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CN-121986667-A - Stable and efficient laser topping robot and operation method thereof

CN121986667ACN 121986667 ACN121986667 ACN 121986667ACN-121986667-A

Abstract

The invention discloses a stable and efficient laser topping robot and an operation method thereof, wherein the laser topping robot comprises a connecting frame, damping mechanisms, steering mechanisms, a driving mechanism, a laser topping system, a visual identification system and a controller, wherein the four damping mechanisms are symmetrically arranged at the bottom of the connecting frame, the bottom of each damping mechanism is connected with the steering mechanism, the damping mechanisms buffer the impact in the vertical direction and are independent of the movement of the steering mechanism, the driving mechanism is connected with a steering block, the laser topping system, the visual identification system and the controller are fixedly arranged on the connecting frame, the visual identification system comprises two binocular cameras arranged at the front end of the connecting frame, the laser topping system comprises six groups of lasers, and the controller is respectively electrically connected with a binocular camera, the lasers, a stepping motor and an angular displacement sensor. The laser topping device has the advantages of compact structural design, accurate identification, stable and accurate steering, stable laser topping, low accidental injury rate and high topping efficiency, and is suitable for popularization and application.

Inventors

  • PENG XUAN
  • ZHOU JIANPING
  • XU YAN
  • Chang Cuiping
  • ZUO JIAWEI
  • ZHOU ZHONGXIANG
  • CAI XINLIANG

Assignees

  • 新疆大学

Dates

Publication Date
20260508
Application Date
20231228

Claims (10)

  1. 1. The utility model provides a steady high-efficient laser topping machine people, its characterized in that, including link (5), damper (4), steering mechanism (2), actuating mechanism (1), laser topping system, visual identification system and controller (610), four are installed to link (5) bottom symmetry damper (4), every damper (4)'s bottom all is connected with damper (2), damper (4) cushion and be independent of the motion of damper (2) to the impact of vertical direction, damper (4) include shank mounting panel (401), connecting rod (402), damper mounting panel (405) and bumper shock absorber (406), shank mounting panel (401) with link (5) fixed connection, two connecting rod mounting panels (403) are installed to terminal surface inboard symmetry under shank mounting panel (401), damper (405) fixed connection is in on damper (2), the both ends of connecting rod (402) respectively with connecting rod mounting panel (403) and damper (405) hinge, damper (406) are carried out the impact of vertical direction, arrange and damper (405) and shank mounting panel (401) and bumper shock absorber (406) are included respectively with shank mounting panel (401), shank mounting panel (401) and bumper shock absorber (201) are connected with damper (201) respectively Step motor (203) and turn to piece (205), backup pad (201) one end with shock attenuation mounting panel (405) fixed connection, the other end fixed mounting has step motor (203), step motor (203) with reduction gear (202) are connected, reduction gear (202) drive connect turn to piece (205), just install angular displacement sensor (209) on the output shaft of reduction gear (202), angular displacement sensor (209) detects the steering angle in real time and feeds back to controller (610) in order to form and turn to closed-loop control, actuating mechanism (1) with turn to piece (205) and be connected, fixed mounting has on link (5) laser system of beating top with controller (610), vision recognition system including set up in two binocular cameras of link (5) front end, laser system of beating top includes six sets of lasers (601), controller (610) respectively with binocular motor (601), laser system (203) and laser sensor (209) are connected electrically.
  2. 2. The stable and efficient laser topping robot according to claim 1, wherein an output flange of the speed reducer (202) is fixedly connected with a fixed block (204), the fixed block (204) is connected with the steering block (205) through a slewing bearing (206), and the steering block (205) is in key connection with an output shaft of the speed reducer (202).
  3. 3. The stable and efficient laser topping robot according to claim 1, wherein the angular displacement sensor (209) is fixedly connected with the output shaft of the decelerator (202) coaxially through a coupling (208).
  4. 4. The stationary high-efficiency laser topping robot according to claim 1, wherein both ends of the shock absorber (406) are mounted with a tip rotation sleeve.
  5. 5. The stable and efficient laser topping robot according to claim 1, wherein the driving mechanism (1) comprises a travelling wheel (103), a hub motor (102), an axle (101) and a flat fork (104), the top end of the flat fork plate (104) is fixedly connected with the steering block (205), the bottom end of the flat fork plate is connected with the travelling wheel (103) through the axle (101), the flat fork plate (104) is correspondingly arranged with the supporting plate (201), the travelling wheel (103) is arranged on the outer side of the Ping Chaban (104), and the hub motor (102) for driving the axle (101) to rotate is arranged on the travelling wheel (103).
  6. 6. The stable and efficient laser topping robot according to claim 1, wherein the connecting frame (5) comprises an upper frame (502) and a lower frame (504), the upper frame (502) is fixedly connected with the lower frame (504) through a frame connecting rod (503), an auxiliary mounting plate (501) is fixedly connected between the upper frame (502) and the lower frame (504), and the leg mounting plate (401) is fixedly connected with the auxiliary mounting plate (501).
  7. 7. The stable and efficient laser topping robot according to claim 6, wherein a protection cover (3) is fixedly installed on the outer side of the connecting frame (5), the protection cover (3) comprises a side surface center baffle (302), side surface corner baffles (301), a frame (304), a corner cover body (303) and a top cabinet (305), the side surface corner baffles (301) are enclosed at the vertex angle between the upper frame (502) and the lower frame (504), the side surface center baffle (302) is arranged between the two side surface corner baffles (301) connected with the same side, the frame (304) is fixedly connected to the upper frame (502), and the corner cover body (303) and the top cabinet (305) are embedded and fixed on the frame (304).
  8. 8. The stable and efficient laser topping robot according to claim 1, wherein the laser (601) is a blue laser with wavelength of 455nm and power of 100W.
  9. 9. The stable and efficient laser topping robot according to any one of claims 1-8, wherein two control boxes (6) are symmetrically installed on the connecting frame (5), one control box (6) is internally provided with the laser (601), the other control box (6) is internally provided with a display screen (609), a storage battery (606) and a controller (610), a power supply port of the controller (610) is connected with the storage battery (606), and a control signal output port of the controller (610) is connected with the laser (601) and the stepping motor (203).
  10. 10. A method of operation of a laser topping robot as defined in any one of claims 1 to 9, comprising the steps of: a visual navigation step, namely acquiring field crop ridge line images in real time through a visual identification system, and planning a travelling path through a controller (610); The controller (610) sends a steering instruction to the stepping motor (203) of the target travelling wheel (103) according to a planned path, reads a feedback signal of an angular displacement sensor (209) in the steering mechanism (2) in real time, and performs closed-loop correction on the steering angle so as to accurately track a ridge line; The self-adaptive advancing step is that the cotton terminal bud density in the front set area is identified in real time through a visual identification system, and a controller (610) dynamically adjusts the overall advancing speed of the robot according to the terminal bud density; And the collaborative topping step is to schedule a laser (601) of a corresponding operation area to start by a controller (610) according to the identified accurate three-dimensional coordinates of each cotton terminal bud, adjust the power of the laser generator and the deflection angle of a laser vibrating mirror, accurately position the laser beam to the terminal buds for ablation, and realize the parallel processing of multiple targets by the multiple lasers (601).

Description

Stable and efficient laser topping robot and operation method thereof Technical Field The invention relates to the technical field of agricultural equipment, in particular to a stable and efficient laser topping robot and an operation method thereof. Background In recent years, cotton planting in China generally adopts a one-film three-ridge six-row close planting mode. In this mode, there is a significant difference in the growth heights of the cotton plants in the outer two rows and the middle four rows, and the heights of the top ends of the cotton plants in the same ridge are also uneven. The existing mechanized cotton topping device mostly adopts a mechanical cutting tool, the operation height of the mechanical cotton topping device is fixed or regulated with lag, the actual space position of each cotton top bud can not be accurately identified and adapted in real time, and the problems of missing topping, over-cutting and the like are caused in the operation process. In addition, the traditional rotary blade type topping device is easy to damage adjacent blades and spores of cotton plants during cutting, and has adverse effects on the later growth of cotton, so that the further improvement of the yield is restricted. On the other hand, the existing topping machine is mostly mounted on a tractor or a general walking chassis, and continuous vibration generated when a walking system faces uneven terrain in the field can be directly transmitted to a topping executing mechanism, so that the operation stability is seriously affected. Meanwhile, the steering and walking control precision of the equipment is insufficient, accurate alignment operation is difficult to be performed along the ridge line of crops, and the accuracy of the topping position is further reduced. In summary, the prior art has systematic defects of low topping precision, poor environmental adaptability, low operation efficiency, high accidental injury rate and the like, and cannot meet urgent requirements of modern agriculture on accurate and automatic operation. Disclosure of Invention The invention aims to provide a stable and efficient laser topping robot and an operation method thereof, which have the advantages of compact structural design, accurate identification, stable and accurate steering, stable laser topping, low accidental injury rate and high topping efficiency, and are suitable for popularization and use. In order to solve the technical problems, the invention adopts the following technical scheme: The invention relates to a stable and efficient laser topping robot, which comprises a connecting frame, damping mechanisms, a steering mechanism, a driving mechanism, a laser topping system, a visual identification system and a controller, wherein the bottom of the connecting frame is symmetrically provided with four damping mechanisms, the bottom of each damping mechanism is connected with the steering mechanism, the damping mechanism buffers the impact in the vertical direction and is independent of the motion of the steering mechanism, the damping mechanism comprises a leg mounting plate, a connecting rod, a damping mounting plate and a damper, the leg mounting plate is fixedly connected with the connecting frame, the inner side of the lower end surface of the leg mounting plate is symmetrically provided with two connecting rod mounting plates, the damping mounting plate is fixedly connected with the steering mechanism, two ends of the connecting rod are respectively hinged with the connecting rod mounting plate and the damping mounting plate, the shock absorber is vertically arranged, two ends of the shock absorber are respectively connected with the leg mounting plate and the shock absorbing mounting plate, the steering mechanism comprises a supporting plate, a speed reducer, a stepping motor and a steering block, one end of the supporting plate is fixedly connected with the shock absorbing mounting plate, the stepping motor is fixedly arranged at the other end of the supporting plate, the stepping motor is connected with the speed reducer, the speed reducer is in driving connection with the steering block, an angular displacement sensor is arranged on an output shaft of the speed reducer, the angular displacement sensor detects a steering angle in real time and feeds back the steering angle to the controller to form steering closed loop control, the driving mechanism is connected with the steering block, the laser topping system, the visual recognition system and the controller are fixedly arranged on the connecting frame, the visual recognition system comprises two binocular cameras arranged at the front end of the connecting frame, the laser topping system comprises six groups of lasers, the controller is electrically connected with the binocular camera, the laser, the stepping motor and the angular displacement sensor respectively. Further, the output flange of the speed reducer is fixedly connected with a fixed block,