within the scope of protection of the present invention.

Claims

1. A laser weeding robot, comprising a chassis transmission system (1), an industrial control host (2), a laser weeding system (3), and a protective cover (4), characterized in that: The chassis transmission system (1) includes a storage plate (11), a sleeve frame (13), a crossbeam (14), a connecting frame (15), and a wheel assembly (18). Two sets of sleeve frames (13) and two crossbeams (14) are spliced ​​into a rectangular frame and installed at the bottom of the storage plate (11). Two sets of connecting frames (15) are symmetrically arranged in a gate shape on the outside of the crossbeams (14). Each set of connecting frames (15) has a tube (16) that can be inserted into the sleeve frame (13) on its side wall. The sleeve frame (13) and the tube (16) have positioning holes (17) with consistent spacing at both ends. The wheel assembly (18) is installed at the bottom of the connecting frame (15). The industrial control host (2) and the laser weeding system (3) are both installed on the storage plate (11). The industrial control host (2) is used to control the operation of the chassis transmission system (1) and the laser weeding system (3). The laser weeding system (3) includes a lifting device (31) and a galvanometer system (3). 2) Laser host (33) and depth detection camera (34), the placement plate (11) is processed with a clearance opening (12), the lifting device (31) is fixed on the placement plate (11) at the clearance opening (12), the galvanometer system (32) is installed on the lifting device (31), the laser host (33) is installed on the placement plate (11) and connected to the galvanometer system (32), the depth detection camera (34) is installed on the galvanometer system (32) and connected to the lifting device (31), the protective cover (4) is fitted on the chassis transmission system (1) outside the laser weeding system (3), the protective cover (4) is installed on the outside of the chassis transmission system (1) with a navigation module (41) that provides road parameters for the chassis transmission system (1) and a lighting module (42) that provides illumination for the laser weeding system (3), the navigation module (41) and the lighting module (42) are both connected to the industrial control host (2).

2. The laser weeding robot according to claim 1, characterized in that: The wheel assembly (18) includes a beam (181), drive wheels (182), a geared motor (183), and a chain (184). The beam (181) is parallel to the crossbeam (14), and the cross section of the beam (181) is inverted U-shaped. Two drive wheels (182) are rotatably mounted at both ends of the beam (181), and the travel direction of the two drive wheels (182) is the same as the length direction along the beam (181). A geared motor (183) is installed on the wheel above each drive wheel (182). The geared motor (183) drives the corresponding drive wheel (182) through the chain (184). A power module (185) for driving the geared motor (183) is also provided on the beam (181) between the two geared motors (183). A protective shell (186) is installed on the beam (181) to enclose the geared motor (183), the chain (184), and the power module (185).

3. The laser weeding robot according to claim 2, characterized in that: The navigation module (41) includes a navigation depth camera (411) and a radar (412). The navigation depth camera (411) is mounted on the protective cover (4) at the front end of the chassis transmission system (1) in the direction of travel. The navigation depth camera (411) is used to detect obstacles in front of the vehicle and feed the signal back to the host. There are two radars (412). The two radars (412) are respectively mounted on the wheel assembly (18). The two radars (412) are used to scan whether there are obstacles on both sides.

4. The laser weeding robot according to claim 1, characterized in that: The galvanometer system (32) includes a fixed plate (321), a focusing assembly (322), a galvanometer (323), a beam expander (324), a sensor assembly (325), and a field lens (326). The fixed plate (321) is mounted on the lifting device (31). The focusing assembly (322) is connected to the galvanometer (323) and mounted on the fixed plate (321). The beam expander (324) is mounted above the focusing assembly (322) and connected to the laser host (33). The sensor is mounted on the side of the focusing assembly (322) away from the galvanometer (323). The field lens (326) is mounted below the galvanometer (323). The galvanometer (323) adjusts the emission angle of the mechanism according to the sensor assembly (325).

5. The laser weeding robot according to claim 4, characterized in that: The lifting device (31) includes a fixed base (311), a slider (312), a column (313), a ball screw (314), and a motor (315). The slider (312) is mounted on the fixed base (311). The side of the slider (312) away from the fixed base (311) is slidably connected to the column (313). A horizontally arranged support plate is installed on the top of the column (313). A ball screw connected to the slider (312) is installed on the support plate. A motor (315) that drives the screw to rotate is also installed on the support plate.

6. The laser weeding robot according to claim 1, characterized in that: The lighting module (42) includes a fill light (421) and a searchlight (422). The fill light (421) is installed below the casing frame (13) to provide supplementary lighting for the space below the casing frame (13). The searchlight (422) is installed on the side walls at both ends of the wheel assembly (18).

7. The laser weeding robot according to claim 6, characterized in that: A telescopic light-blocking plate (423) is installed below the sleeve frame (13). The telescopic light-blocking plate (423) is set vertically, and the two telescopic light-blocking plates (423) are connected to the front end and rear end of the wheel assembly (18) at both ends.

Images