Smart laser weeding robot

Abstract

Disclosed in the present invention is a smart laser weeding robot. The smart laser weeding robot comprises: a mobile chassis, in which a storage battery is mounted; a laser weeding module, which is fixedly underneath the mobile chassis and is electrically connected to the storage battery; a weed identification camera system, which is arranged in front of the mobile chassis and performs photographing to identify weeds; and a motion processor, which is mounted on the mobile chassis and is in electrical signal connection with the mobile chassis, the storage battery, the laser weeding module and the weed identification camera system, wherein after the weeds are identified by the weed identification camera system, the motion processor controls the mobile chassis to move to a target weeding position, and the laser weeding module receives an instruction sent by the motion processor, and then accurately completes weeding. The present invention has high adaptability and can accurately realize weeding in an environmentally friendly and efficient manner.

Description

Intelligent laser weeding robot Technical Field

[0001] The present invention relates to the technical field of agricultural weeding equipment, and in particular to an intelligent laser weeding robot. Background Art

[0002] Weeds are extremely harmful to crop growth. Fast-growing weeds not only occupy growing space and reduce the amount of light available to crops, but also breed pests, directly impacting crop yields and even causing crop failure. Currently, weed control in southwest my country relies primarily on manual weeding and herbicides. Manual weeding is labor-intensive and expensive. While herbicides can reduce costs, their extensive use can pollute the environment and threaten food safety. In recent years, researchers both domestically and internationally have conducted extensive research on novel physical weed control methods, including laser weeding, flame weeding, and electrocution. Currently, weeders equipped with laser weeding are only suitable for plains, where operating conditions are limited and weed identification is inaccurate, leading to indiscriminate weeding and crop damage. Existing equipment is also unsuitable for weed control in hilly or mountainous areas.

[0003] Therefore, how to provide an intelligent laser weeding robot is a problem that those skilled in the art urgently need to solve.

[0004] Summary of the Invention

[0005] In view of this, the present invention provides an intelligent laser weeding robot that can accurately weed and adapt to operations on different terrains.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: an intelligent laser weeding robot, which includes:

[0007] A mobile body, wherein a battery is installed on the mobile body;

[0008] a laser weeding module, the laser weeding module being fixedly located below the mobile vehicle body and electrically connected to a battery;

[0009] a weed recognition camera system, which is arranged in front of the mobile vehicle and photographs and identifies weeds;

[0010] A motion processor is mounted on the mobile body and is electrically connected to the mobile body, a battery, a laser weeding module, and a weed recognition camera system. After identifying weeds, the weed recognition camera system controls the mobile body to move to a target weeding position via the motion processor. The laser weeding module completes precise weeding after receiving instructions from the motion processor.

[0011] The beneficial effects of the present invention are: relying on the weed recognition camera system to accurately identify weeds and crops, and by moving the vehicle body through the target weeding position, relying on the laser weeding module to accurately weed during the movement of the mobile body, and the motion processor to realize the automatic navigation and movement of the mobile body, completing the automated weeding process, with high weeding efficiency, reducing labor costs and the harmfulness of chemical agents.

[0012] Preferably, the mobile vehicle body includes a chassis, a track assembly and a wheel assembly, the battery is fixed on the chassis, the track assembly and the wheel assembly are rotatably connected to the two ends of the chassis respectively, the track assembly and the wheel assembly are electrically connected to the battery and the motion processor respectively, and the laser weeding module is fixed under the chassis.

[0013] The beneficial effects of the present invention are: the mobile body relies on two sets of travel systems, one set is the track assembly and the other set is the wheel assembly, which adapts to all-terrain working environments and improves its passing ability and obstacle crossing ability. The track assembly and the wheel assembly can both provide forward power, have strong obstacle crossing ability, and adapt to all-terrain operations.

[0014] Preferably, there are two groups of wheel assemblies and they are symmetrically arranged on both sides of one end of the chassis. The wheel assemblies each include a wheel rod frame, a wheel motor, a wheel and a suspension adjustment rod. One end of the wheel rod frame is hinged to the side wall of the chassis, and the wheel motor is fixed to the other end of the wheel rod frame. The wheel is transmission-connected to the output shaft of the corresponding wheel motor, and the two ends of the suspension adjustment rod are movably connected to the chassis and the wheel rod frame respectively, and the suspension adjustment rod is electrically connected to the motion processor.

[0015] The beneficial effects of the present invention are: the wheel movement can be actively controlled by the wheel motor, the wheel rod frame and the suspension adjustment rod are used to adjust the relative height of the wheel and the chassis, and provide a basis for further realizing the lifting and lowering adjustment of the chassis.

[0016] The top of the track seat is rotatably connected to the outer side of the chassis, and the top of the swing bracket is movably connected to the track seat frame, and the two ends of the telescopic rod are respectively hinged on the middle of the track seat frame and the swing bracket to form an A-shaped structure. The telescopic rod is connected to the motion processor, and the driving motor is fixed on the track seat frame. The track wheel includes an active track wheel and a driven track wheel, and the active track wheel is connected to the output shaft of the driving motor. The bottom ends of all the swing brackets and the bottom of the track seat frame are rotatably connected to the driven track wheel, and the crawler is wrapped around the outer sides of the active track wheel and the driven track wheel.

[0017] The resulting technical effect is that the track assembly can adjust the top height of the track, that is, adjust the height of the front side of the chassis, and the inclination of the track frame can be adjusted by extending and retracting the telescopic rod, thereby adjusting the height position of the chassis. The chassis and the track frame are connected by an axial rotation. Therefore, the height of the front side of the chassis can be smoothly adjusted by adjusting the height of the track assembly.

[0018] Preferably, a roll angle sensor and an automatic leveling controller are fixedly connected to the chassis, and the roll angle sensor and the automatic leveling controller are respectively connected to the motion processor via electrical signals and adjust the horizontal height of the chassis through the suspension adjustment rod and the telescopic rod.

[0019] The resulting technical effect is: the roll angle sensor is used to detect the roll state of the chassis, and the automatic leveling controller promptly adjusts the state of the two suspension adjustment rods to ensure the balance and stability of the chassis.

[0020] Preferably, an obstacle avoidance sensor is fixed on the outside of the track frame relative to the chassis, an obstacle avoidance sensor is fixed in front of the chassis, and an obstacle avoidance processor is fixed on the chassis. The obstacle avoidance sensor is electrically connected to the obstacle avoidance processor, and the obstacle avoidance processor is electrically connected to the motion processor and controls the mobile vehicle to avoid obstacles while moving.

[0021] The resulting technical effect is: there are many types of obstacle avoidance sensors, including ultrasonic sensors, infrared sensors, visual sensors, laser sensors, etc. The obstacle avoidance sensors transmit obstacle information on the path to the obstacle avoidance processor and control the mobile body through the motion processor to realize automatic obstacle avoidance function.

[0022] Preferably, the laser weeding module includes a mounting plate and a plurality of laser emitters, the mounting plate is fixed below the chassis, the plurality of laser emitters are arrayed on the mounting plate, and the plurality of laser emitters are respectively connected to a motion processor via electrical signals.

[0023] The resulting technical effect is: the laser transmitter emits laser to remove weeds, without the need for chemical drugs, the weeding is accurate and environmentally friendly, and laser weeding can be completed during the movement process.

[0024] Preferably, the plurality of laser emitters work independently, the weed recognition camera system identifies weeds and crops, sends signals to the laser weeding module, the laser emitter corresponding to the weed emits laser, and the laser weeding module automatically follows and weeds as the moving vehicle moves forward.

[0025] The resulting technical effect is that the laser emitters work independently and do not affect each other. The motion processor will reach the predetermined position according to the instructions of the weed recognition camera system, and then control the corresponding laser emitter to accurately remove weeds.

[0026] Preferably, the motion processor is an Arduino Uno control board; the obstacle avoidance processor is a NI-Myrio control board; and the laser weeding module automatically follows the moving vehicle to weed based on the visual SLAM robust positioning technology in dynamic scenes.

[0027] The resulting technical effect is that the laser weeding module can automatically complete the weeding process while the mobile vehicle is moving.

[0028] Preferably, a plurality of step-down circuit boards are provided on the chassis, and the drive motor and the wheel motors are electrically connected to the battery through corresponding step-down circuit boards.

[0029] The resulting technical effect is that the power of the track assembly and the wheel assembly comes from the drive motor and the wheel motor, and the power of the drive motor and the wheel motor comes from electricity, so the drive motor and the wheel motor need to be powered by a battery through a step-down circuit board. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIG1 is a structural diagram of the intelligent laser weeding robot of the present invention;

[0031] FIG2 is a second structural diagram of the intelligent laser weeding robot of the present invention;

[0032] FIG3 is a structural diagram of the intelligent laser weeding robot of the present invention;

[0033] FIG4 is a schematic diagram of a laser weeding module of the intelligent laser weeding robot of the present invention;

[0034] FIG5 is a diagram showing the system architecture of the SLAM robust positioning technology based on the intelligent laser weeding robot of the present invention;

[0035] FIG6 is a flow chart of dynamic object determination of the intelligent laser weeding robot of the present invention;

[0036] FIG7 is an overall flow chart of the semantic loop detection algorithm of the intelligent laser weeding robot of the present invention.

[0037] 1 mobile body, 11 chassis, 12 track assembly, 121 track mount, 122 swing bracket, 123 telescopic rod, 124 drive motor, 125 track wheel, 126 track, 13 wheel assembly, 131 wheel rod bracket, 132 wheel motor, 133 wheel, 134 suspension adjustment rod, 2 battery, 3 laser weeding module, 31 mounting plate, 32 laser transmitter, 4 weed recognition camera system, 5 obstacle avoidance sensor, 6 roll angle sensor, 7 automatic leveling controller. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] 1 to 7 of the present invention, an intelligent laser weeding robot according to an embodiment of the present invention includes:

[0040] A mobile body 1, on which a battery 2 is installed;

[0041] The laser weeding module 3 is fixedly located below the mobile vehicle body 1 and is electrically connected to the battery 2;

[0042] A weed recognition camera system 4 is arranged in front of the mobile vehicle 1 and photographs and identifies weeds;

[0043] The motion processor is installed on the mobile body 1 and is electrically connected to the mobile body 1, the battery 2, the laser weeding module 3, and the weed recognition camera system 4. After identifying weeds, the weed recognition camera system 4 controls the mobile body 1 to move to the target weeding position through the motion processor. The laser weeding module 3 completes precise weeding after receiving the instructions issued by the motion processor.

[0044] Specifically, the mobile body 1 includes a chassis 11, a track assembly 12 and a wheel assembly 13. The battery 2 is fixed on the chassis 11. The track assembly 12 and the wheel assembly 13 are rotatably connected to the front and rear ends of the chassis 11 respectively, with a width of 90 cm. The track assembly 12 and the wheel assembly 13 are electrically connected to the battery 2 and the motion processor respectively. The laser weeding module 3 is fixed under the chassis 11.

[0045] There are two wheel assemblies 13, symmetrically arranged on either side of one end of the chassis 11. Each wheel assembly 13 includes a wheel bar 131, a wheel motor 132, a wheel 133, and a suspension adjustment rod 134. One end of the wheel bar 131 is hinged to the side wall of the chassis 11, and the wheel motor 132 is fixed to the other end of the wheel bar 131. The wheel 133 is drivingly connected to the output shaft of the corresponding wheel motor 132. The two ends of the suspension adjustment rod 134 are movably connected to the chassis 11 and the wheel bar 131, respectively. The suspension adjustment rod 134 is electrically connected to the motion processor. The suspension adjustment rod can be an electric telescopic rod or a hydraulic rod. The extension and retraction of the suspension adjustment rod adjusts the relative rotation angle between the wheel bar and the chassis, thereby achieving vertical adjustment of the rear end of the chassis.

[0046] More specifically, there are two groups of crawler assemblies 12 and they are symmetrically arranged on both sides of the other end of the chassis 11. The crawler assemblies 12 each include a crawler seat frame 121, a swing bracket 122, a telescopic rod 123, a drive motor 124, a track wheel 125 and a crawler 126. The top of the crawler seat frame 121 is rotatably connected to the outside of the chassis 11, the top of the swing bracket 122 is movably connected to the crawler seat frame 121, and the two ends of the telescopic rod 123 are respectively hinged to the crawler seat frame 121 and the The middle portion of the swing bracket 122 forms an A-shaped structure. The telescopic rod 123 is electrically connected to the motion processor. The drive motor 124 is fixed to the track frame 121. The track wheels 125 include a driving track wheel and a driven track wheel. The driving track wheel is connected to the output shaft of the drive motor 124. The bottom end of the swing bracket 122 and the bottom of the track frame 121 are both rotatably connected to the driven track wheel. The track 126 is wrapped around the outside of the driving track wheel and the driven track wheel. The telescopic rod can be a hydraulic rod or an electric telescopic rod. By extending and retracting the telescopic rod, the angle of the track frame 121 and the swing bracket 122 is changed, and the track assembly is adjusted, thereby adjusting the height of the chassis. During the movement of the mobile body, the chassis adjustment can effectively avoid obstacles and smoothly cross rugged terrain. The height adjustment range of the chassis 11 is 30-50 cm. The chassis 11 is provided with a plurality of step-down circuit boards, and the drive motor 124 and the wheel motor 132 are electrically connected to the battery 2 through the corresponding step-down circuit boards to realize the supply of power.

[0047] The chassis 11 is fixedly connected to a roll angle sensor 6 and an automatic leveling controller 7. The roll angle sensor 6 and the automatic leveling controller 7 are respectively connected to the motion processor via electrical signals and adjust the horizontal height of the chassis 11 through the suspension adjustment rod 134 and the telescopic rod 123. When the moving body needs to avoid obstacles at the bottom during forward movement, the track assembly is adjusted, thereby raising the height of the front side of the chassis. Under the action of the roll angle sensor 6 and the automatic leveling controller 7, the rear suspension adjustment rod is adjusted in time to ensure the horizontal state of the chassis, thereby ensuring that the camera in the weed recognition camera system has a sufficient field of view, thereby ensuring accurate operation.

[0048] When the crawler track assembly is raised, the chassis 11 tilts, and the automatic leveling controller 7 makes a control decision based on the roll angle, driving the suspension adjustment rod to adjust the height so that the chassis 11 always remains horizontal.

[0049] The track mount is connected to the chassis via an axle. The track assembly adjusts in angle to suit the terrain, but the chassis remains parallel to the ground. The chassis is kept horizontal to ensure the camera remains stable and prevent inaccurate positioning of the laser weeding module.

[0050] The weed recognition camera system mainly collects images by the camera and transmits them to the background server through the network. The background server analyzes and processes the images to obtain weed information, and then transmits the weed information to the motion processor to realize the movement of the mobile vehicle to the target position.

[0051] A camera is used to capture weed images, and a convolutional neural network is used for image detection. First, the input image is subjected to feature extraction, then processed through the convolution layer and pooling layer, and then the activation function is used to obtain the feature map. Finally, the feature map is further detected and identified through the fully connected layer to obtain the final recognition result. This allows the weeds to be accurately located, and then the laser weeding module can be used for precise weeding.

[0052] In other embodiments, an obstacle avoidance sensor 5 is fixed to the outside of the track frame 121 relative to the chassis 11, an obstacle avoidance sensor 5 is fixed in front of the chassis 11, and an obstacle avoidance processor is provided on the chassis 11. The obstacle avoidance sensor 5 is electrically connected to the obstacle avoidance processor by signal, and the obstacle avoidance processor is electrically connected to the motion processor by signal and controls the moving vehicle body to avoid obstacles during movement. The obstacle avoidance sensor can be an ultrasonic sensor, a visual sensor, an infrared sensor, or a laser sensor. The obstacle avoidance processor relies on the information detected by the obstacle avoidance sensor to send control instructions such as turning and moving forward to the motion processor, thereby realizing the automatic obstacle avoidance function of the moving vehicle body.

[0053] In some other specific embodiments, the laser weeding module 3 includes a mounting plate 31 and 60 150-watt laser emitters 32, which can be triggered once every 50 milliseconds. The mounting plate 31 is fixed under the chassis 11, and the 60 laser emitters 32 are distributed in an array on the mounting plate 31. The 60 laser emitters 32 are electrically connected to the motion processor and the weed recognition camera system 4.

[0054] In other embodiments, multiple laser emitters 32 operate independently. The weed recognition camera system 4 identifies weeds and crops, transmits a signal to the laser weeding module, and the corresponding laser emitter emits laser light. The laser weeding module 3 automatically follows the weed removal process as the vehicle moves forward. The laser emitters in the weeding module can accurately locate the core of the weed, and the vehicle can remain in motion, allowing the laser emitters to follow the movement.

[0055] Specifically, the motion processor is an Arduino Uno control board; the obstacle avoidance processor is an NI-Myrio control board; and the laser weeding module 3 automatically follows the moving vehicle to weed based on the visual SLAM robust positioning technology in dynamic scenes.

[0056] The robust positioning technology of visual SLAM in dynamic scenes is an instance segmentation algorithm integrated with CamShift tracking: the instance segmentation results of each frame are tracked by the CamShift algorithm. When instance segmentation fails, the results tracked by CamShift are used as the object recognition results in instance segmentation, and then a dynamic object judgment algorithm is used based on optical flow tracking and instance segmentation results.

[0057] The visual recognition-based all-terrain intelligent laser weeder of the present invention uses a weed recognition camera system 4 to capture real-time on-site images and perform image recognition. After identifying weeds, the algorithm controls the track assembly 12 to automatically navigate to the optimal weeding position. During this process, the ultrasonic sensor can also be used to avoid obstacles in real time. After reaching the optimal weeding position, the motion processor continues to call the laser weeding module 3 to perform weeding operations. The weeder of the present invention can automatically navigate and accurately weed, reducing labor costs and the harmfulness of chemical agents.

[0058] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. Intelligent laser weeding robot, characterized by: include: A mobile body (1), wherein a storage battery (2) is installed on the mobile body (1); A laser weeding module (3), the laser weeding module (3) is fixedly located below the mobile vehicle body (1), and the laser weeding module (3) is electrically connected to the battery (2); a weed identification camera system (4), the weed identification camera system (4) being arranged in front of the mobile vehicle (1) and photographing and identifying weeds; A motion processor is installed on the mobile body (1) and is respectively connected to the mobile body (1), the battery (2), the laser weeding module (3), and the weed identification camera system (4) via electrical signals. After identifying weeds, the weed identification camera system (4) controls the mobile body (1) to move to a target weeding position via the motion processor, and the laser weeding module (3) completes precise weeding after receiving instructions from the motion processor.

2. The intelligent laser weeding robot according to claim 1, characterized in that: The mobile vehicle body (1) comprises a chassis (11), a track assembly (12) and a wheel assembly (13); the battery (2) is fixed on the chassis (11); the track assembly (12) and the wheel assembly (13) are rotatably connected to the front and rear ends of the chassis (11), respectively; the track assembly (12) and the wheel assembly (13) are electrically connected to the battery (2) and the motion processor, respectively; and the laser weeding module (3) is fixed below the chassis (11).

3. The intelligent laser weeding robot according to claim 2, characterized in that: The wheel assemblies (13) are in two groups and are symmetrically arranged on both sides of one end of the chassis (11). The wheel assemblies (13) each include a wheel rod frame (131), a wheel motor (132), a wheel (133) and a suspension adjustment rod (134). One end of the wheel rod frame (131) is hinged to the side wall of the chassis (11), the wheel motor (132) is fixed to the other end of the wheel rod frame (131), the wheel (133) is transmission-connected to the output shaft of the corresponding wheel motor (132), the two ends of the suspension adjustment rod (134) are movably connected to the chassis (11) and the wheel rod frame (131), and the suspension adjustment rod (134) is electrically connected to the motion processor.

4. The intelligent laser weeding robot according to claim 3, characterized in that: The crawler assembly (12) has two groups and is symmetrically arranged on both sides of the other end of the chassis (11). The crawler assembly (12) includes a crawler seat frame (121), a swing bracket (122), a telescopic rod (123), a drive motor (124), a crawler wheel (125) and a crawler (126). The top end of the crawler seat frame (121) is rotatably connected to the outside of the chassis (11), the top end of the swing bracket (122) is movably connected to the crawler seat frame (121), and the two ends of the telescopic rod (123) are respectively hinged to the crawler seat frame (12 1) and the middle part of the swing bracket (122) to form an A-shaped structure, the telescopic rod (123) is connected to the motion processor by electrical signals, the drive motor (124) is fixed on the track seat (121), the track wheel (125) includes a driving track wheel and a driven track wheel, the driving track wheel is connected to the output shaft of the drive motor (124), the bottom end of the swing bracket (122) and the bottom of the track seat (121) are both rotatably connected to the driven track wheel, and the crawler belt (126) is wound around the outer sides of the driving track wheel and the driven track wheel.

5. The intelligent laser weeding robot according to claim 4, characterized in that: A roll angle sensor (6) and an automatic leveling controller (7) are fixedly connected to the chassis (11); the roll angle sensor (6) and the automatic leveling controller (7) are respectively connected to the motion processor via electrical signals and adjust the horizontal height of the chassis (11) via a suspension adjustment rod (134) and a telescopic rod (123).

6. The intelligent laser weeding robot according to claim 5, characterized in that: An obstacle avoidance sensor (5) is fixed on the outer side of the crawler frame (121) relative to the chassis (11), an obstacle avoidance sensor (5) is fixed in front of the chassis (11), an obstacle avoidance processor is provided on the chassis (11), the obstacle avoidance sensor (5) is electrically connected to the obstacle avoidance processor, and the obstacle avoidance processor is electrically connected to the motion processor and controls the moving vehicle body to avoid obstacles during movement.

7. The intelligent laser weeding robot according to claim 6, characterized in that: The laser weeding module (3) comprises a mounting plate (31) and a plurality of laser emitters (32); the mounting plate (31) is fixed below the chassis (11); the plurality of laser emitters (32) are distributed in an array on the mounting plate (31); and the plurality of laser emitters (32) are respectively connected to a motion processor and a weed recognition camera system (4) via electrical signals.

8. The intelligent laser weeding robot according to claim 7, characterized in that: The plurality of laser emitters (32) work independently, the weed recognition camera system (4) identifies weeds and crops, and sends the recognition signal to the laser weeding module, the laser emitter corresponding to the weed emits laser, and the laser weeding module (3) automatically follows and weeds as the moving vehicle moves forward.

9. The intelligent laser weeding robot according to claim 8, characterized in that: The motion processor is an Arduino Uno control board; the obstacle avoidance processor is a NI-Myrio control board; the laser weeding module (3) automatically follows the moving vehicle to weed based on the visual SLAM robust positioning technology in dynamic scenes.

10. The intelligent laser weeding robot according to claim 9, characterized in that: A plurality of step-down circuit boards are provided on the chassis (11), and the drive motor (124) and the wheel motor (132) are electrically connected to the battery (2) via corresponding step-down circuit boards.

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