CN103988824A - Automatic targeting and spraying system based on binocular vision technology - Google Patents
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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Abstract
The invention discloses an automatic targeting and spraying system based on the binocular vision technology. The automatic targeting and spraying system based on the binocular vision technology comprises an all-directional mobile platform. An image acquisition device, a spraying device and a control device are arranged on the all-directional mobile platform, wherein the control device is used for receiving and analyzing crop image information output by the image acquisition device and controlling the spraying device and the all-directional mobile platform to work. The spraying device comprises a pesticide box, a liquid outlet pipe, a delivery pump and a mechanical arm, wherein one end of the liquid outlet pipe is communicated with the pesticide box, the other end of the liquid outlet pipe is connected with a spray bar, and a plurality of spray nozzles are fixed to the spray bar; the delivery pump is arranged on the liquid outlet pump and used for pumping fertilizer or pesticide in the pesticide box into the liquid outlet pipe; the spray bar is fixed to the mechanical arm, the image acquisition device comprises a binocular camera fixed to the mechanical arm, and the binocular camera and the spray bar are installed on the mechanical arm so that all-directional image acquisition can be conducted on crops and all-directional and fine pesticide or fertilizer spraying can be carried out on the crops. Consequently, the utilization rate of the pesticide or the fertilizer is increased.
Description
Technical field
The invention belongs to agricultural machinery technological field, be specifically related to a kind of automatic target detection spraying system based on binocular vision technology.
Background technology
The extermination of disease and insect pest is the important step in proportion of crop planting process, and in current China, nearly 80% dispenser operation still adopts manual type sprayer, and agricultural chemicals is sprayed on crop on a large scale.Application method is simply extensive, and " run, drip, leak " phenomenon is serious, and agricultural chemicals availability only has 20% left and right, causes serious waste and environmental pollution, also can have influence on the sale of crops, edible and outlet simultaneously.All can there is every year the pesticide poisoning event much causing because of dispenser.Effectively disease and pest control development of development, can guarantee ecotope again, and the dispenser system tool and the method that improve agricultural chemicals availability become the task of top priority.Around this target, development is for the quick judgement at plant diseases position and target variable farm chemical applying apparatus for work is become to the focus that researchers pay close attention to.
In recent years, aspect target dispenser system tool, also doing large quantity research both at home and abroad, and obtaining certain progress.(the Giles D K such as Giles D K, Slaughter D C.Precision band spraying with machine-vision guidance and adjustable yaw nozzles[J] .Transactions of ASAE, 1997,40 (1): 29-36.) use camera to locate plant center line, control shower nozzle and carry out target spraying.Sammons(Sammons P J, Furukawa T, Bulgin A.Autonomous pesticide spraying robot for use in a greenhouse[A] .Australian Conference on Robotics and Automation, Sydney Australian.2005:1-8.) develop greenhouse atomizing machine device people, can utilize the mark that is attached to ground to fix a point to spray.(the Singh S such as Singh, Burks T, Lee W S.Autonomous robotic vehicle for greenhouse spraying[A] .2004ASAE/CSAE Annual International Meeting.Ottawa, Ontario, Canada.2004.) developed 6 and taken turns differential driving dolly, in conjunction with the good laser radar technique of machine vision, for precision navigation, controlled dispenser.In addition, the irrigation sprinkler products such as JYG-1 type of the PG-ⅡXing Hejing roc company of American I TS, Japanese S & H, Korea S Agro-Mister, the domestic triumphant company of Best Care also can be used for greenhouse spraying to be used, but lack disease information obtaining ability, can not realize variable rate spray.
Domestic what male Kui etc. (He Xiongkui. change the serious present situation [J] falling behind of China's equipment for plant protection and pesticide application technology. Transactions of the Chinese Society of Agricultural Engineering; 2004; 20 (1): 13-15.) developed the orchard automatic sprayer based on infrared technique, by judgement fruit tree, had or not control target spraying.(the Ge Yufeng such as Ge Yufeng, Zhou Hongping, Zheng Jiaqiang, Zhang Huichun. the Indoor Pesticide Smart Spraying System based on machine vision [J]. agricultural mechanical journal, 2005,36(3): 86-89.) designed the accurate spraying system of agricultural chemicals based on machine vision, inquired into decision problem and motion simulation in dispenser process.But above-mentioned research or take the plant of whole as object carries out dispenser control, also lacks the judgement to disease situation, and agricultural chemicals availability is still comparatively low, and not high to target precision.
(the Zhang Junxiong such as Zhang Junxiong, Cao Zhengyong, Geng Changxing, etc. greenhouse accurate target spraying robot development [J]. Transactions of the Chinese Society of Agricultural Engineering, 2009,25 (2): 70-73.) carried out the development of greenhouse accurate target spraying robot, by build guide rail in greenhouse, robot can be slided above plant, take 0.2m*0.2m as minimum dispenser unit, in conjunction with machine vision technique, simply judge degree of disease, obtained good effect.But still there are some problems: the one, laying guide rail has increased cost; The 2nd, applied environment has been confined to the hedge frame type plant of planting in greenhouse; The 3rd, because dispenser system device people is suspended on guide rail, because the weight of robot can cause guide rail and mechanical arm generation deformation, produce certain error, and error may accumulate, after the accumulation of error, can impact dispenser precision and accuracy.
Summary of the invention
The invention provides a kind of automatic target detection spraying system based on binocular vision technology, this automatic target detection spraying system scope of application is wide, can within the scope of 0.1m*0.1m～0.2m*0.2m, carry out meticulous dispenser or fertilising operation.
An automatic target detection spraying system based on binocular vision technology,
Comprise omni-directional moving platform, on described omni-directional moving platform, be provided with: for gathering the image collecting device of crop image information; For the sprayer apparatus to crop spraying pesticide or fertilizer; And for receiving the crop image information of exporting with analysis image harvester, and control the control device of sprayer apparatus, omni-directional moving platform work;
Described sprayer apparatus comprises:
For holding the medicine-chest of agricultural chemicals or fertilizer;
Drain pipe, one end is connected with described medicine-chest, and the other end is communicated with spray boom, is fixed with some shower nozzles on described spray boom;
Delivery pump, is arranged on described drain pipe, for the fertilizer of medicine-chest or agricultural chemicals are pumped into drain pipe; Described delivery pump is connected with drive motors;
Mechanical arm, described spray boom is fixed on this mechanical arm;
Described image collecting device comprises the binocular camera being fixed on described mechanical arm.
Omni-directional moving platform contributes to improve automatic target detection spraying system of the present invention to adaptability narrow and small, nothing revolution Operation road.Adopt binocular camera to carry out IMAQ, can obtain in real time depth information and the threedimensional model of crop, control device is controlled mechanical arm according to this depth information and is moved, and the distance of adjusting between binocular camera and crop is preset value; Now binocular camera is taken crop map picture, and control device is analyzed the crop image information receiving, or carries out scab extraction or carry out blade face areal analysis, finally controls shower nozzle to scab spraying pesticide or to blade spraying fertilizer.
Spray boom, shower nozzle, binocular camera are installed on mechanical arm, mechanical arm can be realized the motion of a plurality of degree of freedom, both can realize crop was carried out to omnidirectional images collection, also can realize to crop carry out in all directions, spraying pesticide or fertilizer subtly, thereby improved the availability of agricultural chemicals or fertilizer, reduce the harm of agricultural chemicals to operator health, and reduced the pollution to environment.
Described mechanical arm is mechanical arm, and as preferably, described mechanical arm comprises:
Be fixed on the upright guide rail on described omni-directional moving platform;
Elevating bracket, sliding to locate with described upright guide rail coordinates;
Horizontal guide rail, is fixed on described elevating bracket and with described upright guide rail and is arranged vertically;
Mobile base, sliding to locate with described horizontal guide rail coordinates;
Hydraulically extensible bar, is fixed on described Mobile base and perpendicular to horizontal guide rail and upright guide rail, and binocular camera and spray boom are fixing all on this hydraulically extensible bar.
This mechanical arm is three-freedom mechanical arm, realizes respectively the motion of X, Y, Z three degree of freedom by hydraulically extensible bar, horizontal guide rail, upright guide rail.Wherein, horizontal guide rail together rises or declines along upright guide rail with elevating bracket, first binocular camera and spray boom is positioned in a certain vertical height; Then hydraulically extensible bar moves along horizontal guide rail with Mobile base, then binocular camera and spray boom are positioned in certain level orientation; Last hydraulically extensible bar is flexible voluntarily, and binocular camera and spray boom are positioned in a certain crop degree of depth, and binocular camera gathers the crop map picture of this space site.
As preferably, described drain pipe comprises:
The fluid house steward that one end is communicated with described medicine-chest;
The some fluid arms that are connected with described fluid house steward, the liquid outlet of every fluid arm is communicated with one by one with the shower nozzle on spray boom respectively.
Shower nozzle is connected with fluid arm independently, is convenient to adjust the amount of spraying of each shower nozzle, realize and accurately spraying, avoid spraying too much, improve the availability of agricultural chemicals or fertilizer.
In the present invention, the amount of spraying of each shower nozzle regulates in the following way: on every fluid arm, flow sensor and magnetic valve are all installed, described control device receives the output information of flow sensor and controls the unlatching of magnetic valve or cut out.Magnetic valve is arranged on the junction of liquid outlet and the shower nozzle of every fluid arm.
In synchronization, the total pesticide volume or the total fertilizer amount that from medicine-chest, enter fluid house steward are certain, when control device is adjusted the amount of spraying of each shower nozzle, the remains of pesticide amount or the residual fertilizer amount that spray in rear fluid house steward or fluid arm can increase at every turn, increase the pressure to fluid house steward or fluid arm, reduced service life.
For preventing that this situation from occurring, in the present invention, the tee ball valve that is positioned at delivery pump downstream is also installed on described fluid house steward, described tee ball valve is provided with flow channel, the first split channel and the second split channel, described flow channel is connected with fluid house steward, in described the first split channel, the return duct being connected with medicine-chest is installed, the fluid being connected is installed in described the second split channel is in charge of with each fluid arm.The agricultural chemicals or the fertilizer that so remain in fluid house steward or fluid arm can be back in medicine-chest through return duct, can not produce too much pressure to fluid house steward or fluid arm.
As further preferably, the deflector being positioned between adjacent shower nozzle is also installed on described spray boom.The angle of inclination of deflector can regulate, thereby regulates the scope that sprays of shower nozzle.As preferably, described shower nozzle has 1～5, and is evenly distributed on described spray boom.
In the present invention, be also provided with positioning navigation device on described omni-directional moving platform, described control device receives the locating information of this positioning navigation device and controls omni-directional moving platform walking.Positioning navigation device positions omni-directional moving platform and crop, and control device is planned the walking path of omni-directional moving platform automatically according to the locating information that receives, and controls omni-directional moving platform and run to corresponding crop place.
Compared with prior art, beneficial effect of the present invention is:
(1) the present invention adopts omni-directional moving platform to carry targeting/spraying system, and the radius of turn of omni-directional moving platform is zero, and the different working environment such as between greenhouse, rattan teapoy and even large field is had to good adaptability;
(2) targeting/spraying system of the present invention includes Position Fixing Navigation System and binocular camera, can realize the automatic planning of omni-directional moving platform walking path, and the automatic location of crop;
(3) the present invention is installed in binocular camera, spray boom in three-freedom mechanical arm, both can realize crop was carried out to omnidirectional images collection, also can realize to crop carry out in all directions, spraying pesticide or fertilizer subtly, thereby improved the availability of agricultural chemicals or fertilizer, reduce the harm of agricultural chemicals to operator health, and reduced the pollution to environment;
(4) the present invention utilizes the amount of spraying of flow sensor and each shower nozzle of solenoid control, has further improved the availability that sprays precision and agricultural chemicals or fertilizer.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of automatic target detection spraying system based on binocular vision technology of the present invention;
Fig. 2 is the structural representation at mechanical arm place in Fig. 1;
Fig. 3 is the fundamental diagram of a kind of automatic target detection spraying system based on binocular vision technology of the present invention;
Wherein, 1: omni-directional moving platform; 2: wheel, 3: flow sensor, 4: fluid arm, 5: shower nozzle, 6: magnetic valve, 7: binocular camera, 8: mechanical arm, 9: membrane pump, 10: gearbox, 11: engine, 12: medicine-chest, 13: single-chip microcomputer, 14:K508GNSS mainboard, 15:PC machine, 16: seat, 17: return duct, 18: tee ball valve, 19: fluid is in charge of, 20: fluid house steward, 21: deflector, 22: spray boom, 23: hydraulically extensible bar, 24: horizontal guide rail, 25: vertical guide rail, 26: elevating bracket.
Embodiment
As shown in Figure 1, a kind of automatic target detection spraying system based on binocular vision technology of the present embodiment, comprises omni-directional moving platform 1, and the bottom of omni-directional moving platform 1 is provided with 360 ° of original place swivel wheels 2.
Omni-directional moving platform 1 is provided with K508GNSS mainboard 14 as positioning navigation device, K508GNSS mainboard 14 can adopt BDS(Beidou satellite navigation system) B1/B2/B3 tri-frequently, GPS L1/L2/L5 tri-frequently and GLONASS L1/L2 double frequency three systems carry out alignment by union, support single system location-independent and multisystem combined location.K508GNSS mainboard 14 is connected with PC 15 by LV-TTL RS232 interface, the analyzing and processing that adopts supporting board control software CRU and GNSS data processing software Compass Solution to carry out data.
PC 15 adopts the windows of Microsoft system, and control program adopts VC++6.0 to write, and with monitoring panel.Omni-directional moving platform 1 is provided with the seat 16 contiguous with PC 15, takes the whole automatic target detection spraying system of convenient control for operating personnel.
14 pairs of omni-directional moving platforms 1 of K508GNSS mainboard and crop position, PC 15 is according to the locating information receiving, adopt the space networks node algorithm of formatting automatically to cook up the walking path of omni-directional moving platform 1, and control omni-directional moving platform 1 and run to corresponding crop place.
From Fig. 1, Fig. 2, mechanical arm 8 is installed on omni-directional moving platform 1, mechanical arm 8 comprise the upright guide rail 25(Z that is fixed on omni-directional moving platform 1 to), the location and installation of sliding on upright guide rail 25 has elevating bracket 26, on elevating bracket 26, be fixed with the vertically arranged horizontal guide rail 24(Y of upright guide rail 25 to), the location and installation of sliding on horizontal guide rail 24 has Mobile base (omitting in figure), on Mobile base, be fixed with perpendicular to the hydraulically extensible bar 23(X of horizontal guide rail 24 and upright guide rail 25 to).
The length of upright guide rail 25, horizontal guide rail 24 and hydraulically extensible bar 23 can arrange according to actual needs, and in the present embodiment, upright guide rail 25 and horizontal guide rail 24 are 1.2m, and the length of hydraulically extensible bar 23 can change within the scope of 0.2-0.4m.
As seen from Figure 3, the movement of mechanical arm 8 is controlled by PLC, and PLC receives by RS232 digital serial port line the control byte that PC 15 sends, and uploads the status information in each joint.Elevating bracket 26 and Mobile base drive by stepper motor, PC 15 sends the pulse burst of changeable frequency by the high-speed pulse mouth on PLC to stepper motor driver, thereby realize the easy motion of elevating bracket 26 and Mobile base, and the umber of pulse of sending in real time by the pulse counter statistics of PLC inside, convert and learn the position in mechanical arm 8 each joints.
Binocular camera 7 is installed, for gathering crop map picture on hydraulically extensible bar 23.Binocular camera 7 models that the present embodiment is selected are BBX3-13S2C-38/60, and camera is colored, and resolution 1280*960 adopts IEEE1394 interface to transfer data to PC 15 and processes, and can survey scope be 157*36*47.4mm.Coordinate PGR software application, can obtain in real time depth information and the threedimensional model of scene.
When mechanical arm 8 moves to binocular camera 7 apart from crop 0.4m, stop, actual area corresponding to image that now binocular camera 7 gathers is 1.0m*0.2m.PC 15 receives after the image of binocular camera 7 transmission, image is divided into the subregion of 0.2m*0.2m size on corresponding crop, and obtains the scab region in all subregion by BP neural network algorithm.
The step of BP neural network algorithm is:
According to this feature of color, the input value using the color of scab region and healthy area as BP neutral net, i.e. the R of color, G, tri-components of B, so input layer number is 3; And output layer has 3 kinds of situations: if output layer final signal is less than 0.5, corresponding image pixel is background; If output layer final signal is greater than 0.5, corresponding image pixel is scab; If output layer final signal equals 0.5, it is uncertain image; The color of background and uncertain image is given white the most at last, thereby extracts scab region.
Extract behind the scab region in all subregion, calculate the ratio x of the interior shared pixel count of scab of every sub regions and total pixel number, according to the experience linear model y=ax+b having set up between this ratio x and formulation rate, calculate this empirical model of this subregion formulation rate y(and be only applicable to a kind of specific crop and specific disease, for other crops or other diseases, the empirical model of setting up is invalid, need to input other corresponding empirical model).Then by formulation rate communication to single-chip microcomputer 13.
Or, by image processing techniques, extract the blade position in all subregion, and calculate the ratio x ' of the shared pixel count of every sub regions intra vane and total pixel number, according to experience linear model y '=cx '+d having set up between this ratio x ' and fertilizing amount, calculate this subregion fertilizing amount y '; Then by fertilizing amount communication to single-chip microcomputer 13.
As shown in Figure 1, be provided with for holding the medicine-chest 12 of agricultural chemicals or fertilizer on omni-directional moving platform 1, medicine-chest 12 bottoms are provided with fluid house steward 20, and membrane pump 9 is installed on fluid house steward 20.Membrane pump 9 is connected with gearbox 10, and gearbox 10 contains clutch with engine 11() be connected, by engine 11 and gearbox 10, drive membrane pumps 9 work.
In the downstream of membrane pump 9, tee ball valve 18 is installed on fluid house steward 20, tee ball valve is provided with flow channel, the first split channel and the second split channel; Wherein, fluid house steward 20 is connected with flow channel, and the return duct 17 being connected with medicine-chest 12 is installed in the first split channel, in described the second split channel, fluid is installed and is in charge of 19, and fluid is in charge of 19 and is separated again five fluid arms 4.Article five, the liquid outlet of fluid arm 4 is all provided with 5, five shower nozzles 5 of shower nozzle and is evenly arranged on a spray boom 22, and spray boom 22 is also arranged on hydraulically extensible bar 23.
As seen from Figure 2, the deflector 21 that is positioned at 5, adjacent shower nozzle is also installed on spray boom 22.The angle of inclination of deflector 21 can regulate, thereby regulates the scope that sprays of each shower nozzle 5.While spraying, PC 15 is controlled mechanical arm 8 and is moved, and makes shower nozzle 5 apart from crop 0.2m, and the scope that sprays of each shower nozzle 5 is 0.2m*0.2m, and while carrying out graphical analysis with PC 15, all subregion is in the same size.
As seen from Figure 1, on every fluid arm 4, flow sensor 3 and magnetic valve 6 are all installed.The single-chip microcomputer 13 that the present embodiment adopts is AT89S52 single-chip microcomputer, adopts external power supply power supply.
The P0.0-P0.4 mouth of AT89S52 single-chip microcomputer, P2.0-P2.4 mouth are connected with five Amplification and insulation chip TLP250 that (input of each TLP250 has two pins, two pins are connected with a P0 mouth, a P2 mouth respectively, according to the voltage difference that is added in two pins, determine the Voltage-output of output), the VO mouth of five Amplification and insulation chip TLP250 is connected with five magnetic valves 6 respectively; P1.0-P1.4 mouth is connected with five A/D conversion chip PCF8591 respectively, and A/D conversion chip PCF8591 is directly connected with five flow sensors 3 respectively; P3.0-P3.1 mouth is connected chip MAX232 and connects with serial ports, serial ports connects chip MAX232 and is connected with serial ports RS232, and serial ports RS232 is connected to PC 15 by data wire; P1.6-P1.7 mouth is connected with 2 input keyboards respectively, and the order of 2 input keyboard execution is respectively " starting to spray medicine ", " stopping spraying medicine "; P3.7 mouth is connected with buzzer, and P2.5 mouth is connected with light emitting diode.When formulation rate or fertilizing amount surpass predefined scope but magnetic valve 6 while not closing because of fault, buzzer sound and light emitting diode glittering.
The course of work of a kind of automatic target detection spraying system based on binocular vision technology of the present embodiment is:
According to information such as the shape of crop, height, tentatively adjust the height that mechanical arm 8 sets up; While needing dispenser, according to the kind of disease, select corresponding agricultural chemicals, and corresponding experience linear model is input in PC 15; Select 10 scab points and 10 background dots on this kind of crop, using their R, G, B value as three input nodes, train BP neural network algorithm; In the time of need to applying fertilizer, select corresponding fertilizer; And corresponding experience linear model is input in PC 15.
By K508GNSS mainboard 14, obtain the positional information of omni-directional moving platform 1 and crop, by the space networks node algorithm of formatting, make path planning; Omni-directional moving platform 1 drives to behind target location according to the path of planning, controls omni-directional moving platform 1 and makes mechanical arm 8 over against crop; Then by binocular camera 7, take in real time dead ahead crop map picture, pass to PC 15; PC 15 calculates the depth information of crop, according to depth information, control hydraulically extensible bar 23 motions of mechanical arm 8, make binocular camera 7 apart from crop 0.4m, the crop map that now binocular camera 7 collects is 1.0m*0.2m as corresponding real area, spray boom 22 is apart from crop 0.2m(the present embodiment, and the distance between binocular camera 7 and shower nozzle 5 is fixed as 0.2m); By adjusting the angle of deflector 21, making the scope that sprays of each shower nozzle 5 under this distance is 0.2m*0.2m.
15 pairs of PCs gather image and carry out scab extraction or the extraction of blade position, and calculate formulation rate or fertilizing amount according to corresponding experience linear model; Once by the formulation rate of a line five sub regions or fertilizing amount communication to single-chip microcomputer 13, the elevating bracket 26 that PC 15 is controlled mechanical arms 8 simultaneously moves along vertical guide rail 25, makes shower nozzle 5 aim at the first row subregions (altogether the five-element, every row five row); Single-chip microcomputer 13 is according to the amount of the spraying information of a line five sub regions that obtain, controlling magnetic valve 6 opens, start to spray, five flow sensors 3 by the actual amount of the spraying communication of each shower nozzle 5 to single-chip microcomputer 13, until the amount of spraying of shower nozzle 5 has reached the preset value in this region, single-chip microcomputer 13 is controlled corresponding magnetic valve 6 closures, stops spraying.
Completed after the dispenser of all five sub regions of this line, single-chip microcomputer 13 is transferred to PC 15 by settling signal, the horizontal guide rail 24 that PC 15 is controlled mechanical arm 8 moves 0.2m with elevating bracket 26 along vertical guide rail 25, gather the image of this position, judge whether to need dispenser or fertilising, if needed, start spraying of this line, if do not needed, horizontal guide rail 24 continues along vertical guide rail 25, to move 0.2m with elevating bracket 26; When horizontal guide rail 24 cannot continue mobile 0.2m, (reach or approach the end of (distance is less than 0.1m) vertical guide rail 25), PC 15 is controlled omni-directional moving platform 1 and is started, and runs to next dispenser region, starts next round operation.
Claims (8)
1. the automatic target detection spraying system based on binocular vision technology, comprises omni-directional moving platform, on described omni-directional moving platform, is provided with: for gathering the image collecting device of crop image information; For the sprayer apparatus to crop spraying pesticide or fertilizer; And for receiving the crop image information of exporting with analysis image harvester, and control the control device of sprayer apparatus, omni-directional moving platform work; It is characterized in that,
Described sprayer apparatus comprises:
For holding the medicine-chest of agricultural chemicals or fertilizer;
Drain pipe, one end is connected with described medicine-chest, and the other end is communicated with spray boom, is fixed with some shower nozzles on described spray boom;
Delivery pump, is arranged on described drain pipe, for the fertilizer of medicine-chest or agricultural chemicals are pumped into drain pipe; Described delivery pump is connected with drive motors;
Mechanical arm, described spray boom is fixed on this mechanical arm;
Described image collecting device comprises the binocular camera being fixed on described mechanical arm.
2. automatic target detection spraying system as claimed in claim 1, is characterized in that, described mechanical arm comprises:
Be fixed on the upright guide rail on described omni-directional moving platform;
Elevating bracket, sliding to locate with described upright guide rail coordinates;
Horizontal guide rail, is fixed on described elevating bracket and with described upright guide rail and is arranged vertically;
Mobile base, sliding to locate with described horizontal guide rail coordinates;
Hydraulically extensible bar, is fixed on described Mobile base and perpendicular to horizontal guide rail and upright guide rail, and binocular camera and spray boom are fixing all on this hydraulically extensible bar.
3. automatic target detection spraying system as claimed in claim 1, is characterized in that, described drain pipe comprises:
The fluid house steward that one end is communicated with described medicine-chest;
The some fluid arms that are connected with described fluid house steward, the liquid outlet of every fluid arm is communicated with one by one with the shower nozzle on spray boom respectively.
4. automatic target detection spraying system as claimed in claim 3, is characterized in that, on every fluid arm, flow sensor and magnetic valve is all installed, and described control device receives the output information of flow sensor and controls the unlatching of magnetic valve or cut out.
5. automatic target detection spraying system as claimed in claim 3, it is characterized in that, the tee ball valve that is positioned at delivery pump downstream is also installed on described fluid house steward, described tee ball valve is provided with flow channel, the first split channel and the second split channel, described flow channel is connected with fluid house steward, in described the first split channel, the return duct being connected with medicine-chest is installed, the fluid being connected is installed in described the second split channel is in charge of with each fluid arm.
6. automatic target detection spraying system as claimed in claim 3, is characterized in that, the deflector being positioned between adjacent shower nozzle is also installed on described spray boom.
7. automatic target detection spraying system as claimed in claim 6, is characterized in that, described shower nozzle has 1～5, and is evenly distributed on described spray boom.
8. the automatic target detection spraying system as described in as arbitrary in claim 1～7, is characterized in that, is also provided with positioning navigation device on described omni-directional moving platform, and described control device receives the locating information of this positioning navigation device and controls omni-directional moving platform walking.
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