CN220384097U

CN220384097U - Laser weeding robot

Info

Publication number: CN220384097U
Application number: CN202322196476.4U
Authority: CN
Inventors: 赵鹏; 陈俊霖; 杨蜀秦; 宁纪峰; 唱永明; 蒋贤慧; 王小燕
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2023-08-15
Filing date: 2023-08-15
Publication date: 2024-01-26
Anticipated expiration: 2033-08-15

Abstract

The utility model discloses a laser weeding robot which comprises a crawler chassis, a laser vibrating mirror control system, a shell and a sensor module, wherein the crawler chassis is symmetrically provided with two groups of laser vibrating mirror control systems, the shell is arranged at the top of the crawler chassis and covers the laser vibrating mirror control system, and the sensor module is arranged on the surface of the shell. The utility model can adapt to the complex field environment of various ridge culture crops, is suitable for the use scene of insufficient light, has the advantages of autonomous navigation, accurate weed positioning, low cost, simple and reliable whole and the like, and has good practical popularization value.

Description

Laser weeding robot

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a laser weeding robot.

Background

The root system of the weeds is developed, the capability of absorbing nutrients and water in the soil is very strong, the weeds compete with crops in fields for sunlight, water, nutrients and space, the yield and quality of the crops are reduced, and the weeds carry diseases and insect pests, so that the occurrence of crop diseases and insect pests can be caused, and huge losses are caused for agricultural economy. At present, common weeding modes include manual weeding, chemical weeding and mechanical weeding; manual weeding is fine and suitable for a small-range complex environment, but labor intensity is high and efficiency is low; chemical weeding is suitable for a large scale and convenient to operate by spraying herbicide, but excessive herbicide can lead to improved drug resistance of weeds, pollute the environment and possibly lead to soil hardening; the mechanical weeding is green and environment-friendly, has no residue, is easy to accidentally injure crops, and has low weeding efficiency.

The laser has the characteristics of high efficiency, rapidness, accuracy and the like, can rapidly gather a large amount of energy on a beam of narrow light, generates high-temperature and high-heat at the local part of the target, and is commonly used in the fields of laser engraving, laser cutting and the like. Therefore, the laser weeding method can be used as an accurate non-contact physical weeding method and has the characteristics of high weeding efficiency, no pollution and the like.

The existing laser weeding equipment adopts a single laser head to perform rotary lifting and other movements to aim at weed targets, the laser weeding equipment needs to adjust the laser head direction to re-emit laser for each weed, the working efficiency is low, and the precision is limited; or the array laser heads are formed by adopting the plurality of groups of laser heads, so that the moving laser heads are reduced, the working speed is improved, but the plurality of groups of laser heads need a plurality of groups of laser generators, so that the volume and the energy consumption of the equipment are increased, the price of the equipment is increased, and the universality is reduced.

Disclosure of Invention

The utility model aims to provide a laser weeding robot which has the advantages of accurate weed positioning, relatively low cost, high weeding efficiency, simplicity and reliability in whole and the like, and has good practical popularization value.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a laser weeding robot comprises a crawler chassis, a laser galvanometer control system, a shell and a sensor module;

the crawler chassis comprises a bearing platform, a support frame, a crawler assembly, a chassis motor and a chassis battery pack, wherein the top surface of the crawler assembly is provided with a mounting shell, the support frame, the chassis motor and the chassis battery pack are mounted on the top surface of the mounting shell, the chassis battery pack is connected with the chassis motor, the output end of the chassis motor is connected with the crawler assembly through chain transmission, the crawler assembly, the support frame, the chassis motor and the chassis battery pack form a group of crawler modules, and two groups of crawler modules are symmetrically arranged at the bottom of the bearing platform;

the laser galvanometer control system comprises a laser generator, a galvanometer module and a laser battery pack, wherein the laser generator and the galvanometer module comprise two groups and are symmetrically arranged on a bearing platform; the laser generators and the laser battery packs are arranged on the top surface of the bearing platform, the laser battery packs are connected with the two laser generators, and the vibrating mirror modules are symmetrically arranged on the rear side of the bearing platform;

the laser mirror vibration module comprises a mounting base, an X-axis moving mechanism, a Z-axis moving mechanism, a control board, a laser mirror vibration module, a spotlight rotating module, a first depth camera and an XZ-axis connecting plate, wherein the mounting base is used for mounting the mirror vibration module on the rear side of a bearing platform, the X-axis moving mechanism is connected with the Z-axis moving mechanism through the XZ-axis connecting plate, the Z-axis moving mechanism is connected with the laser mirror vibration module, and the spotlight rotating module and the first depth camera are mounted on the laser mirror vibration module;

the control board is respectively connected with the laser galvanometer module, the spotlight module, the first depth camera, the laser generator, the laser battery pack, the X-axis moving mechanism and the Z-axis moving mechanism;

the shell is arranged on the bearing platform through components such as a base column and the like, and covers the laser galvanometer control system;

the sensor module is arranged on the shell and comprises a laser radar arranged at the front end of the central line of the top surface of the shell, two head spot lamps arranged on the top surface of the shell and positioned on two sides of the laser radar, a second depth camera arranged in the middle of the front side surface of the shell and a touch screen arranged on the side surface of the shell.

Further, the bearing platform is arranged at the top of the supporting frame; the connection part of the bearing platform and the supporting frame is provided with a plurality of positioning holes which are transversely arranged, and the supporting frame is fixed in the positioning holes of the bearing platform through two groups of bolts.

Further, the chassis battery pack comprises a box body and a battery arranged in the box body; one of the box bodies is internally provided with a controller, and the controller is connected with the chassis motor through a driving module.

Further, the controller is also connected with a remote controller.

Further, the chassis motor is a direct-current brushless chassis motor and is decelerated by a worm gear reducer.

Further, the X-axis moving mechanism comprises an X-axis bottom plate, X-axis sliding rails, an X-axis screw rod, an X-axis motor and an X-axis sliding block, wherein the X-axis bottom plate is fixed on a mounting base, two parallel X-axis sliding rails are fixedly arranged on the side face of the X-axis bottom plate, the X-axis sliding block is arranged on each X-axis sliding rail in a sliding fit manner, the X-axis screw rod is arranged on the X-axis bottom plate between the two X-axis sliding rails, an X-axis nut is in threaded fit on the X-axis screw rod, one end of the X-axis screw rod is arranged on the X-axis bottom plate through a bearing, the other end of the X-axis screw rod is connected with the output end of the X-axis motor through a coupler, the X-axis motor is connected with a control board, an X-axis fixing plate is arranged at the end of the X-axis bottom plate close to the X-axis motor, the X-axis fixing plate and the X-axis bottom plate form an L shape, and the X-axis motor is fixedly arranged on the X-axis fixing plate;

the Z-axis moving mechanism comprises a Z-axis bottom plate, Z-axis sliding rails, Z-axis screw rods, a Z-axis motor and a Z-axis sliding block, wherein two parallel Z-axis sliding rails are fixedly installed on the side face of the Z-axis bottom plate, the Z-axis sliding blocks are arranged on each Z-axis sliding rail in a sliding fit mode, the Z-axis bottom plate between the two Z-axis sliding rails is provided with the Z-axis screw rods, a Z-axis nut is in threaded fit with the Z-axis screw rods, one end of each Z-axis screw rod is installed on the Z-axis bottom plate through a bearing, the other end of each Z-axis screw rod is connected with the output end of the Z-axis motor through a coupler, the Z-axis motor is connected with a control board, the Z-axis nut is located in the middle of a plane formed by the 4Z-axis sliding blocks, and the XZ-axis connecting plate is fixedly installed on the Z-axis sliding blocks and the Z-axis nut.

Further, the laser galvanometer module is arranged at the bottom of the Z-axis bottom plate and comprises a laser galvanometer module connected with the control board and an optical fiber connector connected with the laser galvanometer module, and the optical fiber connector is connected with the laser generator.

Further, the rotatory module of shot-light is installed on laser galvanometer module shell, and is close to first degree of depth camera, and the rotatory module of shot-light includes shot-light mounting panel, bogie and shot-light module, and the shot-light mounting panel is L shape, and the curb plate is fixed on the shell of laser galvanometer module, and the bogie articulates the diaphragm bottom of installing at the shot-light mounting panel, and the shot-light module is installed on the bogie.

Further, the controller is connected with a head spotlight, a laser radar and a second depth camera.

The utility model has the following beneficial effects:

(1) Automatically planning a path through laser radar and headstock depth camera compound navigation; the robot is remotely controlled to walk through a remote controller or is controlled to walk and weed through a touch screen;

(2) The variable-pitch gantry crawler chassis adopts a plurality of groups of bolt positioning holes, and the track gauge can be flexibly changed by adjusting the bolt positioning holes, so that the variable-pitch gantry crawler chassis is suitable for the ridge pitches of different crops; the chassis motor and the chassis battery are fixed above the crawler assemblies, so that the space between the first crawler assembly and the second crawler assembly is increased, and the laser weeding robot can weed the ridge culture crops under the conditions of not damaging the ridge culture environment and not damaging the ridge culture crops;

(3) The laser galvanometer control system recognizes information such as three-dimensional coordinates of crop and weed center points, environmental brightness and the like, automatically regulates and controls an X-axis motor, a Z-axis motor and a laser galvanometer to aim at weeds and laser ablation, regulates and controls an automatic switch of a spotlight to supplement light, so that the laser weeding can adapt to various complex scenes and can adapt to use scenes with insufficient light;

(4) The weeding machine can realize continuous work for 24 hours, can lighten the working intensity of labor personnel, has the advantages of accurate weed positioning, relatively low cost, high weeding efficiency, simple and reliable whole and the like, and has good practical popularization value.

Drawings

Fig. 1 is a schematic structural view of the weeding robot of the present utility model.

Fig. 2 is a schematic diagram of an explosion structure of the weeding robot of the present utility model.

Fig. 3 is a schematic view of the crawler chassis structure of the present utility model.

Fig. 4 is a schematic view of the crawler chassis structure of the present utility model.

Fig. 5 is a schematic structural diagram of the galvanometer module of the utility model.

Fig. 6 is a schematic diagram of an exploded structure of the galvanometer module of the utility model.

FIG. 7 is a schematic diagram of control connections of the galvanometer control system of the utility model.

Fig. 8 is a schematic diagram of the control connections of the chassis control of the present utility model.

The marks in the figure: 100. a crawler chassis; 101. a track assembly; 102. a mounting shell; 103. a support frame; 104. a bearing platform; 105. a chassis battery pack; 106. a chassis motor; 107. a protective shell; 108. positioning holes; 200. a laser galvanometer control system; 210. a laser generator; 220. a galvanometer module; 230. a laser battery pack; 221. a mounting base; 222. a control board; 223. a laser galvanometer module; 224. an optical fiber connector; 225. an XZ axis connecting plate; 226. a first depth camera; 240. an X-axis moving mechanism; 241. an X-axis bottom plate; 242. an X-axis sliding rail; 243. an X-axis screw rod; 244. an X-axis motor; 245. an X-axis sliding block; 246. an X-axis nut; 247. a fixing plate; 250. a Z-axis moving mechanism; 251. a Z-axis bottom plate; 252. a Z-axis sliding rail; 253. a Z-axis screw rod; 254. a Z-axis motor; 255. a Z-axis slider; 256. a Z-axis nut; 260. a spotlight rotating module; 261. a spotlight mounting plate; 262. a bogie; 263. a spotlight module; 300. a housing; 400. a sensor module; 401. a laser radar; 402. head spot lamp; 403. a second depth camera; 404. a touch screen.

Detailed Description

As shown in fig. 1 and 2, the weeding robot provided in this embodiment includes a crawler chassis 100, a laser galvanometer control system 200, a housing 300 and a sensor module 400, two sets of laser galvanometer control systems 200 are symmetrically arranged on the crawler chassis 100, the housing 300 is mounted on the top of the crawler chassis 100, the laser galvanometer control system 200 is wrapped inside, and the sensor module 400 is mounted on the surface of the housing 300.

As shown in fig. 3 and fig. 4, the crawler chassis 100 includes a load-bearing platform 104, a support frame 103, a crawler assembly 101, a chassis motor 106 and a chassis battery pack 105, a mounting housing 102 is provided on the top surface of the crawler assembly 101, the support frame 103, the chassis motor 106 and the chassis battery pack 105 are mounted on the top surface of the mounting housing 102, the chassis battery pack 105 is connected with the chassis motor 106 to provide a working voltage of the chassis motor 106, an output end of the chassis motor 106 is connected with the crawler assembly 101 through chain transmission, and the chassis motor 106 works to drive the crawler assembly 101 to advance or retreat; the crawler assembly 101, the support frame 103, the chassis motor 106 and the chassis battery pack 105 form a set of crawler modules, the bottom symmetry of the bearing platform 104 sets up two sets of crawler modules, specifically, the top of bearing platform 104 installation support frame 103 is applicable to various fields for the crawler travel, the junction of bearing platform 104 and support frame 103 is opened there is a plurality of transverse arrangement's locating hole 108, fixes the locating hole 108 at bearing platform 104 with support frame 103 through two sets of bolts, changes the gauge of crawler chassis 100 in that locating hole 108 in a flexible way through adjusting bolt to adapt to different field conditions.

The chassis battery pack 105 includes a case, and a battery disposed in the case; one of them box is equipped with the controller, and the controller passes through drive module and is connected with chassis motor 106, the controller still is connected with the remote controller, and the remote controller adopts current remote sensing technology to realize. The remote controller sends out a motion signal, the remote controller drives the chassis motors 106, the crawler chassis 100 runs straight when the speeds of the two chassis motors 106 are the same, and the rotation speeds of the two chassis motors 106 are different and the crawler chassis runs in a steering way; the chassis motor 106 is a DC brushless chassis motor 106 and is decelerated by a worm gear reducer.

In order to avoid the influence of field crops on the chain transmission and prevent the field crops from being corroded by soil, the service life of the transmission chain is prolonged, and a protective shell 107 is arranged on the outer side of the chain transmission.

As shown in fig. 5 and 6, the laser galvanometer control system 200 includes a laser generator 210, a galvanometer module 220, and a laser battery pack 230, where the laser generator 210 and the galvanometer module 220 include two groups and are symmetrically disposed on the load-bearing platform 104; the laser generator 210 and the laser battery pack 230 are installed on the top surface of the load-bearing platform 104, specifically, the two laser generators 210 are symmetrically installed at the rear section of the load-bearing platform 104, the laser battery pack 230 is installed at the front end of the load-bearing platform 104, and the laser battery pack 230 is connected with the two laser generators 210 to provide working voltage for the two laser generators, and the galvanometer module 220 is symmetrically installed at the rear side of the load-bearing platform 104.

The galvanometer module 220 comprises a mounting base 221, an X-axis moving mechanism 240, a Z-axis moving mechanism 250, a control board 222, a laser galvanometer module 223, a spotlight rotating module 260, a first depth camera 226 and an XZ-axis connecting plate 225, wherein the mounting base 221 is used for mounting the galvanometer module 220 on the rear side of the bearing platform 104, the X-axis moving mechanism 240 is connected with the Z-axis moving mechanism 250 through the XZ-axis connecting plate 225, the Z-axis moving mechanism 250 is connected with the laser galvanometer module 223, and the spotlight rotating module 260 and the first depth camera 226 are mounted on the laser galvanometer module 223.

The X-axis moving mechanism 240 comprises an X-axis bottom plate 241, X-axis sliding rails 242, an X-axis screw rod 243, an X-axis motor 244 and an X-axis sliding block 245, the X-axis bottom plate 241 is fixed on the mounting base 221, two parallel X-axis sliding rails 242 are fixedly mounted on the side surface of the X-axis bottom plate 241, the X-axis sliding rails 242 are provided with the X-axis sliding blocks 245 in a sliding fit manner, the X-axis bottom plate 241 between the two X-axis sliding rails 242 is provided with the X-axis screw rod 243, an X-axis nut 246 is in threaded fit with the X-axis screw rod 243, one end of the X-axis screw rod 243 is mounted on the X-axis bottom plate 241 through a bearing, the other end of the X-axis screw rod 243 is connected with the output end of the X-axis motor 244 through a coupler, the X-axis motor 244 is connected with the control board 222, the end of the X-axis bottom plate 241 near the X-axis motor 244 is mounted with an X-axis fixing plate 247, the X-axis fixing plate 247 forms an L shape with the X-axis bottom plate 241, and the X-axis motor 244 is fixedly mounted on the X-axis fixing plate 247. In this embodiment, each X-axis slider 245 is provided with 2X-axis sliders 245 in a matching manner, an X-axis nut 246 is located in the middle of a plane formed by 4X-axis sliders 245, an XZ-axis connecting plate 225 is fixedly installed on each X-axis slider 245 and each X-axis nut 246, an X-axis motor 244 works to drive a screw rod to rotate, the X-axis nuts 246 move linearly on the screw rod, the X-axis connecting plate 225 is used for verifying the X-axis anti-linear reciprocating motion, and the sliding rail and the slider are matched to move and limit, so that multiple sliding connections are uniformly stressed, and the structure is stable.

The Z-axis moving mechanism 250 is similar to the X-axis moving mechanism 240, and is different in moving direction, the X-axis moving mechanism 240 moves along the X-axis, the Z-axis moving mechanism 250 moves along the Z-axis, specifically, the Z-axis moving mechanism 250 includes a Z-axis bottom plate 251, a Z-axis sliding rail 252, a Z-axis sliding rail 253, a Z-axis motor 254, and a Z-axis sliding block 255, two parallel Z-axis sliding rails 252 are fixedly mounted on a side surface of the Z-axis bottom plate 251, and each Z-axis sliding rail 252 is slidably fitted with a Z-axis sliding block 255, the Z-axis bottom plate 251 located between the two Z-axis sliding rails 252 is provided with a Z-axis sliding rail 253, one end of the Z-axis sliding rail 253 is mounted on the Z-axis bottom plate 251 through a bearing, the other end of the Z-axis sliding rail 253 is connected with an output end of the Z-axis motor 254 through a shaft coupling, the Z-axis motor 254 is connected with the control board 222, the Z-axis sliding rail 256 is located in a middle part of a plane formed by the 4Z-axis sliding blocks 255, the XZ-axis connecting plate 225 is fixedly mounted on the Z-axis sliding block 255 and the Z-axis sliding block 256, and the Z-axis motor 254 is driven by the Z-axis motor 254 to move linearly along the Z-axis sliding rail 225, thereby moving up and down the Z-axis sliding mechanism is unable to move reciprocally due to the Z-axis sliding screw rod 240.

The laser galvanometer module 223 is installed at the bottom of the Z-axis bottom plate 251, and comprises a laser galvanometer module 220 and an optical fiber connector 224, wherein the laser galvanometer module 220 adopts the prior art to control the laser landing point module with high precision and high speed in a small range, and an optical fiber interface is reserved, and the optical fiber connector 224 is connected with the laser generator 210 after being inserted into the optical fiber interface.

The bottom of the laser galvanometer module 220 is provided with a first depth camera 226 connected with the control board 222, and an RGB image and a depth image which are not blocked and slightly larger than the working range of the laser galvanometer are acquired by the depth camera and sent to the control board 222.

The shot-light rotating module 260 is installed on the shell 300 of the laser galvanometer module 220, and is close to the first depth camera 226, the shot-light rotating module 260 comprises a shot-light mounting plate 261, a bogie 262 and a shot-light module 263, the shot-light mounting plate 261 is L-shaped, the side plates are fixed on the shell 300 of the laser galvanometer module 220, the bogie 262 is hinged to the bottom of a transverse plate of the shot-light mounting plate 261, the shot-light module 263 is installed on the bogie 262, and the angle of the shot-light module is adjusted so that the first depth camera 226 can still acquire images in dark environment.

The control board 222 is used as a processing center of the galvanometer module 220, and is installed on the outer side of the Z-axis bottom plate 251, as shown in fig. 7, the control board 222 is respectively connected with the laser galvanometer module 220, the spotlight module 263, the first depth camera 226, the laser generator 210, the laser battery pack 230, the X-axis motor 244 and the Y-axis motor, and control of corresponding devices can be achieved through the control board 222.

The shell 300 is installed on the bearing platform 104 through components such as a base column, and covers the laser galvanometer control system 200, so that corrosion of sunlight, rainwater and the like to equipment is avoided, and installing ports are formed in corresponding positions of the laser generator 210 and the laser battery pack 230, so that equipment installation and operation are facilitated.

The laser radar 401 is installed at the front end of the central line of the top surface of the shell 300, a three-dimensional model of the surrounding environment of the robot can be obtained through scanning of the laser radar 401, a field SLAM is established, a global map is obtained in real time, and the global map is transmitted to a controllable to be processed, so that navigation and positioning accuracy of the robot are achieved.

Two head spot lamps 402 are mounted on the top surface of the shell 300, the two head spot lamps 402 are respectively positioned at two sides of the laser radar 401, a second depth camera 403 is mounted in the middle of the front side surface of the shell 300, and the second depth camera 403 can transmit the front road image and the depth information to a controller for processing, so that visual navigation is realized; the head spotlight 402 illuminates the road in front of the vehicle for the head second depth camera 403 in a scene of insufficient light.

The touch screen 404 is installed on the side surface of the housing 300, and the touch screen 404 is connected with the control board 222 and the controller, so that information such as weeding conditions, residual electric quantity and the like can be displayed, and the robot can be controlled to walk and weed.

As shown in fig. 8, the controller is connected with the head lamp 402, the laser radar 401 and the second depth camera 403, and the controller controls the head lamp 402, the laser radar 401 and the second depth camera 403 to work.

Working principle: in the embodiment, a path is automatically planned through the combined navigation of the laser radar 401 and the second depth camera 403; an operator remotely controls the robot to walk through a remote controller or controls the robot to walk and weed through the touch screen 404; the crawler chassis 100 of the embodiment adopts a plurality of groups of bolt positioning holes 108 to realize the change of the track gauge of the crawler chassis 100, and an operator can remotely control the crawler chassis 100 to walk; when the track gauge of the crawler belt needs to be adjusted, an operator can detach the bolts connected with the bearing platform 104 and the supporting frame 103, adjust and fix the bolts to the proper bolt positioning holes 108, and the fastening connection of the bolts ensures the structural strength of the crawler belt chassis 100; when the crawler chassis 100 needs to be transported, an operator can detach the bolts connected with the bearing platform 104 and the supporting frame 103, and divide the crawler chassis 100 into three parts for transportation, so that the occupied space for transportation can be greatly reduced.

Weeding: in the embodiment, a path is automatically planned through the combined navigation of the laser radar 401 and the second depth camera 403, and the vehicle runs at a constant speed; the respective control boards 222 of the two laser galvanometer control systems 200 control the respective X-axis motors 244 to rotate positively and negatively at a constant speed, so that the laser galvanometer modules 223 reciprocate at a constant speed in the horizontal direction; the control board 222 analyzes each frame of RGB image and each frame of depth image sent by the second depth camera 403 to obtain an average vertical distance point coordinate, a maximum vertical distance point coordinate and a minimum vertical distance point coordinate of the laser galvanometer module 220 and a farmland at each moment, identifies crops, weeds and environmental brightness, and obtains a three-dimensional coordinate of a weed center point; if the ambient brightness is insufficient, the control panel 222 controls the spotlight module 263 to be turned on, and if the ambient brightness is sufficient, the control panel 222 controls the spotlight module 263 to be turned off; if the maximum vertical distance point coordinates and the minimum vertical distance point coordinates of the laser galvanometer module 220 and the farmland are within the working range of the laser galvanometer module 220, the Z-axis motor 254 does not work, and if the maximum vertical distance point coordinates and the minimum vertical distance point coordinates of the laser galvanometer module 220 and the farmland are outside the working range of the laser galvanometer module 220, the control board 222 controls the Z-axis motor 254 to rotate, so that the average vertical distance between the laser galvanometer module 220 and the farmland and the distance between the midpoint of the vertical working range of the laser galvanometer module 220 and the laser galvanometer module 220 are equal, the working frequency of the Z-axis motor 254 can be reduced, the control precision is improved, and the working total power is reduced; if the coordinates of the central point of the weed are within the working range of the laser galvanometer module 220, the laser galvanometer module 220 is directly controlled to weed, and if the coordinates of the central point of the weed are outside the working range of the laser galvanometer module 220, the Z-axis motor 254 is controlled to rotate, so that the coordinates of the central point of the weed are within the working range of the laser galvanometer module 220, and then the laser galvanometer module 220 is controlled to weed.

The foregoing is merely a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any modification and substitution based on the technical scheme and the inventive concept provided by the present utility model should be covered in the scope of the present utility model.

Claims

1. A laser weeding robot which is characterized in that: comprises a crawler chassis, a laser galvanometer control system, a shell and a sensor module;

2. The laser weeding robot according to claim 1, wherein: the bearing platform is arranged at the top of the supporting frame; the connection part of the bearing platform and the supporting frame is provided with a plurality of positioning holes which are transversely arranged, and the supporting frame is fixed in the positioning holes of the bearing platform through two groups of bolts.

3. The laser weeding robot according to claim 1, wherein: the chassis battery pack comprises a box body and a battery arranged in the box body; one of the box bodies is internally provided with a controller, and the controller is connected with the chassis motor through a driving module.

4. A laser weeding robot according to claim 3, wherein: the controller is also connected with a remote controller.

5. The laser weeding robot according to claim 1, wherein: the chassis motor is a direct-current brushless chassis motor and is decelerated by a worm gear reducer.

6. The laser weeding robot according to claim 1, wherein: the X-axis moving mechanism comprises an X-axis bottom plate, X-axis sliding rails, an X-axis screw rod, an X-axis motor and an X-axis sliding block, wherein the X-axis bottom plate is fixed on a mounting base, two parallel X-axis sliding rails are fixedly arranged on the side face of the X-axis bottom plate, the X-axis sliding block is arranged on each X-axis sliding rail in a sliding fit manner, the X-axis screw rod is arranged on the X-axis bottom plate between the two X-axis sliding rails, an X-axis nut is in threaded fit on the X-axis screw rod, one end of the X-axis screw rod is arranged on the X-axis bottom plate through a bearing, the other end of the X-axis screw rod is connected with the output end of the X-axis motor through a coupler, the X-axis motor is connected with a control board, an X-axis fixing plate is arranged at the end of the X-axis bottom plate close to the X-axis motor, the X-axis fixing plate and the X-axis bottom plate form an L shape, and the X-axis motor is fixedly arranged on the X-axis fixing plate;

7. The laser weeding robot according to claim 1, wherein: the laser galvanometer module is arranged at the bottom of the Z-axis bottom plate and comprises a laser galvanometer module connected with the control board and an optical fiber connector connected with the laser galvanometer module, and the optical fiber connector is connected with the laser generator.

8. The laser weeding robot according to claim 1, wherein: the shot-light rotating module is installed on the laser galvanometer module shell and is close to the first depth camera, the shot-light rotating module comprises a shot-light mounting plate, a bogie and a shot-light module, the shot-light mounting plate is L-shaped, the side plates are fixed on the shell of the laser galvanometer module, the bogie is hinged to the bottom of a transverse plate of the shot-light mounting plate, and the shot-light module is installed on the bogie.

9. A laser weeding robot according to claim 3, wherein: the controller is connected with the head spotlight, the laser radar and the second depth camera.