CN113632779A - Laser intelligent weeding robot and weeding method - Google Patents
Laser intelligent weeding robot and weeding method Download PDFInfo
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- CN113632779A CN113632779A CN202111083813.8A CN202111083813A CN113632779A CN 113632779 A CN113632779 A CN 113632779A CN 202111083813 A CN202111083813 A CN 202111083813A CN 113632779 A CN113632779 A CN 113632779A
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Abstract
The invention relates to a laser intelligent weeding robot and a weeding method, wherein the laser intelligent weeding robot comprises a vehicle body, an image acquisition processing system, a rectangular coordinate laser weeding device and a control system, wherein the image acquisition processing system, the rectangular coordinate laser weeding device and the control system are arranged on the vehicle body; the rectangular coordinate laser weeding device comprises a laser generator, an X-axis guide rail and two Y-axis guide rails; a Y-axis linear sliding seat fixedly connected with the X-axis guide rail is arranged on the Y-axis guide rail, and a Y-axis driving device is arranged on the Y-axis linear sliding seat; an X-axis linear sliding seat fixedly connected with the laser generator is installed on the X-axis guide rail, and an X-axis driving device is installed on the X-axis linear sliding seat. The laser weeding machine adopts laser to weed, so that crops and the surrounding soil environment are prevented from being affected, and the weeding efficiency is improved; the weed removing device is simple and convenient to operate, weeds in the field are accurately removed through the identification and positioning of the image acquisition and processing system, the labor intensity and the weed control cost are reduced, and the economic benefit is improved.
Description
Technical Field
The invention relates to the technical field of facility gardening plant protection intelligent equipment, field crop plant protection intelligent equipment and agricultural robots, in particular to the field of weeding robots, and specifically relates to a laser intelligent weeding robot and a weeding method.
Background
Weeds are one of main limiting factors of sustainable agricultural production, nutrients absorbed by the weeds from soil are basically the same as crops, the competition of the weeds on the nutrients, water and sunlight greatly damages the growth and development of the crops, the weeds cause huge economic loss in the agricultural production every year, and the weeds serving as propagation media and intermediate hosts of numerous farmland pests can cause the emergence of the farmland pests, so that the yield and the quality of the crops are reduced.
At present, in the agricultural production process, a chemical agent (herbicide) is mainly sprayed manually or mechanically to perform field weeding operation, the weeding mode not only can have adverse effects on the growth and development of crops at the current stage, but also can cause pollution to soil and is difficult to remove by residual herbicide, the yield of subsequent crops is affected, particularly for farmlands for intercropping crop rotation, meanwhile, serious threats can be caused to the physical health of operating personnel, and the quality and the safety of agricultural products can be affected by pesticide residues on the harvested crops. Therefore, a safe, efficient and low-pollution weeding device is needed for field weeding operation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the laser intelligent weeding robot and the weeding method, and the laser weeding is utilized, so that the chemical pollution of pesticides to farmlands can be avoided, the laser intelligent weeding robot has important significance for protecting the farmlands and the surrounding ecological environment, the harm to the health of operators is avoided, and the weeding efficiency is more efficient.
The invention is realized by the following technical scheme, and provides an intelligent laser weeding robot, which comprises a vehicle body, an image acquisition and processing system, a rectangular coordinate laser weeding device and a control system, wherein the vehicle body is provided with a double-wheel driving system;
the rectangular coordinate laser weeding device comprises a laser generator, an X-axis guide rail and two Y-axis guide rails, wherein the emission end of the laser generator is arranged downwards, the Y-axis guide rails are fixedly connected with the vehicle body, and the X-axis guide rails and the Y-axis guide rails are vertical to each other and extend along the transverse direction; a Y-axis linear sliding seat fixedly connected with the X-axis guide rail is arranged on the Y-axis guide rail, a Y-axis driving device for driving the Y-axis linear sliding seat to move along the Y-axis guide rail is arranged on the Y-axis linear sliding seat, and the Y-axis driving device is electrically connected with the control system; an X-axis linear sliding seat fixedly connected with the laser generator is installed on the X-axis guide rail, an X-axis driving device for driving the X-axis linear sliding seat to move along the X-axis guide rail is installed on the X-axis linear sliding seat, and the X-axis driving device is electrically connected with the control system.
According to the scheme, self-walking of the whole machine is realized through a double-wheel driving system, an image acquisition and processing system acquires field image information, a Yolov4 neural network is used for identifying the weed species and obtaining the pixel coordinates of the weeds, and then the pixel coordinates of the weed image are converted into the real world coordinates of the weeds by using a coordinate conversion algorithm, so that accurate positioning of the weeds is realized; through the drive of Y axle drive arrangement, make laser generator remove along the Y axle, drive through X axle drive arrangement, make laser generator remove along the X axle, thereby make laser emitter can traverse the working plane that X axle guide rail and Y axle guide rail constitute, laser emitter removes and begins work directly over the weeds rhizome, and send specific power laser beam to weeds stem stalk department, reduce weeds cell activity, restrain weeds growth, realize laser thermal weeding, at laser emitter removal in-process, through the setting of X axle guide rail and Y axle guide rail, the removal frequency of complete machine has been reduced, thereby the damage to the crop has been reduced. In the prior art, the whole machine moves to realize laser alignment, the damage to crops is large, and some machines adopt a multi-axis type, have complex structures and large manufacturing difficulty and are not suitable for agricultural popularization and application.
Preferably, the double-wheel driving system comprises two universal wheels and two driving wheels respectively positioned in front of the two universal wheels, and each driving wheel is provided with a wheel hub motor. This double round actuating system of optimization scheme simple structure, in advancing, realize the advancing and retreating of organism through two in-wheel motor synchronous operation, realize advancing turning through changing two in-wheel motor's differential and keep away the barrier and move back, through setting up the universal wheel, make the removal and the turn of organism more nimble.
Preferably, the vehicle body comprises a fixed platform and a frame fixedly connected to the bottom surface of the fixed platform, and four support legs of the frame are respectively provided with a universal wheel and a driving wheel. The vehicle body structure of the optimized scheme is simple, the control system is convenient to install through the fixed platform, and the universal wheels and the driving wheels are convenient to install through the rack.
As optimization, the vibration mirror is installed at the transmitting end of the laser generator, so that laser focusing is facilitated, and weeding efficiency is improved.
As optimization, the X-axis driving device comprises an X-axis stepping motor arranged on the X-axis linear sliding seat and an X-axis driving wheel in transmission connection with an output shaft of the X-axis stepping motor; the X-axis linear sliding seat comprises two X-axis side plates, an X-axis upper roller and an X-axis lower roller, wherein the two X-axis side plates are respectively positioned on two sides of the X-axis guide rail and fixedly connected into a whole, the X-axis upper roller and the X-axis lower roller are rotatably arranged between the two X-axis side plates, the X-axis upper roller and the X-axis lower roller are respectively connected to the upper surface and the lower surface of the X-axis guide rail in a sliding mode, and the X-axis upper roller is coaxially and fixedly connected with the X-axis driving wheel. This optimization scheme provides X to removal power through X axle step motor, convenient control, X axle step motor drives the rotation of X axle drive wheel, thereby it rotates in step to drive the epaxial gyro wheel of X, realize the removal of X axle straight line slide along X axle guide rail, moreover, the steam generator is simple in structure, the preparation is low with the assembly degree of difficulty, and the X axle curb plate through two relative settings, the epaxial gyro wheel of X, X axle lower roller has realized spacing along X axle guide rail circumference to X axle straight line slide, use safety and stability have been guaranteed, prevent that X axle straight line slide from dropping.
As optimization, the Y-axis driving device comprises a Y-axis stepping motor arranged on the Y-axis linear sliding seat and a Y-axis driving wheel in transmission connection with an output shaft of the Y-axis stepping motor; the Y-axis linear sliding seat comprises two Y-axis side plates, an upper Y-axis roller and a lower Y-axis roller, the two Y-axis side plates are respectively positioned on two sides of the Y-axis guide rail and fixedly connected into a whole, the upper Y-axis roller and the lower Y-axis roller are rotatably arranged between the two Y-axis side plates, the upper Y-axis roller and the lower Y-axis roller are respectively connected to the upper surface and the lower surface of the Y-axis guide rail in a sliding mode, and the upper Y-axis roller is coaxially and fixedly connected with the Y-axis driving wheel. This optimization scheme provides the removal power that Y to through Y axle step motor, convenient control, Y axle step motor drives Y axle drive wheel and rotates, thereby it rotates in step to drive the epaxial gyro wheel of Y, realize the removal of Y axle straight line slide along Y axle guide rail, moreover, the steam generator is simple in structure, the preparation is low with the assembly degree of difficulty, and through the Y axle curb plate of two relative settings, the epaxial gyro wheel of Y, Y axle lower roller has realized the spacing along Y axle guide rail circumference to Y axle straight line slide, use safety and stability have been guaranteed, prevent that Y axle straight line slide from dropping.
As optimization, the control system comprises a solar panel, a relay, a lithium battery pack, a stepping motor driver, a hub motor driver and an industrial personal computer, wherein the solar panel, the relay, the lithium battery pack, the stepping motor driver, the hub motor driver and the industrial personal computer are arranged at the top of the vehicle body; lithium cell group and solar panel are used for providing the electric energy for double round actuating system, image acquisition processing system, rectangular coordinate laser weeding device, industrial computer, and the relay is used for controlling laser emitter's break-make electricity, and the step motor driver is arranged in controlling the step motor operation among the rectangular coordinate laser weeding device, and in-wheel motor driver is used for controlling weeding robot's traffic direction and speed.
The scheme also provides a weeding method using the intelligent laser weeding robot, which comprises the following steps:
1. the robot is driven to move by a double-wheel driving system, the robot moves forwards and backwards by the synchronous operation of two hub motors during the advancing of the robot, and the turning obstacle avoidance and the line changing are realized by changing the differential speed of the two hub motors;
2. the image acquisition and processing system acquires field image information through a camera arranged in front of a vehicle body, identifies the weed species and obtains the pixel coordinates of the weeds by using a YOLOv4 neural network, and then converts the pixel coordinates of the weeds into real world coordinates of the weeds by using a coordinate conversion algorithm to realize accurate positioning of the weeds;
3. changing the Y-axis coordinate of a laser generator through the action of a Y-axis stepping motor, changing the X-axis coordinate of the laser generator through the action of an X-axis stepping motor, enabling a laser emitter to move right above the root and stem of the weeds, enabling the laser emitter to work, emitting a laser beam with specific power to the meristem at the top of the stem and stem of the weeds, improving the temperature of water in plant cells in a short time by using the heat effect of the laser, reducing the activity of the cells of the weeds, effectively inhibiting or slowing down the growth of the weeds, realizing laser thermal weeding, and arranging a vibrating mirror at the emitting end of the laser emitter for focusing the laser;
4. the electric energy is provided for a double-wheel driving system, an image acquisition and processing system, a rectangular coordinate laser weeding device and an industrial personal computer through a lithium battery pack and a solar panel, the power-on and power-off of a laser transmitter are controlled through a relay, a stepping motor in the rectangular coordinate laser weeding device is controlled to operate through a stepping motor driver, and the advancing direction and the speed of the weeding robot are controlled through a hub motor driver;
5. the operating personnel passes through bluetooth connection control system, and at the real-time behavior of the long-range acquisition weeding robot of end of removing and farmland weeds distribution information map, operating personnel selects weeding robot's mode, including autonomous navigation mode and manual operation mode, and weeding robot is independently operated under appointed work route under the autonomous navigation mode, and manual operation mode is by the manual work of operating personnel through the remote operation software manual control weeding robot that removes on the end.
The invention has the beneficial effects that: the special power laser is used for irradiating the meristem at the top of the plant stem, so that the temperature of water molecules in the meristem cell is increased, the growth rate of weeds is reduced, and the special power laser has the characteristics of simple structure, convenience in control and the like; through the movement of the whole machine and the laser generator, weeding of various crops and different row spacings can be realized, the influence on the crops and the surrounding soil environment is minimized, the weeding efficiency is improved, and the harm of herbicides to the health of workers is avoided; the device is simple and convenient to operate and reasonable in design, field intelligent weeding operation can be achieved, weeds in the fields are accurately cleared through the identification and positioning of the image acquisition and processing system, a farmland weed distribution information map is generated, the labor intensity and the weed control cost are reduced, and the economic benefit is improved.
Drawings
FIG. 1 is a schematic structural diagram of a laser intelligent weeding robot of the invention;
FIG. 2 is a schematic structural view of a rectangular coordinate laser weeding device;
FIG. 3 is a schematic view of the overall flow structure of the intelligent laser weeding robot of the invention;
shown in the figure:
1. the camera, 2, the connecting rod, 3, the industrial computer, 4, the lithium cell group, 5, solar panel, 6, fixed platform, 7, the drive wheel, 8, the universal wheel, 9, the frame, 10, the first guide rail of Y axle, 11, the second guide rail of Y axle, 12, the first linear slide of Y axle, 13, the first step motor of Y axle, 14, laser generator, 15, X axle step motor, 16, the second step motor of Y axle, 17, the second linear slide of Y axle, 18, the mirror that shakes, 19, the linear slide of X axle, 20, the X axle guide rail.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
As shown in figure 1, the laser intelligent weeding robot comprises a vehicle body provided with a double-wheel driving system, an image acquisition processing system, a rectangular coordinate laser weeding device and a control system, wherein the image acquisition processing system, the rectangular coordinate laser weeding device and the control system are arranged on the vehicle body, and the image acquisition processing system is electrically connected with the control system.
The double-wheel driving system comprises two universal wheels 8 and two driving wheels 7 which are respectively positioned in front of the two universal wheels, and each driving wheel is provided with a wheel hub motor. The vehicle body comprises a fixed platform 6 and a frame 9 fixedly connected to the bottom surface of the fixed platform, and four supporting legs of the frame are respectively provided with a universal wheel and a driving wheel. In the running process of the whole machine, the machine body moves forwards and backwards through the synchronous operation of the two hub motors, and the turning obstacle avoidance and the line changing in the running process are realized through the differential speed of the two hub motors.
As shown in fig. 2, the cartesian laser weeding apparatus includes a laser generator 14, an X-axis guide 20 and two mutually parallel Y-axis guides, the emission end of the laser generator is disposed downward and is mounted with a galvanometer 18 for laser focusing. The X-axis guide rail and the Y-axis guide rail are perpendicular to each other and extend transversely, the X-axis guide rail is located above the Y-axis guide rail, and two ends of the Y-axis guide rail are fixedly connected with the vehicle body respectively. And a Y-axis linear sliding seat fixedly connected with the X-axis guide rail is arranged on the Y-axis guide rail, a Y-axis driving device for driving the Y-axis linear sliding seat to move along the Y-axis guide rail is arranged on the Y-axis linear sliding seat, and the Y-axis driving device is electrically connected with the control system. An X-axis linear sliding seat 19 fixedly connected with the laser generator is installed on the X-axis guide rail, an X-axis driving device for driving the X-axis linear sliding seat to move along the X-axis guide rail is installed on the X-axis linear sliding seat, and the X-axis driving device is electrically connected with the control system. The two Y-axis guide rails of the embodiment are respectively a first Y-axis guide rail 10 and a second Y-axis guide rail 11, the first Y-axis guide rail 10 and the second Y-axis guide rail 11 are parallel to each other and located at the same height and are sequentially arranged along the X-axis direction, a first Y-axis linear sliding seat 12 is arranged on the first Y-axis guide rail 10, and a second Y-axis linear sliding seat 17 is arranged on the second Y-axis guide rail 11.
Specifically, the X-axis driving device comprises an X-axis stepping motor 15 arranged on an X-axis linear sliding seat 19 and an X-axis driving wheel in transmission connection with an output shaft of the X-axis stepping motor; the X-axis linear sliding seat comprises two X-axis side plates, an X-axis upper roller and an X-axis lower roller, wherein the two X-axis side plates are respectively positioned on two sides of the X-axis guide rail and fixedly connected into a whole, the X-axis upper roller and the X-axis lower roller are rotatably arranged between the two X-axis side plates, wheel shafts of the X-axis upper roller and the X-axis lower roller are respectively rotatably connected with the two X-axis side plates, the X-axis upper roller and the X-axis lower roller are respectively connected to the upper surface and the lower surface of the X-axis guide rail in a sliding mode, and the X-axis upper roller is coaxially and fixedly connected with the X-axis driving wheel.
The Y-axis driving device comprises a Y-axis stepping motor arranged on the Y-axis linear sliding seat and a Y-axis driving wheel in transmission connection with an output shaft of the Y-axis stepping motor; the Y-axis linear sliding seat comprises two Y-axis side plates, an upper Y-axis roller and a lower Y-axis roller, the two Y-axis side plates are respectively positioned on two sides of the Y-axis guide rail and fixedly connected into a whole, the upper Y-axis roller and the lower Y-axis roller are rotatably arranged between the two Y-axis side plates, wheel shafts of the upper Y-axis roller and the lower Y-axis roller are respectively rotatably connected with the two Y-axis side plates, the upper Y-axis roller and the lower Y-axis roller are respectively connected to the upper surface and the lower surface of the Y-axis guide rail in a sliding mode, and the upper Y-axis roller is coaxially and fixedly connected with the Y-axis driving wheel. The stepping motor on the Y-axis first linear sliding seat 12 is a Y-axis first stepping motor 13, the stepping motor on the Y-axis second linear sliding seat 17 is a Y-axis second stepping motor 16, and the first stepping motor 12 and the second stepping motor 16 are respectively positioned on the outer sides of the linear sliding seats so as to provide more space for the movement of the laser generator, increase the radiation area of the laser generator and reduce the movement frequency of the whole machine.
The image acquisition and processing system comprises a connecting rod 2 fixedly connected to the front end of the fixed platform, a cross rod extending to the front side and the upper side of the fixed platform is arranged on the connecting rod, a camera 1 electrically connected with the control system is installed on the bottom surface of the cross rod, the image acquisition and processing system acquires field image information through the camera, a Yolov4 neural network is used for identifying the types of weeds and obtaining the pixel coordinates of the weeds, and then the pixel coordinates of the images of the weeds are converted into the real world coordinates of the weeds by using a coordinate conversion algorithm, so that accurate positioning of the weeds is realized.
The control system is positioned above the laser weeding device fixing platform and comprises a solar panel 5, a relay, a lithium battery pack 4, a stepping motor driver, a hub motor driver and an industrial personal computer 3, wherein the solar panel, the relay, the lithium battery pack 4, the stepping motor driver, the hub motor driver and the industrial personal computer are arranged at the top of a vehicle body; lithium cell group and solar panel are used for providing the electric energy for double round actuating system, image acquisition processing system, rectangular coordinate laser weeding device, industrial computer, and the relay is used for controlling laser emitter's break-make electricity, and the step motor driver is arranged in controlling the step motor operation among the rectangular coordinate laser weeding device, and in-wheel motor driver is used for controlling weeding robot's traffic direction and speed.
The laser intelligence weeding robot of this embodiment still includes human-computer interaction system, human-computer interaction system is including the remote operation software of removal end and the configuration software on the industrial computer, operating personnel can pass through bluetooth connection control system, remove the real-time behavior of weeding robot and farmland weeds histogram of the long-range acquisition of end, operating personnel can select weeding robot's mode, including autonomous navigation mode and manual operation mode, weeding robot is independently worked under appointed work route under the autonomous navigation mode, manual operation mode is served through the remote operation software manual control weeding robot work of remote movement by operating personnel.
A weeding method using the laser intelligent weeding robot comprises the following steps:
1. the robot is driven to move by a double-wheel driving system, the robot moves forwards and backwards by the synchronous operation of two hub motors during the advancing of the robot, and the turning obstacle avoidance and the line changing are realized by changing the differential speed of the two hub motors;
2. the image acquisition and processing system acquires field image information through a camera arranged in front of a vehicle body, identifies the weed species and obtains the pixel coordinates of the weeds by using a YOLOv4 neural network, and then converts the pixel coordinates of the weeds into real world coordinates of the weeds by using a coordinate conversion algorithm to realize accurate positioning of the weeds;
3. changing the Y-axis coordinate of a laser generator through the action of a Y-axis stepping motor, changing the X-axis coordinate of the laser generator through the action of an X-axis stepping motor, enabling a laser transmitter to move right above the root and stem of the weeds, enabling the laser transmitter to work, transmitting a laser beam with specific power to the meristem at the top of the stem and stem of the weeds, reducing the activity of cells of the weeds, inhibiting the growth of the weeds and realizing the thermal weeding of the lasers, and arranging a vibrating mirror at the transmitting end of the laser transmitter for focusing the lasers;
4. the electric energy is provided for a double-wheel driving system, an image acquisition and processing system, a rectangular coordinate laser weeding device and an industrial personal computer through a lithium battery pack and a solar panel, the power-on and power-off of a laser transmitter are controlled through a relay, a stepping motor in the rectangular coordinate laser weeding device is controlled to operate through a stepping motor driver, and the advancing direction and the speed of the weeding robot are controlled through a hub motor driver;
5. the operating personnel passes through bluetooth connection control system, and at the real-time behavior of the long-range acquisition weeding robot of end of removing and farmland weeds distribution information map, operating personnel selects weeding robot's mode, including autonomous navigation mode and manual operation mode, and weeding robot is independently operated under appointed work route under the autonomous navigation mode, and manual operation mode is by the manual work of operating personnel through the remote operation software manual control weeding robot that removes on the end.
The invention utilizes the heat effect of the laser to improve the water temperature in the plant cells in a short time, effectively inhibits or slows down the growth of weeds, avoids the pollution of a chemical weeding mode to soil and crops, has simple structure, is convenient for operators to operate, and can carry out field weeding operation among the crops with different row distances.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.
Claims (8)
1. The utility model provides a laser intelligence weeding robot which characterized in that: the weeding machine comprises a vehicle body provided with a double-wheel driving system, and an image acquisition processing system, a rectangular coordinate laser weeding device and a control system which are arranged on the vehicle body, wherein the image acquisition processing system is electrically connected with the control system;
the rectangular coordinate laser weeding device comprises a laser generator (14), an X-axis guide rail (20) and two Y-axis guide rails, wherein the emission end of the laser generator is arranged downwards, the Y-axis guide rail is fixedly connected with a vehicle body, and the X-axis guide rail and the Y-axis guide rail are mutually vertical and extend along the transverse direction;
a Y-axis linear sliding seat fixedly connected with the X-axis guide rail is arranged on the Y-axis guide rail, a Y-axis driving device for driving the Y-axis linear sliding seat to move along the Y-axis guide rail is arranged on the Y-axis linear sliding seat, and the Y-axis driving device is electrically connected with the control system;
an X-axis linear sliding seat (19) fixedly connected with the laser generator is installed on the X-axis guide rail, an X-axis driving device for driving the X-axis linear sliding seat to move along the X-axis guide rail is installed on the X-axis linear sliding seat, and the X-axis driving device is electrically connected with the control system.
2. The laser intelligent weeding robot as claimed in claim 1, wherein: the double-wheel driving system comprises two universal wheels (8) and two driving wheels (7) which are respectively positioned in front of the two universal wheels, and each driving wheel is provided with a wheel hub motor.
3. The laser intelligent weeding robot according to claim 2, wherein: the vehicle body comprises a fixed platform (6) and a rack (9) fixedly connected to the bottom surface of the fixed platform, and four supporting legs of the rack are respectively provided with universal wheels and driving wheels.
4. The laser intelligent weeding robot as claimed in claim 1, wherein: the emission end of the laser generator is provided with a galvanometer (18).
5. The laser intelligent weeding robot as claimed in claim 1, wherein: the X-axis driving device comprises an X-axis stepping motor (15) arranged on an X-axis linear sliding seat (19) and an X-axis driving wheel in transmission connection with an output shaft of the X-axis stepping motor;
the X-axis linear sliding seat comprises two X-axis side plates, an X-axis upper roller and an X-axis lower roller, wherein the two X-axis side plates are respectively positioned on two sides of the X-axis guide rail and fixedly connected into a whole, the X-axis upper roller and the X-axis lower roller are rotatably arranged between the two X-axis side plates, the X-axis upper roller and the X-axis lower roller are respectively connected to the upper surface and the lower surface of the X-axis guide rail in a sliding mode, and the X-axis upper roller is coaxially and fixedly connected with the X-axis driving wheel.
6. The laser intelligent weeding robot according to claim 5, wherein: the Y-axis driving device comprises a Y-axis stepping motor arranged on the Y-axis linear sliding seat and a Y-axis driving wheel in transmission connection with an output shaft of the Y-axis stepping motor;
the Y-axis linear sliding seat comprises two Y-axis side plates, an upper Y-axis roller and a lower Y-axis roller, the two Y-axis side plates are respectively positioned on two sides of the Y-axis guide rail and fixedly connected into a whole, the upper Y-axis roller and the lower Y-axis roller are rotatably arranged between the two Y-axis side plates, the upper Y-axis roller and the lower Y-axis roller are respectively connected to the upper surface and the lower surface of the Y-axis guide rail in a sliding mode, and the upper Y-axis roller is coaxially and fixedly connected with the Y-axis driving wheel.
7. The laser intelligent weeding robot as claimed in claim 1, wherein: the control system comprises a solar panel (5) arranged at the top of the vehicle body, a relay, a lithium battery pack (4), a stepping motor driver, a hub motor driver and an industrial personal computer (3); lithium cell group and solar panel are used for providing the electric energy for double round actuating system, image acquisition processing system, rectangular coordinate laser weeding device, industrial computer, and the relay is used for controlling laser emitter's break-make electricity, and the step motor driver is arranged in controlling the step motor operation among the rectangular coordinate laser weeding device, and in-wheel motor driver is used for controlling weeding robot's traffic direction and speed.
8. A weeding method using the intelligent laser weeding robot as claimed in any one of claims 1 to 7, comprising the following steps:
(1) the robot is driven to move by a double-wheel driving system, the robot moves forwards and backwards by the synchronous operation of two hub motors during the advancing of the robot, and the turning obstacle avoidance and the line changing are realized by changing the differential speed of the two hub motors;
(2) the image acquisition and processing system acquires field image information through a camera arranged in front of a vehicle body, identifies the weed species and obtains the pixel coordinates of the weeds by using a YOLOv4 neural network, and then converts the pixel coordinates of the weeds into real world coordinates of the weeds by using a coordinate conversion algorithm to realize accurate positioning of the weeds;
(3) changing the Y-axis coordinate of a laser generator through the action of a Y-axis stepping motor, changing the X-axis coordinate of the laser generator through the action of an X-axis stepping motor, enabling a laser transmitter to move right above the root and stem of the weeds, enabling the laser transmitter to work, transmitting a laser beam with specific power to the meristem at the top of the stem and stem of the weeds, reducing the activity of cells of the weeds, inhibiting the growth of the weeds and realizing the thermal weeding of the lasers, and arranging a vibrating mirror at the transmitting end of the laser transmitter for focusing the lasers;
(4) the electric energy is provided for a double-wheel driving system, an image acquisition and processing system, a rectangular coordinate laser weeding device and an industrial personal computer through a lithium battery pack and a solar panel, the power-on and power-off of a laser transmitter are controlled through a relay, a stepping motor in the rectangular coordinate laser weeding device is controlled to operate through a stepping motor driver, and the advancing direction and the speed of the weeding robot are controlled through a hub motor driver;
(5) the operating personnel passes through bluetooth connection control system, and at the real-time behavior of the long-range acquisition weeding robot of end of removing and farmland weeds distribution information map, operating personnel selects weeding robot's mode, including autonomous navigation mode and manual operation mode, and weeding robot is independently operated under appointed work route under the autonomous navigation mode, and manual operation mode is by the manual work of operating personnel through the remote operation software manual control weeding robot that removes on the end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111083813.8A CN113632779A (en) | 2021-09-16 | 2021-09-16 | Laser intelligent weeding robot and weeding method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111083813.8A CN113632779A (en) | 2021-09-16 | 2021-09-16 | Laser intelligent weeding robot and weeding method |
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| CN113632779A true CN113632779A (en) | 2021-11-12 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114794067A (en) * | 2022-04-08 | 2022-07-29 | 江苏大学 | Bionic four-foot walking intelligent rotary tillage weeding device and implementation method |
| CN114946805A (en) * | 2022-06-14 | 2022-08-30 | 清华大学 | Laser fiber weeding and pest killing system |
| CN116250523A (en) * | 2023-04-03 | 2023-06-13 | 哈尔滨理工大学 | Intelligent laser weeding device and weeding method based on machine vision |
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2021
- 2021-09-16 CN CN202111083813.8A patent/CN113632779A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114794067A (en) * | 2022-04-08 | 2022-07-29 | 江苏大学 | Bionic four-foot walking intelligent rotary tillage weeding device and implementation method |
| CN114946805A (en) * | 2022-06-14 | 2022-08-30 | 清华大学 | Laser fiber weeding and pest killing system |
| CN116250523A (en) * | 2023-04-03 | 2023-06-13 | 哈尔滨理工大学 | Intelligent laser weeding device and weeding method based on machine vision |
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