CN107422726A - A kind of independent navigation intelligent variable spraying system and its control method applied to greenhouse - Google Patents
A kind of independent navigation intelligent variable spraying system and its control method applied to greenhouse Download PDFInfo
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- CN107422726A CN107422726A CN201710283706.7A CN201710283706A CN107422726A CN 107422726 A CN107422726 A CN 107422726A CN 201710283706 A CN201710283706 A CN 201710283706A CN 107422726 A CN107422726 A CN 107422726A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000007921 spray Substances 0.000 claims abstract description 53
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 35
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 230000007246 mechanism Effects 0.000 claims description 19
- 239000004411 aluminium Substances 0.000 claims description 14
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 14
- 229910052782 aluminium Inorganic materials 0.000 claims description 14
- 230000001276 controlling effect Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
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- 238000001514 detection method Methods 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 239000003595 mist Substances 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000003709 image segmentation Methods 0.000 abstract 1
- 239000003905 agrochemical Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000003912 environmental pollution Methods 0.000 description 3
- 239000000575 pesticide Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000009408 flooring Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000010808 liquid waste Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002663 nebulization Methods 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Acoustics & Sound (AREA)
- Catching Or Destruction (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of independent navigation intelligent variable spraying system and its control method applied to greenhouse, whole control system includes camera, wireless router, car platform, camera shoots warm off-the-air picture and is transferred to control house computers, computer project car platform driving path and the driving path of planning is transferred to by car platform by wireless network in control room, and then controls car platform by track traveling.Sick laser sensors are fixed on car platform front portion, the plant target information collected is simultaneously transferred to vehicle-mounted embedded type computer by scanning plant target by Ethernet, vehicle-mounted embedded type computer software combines real-time spray velocity and forms 3-D view, and according to the position of nozzle by three-dimensional image segmentation, the PWM flow control instructions with reference to corresponding to flow control algorithm and compensation of delay algorithm calculate each nozzle, and the delay time needed for spraying is compensated, and then realize nozzle target precision variable-flow spraying during car platform traveling.
Description
Technical field
The present invention relates to a kind of indoor navigation spray technique field, more particularly, to a kind of variable-flow based on plant target
Spraying system.
Background technology
China is a large agricultural country, and the construction area in vinyl house and greenhouse is from the 40000 of early 1990s
More hectares nearly 15.67 ten thousand hectares till now, occupy No. 1 in the world.However, China spray pesticide application technology it is relatively backward,
Automatization level triggers than in the case of relatively low, the utilization rate of agricultural chemicals is relatively low, easily causes the waste of agricultural chemicals and the pollution of environment
Environmental security, agricultural product and fruit safety, operator's security problems.Therefore research greenhouse in independent navigation spraying system not only
Labour can be liberated significantly, improves automaticity, and can also greatly improve production efficiency, reduce labour cost.
Be currently based on infrared ray, spraying machine that ultrasonic wave is designed target technology using relatively broad, but due to this kind of biography
Sensor precision is relatively low, measuring speed is relatively slow, is easily influenceed by factors such as temperature, humidity and spraying machine atomising airs, reduces
Spraying is to the accuracy of target and the service efficiency of agricultural chemicals.The laser sensor used in the present invention compared with infrared sensor and
Ultrasonic sensor has higher accuracy of detection, faster sweep speed and the characteristics of is not influenceed by daylighting, thus by it
In being studied applied to accurate variable rate spray.Intelligent variable spraying system in the present invention, as a kind of advanced pesticide application skill
Art, the growth differences of different plants and existing appearance difference are adapted to, can quick and precisely identify the presence or absence of plant target, big
The characteristic information such as small, shape and density, variable-flow spraying is carried out by the plant target signature for analyzing nozzle corresponding region, from
And reach and improve agricultural chemicals utilization rate, reduce the purpose for spraying miss rate and reducing environmental pollution.
The content of the invention
Target call for realizing intelligent carriage trajectory planning in greenhouse, the present invention pass through a kind of side of independent navigation
Method, effectively eliminate the distortion distortion of visual imaging, oblique distortions, ratio distortion and reduce manual labor.Wireless device
The communication of computer, car platform is realized, is in real time transferred to the trace information of computer project and indoor information of road surface
Car platform, for guiding traveling of the intelligent carriage based on vector diagram in plane automatically.Can accurately it realize to each intelligent carriage
The monitoring of real time position, so that it is guaranteed that each intelligent carriage traveling on the track of planning, has good operability, flexibility high, real-time
The characteristics of property is good.
For existing deficiency during current real time sensor identification plant, it can not realize and correspond to area for individual nozzle
The variable rate spray of domain target signature.The shortcomings that in order to overcome to without target area, constant sprinkling, the present invention is only based on plant target
The variable-flow spray method of vertical Jet control, devise a kind of intelligence being scanned using laser sensor to plant target and become
Spraying system is measured, can be according to plant target in scanning area by scanning of the laser sensor to car platform both sides plant
Whether there is, the characteristic information such as size, shape and density, the duty that each nozzle corresponds to magnetic valve is calculated with reference to flow control algorithm
Than single-chip microcomputer receives the instruction of embedded computer and produces PWM ripples corresponding to each magnetic valve, is mended in conjunction with compensation of delay algorithm
When repaying delay time caused by the car platform speed of travel and spraying system, and then ensureing that nozzle reaches target plant, to each
Nozzle corresponds to magnetic valve, and variable-flow spray pesticide is realized in control in real time.
The technical scheme is that：
A kind of independent navigation intelligent variable spraying system applied to greenhouse, including it is car platform, variable rate spray system, autonomous
Navigation control system, battery pack (4)；
The car platform includes vehicle frame, low damage walking mechanism, the controllable lift bar (2) of fixed Sick laser sensors；
The variable rate spray system includes Sick laser sensors (1), vehicular speeds sensor (13), vehicle-mounted embedded type meter
Calculation machine (3), water tank (6), water pump (7), spray boom (5), nozzle (8), wireless communication module (20)；Place Sick laser sensors
(1) controllable lift bar is fixed in the elevating lever resettlement groove on car platform aluminium sheet, is connected with vehicle-mounted embedded type computer (3),
Vehicle-mounted embedded type computer (3) is connected with wireless communication module (20), vehicular speeds sensor (13), wireless communication module (20)
It is connected with the magnetic valve of each nozzle (8)；Water tank (6), water pump (7) are individually fixed on car platform, are connected by water pipe；Two sprays
Bar (5) is individually fixed in the right and left at car platform rear portion, is connected by water pipe with water pump (7), and on two spray booms (5)
5 nozzles (8) at equal intervals with independent electrical magnet valve are fixed respectively；It is right according to the distance between each nozzle (8) relation on spray boom
Left and right sides nozzle sprays space and carries out average segmentation, and each nozzle sprays region corresponding to one；
The automatic navigation control system includes camera (15), control house computers (14), wireless communication module
(20), motion-control module (21), ultrasonic evadible system (19), warning device (18)；Ground in camera (15) collection greenhouse
Face image, and give the image collected to control house computers (14), control house computers (14) by wireless network transmission
By wireless network by the path transmission of planning to the wireless communication module (20) on car platform, motion-control module (21) is according to nothing
The driving path for the routing information regulation and control car platform that line communication module receives；Before ripple obstacle avoidance system (19) is fixed on car platform just
Side, is connected with motion-control module, Real Time Obstacle Avoiding and triggering warning device (18) Realtime Alerts for car platform；
The battery pack is used to provide preferable electric energy ring to car platform, variable rate spray system, automatic navigation control system
Border.
Further, the vehicle frame includes rectangular frame, the four blocks of iron in base of frame welding that more section bars are welded into
Plate and the square aluminium sheet of a block length fixed in framework upper, are welded with elevating lever resettlement groove and with four types on aluminium sheet
The platform that material, one block of aluminium sheet are built.
Further, the low damage walking mechanism is included by the wheel (10) of two universal wheels (9), two with wheel motors
And two driver for brushless DC motor (22).The wheel (10) of two with wheel motors is used as driving wheel, mounted in car platform
Front portion, control walking mechanism travel direction and give walking mechanism provide power support；Two universal wheels (9) are put down mounted in car
Platform rear portion, as driven pulley；Two driver for brushless DC motor (22) are on car platform, for controlling turning for brushless electric machine
Speed, and then adjust the travel speed of intelligent walking mechanism and control the travel direction of walking mechanism.
Further, the Sick laser sensors with 270 ° wide-angle detection range, IP67 degree of protection, 40ms it is fast
Fast scan period, the Ethernet communication interfaces of high speed, effective measurement distance are 0.1~50m.Sick laser sensors are fixed
It is the front of left and right spray boom center in car platform front, 90 ° of scan blind spot is perpendicular to ground.Sick laser sensings
Device (1) continually scans on car platform direction of travel to both sides plant target, obtains the range information of plant target, and will
The information transfer gives vehicle-mounted embedded type computer (3).
Further, the vehicle-mounted embedded type computer (3) is connected with Sick laser sensors by Ethernet and passes through base
In TCP/IP host-host protocol mutual data transmissions, display can be realized by the human-computer interaction function of vehicle-mounted embedded type computer (3)
Spray pressure, real-time traffic, car platform travel speed and each side state of the corresponding magnetic valve of nozzle (8), realizes and uses
Family parameter setting, historical data is consulted, the function such as automatically control.
The technical scheme of method of the present invention is：A kind of control of independent navigation intelligent variable spraying system applied to greenhouse
Method processed, comprises the following steps：
Step 1, ground image in camera (15) collection greenhouse, and by the image transmitting collected to being calculated in control room
Machine (14)；
Step 2, the software write by java of control house computers, by greenhouse floor image down and build in proportion
Corresponding rectangular plots, operator observes greenhouse floor information and plans the driving path of car platform in control room；
Step 3, wireless network is established by wireless router, control house computers are based on Socket mechanism and walking mechanism
Communication is established, the driving path of planning is transferred to wireless communication module (20) in real time, moves control module (21) according to wireless
The signal that communication module (20) receives produces respective drive control instruction, and then controls car platform independently to travel；
Step 4, when having barrier on car platform driving trace, avoiding obstacles by supersonic wave module (19) real-time working, triggering report
Alarm device (22) is alarmed, and has real time information prompting in control house computers (14)；
Step 5, during car platform traveling, Sick laser sensors scanning left and right sides plant target, collection in real time
Plant target signature point, individual nozzle (5) variable is carried out according to the corresponding plant target signature sprayed on region of each nozzle (5)
Spraying.
Further, in the step 3, wireless network is established by router, control house computers are used based on wireless network
Socket communication mechanism and car platform establish communication, and the transmission and reception of data between the two are realized based on ICP/IP protocol.Control
The track of planning is transferred to car platform by house computers (14) processed by the form of coordinate, and then for regulating and controlling car platform in greenhouse
In traveling.Real-time position information is fed back into control house computers (14) by the form of coordinate, member easy to operation observes it
Working condition in greenhouse.
Further, in the step 5, when gathering plant target signature point in real time, processing need to be filtered simultaneously, removes and plants
Hash point outside strain target.Because hollow of greenhouse is limited, the plant mostly build of plantation is smaller, it is more difficult to is controlled by spraying
Simulation algorithm maps out its corresponding volume.Therefore when the present invention accounts for magnetic valve standard-sized sheet by the plant number of targets strong point of collection
The method of the percentage at corresponding total strong point, and then calculate PWM flow control instructions corresponding to each nozzle from provided with electromagnetic valve.
The present invention correspondingly sprays region according to nozzle (8) and is split plant target, each nozzle (8) during its spraying is just corresponded to
Plant target specific region.And calculate the plant number of targets strong point gathered after regional Sick laser sensors (1) scan 5 times
The percentage at total strong point is corresponded to when accounting for magnetic valve standard-sized sheet, and then calculates the corresponding PWM flow control instructions of each nozzle (8).
By the car platform speed of travel and spraying delay time, the delay time needed for whole spraying system spraying, Jin Ertong are calculated
Cross delay time backoff algorithm and carry out time bias.Pass through the control to the corresponding electromagnetic valve switch of each individual nozzle (8), it is ensured that when
Each nozzle reaches when spraying region, and realizing each nozzle, precisely, independently variable-flow is sprayed.
Compared with prior art, above-mentioned independent navigation smart spraying system is advised exactly according to warm flooring real-time condition
Car platform driving path is marked, improves the flexibility of car platform driving trace precision and car platform traveling.The present invention in addition
The obstacle avoidance system of middle independent navigation smart spraying system, improve it and adapt to the ability of indoor environment, during ensure that traveling
Security, improve whole intelligent variable spraying system operating efficiency.Because hollow of greenhouse is limited, plantation is mostly body
The less plant of type, it is more difficult to which its corresponding volume is mapped out by Controlling model algorithm of spraying.Therefore the present invention passes through collection
Plant number of targets strong point corresponds to the percentage at total strong point method when accounting for magnetic valve standard-sized sheet, and then calculate each from provided with electromagnetic valve
Nozzle corresponding to PWM flow control instructions.The independent navigation variable rate spray system is realized based on greenhouse plant target signature
The variable-flow spray method of individual nozzle control, accounted for using the plant number of targets strong point sum for calculating No. 5 laser sensor scannings
The method of the percentage of corresponding data point during magnetic valve standard-sized sheet, and then calculate PWM corresponding to each nozzle from provided with electromagnetic valve
Flow control instruction.The presence or absence of target can be judged exactly, and is corresponded to according to the position of each nozzle and spray region correspondingly
The characteristic information of plant, the flow of each nozzle is calculated by flow control algorithm, and carry out real-time, quantitative control.Realize
Each nozzle is independent, accurately target variable-flow is sprayed, so as to not only reduce the manual labor in greenhouse, improve nebulization efficiency,
And the loss of agricultural chemicals is reduced, reduce environmental pollution and avoids harm of the agricultural chemicals to human body.
Brief description of the drawings
Fig. 1 is the workflow diagram of independent navigation intelligent variable spraying system in greenhouse of the present invention.
Fig. 2 is the left view of car platform of the present invention.
Fig. 3 is the side view of car platform of the present invention.
Fig. 4 is the top view of car platform of the present invention.
Fig. 5 is the upward view of car platform of the present invention.
Fig. 6 is the overall construction drawing of independent navigation intelligent variable spraying system in greenhouse of the present invention.
Fig. 7 is greenhouse floor rectangular plots of the present invention.
Fig. 8 is that left and right sides nozzle sprays region division schematic diagram.
Wherein, 1 is Sick laser sensors, and 2 is fix the controllable lift bar of Sick laser sensors, and 3 be vehicle-mounted insertion
Formula computer, 4 be battery pack, and 5 be spray boom, and 6 be water tank, and 7 be water pump, and 8 be nozzle, and 9 be universal wheel, and 10 be with wheel motor
Wheel, 11 be cuboid aluminium sheet, and 12 be vehicle frame, and 13 be vehicular speeds sensor, and 14 be control house computers, and 15 be in greenhouse
Camera, 16 be plant region in greenhouse, and 17 be car platform, and 18 be warning device, and 19 be ultrasonic evadible system, and 20 be wireless
Communication module, 21 be motion-control module.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings：
As shown in figure 1, the workflow diagram for independent navigation intelligent variable spraying system.Camera 15 is fixed on greenhouse top
Portion, for shooting greenhouse floor image, greenhouse floor image transmitting is given to control house computers 14, control room by wireless network
The greenhouse floor image that interior computer 14 is shot using related software processing camera 15, and gone out according to greenhouse floor Image Rendering
Greenhouse floor rectangular plots.Operator cooks up the traveling rail of car platform 17 in greenhouse floor rectangular plots in control room
Mark, and by the trace information by wireless network transmission to the wireless communication module 20 in car platform 17, motion-control module 21
The command information received according to wireless communication module 20 generates corresponding activation bit, the driving path of regulation and control car platform 17.Sick
Laser sensor 1 is fixed on the front of vehicle frame 12, for the plant target in the direction of advance of scanning car platform 17, and by plant
Target is transferred to vehicle-mounted embedded type computer 3 to the range information of the central point of Sick laser sensors 1 by Ethernet.It is vehicle-mounted embedding
Enter the computer software that formula computer 3 is write by C++ and can realize range data is converted into coordinate point data, filters out scanning
Plant target that characteristic point outside scope, reconstruct scans, produce the work(such as the instruction for controlling each correspondence of nozzle 8 electromagnetic valve switch
Energy.During car platform traveling, when plant target is arrived in the scanning of Sick laser sensors 1, using No. 5 laser sensors of calculating
The method of the percentage of corresponding data point when the plant number of targets strong point sum of scanning accounts for magnetic valve standard-sized sheet, and then calculating is each certainly
Duty cycle information corresponding to the nozzle of provided with electromagnetic valve.Computer software in vehicle-mounted embedded type computer 3 produces command adapted thereto
Signal, and by Serial Port Transmission to single-chip microcomputer, single-chip microcomputer produces PWM ripples corresponding to each magnetic valve, and then controls opening for magnetic valve
Close the spray amount for controlling each nozzle 8.With reference to the travel speed of car platform 17 and spraying apparatus spray time, whole spray is calculated
The spraying delay time of mist system, the delay time is compensated by delay time backoff algorithm, ensure that nozzle 8 reaches plant target
When, according to plant target signature, control, and then realize each nozzle independence variable-flow in real time is realized to the corresponding magnetic valve of each nozzle 8
Spraying.
Fig. 2 be car platform 17 left view, Fig. 3 be car platform 17 side view, Fig. 4 be car platform 17 top view, Fig. 5
For the upward view of the underbody of car platform 17.Wherein, the car platform include more section bars be welded into rectangular frame, in framework bottom
Four pieces of iron plates of portion's welding and the square aluminium sheet of a block length fixed in framework upper, are welded with elevating lever resettlement groove on aluminium sheet
And the platform built with four section bars, one block of aluminium sheet.The controllable lift bar for placing Sick laser sensors 1 is fixed on car platform
It is water pump 7, water tank 6, vehicular speeds sensing 13, warning device 18, battery pack 4, vehicle-mounted embedding in elevating lever resettlement groove on 17 aluminium sheets
Enter formula computer 3, wireless communication module 20 and motion-control module 21 to be fixed on the platform on the top of car platform 17.It is described from
Turning and running mechanism includes the wheel 10 and two driven by Brush-Less DC motor by two universal wheels, 9, two with wheel motors
Device 22.The wheel 10 of two with wheel motors is used as driving wheel, mounted in the front portion of car platform 17, the side of the traveling of control car platform 17
To and to its offer power support；Two universal wheels 9 are mounted in the rear portion of car platform 17, as driven pulley；Two brush DC electricity
Machine driver 22 for controlling the rotating speed of brushless electric machine, and then regulates and controls the travel speed of car platform 17 on car platform.It is described
Variable rate spray system includes Sick laser sensors 1, vehicular speeds sensor 13, vehicle-mounted embedded type computer 3, water tank 6, water pump
7th, spray boom 5, nozzle 8, wireless communication module 20；The controllable lift bar for placing Sick laser sensors 1 is fixed on car platform aluminium sheet
On elevating lever resettlement groove in, be connected with vehicle-mounted embedded type computer 3, vehicle-mounted embedded type computer 3 and wireless communication module 20,
Vehicular speeds sensor 13 is connected, and wireless communication module 20 is connected with the magnetic valve of each nozzle 8；Water tank 6, water pump 7 are fixed respectively
In on car platform, it is connected by water pipe；Two spray booms 5 are individually fixed in the right and left at car platform rear portion, pass through water pipe and water
Pump 7 is connected, and fixes 5 nozzles 8 with independent electrical magnet valve at equal intervals respectively on two spray booms 5；According to each on spray boom
The distance between nozzle 8 relation, space is sprayed to left and right sides nozzle and carries out average segmentation, each nozzle sprays corresponding to one
Region.Ultrasonic evadible system 19 is fixed on the front of car platform 17, has during being travelled for probe vehicles platform 17 accessible
Thing, if barrier be present, triggering warning device 18 is alarmed.
As shown in fig. 7, being greenhouse floor rectangular plots, darker regions are plant region, and white portion is ground region,
Behave as the driving path of car platform 17 of planning in the spraying path.Greenhouse floor rectangular plots in Fig. 7 are by greenhouse floor
By fixed proportion scaling, as shown in fig. 6, because plant region is the ridge of a ridge one in greenhouse and warm flooring is more flat
It is whole, therefore car platform travelling control is relatively easy to.In greenhouse, indoor top fixes a camera 15, for shooting greenhouse floor figure
Piece, and give the picture transfer to control house computers 14 by wireless network.The present invention has write a control with java language
House computers software, the driving path of car platform is planned for operator in control room.The computer software passes through Ethernet
Communicated with the wireless communication module 20 on car platform 17, and the routing information of planning is transferred to the wireless communication module 20.Car
After the information processing that motion-control module 21 on platform receives wireless communication module 20, it is converted into controlling car platform 17 to transport
Capable signal, and then realize the function of the traveling of control car platform 17 in real time.The computer software can also receive car platform 17
Real-time position information, member's observation and operation easy to operation.Now motion-control module 21 can use small-sized special driving control
Making sheet, to subtract the volume of trolley platform and mitigate its body weight.
As shown in figure 8, be the spraying schematic diagram of 17 liang of side nozzles of car platform, spray boom 5 at left and right sides of the dead astern of car platform 17
5 nozzles 8 for carrying independent electrical magnet valve of upper each installation, the left and right sides sprays region and divided according to spray boom top nozzle position
Cut, be respectively divided into 5 and spray scope identical and spray region, left side is that region 5 arrive in region 1, and region 10 is arrived in right side for region 6.Spray
Mouth is the nozzle with independent electrical magnet valve of Si Purui companies of U.S. production, be can be achieved by controlling the switch of magnetic valve to control nozzle
The function of 8 sprayings.
Because hollow of greenhouse is limited, the plant mostly build of plantation is smaller, it is more difficult to which by spraying, Controlling model algorithm is surveyed
Draw its corresponding volume.Therefore total strong point is corresponded to when the present invention accounts for magnetic valve standard-sized sheet by the plant number of targets strong point of collection
Percentage method, and then calculate each nozzle from provided with electromagnetic valve corresponding to PWM flow control instructions.Sick laser sensings
Device 1 scans left and right plant target on the driving path of car platform 17, and the plant target signature point scanned is passed through into Ethernet
It is transferred to vehicle-mounted embedded type computer 3.Control intelligent variable spraying system is write by C++ in vehicle-mounted embedded type computer 3
Software, using calculating, magnetic valve shared by the plant number of targets strong point sum of No. 5 laser sensor scanning in different spray areas is complete
The method for the percentage that corresponding data is counted is sprayed when opening.Correspondingly region is sprayed according to nozzle 8 to be divided plant target
Cut so that each nozzle 8 just corresponding plants target specific region when intelligent variable spraying system works.And calculate regional
The plant number of targets strong point that Sick laser sensors 1 gather after scanning 5 times corresponds to the percentage at total strong point when accounting for magnetic valve standard-sized sheet
Than, and then calculate the corresponding PWM flows control instruction of each nozzle 8.By the car platform speed of travel and spraying delay time, meter
The delay time needed for whole spraying system spraying is calculated, and then time bias is carried out by delay time backoff algorithm.Pass through
The control of electromagnetic valve switch is corresponded to each individual nozzle, it is ensured that when nozzle 8 reaches plant target, by each correspondence of nozzle 8
The real-time control of magnetic valve, realize that the variable-flow of individual nozzle 8 is sprayed, that is, realize the closing of plant target exterior domain corresponding nozzle,
The work that each nozzle is opened in target corresponding region.The intelligent variable spraying system of the present invention sprays area according to corresponding nozzle 8
Domain plant target signature, realize that the closeer flow of branches and leaves is larger to the vari- able flow control of corresponding nozzle 8, otherwise flow is smaller, Jin Eryou
Avoid liquid waste and prevent environmental pollution to effect.
Combined specific implementation step illustrates the present invention above, but for those skilled in the art, can
So that on the premise of without departing substantially from the spirit and scope of the present invention, different improvement and modification are made to the present invention.Thus fall into this
Various modifications and variations in the right of invention, it should all belong within protection scope of the present invention.
Claims (8)
1. a kind of independent navigation intelligent variable spraying system applied to greenhouse, it is characterised in that including car platform, variable rate spray
System, automatic navigation control system, battery pack (4)；
The car platform includes vehicle frame, low damage walking mechanism, the controllable lift bar (2) of fixed Sick laser sensors；
The variable rate spray system includes Sick laser sensors (1), vehicular speeds sensor (13), vehicle-mounted embedded type computer
(3), water tank (6), water pump (7), spray boom (5), nozzle (8), wireless communication module (20)；Place Sick laser sensors (1)
Controllable lift bar is fixed in the elevating lever resettlement groove on car platform aluminium sheet, Sick laser sensors (1) and vehicle-mounted embedded type meter
Calculation machine (3) is connected, and vehicle-mounted embedded type computer (3) is connected with wireless communication module (20), vehicular speeds sensor (13) respectively,
Wireless communication module (20) is connected with the magnetic valve of each nozzle (8)；Water tank (6), water pump (7) are individually fixed on car platform, are led to
Water pipe is crossed to be connected；Two spray booms (5) are individually fixed in the right and left at car platform rear portion, are connected by water pipe with water pump (7),
And fix multiple nozzles (8) at equal intervals with independent electrical magnet valve respectively on two spray booms (5)；According to each nozzle on spray boom
The distance between (8) relation, space is sprayed to left and right sides nozzle and carries out average segmentation, each nozzle sprays area corresponding to one
Domain；
The automatic navigation control system includes camera (15), control house computers (14), wireless communication module (20), fortune
Dynamic control module (21), ultrasonic evadible system (19), warning device (18)；Ground image in camera (15) collection greenhouse,
And give the image collected to control house computers (14) by wireless network transmission, control house computers (14) are by wireless
Net is by the path transmission of planning to the wireless communication module (20) on car platform, and motion-control module (21) is according to radio communication mold
The driving path for the routing information regulation and control car platform that block receives；Ripple obstacle avoidance system (19) is fixed on immediately ahead of car platform, with motion
Control module is connected, Real Time Obstacle Avoiding and triggering warning device (18) Realtime Alerts for car platform；
The battery pack is used to provide preferable electric energy environment to car platform, variable rate spray system, automatic navigation control system.
A kind of 2. independent navigation intelligent variable spraying system applied to greenhouse according to claim 1, it is characterised in that
The vehicle frame include more section bars be welded into rectangular frame, base of frame welding four pieces of iron plates and in framework upper
The fixed square aluminium sheet of a block length, elevating lever resettlement groove is welded with aluminium sheet and is built with four section bars, one block of aluminium sheet
Platform.
A kind of 3. independent navigation intelligent variable spraying system applied to greenhouse according to claim 1, it is characterised in that
The low damage walking mechanism include by two universal wheels (9), the wheel (10) of two with wheel motors and two direct currents without
Brush motor driver (22)；The wheel (10) of two with wheel motors is used as driving wheel, mounted in the front portion of car platform, control walking
The travel direction of mechanism and give walking mechanism provide power support；Two universal wheels (9) are mounted in car platform rear portion, as driven
Wheel；Two driver for brushless DC motor (22) for controlling the rotating speed of brushless electric machine, and then adjust intelligence on car platform
The travel speed of walking mechanism and the travel direction for controlling walking mechanism.
A kind of 4. independent navigation intelligent variable spraying system applied to greenhouse according to claim 1, it is characterised in that
The Sick laser sensors are with 270 ° of wide-angle detection range, IP67 degree of protection, 40ms quick scan period, high speed
Ethernet communication interfaces, effective measurement distance is 0.1~50m；Sick laser sensors are fixed on immediately ahead of car platform
That is the front of left and right spray boom center, 90 ° of scan blind spot is perpendicular to ground；Sick laser sensors (1) are in car platform
Both sides plant target is continually scanned on direction of travel, obtains the range information of plant target, and transmit this information to
Vehicle-mounted embedded type computer (3).
A kind of 5. independent navigation intelligent variable spraying system applied to greenhouse according to claim 1, it is characterised in that
The vehicle-mounted embedded type computer (3) is connected by Ethernet with Sick laser sensors and by based on TCP/IP host-host protocols
Mutual data transmission, display spray pressure, real-time streams can be realized by the human-computer interaction function of vehicle-mounted embedded type computer (3)
Amount, car platform travel speed and each side state of the corresponding magnetic valve of nozzle (8), realize that customer parameter is set, consult
Historical data, the function such as automatically control.
6. the control method of a kind of independent navigation intelligent variable spraying system applied to greenhouse, it is characterised in that including as follows
Step：
Step 1, ground image in camera (15) collection greenhouse, and give the image transmitting collected to control house computers
(14)；
Step 2, the software write by java of control house computers, by greenhouse floor image down and build correspondingly in proportion
Rectangular plots, operator observes greenhouse floor information and plans the driving path of car platform in control room；
Step 3, wireless network is established by wireless router, control house computers are based on Socket mechanism and walking mechanism is established
Communication, wireless communication module (20) is transferred to by the driving path of planning in real time, moves control module (21) according to radio communication
The signal that module (20) receives produces respective drive control instruction, and then controls car platform independently to travel；
Step 4, when having barrier on car platform driving trace, avoiding obstacles by supersonic wave module (19) real-time working, triggering alarm dress
(22) alarm is put, and has real time information prompting in control house computers (14)；
Step 5, during car platform traveling, Sick laser sensors scanning left and right sides plant target, plant is gathered in real time
Target signature point, the spray of individual nozzle (5) variable is carried out according to the corresponding plant target signature sprayed on region of each nozzle (5)
Mist.
7. a kind of control method of independent navigation intelligent variable spraying system applied to greenhouse according to claim 6,
Characterized in that, in the step 3, wireless network is established by router, control house computers are used based on wireless network
Socket communication mechanism and car platform establish communication, and the transmission and reception of data between the two are realized based on ICP/IP protocol；Control
The track of planning is transferred to car platform by house computers (14) processed by the form of coordinate, for regulating and controlling car platform in greenhouse
Traveling；Real-time position information is fed back into control house computers (14) by the form of coordinate, member easy to operation observes it in temperature
Working condition in room.
8. a kind of control method of independent navigation intelligent variable spraying system applied to greenhouse according to claim 6,
Characterized in that, in the step 5, when gathering plant target signature point in real time, processing need to be filtered simultaneously, removes plant mesh
Hash point outside mark；Spray region according to nozzle (8) is corresponding and split plant target, each nozzle when making its spraying
(8) just corresponding plants target specific region；And calculate the plant gathered after regional Sick laser sensors (1) scan 5 times
Strain number of targets strong point corresponds to the percentage at total strong point when accounting for magnetic valve standard-sized sheet, and then calculates the corresponding PWM streams of each nozzle (8)
Measure control instruction；By the car platform speed of travel and spraying delay time, the delay needed for whole spraying system spraying is calculated
Time, and then time bias is carried out by delay time backoff algorithm；By to the corresponding electromagnetic valve switch of each individual nozzle (8)
Control.
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| CN109471434A (en) * | 2018-11-09 | 2019-03-15 | 江苏大学 | A kind of novel variable rate spray path planning autonomous navigation system and method |
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| CN112218029A (en) * | 2020-12-10 | 2021-01-12 | 北京电信易通信息技术股份有限公司 | Multi-card link video transmission method |
| CN112386735A (en) * | 2020-10-29 | 2021-02-23 | 中国人民解放军疾病预防控制中心 | Variable-frequency intelligent robot, spray disinfection method and system |
| CN113598147A (en) * | 2021-07-27 | 2021-11-05 | 吉林大学重庆研究院 | Plant protection unmanned aerial vehicle machine carries variable control system based on PWM |
| CN115067302A (en) * | 2022-06-15 | 2022-09-20 | 德州智南针机械科技有限公司 | Four-wheel independent steering driven intelligent navigation auxiliary operation greenhouse robot |
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| CN109471434A (en) * | 2018-11-09 | 2019-03-15 | 江苏大学 | A kind of novel variable rate spray path planning autonomous navigation system and method |
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| CN110178817A (en) * | 2019-05-14 | 2019-08-30 | 江苏大学 | A kind of variable farm chemical applying information processing system and method |
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| CN112386735B (en) * | 2020-10-29 | 2022-03-29 | 中国人民解放军疾病预防控制中心 | Variable-frequency intelligent robot, spray disinfection method and system |
| CN112218029A (en) * | 2020-12-10 | 2021-01-12 | 北京电信易通信息技术股份有限公司 | Multi-card link video transmission method |
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| CN113598147A (en) * | 2021-07-27 | 2021-11-05 | 吉林大学重庆研究院 | Plant protection unmanned aerial vehicle machine carries variable control system based on PWM |
| CN115067302A (en) * | 2022-06-15 | 2022-09-20 | 德州智南针机械科技有限公司 | Four-wheel independent steering driven intelligent navigation auxiliary operation greenhouse robot |
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Application publication date: 20171201 |