CN114946805B - Laser fiber weeding and pest killing system - Google Patents
Laser fiber weeding and pest killing system Download PDFInfo
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- CN114946805B CN114946805B CN202210671590.5A CN202210671590A CN114946805B CN 114946805 B CN114946805 B CN 114946805B CN 202210671590 A CN202210671590 A CN 202210671590A CN 114946805 B CN114946805 B CN 114946805B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
- A01M1/22—Killing insects by electric means
- A01M1/226—Killing insects by electric means by using waves, fields or rays, e.g. sound waves, microwaves, electric waves, magnetic fields, light rays
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
Abstract
The embodiment of the application provides a laser fiber weeding deinsectization system, this system include ground mobile device, optic fibre and flying device, and ground mobile device includes ground removal main part and sets up the laser instrument in ground removal main part inside, and flying device includes the unmanned aerial vehicle main part and sets up the laser emission lens module in the unmanned aerial vehicle main part. The one end and the laser instrument of optic fibre are connected, and the other end is connected with laser emission lens module to can transmit the laser energy of laser instrument transmission to carrying in the laser emission lens module in the unmanned aerial vehicle main part through optic fibre, make laser emission lens module can be to target object transmission laser, carry out unmanned and automatic weeding deinsectization operation. This helps to reduce the adverse effects of the use of chemical agents on the environment, climate, etc.
Description
Technical Field
The embodiment of the application relates to the technical field of agricultural equipment, in particular to a laser optical fiber weeding and pest control system.
Background
At present, in the agricultural production process, the weeding and deinsectization operation in the field is mainly carried out in a mode of spraying chemical agents (such as herbicides or insecticides). Although the weeding and pest killing mode ensures the stability of the crop yield, the use of a large amount of chemical agents not only causes pollution which is difficult to remove on soil and influences the yield of subsequent crops, but also causes serious adverse effects on the environment, the physical health of operators, climate change and the like.
Disclosure of Invention
The embodiment of the application provides a laser fiber weeding and deinsectization system, through optic fibre with the laser transmission of subaerial laser instrument transmission to carrying in the laser emission lens module in the unmanned aerial vehicle main part to can launch laser in the air in order to carry out weeding and deinsectization operation, help reducing the harmful effects that the use of chemical agent led to the fact environment and weather etc..
In a first aspect, a laser fiber weeding and pest killing system is provided, which comprises: ground moving devices, optical fibers and flying devices,
the ground moving device comprises a ground moving body and a laser, the laser is arranged in the ground moving body, the ground moving body can automatically run on the ground, the flying device comprises an unmanned aerial vehicle body and a laser emission lens module, and the laser emission lens module is arranged on the unmanned aerial vehicle body;
the laser is connected with the first end of the optical fiber, the second end of the optical fiber is connected with the laser emission lens module,
the laser is adapted to generate laser light at a first wavelength,
the optical fiber is used for receiving the laser with the first wavelength and transmitting the laser with the second wavelength to the laser emission lens module,
the laser emission lens module is used for emitting the laser with the second wavelength to a target object.
It should be noted that the target object in the embodiment of the present application may be understood as weeds, pests, or plants that require laser irradiation for removal.
In this application embodiment, will be located the laser transmission of subaerial laser instrument transmission to carrying in the laser emission lens module in the unmanned aerial vehicle main part through optic fibre to can be aerial to weeds and pest lasing, carry out unmanned and automatic weeding deinsectization operation with fruit trees etc. to in farmland, the orchard. Carry out weeding deinsectization operation through laser irradiation, can reduce the damage to the crop, also can effectively avoid the use of chemical agent, help when guaranteeing crop output, reduce the pollution to the environment. And, laser emission lens module carries and carries out laser irradiation in the unmanned aerial vehicle main part, is favorable to expanding the operation area, increases work area to can improve the efficiency of weeding deinsectization operation.
In addition, the laser instrument sets up in the ground removes the main part, only through optic fibre with energy transmission to the laser emission lens module in the unmanned aerial vehicle main part of distal end, is favorable to obtaining high-power laser energy, improves the ability that unmanned aerial vehicle main part bore load.
With reference to the first aspect, in certain implementations of the first aspect, at least a portion of the optical fiber has a rare earth element, the at least a portion being configured to convert laser light of the first wavelength transmitted on the optical fiber to laser light of the second wavelength, the first wavelength being smaller than the second wavelength.
In the embodiments of the present application, by doping at least a portion of an optical fiber with a rare earth element to form a fiber laser, the fiber laser can convert laser light of a short wavelength transmitted on the optical fiber into laser light of a long wavelength for emission to a target object, thereby contributing to improvement of power and efficiency of laser emission. For example, the laser may generate laser with a wavelength of 976nm, which is transmitted through the optical fiber, and when the laser is transmitted to the formed fiber laser part, the fiber laser may convert the laser with the wavelength of 976nm into laser with a wavelength of 1070nm, and transmit the laser to the laser emitting lens module, so that the laser emitting lens module may emit the laser with the wavelength of 1070nm to the target through collimation focusing.
In a possible implementation manner, the fiber laser formed by doping at least part of the optical fiber with rare earth elements can also convert the laser light with long wavelength transmitted on the optical fiber into laser light with short wavelength. That is, the first wavelength may be greater than the second wavelength.
With reference to the first aspect, in certain implementations of the first aspect, the at least part comprises a second end of the optical fiber.
In the embodiment of the application, the fiber laser formed by the fiber part can directly transmit the converted laser with the second wavelength to the laser emission lens module, which is beneficial to reducing the energy loss of the laser with the second wavelength transmitted on the fiber.
With reference to the first aspect, in certain implementations of the first aspect, the second wavelength is determined according to a corresponding characteristic absorption peak of the target.
In the embodiment of the application, the wavelength length of the laser transmitted to the laser emission lens module is determined by the characteristic absorption peak corresponding to the target object. For example, when the target object is a weed or a pest, the object contains a large amount of water molecules, and the water molecules have strong characteristic absorption peaks under the laser with the wavelength of 2 μm and 1070nm, so that the laser wavelength transmitted to the laser emitting lens module can be 2 μm or 1070nm, and the target object is thermally damaged due to the large amount of laser with the wavelength, thereby being beneficial to the purpose of weeding and deinsectization.
With reference to the first aspect, in certain implementation manners of the first aspect, the ground moving device further includes a control module, a distance sensor, and an optical fiber retracting and releasing module, which are disposed on the ground moving body, where the optical fiber retracting and releasing module includes an optical encoder, a driving motor, and an optical fiber roller,
the control module is in communication connection with the distance sensor, the optical encoder and the driving motor, the driving motor is in driving connection with the optical fiber rolling shaft, part of the optical fiber is wound around the circumference of the optical fiber rolling shaft,
the distance sensor is used for sensing the distance between the ground moving body and the unmanned aerial vehicle body,
the optical encoder is configured to provide a signal representative of an angular position of rotation of the fiber optic roller,
the control module may control the driving motor to drive the optical fiber roller to rotate based on output information obtained from the distance sensor and output information obtained from the optical encoder to adjust the length of the optical fiber wound in the circumferential direction of the optical fiber roller.
In this application embodiment, can real-time perception ground through distance sensor and remove the distance between main part and the unmanned aerial vehicle main part to with above-mentioned distance information output send to the control module group, thereby the control module group can confirm the distance between ground removal main part and the unmanned aerial vehicle main part in real time. The control module group can receive and release the module through control optic fibre based on distance between the two, and real-time adjustment is located subaerial ground and removes the main part and set up the optic fibre length of non-winding on the optic fibre roller bearing between the laser emission lens module in the unmanned aerial vehicle main part to can guarantee optic fibre between the two when having certain rate of tension, also can not be because the overlength and be encumbered by other objects, take place to hang and rub.
In a possible implementation, the distance sensor is arranged inside the ground moving body.
In a possible implementation manner, the optical fiber retracting and releasing module is arranged on one side of the ground moving main body, which is far away from the ground.
In combination with the first aspect, in certain implementation manners of the first aspect, the upper surface of the unmanned aerial vehicle main body is provided with an extension pipe, an optical fiber connector is arranged in the extension pipe, and the second end of the optical fiber extends into the extension pipe, and is connected with the laser emission lens module through the optical fiber connector.
In this application embodiment, optic fibre and optical fiber splice set up in the extension pipe on the unmanned aerial vehicle main part, help preventing the interference of flight in-process optic fibre to the flight of unmanned aerial vehicle main part.
In a possible implementation, the length of the extension tube is not less than 20cm.
With reference to the first aspect, in certain implementations of the first aspect, the ground moving device further includes a power supply component disposed inside the ground moving body,
optic fibre is including fibre core, cladding, conductive metal layer and the protective sheath that sets up from inside to outside in proper order, the fibre core is used for receiving the laser of first wavelength, and to the laser emission lens module transmits the laser of second wavelength, the power supply subassembly can pass through conductive metal layer does the unmanned aerial vehicle main part supplies power.
In this application embodiment, the electrically conductive metal layer of optic fibre can constitute electrically conductive return circuit with power supply subassembly, the unmanned aerial vehicle main part that removes the main part in to the power supply subassembly can be supplied power for the unmanned aerial vehicle main part through electrically conductive metal layer, thereby the electric power of unmanned aerial vehicle main part in normal operating process can realize electric power support through the electrically conductive metal layer of optic fibre. At this moment, the unmanned aerial vehicle main part can only carry can guarantee that the automatic battery of taking off and landing of returning of unmanned aerial vehicle main part when unexpected outage can. This helps reducing the battery weight that the unmanned aerial vehicle main part carried, is favorable to improving the ability that the unmanned aerial vehicle main part bore load.
In combination with the first aspect, in certain implementation manners of the first aspect, the flying device further includes a first cradle head connected to the main body of the unmanned aerial vehicle, the laser emission lens module is fixed to the first cradle head, and the first cradle head is used for adjusting a direction in which the laser emission lens module emits the laser light of the second wavelength.
In this application embodiment, the free rotation through first cloud platform can drive the laser emission lens module rotatory to the direction of the laser of adjustment laser emission lens module transmission second wavelength makes it can aim at the target and carry out the laser irradiation that lasts, thereby carries out weeding deinsectization operation.
With reference to the first aspect, in certain implementations of the first aspect, the flying apparatus further includes a camera module and an artificial intelligence AI image recognition module, which are disposed on the main body of the unmanned aerial vehicle, the camera module is in communication connection with the AI image recognition module,
the camera module is used for collecting the image information of the crops,
the AI image recognition module is used for recognizing and classifying the crops, the weeds and the pests in the crop image information.
In this application embodiment, the AI image recognition module can carry out automatic identification to the crop image information that the module of making a video recording gathered categorised, is favorable to using manpower sparingly, realizes weeding the automation and the unmanned of deinsectization operation, improves work efficiency.
With reference to the first aspect, in certain implementations of the first aspect, the flying apparatus further includes a second cradle head connected to the main body of the unmanned aerial vehicle, the camera module is fixed to the second cradle head,
the second holder is used for adjusting the shooting angle of the camera module.
In this application embodiment, the free rotation through the second cloud platform can drive the module of making a video recording rotatory to can adjust the shooting angle of the module of making a video recording, so that the module of making a video recording can gather the crop image information in different regions.
With reference to the first aspect, in certain implementations of the first aspect, the ground moving device further includes an environment detection component disposed on the ground moving body, the environment detection component being in communication connection with the control module,
the environment detection component is used for acquiring environment information around the ground moving body,
the control module may be capable of planning a movement route of the ground moving body based on the environment information,
wherein the environment detection assembly comprises a vision sensor and/or a lidar.
In this application embodiment, can acquire the environmental information around the ground mobile subject through the environmental detection subassembly to the control module group can plan the removal route of ground mobile subject based on this environmental information, and control this ground mobile subject and go according to the route of planning is automatic, and this helps avoiding the ground mobile subject to roll the crop at the automatic travel in-process.
Drawings
Fig. 1 is a schematic structural diagram of a laser optical fiber weeding and pest killing system provided in an embodiment of the present application.
Fig. 2 is a schematic top view of the optical fiber retrieving and releasing module shown in fig. 1.
Fig. 3 is a partially enlarged schematic view of the structure shown in fig. 1.
Fig. 4 is a partially enlarged schematic view of the structure shown in fig. 1.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.
The terminology used in the following examples is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of this application and the appended claims, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, such as "one or more", unless the context clearly indicates otherwise. It should also be understood that the term "and/or" is used to describe an associative relationship of associated objects, meaning that three relationships may exist; for example, a and/or B, may represent: a exists singly, A and B exist simultaneously, and B exists singly, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Weeds and pests are main factors for restricting the sustainable agricultural production development, for example, crops are often damaged or even cannot grow due to the pests and the influence of the weeds during the growth process, so that the yield of the crops is reduced. At present, in order to prevent and control plant diseases and insect pests and the influence of weeds, people generally adopt a mode of spraying chemical agents (such as herbicides or insecticides) to carry out weeding and pest killing operations in fields in the agricultural production process. Although the chemical agent spraying mode can ensure the stability of the crop yield, the currently used chemical agents have residues, which not only can cause pollution which is difficult to remove on soil and influence the yield of subsequent crops, but also can cause serious adverse effects on the environment, the physical health of operators, climate change and the like.
Based on above-mentioned content, the embodiment of this application provides a laser fiber weeding deinsectization system, through optic fibre with the laser transmission of subaerial laser instrument transmission to carry in the laser emission lens module in the unmanned aerial vehicle main part to can be in aerial transmission laser in order to carry out the weeding deinsectization operation, help reducing the pollution of chemical agent's use to the environment.
The laser fiber weeding and pest killing system provided by the embodiment of the application can be used for carrying out weeding and pest killing operations on a relatively flat land. For example, when weeds growing on a relatively flat land are in the sprouting stage, laser irradiation is performed on the sprout core to block the growth of the weeds so that the weeds wither and die. In addition, the laser fiber weeding and pest control system provided by the embodiment of the application can also be applied to an orchard, for example, the whole plant in the orchard can be scanned, the position of a pest is identified according to the residual leaf rolling surface or the curled leaf surface bitten by the pest, and therefore laser irradiation is carried out on the leaf surface to carry out pest control operation. It is to be understood that the above application scenarios are only examples and are not limiting of the present application.
Fig. 1 is a schematic structural diagram of a laser fiber weeding and pest killing system 100 (hereinafter, referred to as the system 100) provided in an embodiment of the present application.
As shown in fig. 1, the system 100 may include a ground moving device 110, an optical fiber 120, and a flying device 130. The ground moving device 110 may include a ground moving body 111 and a laser 112, among others. The floor moving body 111 can be automatically driven on the floor, and the laser 112 may be provided inside the floor moving body 111. The flying device 130 can include the unmanned aerial vehicle main part 131 and the laser emission lens module 132, and the laser emission lens module 132 can be set up on the unmanned aerial vehicle main part 131, for example, the laser emission lens module 132 can be set up in the below of unmanned aerial vehicle main part 131. For example, the laser emitting lens module 132 may include a plurality of optical lenses, which has features of small volume and light weight.
It should be noted that the target object in the embodiment of the present application may be understood as weeds, pests, or plants that require laser irradiation for removal.
In some embodiments, the first end of the optical fiber 120 may be provided with an optical path component, and the laser light of the first wavelength generated by the laser 112 may be coupled through the optical path component, and then enter the optical fiber 120 from the first end of the optical fiber 120 and be transmitted. The optical fiber 120 itself has characteristics of light weight, large light energy to be transmitted, and resistance to a certain stress tension, and thus is suitable for transmitting a laser light of high energy.
It should be noted that, in the embodiment of the present application, the first wavelength and the second wavelength may be equal or may not be equal. For example, the first wavelength may be greater than the second wavelength, or the first wavelength may be less than the second wavelength, which is not limited in this application.
In some embodiments, when the optical fiber 120 is used only for transmitting laser light, the first wavelength may be equal to the second wavelength. For example, the laser 112 may generate laser light with a wavelength of 1070nm, and the laser light is directly transmitted to the laser emitting lens module 132 through the optical fiber, so that the laser emitting lens module 132 may emit the laser light with the wavelength of 1070nm to the target object.
In other embodiments, when at least a portion of the optical fiber 120 has a rare earth element, the at least a portion may be used to convert laser light of a first wavelength transmitted on the optical fiber 120 to laser light of a second wavelength. The first wavelength may be smaller than the second wavelength, or the first wavelength may be larger than the second wavelength.
Specifically, at least a portion of the fiber 120 may be doped with a rare earth element to form a fiber laser, such as a pump thulium doped fiber or a pump ytterbium doped fiber, and then the laser light of the first wavelength is converted into laser light of a desired second wavelength by the fiber laser. For example, the laser 112 may generate laser light with a wavelength of 976nm, the laser light is transmitted through the optical fiber 120, and when the laser light is transmitted to the fiber laser portion, the fiber laser may convert the laser light with the wavelength of 976nm into laser light with a wavelength of 1070nm, and transmit the laser light to the laser emitting lens module 132, so that the laser emitting lens module 132 may emit the laser light with the wavelength of 1070nm to the target object.
It is to be understood that the above-described manner of converting the laser light of the first wavelength into the laser light of the second wavelength by forming the fiber laser is only an example, and not a limitation of the present application.
In some embodiments, the second wavelength is determined from a corresponding characteristic absorption peak of the target. For example, when the target object is a weed or a pest, the object contains a large amount of water molecules in the body, and the water molecules have strong characteristic absorption peaks under the laser beams with the wavelengths of 2 μm and 1070nm, so that the second wavelength can be determined to be 2 μm or 1070nm, and the target object is thermally damaged due to the large amount of laser beams with the wavelengths, thereby being helpful for achieving the purposes of weeding and deinsectization.
In one possible example, at least a portion of the optical fiber 120 may include the second end of the optical fiber 120. That is, the formed fiber laser may directly transmit the converted laser light of the second wavelength to the laser emitting lens module 132, so that energy loss of the laser light of the second wavelength transmitted on the optical fiber 120 can be reduced.
In some embodiments, the optical fibers 120 may be multiple, and the laser beams passing through the multiple optical fibers 120 are combined to help increase power and enlarge the irradiation area.
In some embodiments, the laser 112 may comprise a fiber laser, CO 2 Laser, solid laser, nd: YAG laser or semiconductor laser. It is to be understood that the above-described variety of lasers 112 is merely illustrativeFor example, laser 112 may also include other lasers other than the above-described types, and the present application is not limited thereto.
In one possible example, a correspondingly suitable low-loss optical fiber 120 may be selected by the type of laser 112 selected. For example, the laser 112 may be a semiconductor laser, in which case the semiconductor laser may generate a first laser light with a wavelength of 793nm and be converted into a second laser light with a wavelength of 2 μm by pumping a thulium doped fiber. Alternatively, the semiconductor laser may generate a first laser beam with a wavelength of 976nm and convert the first laser beam into a second laser beam with a wavelength of 1070nm by using a pumping ytterbium-doped fiber.
For example, as shown in fig. 1, the ground moving body 111 may be a vehicle capable of automatic driving, and the laser 112 may be disposed inside a vehicle body of the vehicle.
Please refer to fig. 1 and fig. 2 together. Fig. 2 is a plan view of the optical fiber retrieving and releasing module 115 shown in fig. 1.
As shown in fig. 1 and 2, the ground moving device 110 may further include a control module disposed on the ground moving body 111, a distance sensor 114, and an optical fiber deploying and retracting module 115. The fiber reel-in module 115 may include an optical encoder 1152, a drive motor 1153, and a fiber roller 1151.
The control module may be communicatively connected to the distance sensor 114, the optical encoder 1152 and the driving motor 1153, the driving motor 1153 and the optical fiber roller 1151 may be drivingly connected, and the portion of the optical fiber 120 may be wound around the circumference of the optical fiber roller 1151.
The distance sensor 114 may be used to sense the distance between the ground moving body 111 and the drone body 131, for example, the height distance between the ground moving body 111 and the drone body 131 and the straight distance therebetween may be sensed by the distance sensor 114. And the distance sensor 114 may output the above distance information to the control module, so that the control module may determine the distance between the ground moving body 111 and the drone body 131.
The optical encoder 1152 may be used to provide a signal representative of the angular position of the rotation of the fiber optic roller 1151 and to send this information output to the control module. The control module may control the driving motor 1153 to drive the fiber roller 1151 to rotate based on the output information obtained from the optical encoder 1152 and the output information obtained from the distance sensor 114, so as to adjust the length of the optical fiber 120 wound around the circumference of the fiber roller 1151, thereby adjusting the length of the optical fiber 120 between the laser 112 and the laser emission lens module 132.
Specifically, the control module may determine the rotation angle of the fiber roll 1151 according to the output information obtained from the optical encoder 1152, so as to calculate the length of the optical fiber 120 paid out from the fiber roll 1151, that is, the length of the optical fiber 120 between the laser 112 and the laser emission lens module 132 that is not wound around the fiber roll 1151. Then the control module can control optic fibre roller 1151 to rotate and realize receiving and releasing of optic fibre 120 based on the distance between ground removal main part 111 and the unmanned aerial vehicle main part 131 and the size relation of the optic fibre 120's of releasing on the optic fibre roller 1151 to can guarantee between laser instrument 112 and the laser emission lens module 132 not twine optic fibre 120 on optic fibre roller 1151 when having certain rate of tension, also can not be because the overlength is drawn down by other objects, take place to hang and rub.
In addition, because unmanned aerial vehicle main part 131 only carries out the flight activity in ground mobile body 111 peripheral certain extent, the transmission length of optic fibre 120 between laser instrument 112 and the laser emission lens module 132 needs to satisfy the scope demand that unmanned aerial vehicle main part 131 flies the cover. For example, the transmission length of the optical fiber 120 between the laser 112 and the laser emission lens module 132 may be 20 meters, and then the drone body 131 may cover a range of 40 meters wide on both sides of the ground moving body 111 by flying.
In one possible example, the distance sensor 114 may be provided inside the ground moving body 111.
In one possible example, the fiber pay-out and pay-off module 115 may be disposed on a side of the ground moving body 111 facing away from the ground.
In some embodiments, the ground moving apparatus 110 may further include an environment detection component 113 disposed on the ground moving body 111, which is communicatively coupled with the control module. For example, as shown in fig. 1, the environment detection assembly 113 may be disposed in front of the ground moving body 111. The environment detection component 113 may include, among other things, a lidar and/or a vision sensor.
The environment detection component 113 may be used to acquire environmental information around the ground moving body 111 and send it to the control module. The control module may plan a moving route of the ground moving body 111 based on the environment information and control the ground moving body 111 to automatically travel according to the planned route, which helps to prevent the ground moving body 111 from rolling over the crops during the automatic travel.
In some embodiments, the ground moving device 110 can further include a laser power supply, a cooling mechanism, and a control panel disposed inside the ground moving body 111 in communication with the control module. The laser power supply may be used to supply power to the laser 112, so as to ensure the normal operation of the laser 112. A cooling mechanism may be used to cool the laser 112 to increase the useful life of the laser 112. The control panel can be used for outputting information to a user and receiving input operation of the user.
In other embodiments, the ground moving device 110 may further include a power supply component disposed inside the moving body, which may be used to supply power to the ground moving body 111 to ensure its normal operation.
In addition, as shown in fig. 1, solar panels 116 may be further disposed on two sides of the ground moving body 111, and may be used as a landing platform for the main body 131 of the unmanned aerial vehicle, or may be used to supply power to the ground moving device 110 by converting absorbed sunlight into electric energy.
Fig. 3 is a schematic diagram of the structure of the optical fiber 120 in the system 100 shown in fig. 1.
As shown in fig. 3, the optical fiber 120 may include a core 121, a cladding 122, a conductive metal layer 123, and a protective jacket 124, which are sequentially disposed from the inside to the outside. The fiber core 121 may be configured to receive laser light with a first wavelength generated by the laser 112 and transmit laser light with a second wavelength to the laser emitting lens module 132. The conductive metal layer 123 can constitute conductive loop with power supply assembly, the unmanned aerial vehicle main part 131 in the removal main part to power supply assembly can be through the power supply of conductive metal layer 123 for unmanned aerial vehicle main part 131.
In some embodiments, the conductive metal layer 123 may be a silver-plated metal layer, or may be another highly conductive metal layer 123, such as a copper-plated metal layer, which is not limited in this application. In addition, the protective jacket 124 may be illustratively made of Kevlar fiber to protect the core 121 from damage.
In the embodiment of the present application, the laser generated by the laser 112 can be transmitted to the laser emitting lens module 132 through the fiber core 121 of the optical fiber, so that the laser emitting lens module 132 can emit the laser to kill weeds and insects. In addition, the power of the main body 131 of the drone during normal operation may be supported by the conductive metal layer 123 of the optical fiber. At this moment, unmanned aerial vehicle main part 131 can only carry can guarantee the automatic battery of returning a journey and taking off and landing of unmanned aerial vehicle main part 131 when unexpected outage, for example unmanned aerial vehicle main part 131 can only carry the battery that can maintain 2 minutes to descend. This helps reducing the battery weight that unmanned aerial vehicle main part 131 carried, is favorable to improving the ability that unmanned aerial vehicle main part 131 bore the load to can realize the wireless continuation of the journey of unmanned aerial vehicle main part 131 in theory.
Fig. 4 is a schematic structural diagram of the flying device 130 in the system 100 shown in fig. 1.
As shown in fig. 4, the upper surface of the main body 131 of the drone may be provided with an extension pipe 137, and an optical fiber connector may be provided in the extension pipe 137. The second end of the optical fiber can extend into the extension tube 137 and be connected to the laser emitting lens module 132 through the optical fiber connector.
Illustratively, the length of the extension tube 137 may be not less than 20cm. In addition, the optical fiber connector can adopt a standard subminiature version a (SMA) optical fiber connector.
In some embodiments, the flying apparatus 130 may further include a camera module 133 and an Artificial Intelligence (AI) image recognition module disposed on the main body 131 of the unmanned aerial vehicle, and the camera module 133 may be in communication connection with the AI image recognition module.
The camera module 133 may be configured to collect crop image information and send the crop image information to the AI image recognition module. For example, the camera module 133 may include one or more cameras, which is not limited in this application. The AI image recognition module can be used for identifying and classifying crops, weeds and pests in the image information so as to determine the position of the target object.
In other embodiments, the flying apparatus 130 can further include a first pan-tilt 135 and a second pan-tilt 134 connected to the drone body 131. For example, as shown in fig. 4, a first pan/tilt head 135 and a second pan/tilt head 134 may be installed below the main body 131 of the drone, the camera module 133 is fixed to the second pan/tilt head 134, and the laser emitting lens module 132 is fixed to the first pan/tilt head 135.
Wherein, the free rotation through second cloud platform 134 can drive the module 133 rotation of making a video recording to the shooting angle of module 133 is made a video recording in the adjustment. Moreover, the laser emitting lens module 132 can be driven to rotate by the free rotation of the first holder 135, so as to adjust the direction of the laser emitting lens module 132 emitting the second wavelength.
In addition, the camera module 133, the AI image recognition module, the first pan/tilt head 135 and the second pan/tilt head 134 may all be in communication connection with a control module inside the ground moving body 111 for data transmission and command reception.
In some embodiments, can set up rotary vane 138 and air guide heat abstractor on the unmanned aerial vehicle main part 131, utilize the rotatory air current that produces of rotary vane 138, arrange the heat that produces to the space outside unmanned aerial vehicle main part 131 through the air guide heat abstractor, this helps avoiding the damage of heat gathering to optic fibre and laser emission lens module 132.
According to the system 100 that this application embodiment provided, through optic fibre 120 will be located the laser transmission of subaerial laser instrument 112 transmission to carrying in the laser emission lens module 132 on unmanned aerial vehicle main part 131 to can be aloft to weeds and pest transmission laser, carry out unmanned and automatic weeding deinsectization operation to fruit trees etc. in farmland, the orchard. Carry out weeding deinsectization operation through laser irradiation, can reduce the damage to the crop, also can effectively avoid the use of chemical agent, help when guaranteeing crop output, reduce the pollution to the environment. And, laser emission lens module 132 carries out laser irradiation on unmanned aerial vehicle main part 131, is favorable to expanding the operation area, increases work area to can improve the efficiency of weeding deinsectization operation.
In addition, laser instrument 112 sets up in ground removal main part 111, only through optic fibre 120 with energy transmission to the laser emission lens module 132 on the unmanned aerial vehicle main part 131 of distal end, is favorable to obtaining high-power laser in, improves the ability that unmanned aerial vehicle main part 131 bears the load.
The following description will be made in detail with respect to the operation of the system 100 for weeding and pest control in a field on the ground.
First, before carrying out weeding and deinsectization operation, the unmanned aerial vehicle main body 131 can patrol the upper portion of the land, collect initial image information of partial land through the camera module 133, and send the initial image information to the control module in the ground mobile main body 111. The initial image information may include, among other things, images of different types of crops on the land, such as images of different types of crops that need to be retained, images of different types of weeds that need to be removed, and images of different types of pests.
The control module can display the initial image information to a user in the form of a picture through the control panel, the user can browse the picture on the control panel, manually identify the image of the crop needing to be reserved and the image of the weeds and the pests needing to be removed by laser irradiation, and the control module classifies and marks the manually identified image, stores the image in the operation database and sends the operation database to the AI image identification module. And the user can also be combined with the images of all types of weeds and pests on the land provided by the AI image recognition module to screen the images of the weeds and pests needing to be removed by laser irradiation.
Or the control module can intelligently realize the classification and identification of weeds and pests through an image recognition and matching technology. For example, feature point data in the initial image information may be extracted, an image of a crop, an image of a weed, and an image of a pest in the initial image information may be intelligently classified and recognized based on the feature point data, and the images after the intelligent classification and recognition may be marked and stored in the job database.
Then the user can set in advance how to carry out weeding and deinsectization operation. For example, it is possible to set only an image of a crop to be reserved based on crop image information acquired by the camera module 133, and set all of weeds, pests, or plants other than the crop to be reserved in the area acquired by the camera module 133 as a target object to perform laser irradiation. Alternatively, it is also possible to set only weeds, pests, or plants that need to be removed and that can be identified in the collection area as the target object to be irradiated with laser light based on the crop image information collected by the camera module 133, and to set no laser irradiation for species that cannot be identified.
When weeding and deinsectization operations are carried out, the ground moving main body 111 can acquire the environmental information around the ground moving main body 111 in real time through the environment detection assembly 113, and automatically drive according to a route planned based on the environmental information, so that the ground moving main body 111 is prevented from rolling crops in the automatic driving process. Simultaneously, unmanned aerial vehicle main part 131 flies near the ground above the soil, gathers crop image information on the soil through the module 133 of making a video recording of connecting on unmanned aerial vehicle main part 131. And the shooting angle of the camera module 133 is adjusted through the rotation of the second holder 134, so that the camera module 133 can collect the crop image information of different areas on the land.
After the camera module 133 collects the crop image information, it can be sent to the AI image recognition module. The AI image recognition module can carry out automatic classification and recognition on images of crops, weeds and pests in the crop image information, and judge whether a target object needing laser irradiation removal exists or not by comparing the image with the operation database. When the target object is determined, the laser 112 arranged on the ground moving body 111 can be triggered to generate laser light with the first wavelength. Optical fiber 120 receives this first wavelength's laser to the laser emission lens module 132 that sets up on unmanned aerial vehicle main part 131 transmits the laser of second wavelength. The laser emitting lens module 132 is driven by the first holder 135 to rotate to aim the emitted laser with the second wavelength at a target (e.g., the target 136 shown in fig. 4) and continuously irradiate the target. The laser irradiation may cause damage such as thermal damage, protein denaturation, deoxyribonucleic acid (DNA) damage, cell tissue damage, or visual damage to the target object due to excessive light irradiation, so that the target object gradually withers or dies.
In addition, in the flight process of the main body 131 of the unmanned aerial vehicle, the distance sensor 114 on the ground moving body 111 can sense the distance between the main body 131 of the unmanned aerial vehicle and the ground moving body 111 in real time, so that the length of the optical fiber 120 which is not wound on the optical fiber roller 1151 between the main body 131 of the unmanned aerial vehicle and the ground moving body 111 is adjusted in real time by combining the optical fiber winding and unwinding module 115, the optical fiber is kept at a proper length, and the optical fiber can not be stumbled by other objects due to overlong.
According to the system 100 that this application embodiment provided, unmanned aerial vehicle main part 131 can fly to the farmland (for example circular farmland or rectangle farmland) on the ground with the mode of flying around or turning back according to preset route planning to accomplish the automatic classification discernment of crop image information and the laser irradiation work to the target object in real time at the flight in-process, thereby complete whole pollution-free weeding deinsectization operation in farmland, ensure the organic green characteristic of crop.
In summary, the system 100 provided in the embodiment of the present application is helpful to develop weeding and pest killing operations without using chemical agents, and is helpful to improve the yield and quality of crops and develop organic green agriculture. In addition, the method is also beneficial to reducing the workload, improving the production efficiency and protecting the environment and the human health. In system 100, the lower optical lens of use cost and camera need not additionally to continue to drop into consumptive material fund such as pesticide, compares in the continuation input of herbicide, pesticide etc. and utilize the unmanned aerial vehicle theme to carry out automatic flight operation, and is with low costs, efficient, do not roll the crop, possess the possibility of extensive popularization and use.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (14)
1. A laser fiber optic system for weeding and pest killing, the system comprising: a ground moving device (110), an optical fiber (120) and a flying device (130),
the ground moving device (110) comprises a ground moving body (111) and a laser (112), the laser (112) is arranged inside the ground moving body (111), the ground moving body (111) can automatically run on the ground, the flying device (130) comprises an unmanned aerial vehicle body (131) and a laser emission lens module (132), and the laser emission lens module (132) is arranged on the unmanned aerial vehicle body (131);
the laser (112) is connected with a first end of the optical fiber (120), a second end of the optical fiber (120) is connected with the laser emission lens module (132),
the laser (112) is configured to generate laser light at a first wavelength,
the optical fiber (120) is used for receiving the laser with the first wavelength and transmitting the laser with the second wavelength to the laser emission lens module (132),
the laser emission lens module (132) is used for emitting the laser with the second wavelength to a target object.
2. The system according to claim 1, wherein at least a portion of the optical fiber (120) has a rare earth element for converting laser light of the first wavelength transmitted on the optical fiber (120) to laser light of the second wavelength,
wherein the first wavelength is less than the second wavelength.
3. The system of claim 2, wherein the at least part comprises a second end of the optical fiber (120).
4. The system of any one of claims 1 to 3, wherein the second wavelength is determined from a corresponding characteristic absorption peak of the target.
5. The system according to any one of claims 1 to 3, wherein the ground moving device (110) further comprises a control module, a distance sensor (114) and a fiber reel-up module (115) provided on the ground moving body (111), the fiber reel-up module (115) comprising an optical encoder (1152), a drive motor (1153) and a fiber reel (1151),
the control module is in communication connection with the distance sensor (114), the optical encoder (1152) and the drive motor (1153), the drive motor (1153) is in driving connection with the optical fiber roller (1151), a part of the optical fiber (120) is wound around the circumference of the optical fiber roller (1151),
the distance sensor (114) is used for sensing the distance between the ground moving body (111) and the unmanned aerial vehicle body (131),
the optical encoder (1152) is configured to provide a signal representative of an angular position of rotation of the fiber optic roller (1151),
the control module can control the driving motor (1153) to drive the fiber reel (1151) to rotate, based on the output information obtained from the distance sensor (114) and the output information obtained from the optical encoder (1152), so as to adjust the length of the optical fiber (120) wound around the circumference of the fiber reel (1151).
6. The system according to claim 5, characterized in that said distance sensor (114) is arranged inside said ground moving body (111).
7. The system according to claim 5, characterized in that the fiber pay-off and take-up module (115) is arranged on a side of the ground moving body (111) facing away from the ground.
8. The system according to any one of claims 1 to 3, wherein the upper surface of the main body (131) of the unmanned aerial vehicle is provided with an extension pipe (137), a fiber joint is arranged in the extension pipe (137), and the second end of the optical fiber (120) extends into the extension pipe (137) and is connected with the laser emission lens module (132) through the fiber joint.
9. The system according to claim 8, wherein the extension tube (137) has a length of not less than 20cm.
10. The system according to any one of claims 1 to 3, characterized in that said ground moving means (110) further comprise a power supply assembly, said power supply assembly being arranged inside said ground moving body (111),
optic fibre (120) are including fibre core (121), cladding (122), electrically conductive metal layer (123) and protective sheath (124) that set up from inside to outside in proper order, fibre core (121) are used for receiving the laser of first wavelength, and to laser emission lens module (132) transmit the laser of second wavelength, the power supply subassembly can pass through electrically conductive metal layer (123) do unmanned aerial vehicle main part (131) power supply.
11. The system according to any one of claims 1 to 3, characterized in that said flying device (130) further comprises a first head (135) connected to said drone body (131),
the laser emission lens module (132) is fixed on the first tripod head (135),
the first holder (135) is used for adjusting the direction of the laser emitting lens module (132) emitting the laser with the second wavelength.
12. The system according to any one of claims 1 to 3, characterized in that the flying device (130) further comprises a camera module (133) and an artificial intelligence AI image recognition module arranged on the unmanned aerial vehicle main body (131), the camera module (133) being in communication connection with the AI image recognition module,
the camera module (133) is used for collecting crop image information,
the AI image recognition module is used for recognizing and classifying the crops, the weeds and the pests in the crop image information.
13. The system of claim 12, wherein the flying device (130) further comprises a second cradle head (134) connected to the drone body (131),
the camera module (133) is fixed on the second tripod head (134),
the second holder (134) is used for adjusting the shooting angle of the camera module (133).
14. The system according to any one of claims 1 to 3, characterized in that the ground moving device (110) further comprises an environment detection component (113) and a control module provided on the ground moving body (111), the environment detection component (113) being in communicative connection with the control module,
the environment detection component (113) is used for acquiring environment information around the ground moving body (111),
the control module is capable of planning a movement route of the ground moving body (111) based on the environmental information,
wherein the environment detection component (113) comprises a vision sensor and/or a lidar.
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