CN109937999B - Device for killing original drug plants by laser - Google Patents
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- CN109937999B CN109937999B CN201910216009.9A CN201910216009A CN109937999B CN 109937999 B CN109937999 B CN 109937999B CN 201910216009 A CN201910216009 A CN 201910216009A CN 109937999 B CN109937999 B CN 109937999B
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Abstract
The invention discloses a device for killing drug original plants by laser. The method comprises the following steps: the laser aiming device comprises a laser generating module, a drug original plant identification module, a laser emitting module and a pointing aiming module, wherein the laser generating module is used for generating laser, the output end of the laser generating module is connected with the input end of the laser emitting module, the output end of the laser emitting module is connected with the input end of the pointing aiming module, and the drug original plant identification module is connected with the input end of the pointing aiming module; the laser emission module is used for emitting laser, the former plant identification module of drugs is used for acquireing the existence information and the positional information of the former plant of drugs, directional aim module is used for according to the existence information and the positional information of the former plant of drugs drive the former plant of drugs that laser emission module aims and wants to kill. The invention can change the working mode of manual poison shoveling at present, improve the working efficiency and reduce the working risk and cost of manual poison shoveling.
Description
Technical Field
The invention relates to the field of eradication of original drug plants, in particular to a device for killing the original drug plants by laser.
Background
The problem of drugs at home and abroad is very serious, and eradicating original plants of drugs is an important means for fighting against illegal drug crimes and restraining spreading of drugs, and has great significance for restraining drug crimes.
The technical means for eradicating the original plant of the drug are mainly divided into a chemical method and a physical method. The chemical method mainly adopts the technical means of spraying chemical preparations to achieve the purpose of eradicating original plants of drugs, such as spraying herbicides on airplanes to eradicate illegally planted original plants of drugs and coca. But chemical shoveling is harmful to people and livestock and may bring environmental problems, so that the chemical shoveling is difficult to be generally applied or popularized in a large range; the physical eradication mainly depends on manual work and other physical methods to directly eradicate the original drug plants. At present, the removal of the original plants of drugs in China mainly depends on manual removal, which wastes time and labor. Since the illegal planting area is often located in a region with rare occurrence and complex geographic environment, manual removal is very difficult and the operation is very dangerous. Therefore, need to develop high-efficient, safe, accurate shovel except that the device, change the working method of present artifical shovel poison, improve the operating efficiency, reduce the work risk and the cost of artifical shovel poison.
Disclosure of Invention
The invention aims to provide a device for killing drug original plants by laser, which can change the current working mode of manual virus shoveling, improve the working efficiency and reduce the working risk and cost of manual virus shoveling.
In order to achieve the purpose, the invention provides the following scheme:
an apparatus for laser killing a drug original plant, comprising: the laser aiming device comprises a laser generating module, a drug original plant identification module, a laser emitting module and a pointing aiming module, wherein the laser generating module is used for generating laser, the output end of the laser generating module is connected with the input end of the laser emitting module, the output end of the laser emitting module is connected with the input end of the pointing aiming module, and the drug original plant identification module is connected with the input end of the pointing aiming module; the laser emission module is used for emitting laser, the former plant identification module of drugs is used for acquireing the existence information and the positional information of the former plant of drugs, directional aim module is used for according to the existence information and the positional information of the former plant of drugs drive the former plant of drugs that laser emission module aims and wants to kill.
Optionally, the laser generating module includes a laser light source, a light source driving circuit and a laser cooling system, the laser light source is connected to the light source driving circuit through a cable, and the light source driving circuit is configured to drive the laser light source to work; the laser cooling system is connected with the laser light source and the light source driving circuit through cooling water pipes respectively, the laser cooling system is used for dissipating heat of the laser light source and the light source driving circuit, and the laser light source is connected with the laser emitting module.
Optionally, the laser light source is configured to emit 1070nm continuous laser light.
Optionally, the laser emission module includes a fiber laser cable output port and a beam shaper, the fiber laser cable output port is connected to the output end of the laser generation module, the fiber laser cable output port is connected to the beam shaper, the beam shaper is connected to the pointing module, and the beam shaper is configured to shape the light output by the laser generation module, output the shaped light, and irradiate the drug original plant under the driving of the pointing module.
Optionally, former plant identification module of narcotic drugs is including CCD imaging system, electronic wheel, standard blank and the controller of straining that connects gradually, the controller with the input of directional module of aiming is connected, electronic wheel of straining is used for filtering space stray light when the former plant of the narcotic drugs of discernment, CCD imaging system is used for imaging to the target area, the standard blank is used for right the natural light intensity that CCD imaging system received is markd, obtains discernment regional image, the controller can be according to the existence information and the positional information of the former plant of the narcotic drugs of discernment regional image determination will information send to directional module of aiming.
Optionally, a mechanical light-transmitting window is arranged on the electric filter wheel, and an optical axis of the CCD imaging system is aligned with the center of the mechanical light-transmitting window.
Optionally, still include the carbon fiber pipe, the standard blank is installed on the carbon fiber pipe, the carbon fiber pipe is fixed through mechanical connection's mode electronic straining takes turns, the diameter of carbon fiber pipe is 12 mm.
Optionally, the distance between the standard whiteboard and the CCD imaging system is 400 mm.
Optionally, the electric filter wheel is provided with 6 filter installation channels, each filter installation channel is provided with a narrow band filter, and each narrow band filter is selected according to a characteristic waveband of the original drug plant.
Optionally, the pointing and aiming module is of a single-output-shaft type single-arm structure, and the drug original plant identification module and the laser emission module are mounted on the single-arm structure.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a device for killing drug original plants by laser, which integrates the identification, aiming and emission of the drug original plants, has higher integration level and intelligent degree, can change the working mode of the existing manual virus shoveling, improves the working efficiency, reduces the working risk and cost of the manual virus shoveling, and can generate remarkable social and economic benefits and ecological benefits.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a structural diagram of the device for laser killing drug original plants according to the present invention;
FIG. 2 is a schematic view of the overall structure of the laser device for killing drug plants according to the present invention;
FIG. 3 is a view showing the structure of the laser generating module according to the present invention;
FIG. 4 is a schematic structural diagram of a laser generating module according to the present invention;
FIG. 5 is a schematic structural diagram of a drug original plant identification module and a laser emission module according to the present invention;
fig. 6 is a control structure diagram of the pointing module according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a device for killing drug original plants by laser, which can change the current working mode of manual virus shoveling, improve the working efficiency and reduce the working risk and cost of manual virus shoveling.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
In order to eradicate the original drug plants efficiently and safely, the temperature of plant meristem cell sap is raised by utilizing high-density laser energy in combination with the current development situation of the current laser technology, so that the original drug plants are prevented from growing or the plants are killed. However, different plants have different characteristics of laser absorption, and for drug original plants, killing by laser is influenced by various factors including the wavelength of the laser used, the irradiation time, the power density of the irradiated laser, and the like. The most critical of these is the wavelength, which is below 1.3 μm for most plants, i.e. the near infrared band is the most strongly absorbing band. In addition, the operating regime (continuous or pulsed) of the laser is also one of the important factors.
The principle of laser killing of drug original plants is that the laser with specific wavelength irradiates the drug original plants, and the cellular fluid of plant leaves or other tissues absorbs the laser with high energy density to cause temperature rise, so that the irradiated plants die along with heat accumulation. Since different plants have different absorption, reflection and transmission characteristics to light, the wavelength selection of the laser light source and the determination of the irradiation dose are very important for killing the plants.
FIG. 1 is a structural diagram of the device for laser sterilization of original plants of drugs according to the present invention. Fig. 2 is a schematic view of the overall structure of the laser device for killing drug original plants according to the present invention. As shown in fig. 1 and 2, an apparatus for laser sterilization of a drug original plant includes: the system comprises a laser generation module 1, a drug original plant identification module 2, a laser emission module 3 and a pointing aiming module 4, wherein the laser generation module 1 is used for generating laser, the output end of the laser generation module 1 is connected with the input end of the laser emission module 3 through an optical fiber, the output end of the laser emission module 3 is connected with the input end of the pointing aiming module 4 through a gigabit net port, and the drug original plant identification module 2 is connected with the input end of the pointing aiming module 4 through the gigabit net port; the laser emission module 3 is used for emitting laser, the former plant identification module 2 of drugs is used for obtaining the survival information and the positional information of the former plant of drugs, the directional module of aiming 4 is used for driving the laser emission module 3 of aiming the former plant of drugs that wants to kill according to the survival information and the positional information of the former plant of drugs.
Fig. 3 is a structural diagram of the laser generation module according to the present invention. Fig. 4 is a schematic structural diagram of a laser generation module according to the present invention. As shown in fig. 3 and 4, the laser generation module 1 includes a laser light source 11, a light source driving circuit 12 and a laser cooling system 13, the laser light source 11 is connected to the light source driving circuit 12 through a high-voltage cable, working parameters inside the laser light source 11 are fed back to the light source driving circuit 12 through a signal feedback cable, and the light source driving circuit 12 is configured to drive the laser light source to work; the laser cooling system 13 comprises two cooling loops inside, the laser cooling system 13 is connected with the laser light source 11 and the light source driving circuit 12 through cooling water pipes, the laser cooling system 13 is used for dissipating heat of the laser light source 11 and the light source driving circuit 12, and the laser light source 11 is connected with the laser emitting module 3. The laser light source 11 comprises a bar laser light source and a laser shaping optical component; the light source driving circuit 12 generates proper voltage and current which meet the work of the bar laser light source, so that the laser light source can be driven to work; the laser cooling system 13 is a water cooling system, and prevents damage to components due to overheating of the system by dissipating heat from the laser light source 11 and the light source driving circuit 12. Whole laser generation module 1 installs in a cabinet internal portion, and laser is derived through the optic fibre of optic fibre laser optical cable delivery outlet, and convenient and laser emission module 3 is integrated. The research results of the damage tests of the lasers with different wavelengths and different power densities on different action parts of the original drug plants show that the 1070nm continuous laser light source has good killing effect on the original drug plants, and the ideal killing power density is 122.04kW/m 2 . Therefore, the laser light source 11 is used to emit continuous laser light of 1070 nm.
Fig. 5 is a schematic structural view of a drug original plant identification module and a laser emission module according to the present invention. As shown in fig. 5, the laser emission module 3 includes a fiber laser cable output port 31 and a beam shaper 32, the fiber laser cable output port 31 is connected to the output end of the laser generation module 1, the fiber laser cable output port 31 is connected to the beam shaper 32, the beam shaper 32 is connected to the pointing module 4, and the beam shaper 32 is configured to shape the light output by the laser generation module 1, output the shaped light, and irradiate the original drug plants under the driving of the pointing module 4, so as to obtain as large a light spot as possible while ensuring the power density for killing the original drug plants.
As shown in fig. 5, former plant identification module 2 of drugs is including CCD imaging system 21, electronic wheel 22, standard blank 23 and the controller of straining that connects gradually, the controller with the input of directional aim module 4 is connected, electronic wheel 22 of straining is used for filtering space stray light when former plant of identification drugs, CCD imaging system 21 is used for imaging the target area, standard blank 23 is used for right the natural light intensity that CCD imaging system received marks, obtains the regional image of discernment, the controller can be according to the regional image of discernment confirms the existence information and the positional information of former plant of drugs and with information routing to directional aim module. The electric filter wheel 22 is provided with a mechanical light-passing window, and the optical axis of the CCD imaging system 21 is aligned with the center of the mechanical light-passing window. The standard white board 23 is installed on a carbon fiber pipe, the carbon fiber pipe is fixed on the electric filter wheel 22 in a mechanical connection mode, and the diameter of the carbon fiber pipe is 12 mm. The distance between the standard white board 23 and the CCD imaging system 21 is 400 mm. The electric filter wheel 22 is provided with 6 filter installation channels, each filter installation channel is provided with a narrow-band filter, and each narrow-band filter is selected according to the characteristic wave band of the drug original plant.
After obtaining the image of the identified area, the controller internally identifies the candidate area by using a typical dense convolutional neural network DenseNet network. A convolution kernel of 3 x 3 and an average pooling of 2 x 2 was used. The Dense blocks are of a 5-layer structure, and three Dense Block blocks are connected through a transition layer and a pooling layer. The transition layer comprises a batch normalization layer and a 1X 1 convolution layer, and the pooling layer is a 2X 2 average pooling layer. DenseNet achieved 99.2% accuracy on the training set samples and 89.3% accuracy on the test samples. The detection time of DensNet on GPU (GTX1080) is 5 ms.
The method comprises the following specific steps:
1) switching optical filter channels through an electric filter wheel 22 to obtain characteristic images of 6 wave bands, wherein each image comprises a standard white board 23 image and a shooting target characteristic image;
2) taking the average gray value obtained by the standard white board 23 as a reference, and performing normalization processing on the obtained characteristic image;
3) screening candidate areas according to the reflectivity range of the original drug plants in the wave band to preliminarily obtain the candidate areas possibly containing the original drug plants;
4) candidate regions are identified using a typical DenseNet network algorithm. Firstly, carrying out convolution operation on a candidate region, and then designing a Dense algorithm with a 5-layer structure for calculation: the 3 Dense Block blocks are connected by a transition layer and a pooling layer. The transition layer comprises a batch normalization layer and a 1X 1 convolution layer, and the pooling layer is a 2X 2 average pooling layer.
5) And (4) processing the result by the algorithm, and outputting the information whether the characteristic region contains the drug original plant.
The pointing aiming module 4 adopts a single-output-shaft type single-arm structure, and the drug original plant identification module and the laser emission module are installed on the single-arm structure. The pointing-aiming module 4 has two axes of motion, pitch and azimuth. Fig. 6 is a control structure diagram of the pointing module according to the present invention. The main control part of the module is a data processing system based on a Field Programmable Gate Array (FPGA), the FPGA can receive the survival information and the position information from the guiding device through a serial port, and can also receive the image from the image recognition system through a gigabit network port and perform real-time processing to obtain the required position guiding information. And then, the position guide information is sent to a stepping motor controller, the stepping motor and the speed reducer are driven to run to a specified position, meanwhile, the encoder acquires the running speed, survival information and position information of the system in real time and feeds the information back to the FPGA data processing system, the information is compared with the offset to obtain the compensation quantity, the compensation quantity is converted into the rotating speed and the angle, and the rotating speed and the angle are adjusted and transmitted to a motion executing mechanism through an internal PID controller, so that the aim of stably pointing to the target in real time is fulfilled.
The specific process is as follows:
1) receiving position guide information from the outside of the device through a serial port or receiving image information shot by an identification system through a gigabit network port;
2) processing and identifying position guide information or images in the FPGA to obtain the amount of motion of an azimuth axis and a pitch axis, and outputting a control amount after calculating by adopting an improved PID control algorithm;
3) sending the control information of the azimuth axis and the pitch axis to corresponding step motor drivers, and driving the step motors to drive the axes to move according to the requirements through speed reducers;
4) and the FPGA data processing system reads the survival information and the position information of the absolute encoder in the movement mechanism and judges whether the pointing system moves to a specified position. If not, comparing the difference between the actual position and the target position, and repeating the steps 2) -4) until the system points to the preset target position; if the target position is reached, the movement is stopped.
The optical filter in the drug original plant identification module 2 is arranged in a corresponding channel in the electronic rotating wheel through a mechanical pressing ring, the CCD imaging system 21 is arranged on the electric filtering wheel 22 through a mechanical transition piece, and the optical axis of the CCD imaging system 21 passes through the center of the optical filter. The standard white board 23 is mounted on a carbon fiber tube through mechanical parts, the carbon fiber tube is mounted on the other side of the filter wheel through mechanical parts, and the standard white board 23 is ensured to be in the view field of the CCD imaging system 21 during mounting. The whole drug original plant identification module 2 is integrated by taking the electric filter wheel 22 as a mounting substrate. The laser emission module 3 is composed of two optical shaping lenses, and the two optical shaping lenses are arranged in a lens cone and fixed through a mechanical pressing ring. The laser emission module 3 is also a standard QBH interface, and is connected with the optical fiber output end of the light source through the QBH interface to form a whole. The drug original plant identification module 2 and the laser emission module 3 are integrally installed on an optical substrate to form an integral module, and during installation, the common optical axis of the two systems is ensured. The optical substrate carrying the drug original plant identification module 2 and the laser emission module 3 is integrally installed on the single-arm structure of the pointing aiming module 4 through a mechanical transition piece, and the single-arm structure of the pointing aiming module 4 can drive the drug original plant identification module 2 and the laser emission module 3 to rotate simultaneously according to survival information and position information.
In the prior art, the original drug plants are killed manually, the invention provides a device for killing the original drug plants by laser, which integrates the identification, aiming and emission of the original drug plants, can change the current working mode of manual virus shoveling, improve the working efficiency and reduce the working risk of virus shoveling in sensitive areas.
Example 1:
when using the device on a ground moving platform, it is necessary to have a long projecting arm of the moving platform, which can project above the area to be worked. The laser generation module is installed inside the ground mobile platform and is powered by the ground mobile platform, the drug original plant identification module and the laser emission module are installed at the top end of the extension arm, and the two modules are connected through multimode optical fibers and a weak current cable. During operation, the operation arm of the ground moving platform extends to the upper part of the operation area, the power supply of the light source device in the moving platform is started, and the killing device can perform plant killing operation after being started through self-checking.
When the device for killing the original drug plants by the laser is used on the air-based platform, the light source is installed inside the air-based platform and is powered by the air-based platform, the original drug plant identification module and the laser emission module are installed on the abdomen or the front lower part of the air-based platform, and the two units are connected through the multimode optical fiber and the weak current cable. During operation, the empty foundation platform flies to the operation area top, starts the power of the inside light source device of moving platform, and the device of the former plant of laser kill drugs can carry out the plant operation of killing after starting through the self-checking.
When killing operation is carried out, the killing effect of the plants can be checked in real time through a visible light channel in the identification system, and the images of the original drug plant identification module can be transmitted to ground receiving equipment in a wireless mode.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are presented solely to aid in the understanding of the apparatus and its core concepts; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. A device for killing drug original plants by laser is characterized by comprising: the laser aiming device comprises a laser generating module, a drug original plant identification module, a laser emitting module and a pointing aiming module, wherein the laser generating module is used for generating laser, the output end of the laser generating module is connected with the input end of the laser emitting module, the output end of the laser emitting module is connected with the input end of the pointing aiming module, and the drug original plant identification module is connected with the input end of the pointing aiming module; the laser emission module is used for emitting laser, the drug original plant identification module is used for acquiring survival information and position information of drug original plants, and the pointing aiming module is used for driving the laser emission module to aim at the drug original plants to be killed according to the survival information and the position information of the drug original plants;
The drug original plant identification module comprises a CCD imaging system, an electric filter wheel, a standard white board and a controller which are connected in sequence; the electric filter wheel is provided with a mechanical light-transmitting window, and the optical axis of the CCD imaging system is aligned with the center of the mechanical light-transmitting window; the standard white board is arranged on a carbon fiber pipe, and the carbon fiber pipe is fixed on the electric filter wheel in a mechanical connection mode; the electric filter wheel is provided with 6 filter installation channels, each filter installation channel is provided with a narrow-band filter, and each narrow-band filter is selected according to the characteristic wave band of the drug original plant;
the optical filter in the drug original plant identification module is arranged in a corresponding channel in the electric filter wheel through a mechanical pressing ring, the CCD imaging system is arranged on the electric filter wheel through a mechanical transition piece, and the optical axis of the CCD imaging system passes through the center of the optical filter; the standard white board is arranged on one carbon fiber tube through a mechanical part, the carbon fiber tube is arranged on the other side of the electric filter wheel through the mechanical part, and the standard white board is ensured to appear in a view field of the CCD imaging system during installation; the whole drug original plant identification module takes an electric filter wheel as a mounting substrate to form a whole;
The laser emission module is composed of two optical shaping lenses, and the two optical shaping lenses are arranged in a lens barrel and are fixed through a mechanical pressing ring; the laser emission module is a standard QBH interface and is connected with the optical fiber output end of the light source through the QBH interface to form a whole; the drug original plant identification module and the laser emission module are integrally installed on an optical substrate to form an integral module, and the two modules share an optical axis during installation; the optical substrate carrying the drug original plant identification module and the laser emission module is integrally installed on the single-arm structure of the pointing aiming module through a mechanical transition piece, and the single-arm structure of the pointing aiming module drives the drug original plant identification module and the laser emission module to simultaneously rotate according to the survival information and the position information;
the drug original plant identification module is used for switching optical filter channels through an electric filter wheel to obtain characteristic images of 6 wave bands, and each image comprises a standard white board image and a shooting target characteristic image; taking the average gray value obtained by the standard white board image as a reference, and carrying out normalization processing on the obtained characteristic image; screening candidate areas according to the reflectivity range of the original drug plants in the wave band to preliminarily obtain the candidate areas possibly containing the original drug plants; identifying the candidate area by using a typical DenseNet algorithm, and outputting information whether the characteristic area contains drug original plants or not;
The laser emission module comprises a fiber laser cable output port and a beam shaper, the fiber laser cable output port is connected with the output end of the laser generation module, the fiber laser cable output port is connected with the beam shaper, the beam shaper is connected with the directional aiming module, the beam shaper is used for shaping the light output by the laser generation module, outputting the shaped light, irradiating the original drug plants under the driving of the directional aiming module, and ensuring the killing power density of the original drug plants while obtaining light spots as large as possible;
the laser generation module comprises a laser light source, a light source driving circuit and a laser cooling system, wherein the laser light source is used for emitting 1070nm continuous laser; the ideal killing power density is 122.04kW/m 2 ；
The laser light source is connected with the light source driving circuit through a high-voltage cable, working parameters in the laser light source are fed back to the light source driving circuit through a signal feedback cable, and the light source driving circuit is used for driving the laser light source to work; the laser cooling system comprises two cooling loops, is connected with the laser light source and the light source driving circuit through cooling water pipes, is used for dissipating heat of the laser light source and the light source driving circuit, and is connected with the laser emitting module; the laser light source comprises a bar laser light source and a laser shaping optical component; the light source driving circuit generates voltage and current which meet the working requirements of the bar laser light source, so that the laser light source can be driven to work; the laser cooling system is a water cooling system, and prevents components from being damaged due to overheating of the system by radiating the laser light source and the light source driving circuit; whole laser generation module installs in a cabinet internal portion, and laser is derived through the optic fibre of optic fibre laser optical cable delivery outlet, and convenient and laser emission module is integrated.
2. The device for laser killing of drug original plants according to claim 1, wherein the controller is connected to an input end of the pointing aiming module, the electric filter wheel is used for filtering out space stray light when identifying drug original plants, the CCD imaging system is used for imaging a target area, the standard white board is used for calibrating natural light intensity received by the CCD imaging system to obtain an identification area image, and the controller can determine survival information and position information of the drug original plants according to the identification area image and send the survival information and the position information to the pointing aiming module.
3. The device for laser killing of drug depots according to claim 2, wherein the carbon fiber tube has a diameter of 12 mm.
4. The apparatus according to claim 2, wherein the standard whiteboard is spaced from the CCD imaging system by a distance of 400 mm.
5. The apparatus according to claim 2, wherein the pointing module has a single-arm structure with a single output axis.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910216009.9A CN109937999B (en) | 2019-03-21 | 2019-03-21 | Device for killing original drug plants by laser |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910216009.9A CN109937999B (en) | 2019-03-21 | 2019-03-21 | Device for killing original drug plants by laser |
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| CN109937999A CN109937999A (en) | 2019-06-28 |
| CN109937999B true CN109937999B (en) | 2022-08-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3652844A (en) * | 1970-02-09 | 1972-03-28 | Ralph A Scott Jr | Laser plant control |
| JP2001275541A (en) * | 2000-03-31 | 2001-10-09 | Fumakilla Ltd | Device for controlling, weeding and sterilizing pest |
| CA2659522C (en) * | 2006-08-01 | 2017-08-29 | Photonic Detection Systems Pty Ltd | Optical sensing system and optical devices therefor |
| US7875862B1 (en) * | 2007-12-07 | 2011-01-25 | Jerry Wade Hudson | Ultraviolet plant eradication apparatus and method |
| CN101589705B (en) * | 2009-06-26 | 2011-06-01 | 江苏大学 | Laser weeding robot |
| CN203087363U (en) * | 2013-01-23 | 2013-07-31 | 昆明理工大学 | Laser weeding robot |
| US9565848B2 (en) * | 2013-09-13 | 2017-02-14 | Palo Alto Research Center Incorporated | Unwanted plant removal system |
| CN204930106U (en) * | 2015-08-13 | 2016-01-06 | 北京林业大学 | A kind of laser weeding aircraft |
| CN106561093A (en) * | 2016-10-27 | 2017-04-19 | 中国农业大学 | Laser weeding robot based on four-degree-of-freedom parallel mechanism |
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