CN-121986771-A - Laser-mechanical combined weeding device and weeding method thereof

CN121986771ACN 121986771 ACN121986771 ACN 121986771ACN-121986771-A

Abstract

The invention discloses a laser mechanical combined weeding device and a weeding method thereof, which belong to the technical field of agricultural machinery, wherein the weeding device comprises a walking unit, a weeding unit and a detection unit, the walking unit comprises a walking vehicle body, and a light shield is arranged at the head end of the walking vehicle body; the weeding unit comprises a laser weeding module and a mechanical weeding module, wherein the laser weeding module comprises a two-dimensional laser galvanometer system, the mechanical weeding module comprises a manipulator, the detection unit comprises an illumination module and a visual identification module, and the illumination module and the visual identification module are installed in the shade. The weeding method comprises the steps of illuminating by an illumination module under the load of a walking vehicle body, identifying crops and weeds by a visual identification module, positioning and classifying the weeds, irradiating laser to remove the weeds by a two-dimensional laser galvanometer system, and removing the weeds by a mechanical arm. Through combining laser weeding and manipulator weeding mode, realized weeding in-process weeding efficient, do not produce chemical pollution's effect.

Inventors

LIU FEI
ZHANG JIANLIN
LU XIANGYU
YANG RUI
JIAO JIE

Assignees

浙江大学

Dates

Publication Date: 20260508
Application Date: 20241105

Claims (10)

1. A laser-mechanical combined weeding device, comprising: The walking unit comprises a walking vehicle body, a light shield arranged in a suspending manner is arranged at the head end of the walking vehicle body, a shield opening of the light shield extends to the ground, and a mounting opening is arranged at the shield top of the light shield; The weeding unit comprises a laser weeding module and a mechanical weeding module, wherein the laser weeding module comprises a two-dimensional laser galvanometer system, the two-dimensional laser galvanometer system is installed at the installation opening, the mechanical weeding module comprises a manipulator, and the manipulator is installed at the bottom of the walking car body; And the detection unit comprises an illumination module and a visual identification module, and the illumination module and the visual identification module are installed in the light shield.
2. The laser mechanical combined weeding device according to claim 1, wherein the two-dimensional laser galvanometer system comprises a laser galvanometer, a movable substrate and linear sliding rails, wherein the linear sliding rails are arranged on two sides of the mounting opening, the extending direction of the linear sliding rails is parallel to the vehicle length direction of the walking vehicle body, the movable substrate is slidably connected to the linear sliding rails, the laser galvanometer is arranged on the movable substrate, a light inlet is formed in the movable substrate, and the light inlet is aligned with the emitting end of the laser galvanometer.
3. A combined laser and mechanical weeding device according to claim 2, wherein the laser weeding module comprises a laser to provide the light source for the two-dimensional laser galvanometer system.
4. A combined laser and mechanical weeding device according to claim 2, wherein the visual recognition module comprises a camera or video camera mounted on the mobile base plate, and wherein the camera or video camera is located within the light shield.
5. The laser-mechanical combined weeding device according to claim 4, wherein the illumination module comprises an LED lamp, the LED lamp and the two-dimensional laser vibrating mirror system are arranged at intervals, and the directions of the LED lamp and the two-dimensional laser vibrating mirror system at intervals are perpendicular to the vehicle length direction of the walking vehicle body.
6. The combined weeding device for a laser machine according to claim 1, wherein the light shield comprises a mounting plate and a light shielding cloth, the mounting plate is mounted at the head end of the walking vehicle body in a suspended manner, the light shielding cloth is arranged at the bottom of the mounting plate in a surrounding manner, and the mounting opening is formed in the mounting plate.
7. The laser-mechanical combined weeding device according to claim 1, wherein the device comprises a control unit, wherein the control unit comprises a controller, the controller is installed inside the walking vehicle body, and the controller is used for controlling the walking unit, the weeding unit and the detection unit.
8. The laser mechanical combined weeding device according to claim 7, wherein the device comprises a power supply unit, wherein the power supply unit comprises a power supply device, wherein the power supply device is arranged inside the walking vehicle body, and the power supply device is used for supplying power to the walking unit, the weeding unit, the detection unit and the control unit.
9. The laser-mechanical combined weeding method is characterized by adopting the laser-mechanical combined weeding device according to any one of claims 1-8, and comprises the following steps that under the load of a travelling car body, an illumination module illuminates the inside of a shade, a visual identification module identifies crops and weeds in the shade, positions and sorts the weeds, the weeds are divided into laser-removed weeds and mechanical-removed weeds, a two-dimensional laser vibrating mirror system irradiates laser-removed weeds, and a mechanical hand pulls out the mechanical-removed weeds.
10. The combined laser and mechanical weeding method according to claim 9, wherein the visual recognition module distinguishes crops and weeds through a neural network, positions coordinates of the weeds and marks the weeds according to the sequence of weed detection, and assigns task amounts to the two-dimensional galvanometer system according to the marks in a number sequence, wherein the neural network is a target detection model or a semantic segmentation model; The visual recognition module locates the central position (x 0 ,y 0 )＝((x max +x min )/2,(y max +y min )/2) of weed coordinates through a neural network, wherein x 0 and y 0 are central coordinates of single weeds, x max and xmin are maximum x coordinates and minimum x coordinates of a minimum circumscribed rectangle of a weed detection frame or a detection mask, and y max and ymin are maximum y coordinates and minimum y coordinates of a minimum circumscribed rectangle of a weed detection frame or a detection mask; The visual recognition module judges the weed removal type through a neural network, namely judges the weed detection frame area S= (x max -x min )×(y max -y min ), compares the weed detection frame area S with a preset threshold value S1, judges that the weed is mechanical removal weed when S is more than or equal to S1, and judges that the weed is laser removal weed when S is less than S1.

Description

Laser-mechanical combined weeding device and weeding method thereof Technical Field The invention relates to the technical field of agricultural machinery, in particular to a laser-mechanical combined weeding device and a weeding method thereof. Background In recent years, laser weeding has been attracting attention as a novel environmental-friendly weeding method. The laser weeding utilizes laser beams to directly irradiate on weeds, and achieves the weeding effect by burning leaves of the weeds at high temperature. However, laser weeding requires higher laser intensity and longer irradiation time when facing weeds with divergently distributed weed forms and thick and stubborn rhizome weeds, which affects weeding efficiency of weeding equipment. Wherein morphologically diverged weeds are directed primarily to monocotyledonous weeds, such as leaves of wild oats, which diverge over a period of time. Disclosure of Invention The invention aims to solve the technical problems and provide a laser-mechanical combined weeding device and a weeding method thereof, which realize the effects of high weeding efficiency and no chemical pollution in the weeding process by combining a laser weeding mode and a manipulator weeding mode. In order to achieve the aim, the invention provides the scheme that the invention discloses a laser-mechanical combined weeding device, which comprises: The walking unit comprises a walking vehicle body, a light shield arranged in a suspending manner is arranged at the head end of the walking vehicle body, a shield opening of the light shield extends to the ground, and a mounting opening is arranged at the shield top of the light shield; The weeding unit comprises a laser weeding module and a mechanical weeding module, wherein the laser weeding module comprises a two-dimensional laser galvanometer system, the two-dimensional laser galvanometer system is installed at the installation opening, the mechanical weeding module comprises a manipulator, and the manipulator is installed at the bottom of the walking car body; And the detection unit comprises an illumination module and a visual identification module, and the illumination module and the visual identification module are installed in the light shield. Preferably, the two-dimensional laser galvanometer system comprises a laser galvanometer, a movable substrate and linear sliding rails, wherein the linear sliding rails are arranged on two sides of the mounting opening, the extending direction of the linear sliding rails is parallel to the vehicle length direction of the walking vehicle body, the movable substrate is slidably connected to the linear sliding rails, the laser galvanometer is arranged on the movable substrate, a light inlet is formed in the movable substrate, and the light inlet is aligned with the transmitting end of the laser galvanometer. Preferably, the laser weeding module comprises a laser providing a light source for the two-dimensional laser galvanometer system. Preferably, the visual recognition module comprises a camera or video camera mounted on the mobile substrate, the camera or video camera being located within the light shield. Preferably, the lighting module comprises an LED lamp, the LED lamp and the two-dimensional laser galvanometer system are arranged at intervals, and the direction of the LED lamp and the two-dimensional laser galvanometer system arranged at intervals is perpendicular to the vehicle length direction of the walking vehicle body. Preferably, the light shield comprises a mounting plate and a light shielding cloth, the mounting plate is mounted at the head end of the walking vehicle body in a suspending mode, the light shielding cloth is arranged at the bottom of the mounting plate in a surrounding mode, and the mounting opening is formed in the mounting plate. Preferably, the control unit comprises a controller, wherein the controller is arranged in the walking vehicle body and is used for controlling the walking unit, the weeding unit and the detection unit. Preferably, the walking vehicle comprises a walking vehicle body, wherein the walking vehicle body comprises a walking unit, a weeding unit, a detecting unit and a control unit. The laser-mechanical combined weeding device comprises a lighting module, a visual identification module, a two-dimensional laser vibrating mirror system and a manipulator, wherein the lighting module is used for lighting the inside of a shade under the load of a travelling car body, the visual identification module is used for identifying crops and weeds in the shade, positioning and classifying the weeds, dividing the weeds into laser-removed weeds and mechanical-removed weeds, the two-dimensional laser vibrating mirror system is used for carrying out laser irradiation on the laser-removed weeds, and the manipulator is used for removing the mechanical-removed weeds. Preferably, the visual recognition module distinguishes crops and weeds through a neural network,