CN104186451A - Insect-killing weeding pesticide spraying robot based on machine vision - Google Patents
Insect-killing weeding pesticide spraying robot based on machine vision Download PDFInfo
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- CN104186451A CN104186451A CN201410407549.2A CN201410407549A CN104186451A CN 104186451 A CN104186451 A CN 104186451A CN 201410407549 A CN201410407549 A CN 201410407549A CN 104186451 A CN104186451 A CN 104186451A
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- deinsectization
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Abstract
The invention discloses an insect-killing weeding pesticide spraying robot based on machine vision. The robot comprises a walking trolley frame, a pesticide box, a vision navigation device, a vision sensing device, a power device, a master control system and a pesticide spraying device. By means of the robot, grass disasters and insect pests in fields can be quickly and effectively recognized, herbicides and/or insecticides are sprayed at fixed points in a variable quantity according to the degree of the grass disasters and the insect pests, and the robot is particularly suitable for field operation, greatly improves work efficiency and lowers field management cost.
Description
Technical field
The present invention relates to a kind of deinsectization weeding spraying machine device people based on machine vision, belong to agricultural machinery technological field.
Background technology
China is the large agricultural country of development, reforms and opens up to the outside world 30 years, and it is progressive that Chinese agriculture and rural economy have obtained leap, but China's agricultural development is still faced with stern challenge.In the production management process of the field of crops, weeds and damage by disease and insect are the principal elements that affects crop growth and output always.According to incompletely statistics, China, because the crop yield loss that insect pest crop smothering causes accounts for total grain output 23% every year, loses grain and reaches over ten billion kilogram.Output and the amount of application of China's agriculture chemical occupy first place in the world, and unit are usage amount is 2.6 times of the U.S., but the availability of agricultural chemicals is only in 30% left and right.Therefore study a kind of efficient deinsectization weeding spraying machine device people, to improving the crop yields such as agricultural production efficiency and grain, all have important practical significance and wide application prospect.
Conventional farmland deinsectization weeding adopts field large area to unify quantitative and even sprinkling, causes chemical insecticide and weed killer herbicide availability lower.Simultaneously; also cause serious environmental pollution, chemical pesticide is residual exceeds standard and serious ecology and the agricultural product security problem such as insect and herbicide resistance enhancing; the serious threat mankind's health; intelligent variable sprays deinsectization weed killer herbicide can protection of the environment and improve crop yield, is the important channel that promotes agricultural sustainable development strategy.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind of deinsectization weeding spraying machine device people based on machine vision.
For achieving the above object, the invention provides a kind of deinsectization weeding spraying machine device people based on machine vision, a kind of deinsectization weeding spraying machine device people based on machine vision, it comprises vehicle frame, liquid medicine case, vision guided navigation device, visual perception device, power set, master control system and the chemical spraying device that can walk, it is characterized in that, described liquid medicine case is two; Described vision guided navigation device comprises the first support and two the first cameras, the first described support is arranged on the front end of described vehicle frame, two described the first cameras are all to become the mode of miter angle to be arranged on side by side on the first described support with ground, the first described camera is connected with described master control system, the image that described master control system arrives the first described camera collection after treatment, is used for identifying the guidance path of described deinsectization weeding spraying machine device people in farmland; Described visual perception device comprises two second supports at the vehicle frame two ends described in being arranged on and is arranged on the second camera on each second support, two described second cameras are all to become the mode of miter angle to be arranged on respectively on the second support separately with ground, described second camera is connected with described master control system, the image that described master control system collects described second camera after treatment, is identified and locates the insect on the weeds in farmland and crops; Described flusher is arranged at the rear of described liquid medicine case, described flusher comprises the horizontal water pipe of two rows and respectively along the described two horizontal water pipes of row weeding shower nozzle and deinsectization shower nozzle spaced apart, described weeding shower nozzle and deinsectization shower nozzle are arranged separately.
Further, the pressure spraying in order to improve weeding shower nozzle and deinsectization shower nozzle, to improve spray effect, should the deinsectization weeding spraying machine device people based on machine vision also comprise water pump, described water pump is arranged on vehicle frame, the water side of described liquid medicine case is connected through the water inlet of the water inlet pipe of described water pump and described water pump, and the outlet pipe of described water pump is connected with the horizontal water pipe of described flusher.
In order further to improve the spray effect of weeding shower nozzle and deinsectization shower nozzle, the two can be sprayed with rational flow velocity and flow, between the outlet pipe of described water pump and described flusher, be also provided with hydroseparator structure.
Further, as preferably, described hydroseparator structure comprises distributive pipe and controls minute water controller of this distributive pipe flow, and the horizontal water pipe of described flusher has the water inlet can be respectively connecting with the effluent pipe mouth of described distributive pipe.
Further, in order to have improved power and the earth-grasping force of whole robot, be suitable in field walking, described power set provide power by diesel engine, and adopt four wheel drive.
Further, for Shi Gai robot has good homing capability, the height of the first described support is higher than one meter, and higher than the height of the second described support.
The beneficial effect that the present invention adopts technique scheme to reach is: a kind of deinsectization weeding spraying machine device people based on machine vision provided by the invention can identify field crop smothering and damage level fast and effectively, and according to crop smothering and damage level variable spray weed killer herbicide or insecticide, be applicable to field real-time working.With machine, replace hand labor, reduced labour intensity.Agricultural chemicals is extracted by water pump, by visually-perceptible system, realize the identification of weeds and insect pest and location, by control system according to the positional information of weeds and insect pest and the extent of injury, utilize respectively a plurality of shower nozzle variable spray agricultural chemicals of afterbody 2 horizontal water pipes, greatly improved operating efficiency, farmland management cost is reduced.
Accompanying drawing explanation
Fig. 1 is a kind of deinsectization weeding spraying machine device people's based on machine vision of the present invention front view;
Fig. 2 is a kind of deinsectization weeding spraying machine device people's based on machine vision of the present invention end view;
Fig. 3 is a kind of deinsectization weeding spraying machine device people's based on machine vision of the present invention rearview.
In figure, 1, liquid medicine case, 2, vehicle frame, the 3, first support, the 4, first camera, the 5, second support, 6, second camera, 7, horizontal water pipe, 8, weeding shower nozzle, 9, deinsectization shower nozzle.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
As Figure 1-3, the invention provides a kind of deinsectization weeding spraying machine device people based on machine vision, it comprises vehicle frame 2, liquid medicine case 1, vision guided navigation device, visual perception device, power set, master control system and the chemical spraying device that can walk, and liquid medicine case 1 is two; Vision guided navigation device comprises the first support 3 and two the first cameras 4, the first support 3 is arranged on the front end of vehicle frame 2, two the first cameras 4 are all to become the mode of miter angle to be arranged on side by side on the first support 3 with ground, the first camera 4 is connected with master control system, the image that master control system collects the first camera 4 after treatment, is used for identifying the walking guidance path of deinsectization weeding spraying machine device people in farmland; Visual perception device comprises and is arranged on two second supports 5 at vehicle frame 2 two ends and is arranged on the second camera 6 on each second support 5, two second cameras 6 are all to become the mode of miter angle to be arranged on respectively on the second support 5 separately with ground, second camera 6 is connected with master control system, the image that master control system collects second camera 6 after treatment, is identified and locates the insect on the weeds in farmland and crops; Flusher is arranged at the rear of liquid medicine case 1, and flusher comprises the horizontal water pipe 7 of two rows and respectively along the horizontal water pipe 7 of two rows weeding shower nozzle 8 and deinsectization shower nozzle 9 spaced apart, weeding shower nozzle 8 is arranged separately with deinsectization shower nozzle 9.
The pressure spraying in order to improve weeding shower nozzle and deinsectization shower nozzle, to improve spray effect, should the deinsectization weeding spraying machine device people based on machine vision also comprise water pump, water pump is arranged on vehicle frame 2, the water side of liquid medicine case 1 is connected through the water inlet pipe of water pump and the water inlet of water pump, and the outlet pipe of water pump is connected with the horizontal water pipe 7 of flusher.
In order further to improve the spray effect of weeding shower nozzle and deinsectization shower nozzle, the two can be sprayed with rational flow velocity and flow, between the outlet pipe of water pump and flusher, be also provided with hydroseparator structure.
In the present embodiment, hydroseparator structure comprises distributive pipe and controls minute water controller of this distributive pipe flow, and the horizontal water pipe 7 of flusher has the water inlet can be respectively connecting with the effluent pipe mouth of distributive pipe.
Further, in order to have improved power and the earth-grasping force of whole robot, be suitable in field walking, power set provide power by diesel engine, and adopt four wheel drive.
In addition, for Shi Gai robot has good homing capability, the height of the first support 3 is higher than one meter, and higher than the height of the second support 6.
Theory and practice proves, the robot of this example is in the process of advancing, and weeds and insect can effectively be removed, and operating efficiency is high, saves agricultural chemicals, played the effect of environmental protection.
The place that the present invention innovates is to carry out the work of deinsectization weeding simultaneously, and control sprinkling amount according to the extent of injury of insect pest and crop smothering, agricultural chemicals is extracted by water pump, by visual perception device to the identification of weeds and insect pest and location, by master control system according to the positional information of weeds and insect pest and the extent of injury, utilize the shower nozzle variable ejection agricultural chemicals on two horizontal water pipes of afterbody, greatly improved operating efficiency, farming cost is lower, to promoting food and job safety, reduction environmental pollution, has meaning significantly.
Above embodiment is only for illustrating the present invention; and be not limitation of the present invention; the those of ordinary skill in relevant technologies field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (6)
1. the deinsectization weeding spraying machine device people based on machine vision, it comprises vehicle frame, liquid medicine case, vision guided navigation device, visual perception device, power set, master control system and the chemical spraying device that can walk, it is characterized in that, described liquid medicine case is two; Described vision guided navigation device comprises the first support and two the first cameras, the first described support is arranged on the front end of described vehicle frame, two described the first cameras are all to become the mode of miter angle to be arranged on side by side on the first described support with ground, the first described camera is connected with described master control system, the image that described master control system arrives the first described camera collection after treatment, is used for identifying the guidance path of described deinsectization weeding spraying machine device people in farmland; Described visual perception device comprises two second supports at the vehicle frame two ends described in being arranged on and is arranged on the second camera on each second support, two described second cameras are all to become the mode of miter angle to be arranged on respectively on the second support separately with ground, described second camera is connected with described master control system, the image that described master control system collects described second camera after treatment, is identified and locates the insect on the weeds in farmland and crops; Described flusher is arranged at the rear of described liquid medicine case, described flusher comprises the horizontal water pipe of two rows and respectively along the described two horizontal water pipes of row weeding shower nozzle and deinsectization shower nozzle spaced apart, described weeding shower nozzle and deinsectization shower nozzle are arranged separately.
2. a kind of deinsectization weeding spraying machine device people based on machine vision according to claim 1, it is characterized in that, also comprise water pump, described water pump is arranged on vehicle frame, the water side of described liquid medicine case is connected through the water inlet of the water inlet pipe of described water pump and described water pump, and the outlet pipe of described water pump is connected with the horizontal water pipe of described flusher.
3. a kind of deinsectization weeding spraying machine device people based on machine vision according to claim 1, is characterized in that, between the outlet pipe of described water pump and described flusher, is also provided with hydroseparator structure.
4. a kind of deinsectization weeding spraying machine device people based on machine vision according to claim 3, it is characterized in that, described hydroseparator structure comprises distributive pipe and controls minute water controller of this distributive pipe flow, and the horizontal water pipe of described flusher has the water inlet can be respectively connecting with the effluent pipe mouth of described distributive pipe.
5. a kind of deinsectization weeding spraying machine device people based on machine vision according to claim 1, is characterized in that, described power set provide power by diesel engine, and adopt four wheel drive.
6. according to a kind of deinsectization weeding spraying machine device people based on machine vision described in claim 1-5 any one, it is characterized in that, the height of the first described support is higher than one meter, and higher than the height of the second described support.
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| CN201410407549.2A CN104186451B (en) | 2014-08-19 | 2014-08-19 | A kind of deinsectization weeding spray robot based on machine vision |
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| CN201410407549.2A CN104186451B (en) | 2014-08-19 | 2014-08-19 | A kind of deinsectization weeding spray robot based on machine vision |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105746481A (en) * | 2016-03-18 | 2016-07-13 | 东北农业大学 | Weeding robot with both functions of targeted quantitative spraying and mechanical fixed point shoveling |
| CN106614466A (en) * | 2016-09-14 | 2017-05-10 | 西安理工大学 | Six-foot walking pesticide spraying robot |
| CN107272739A (en) * | 2017-07-24 | 2017-10-20 | 湘潭大学 | A kind of pesticide spraying system and method based on primary and secondary system |
| CN107624736A (en) * | 2017-09-22 | 2018-01-26 | 昆明理工大学 | A kind of rail mounted pseudo-ginseng spraying machine |
| CN107897158A (en) * | 2017-12-08 | 2018-04-13 | 台州市协丰机械有限公司 | Power spraye |
| CN109429598A (en) * | 2018-12-10 | 2019-03-08 | 江门市蓬江区联诚达科技发展有限公司 | Agricultural planting auxiliary robot and its automatic job method |
| CN109526918A (en) * | 2018-11-20 | 2019-03-29 | 东北农业大学 | A kind of more spray pattern weeding apparatus of wind spraying aid type based on machine vision |
| CN109561672A (en) * | 2016-06-30 | 2019-04-02 | 株式会社OPTiM | Moving body controls application program and movable body control method |
| CN110411452A (en) * | 2019-08-12 | 2019-11-05 | 西北农林科技大学 | A kind of farmland spray machine device people's navigation path identification method based on binocular vision |
| GR1009982B (en) * | 2020-04-26 | 2021-04-22 | Παντελεημων Κωνσταντινου Κελεσης | Electronic spayer for linear cultivations |
| CN112925310A (en) * | 2021-01-22 | 2021-06-08 | 广州大学 | Control method, device, equipment and storage medium of intelligent deinsectization system |
| CN113925036A (en) * | 2021-09-19 | 2022-01-14 | 南京农业大学 | Accurate automatic pesticide applying device based on machine vision |
| CN114392851A (en) * | 2017-04-28 | 2022-04-26 | 拜耳股份公司 | High speed system for weed control |
| CN116806799A (en) * | 2023-08-25 | 2023-09-29 | 深圳市纬尔科技有限公司 | Intelligent agricultural field weeding method and system |
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| CN109561672B (en) * | 2016-06-30 | 2021-12-10 | 株式会社OPTiM | Mobile body control system and mobile body control method |
| CN109561672A (en) * | 2016-06-30 | 2019-04-02 | 株式会社OPTiM | Moving body controls application program and movable body control method |
| CN106614466A (en) * | 2016-09-14 | 2017-05-10 | 西安理工大学 | Six-foot walking pesticide spraying robot |
| CN114392851A (en) * | 2017-04-28 | 2022-04-26 | 拜耳股份公司 | High speed system for weed control |
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| CN107897158B (en) * | 2017-12-08 | 2023-10-13 | 台州市协丰机械有限公司 | electric sprayer |
| CN107897158A (en) * | 2017-12-08 | 2018-04-13 | 台州市协丰机械有限公司 | Power spraye |
| CN109526918A (en) * | 2018-11-20 | 2019-03-29 | 东北农业大学 | A kind of more spray pattern weeding apparatus of wind spraying aid type based on machine vision |
| CN109429598A (en) * | 2018-12-10 | 2019-03-08 | 江门市蓬江区联诚达科技发展有限公司 | Agricultural planting auxiliary robot and its automatic job method |
| CN110411452A (en) * | 2019-08-12 | 2019-11-05 | 西北农林科技大学 | A kind of farmland spray machine device people's navigation path identification method based on binocular vision |
| GR1009982B (en) * | 2020-04-26 | 2021-04-22 | Παντελεημων Κωνσταντινου Κελεσης | Electronic spayer for linear cultivations |
| CN112925310A (en) * | 2021-01-22 | 2021-06-08 | 广州大学 | Control method, device, equipment and storage medium of intelligent deinsectization system |
| CN112925310B (en) * | 2021-01-22 | 2023-08-08 | 广州大学 | Control method, device, equipment and storage medium of intelligent deinsectization system |
| CN113925036A (en) * | 2021-09-19 | 2022-01-14 | 南京农业大学 | Accurate automatic pesticide applying device based on machine vision |
| CN116806799A (en) * | 2023-08-25 | 2023-09-29 | 深圳市纬尔科技有限公司 | Intelligent agricultural field weeding method and system |
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