CN104186451B - A kind of deinsectization weeding spray robot based on machine vision - Google Patents
A kind of deinsectization weeding spray robot based on machine vision Download PDFInfo
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- CN104186451B CN104186451B CN201410407549.2A CN201410407549A CN104186451B CN 104186451 B CN104186451 B CN 104186451B CN 201410407549 A CN201410407549 A CN 201410407549A CN 104186451 B CN104186451 B CN 104186451B
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Abstract
The invention discloses a kind of deinsectization weeding spray robot based on machine vision, it includes 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；The present invention can fast and effectively recognize field crop smothering and insect pest, and according to crop smothering and damage level point variable sprinkling herbicide and (or) insecticide, be adapted to the real-time farm work of agricultural machinery, substantially increase operating efficiency, reduce farmland management cost.
Description
Technical field
The present invention relates to a kind of deinsectization weeding spray robot based on machine vision, belong to agricultural machinery technological field.
Background technology
China is the large agricultural country of development, is reformed and opened up to the outside world 30 years, and Chinese agriculture and rural economy achieve leap progress,
But China's agricultural development still suffers from stern challenge.In the field production management process of crops, weeds and pest and disease damage
Always influence the principal element of crop growth and yield.According to incompletely statistics, China makees produce because what insect pest crop smothering caused
Amount loss is annual to account for total grain output 23%, and loss grain reaches over ten billion kilogram.The output and amount of application of China's agriculture chemical
Occupy first place in the world, unit area usage amount is 2.6 times of the U.S., but agricultural chemicals utilization rate only 30% or so.Therefore research one
Efficient deinsectization weeding spray robot is planted, important reality is respectively provided with to improving the crop yields such as agricultural production efficiency and grain
Meaning and wide application prospect.
Conventional farmland deinsectization weeding is unified quantitative and even and is sprayed using field large area, causes chemical insecticide and herbicide
Utilization rate is relatively low.Meanwhile, also result in serious environmental pollution, chemical pesticide and remain exceeded and insect and herbicide resistance enhancing etc.
Serious ecological and agricultural product security problem, the health of the serious threat mankind, intelligent variable sprays deinsectization herbicide and can protect
Environment and raising crop yield, are the important channels for promoting agricultural sustainable development strategy.
The content of the invention
Regarding to the issue above, it is an object of the invention to provide a kind of deinsectization weeding spray robot based on machine vision.
To achieve the above object, it is a kind of the invention provides a kind of deinsectization weeding spray robot based on machine vision
Deinsectization weeding spray robot based on machine vision, it includes vehicle frame, liquid medicine case, vision guided navigation device, the vision that can walk
Sensing device, power set, master control system and flusher, it is characterised in that described liquid medicine case is two；Described vision
Guider includes first support and two the first cameras, and described first support is arranged on the front end of described vehicle frame, institute
Two the first cameras stated by with ground into being mounted side by side in the way of 45 degree of angles in described first support, described the
One camera is connected with described master control system, and the image that described master control system collects the first described camera passes through
After treatment, for recognizing guidance path of the deinsectization weeding spray robot in farmland；Described visual perception device bag
The second camera for including two second supports at the vehicle frame two ends for being arranged on described and being arranged in each second support, it is described
Two second cameras are so that into being separately mounted in respective second support in the way of 45 degree of angles, described second takes the photograph with ground
As head is connected with described master control system, the image that described master control system collects described second camera is by treatment
Afterwards, the insect on the weeds and crops in farmland is identified and is positioned；Described flusher is arranged at described liquid medicine
The rear of case, described flusher includes two rows transverse direction water pipe and respectively along removing that described two rows transverse direction water pipe is spaced apart
Careless shower nozzle and deinsectization shower nozzle, described weeding shower nozzle are separately arranged with deinsectization shower nozzle.
Further, in order to improve the pressure that weeding shower nozzle sprays with deinsectization shower nozzle, to improve spray effect, machine should be based on
The deinsectization weeding spray robot of vision also includes water pump, and described water pump is arranged on vehicle frame, the water outlet of described liquid medicine case
The water inlet pipe of water pump described in warp is held to be connected with the water inlet of described water pump, the outlet pipe of described water pump and described sprinkling
The horizontal water pipe of device is connected.
In order to further improve the spray effect of weeding shower nozzle and deinsectization shower nozzle, enable the two with rational flow velocity and stream
Amount is sprayed, and hydroseparator structure is additionally provided between the outlet pipe of the water pump and the flusher.
Further, preferably, described hydroseparator structure includes distributive pipe and controls point water management of the distributive pipe flow
Device, the horizontal water pipe of described flusher has can the water inlet for connecing relative with the effluent pipe mouth of the distributive pipe respectively.
Further for the power and earth-grasping force that improve whole robot, it is suitable for being walked in field, described is dynamic
Power apparatus provide power by Diesel engine, and use four-wheel drive.
Further, in order that the robot has preferable homing capability, the height of described first support is higher than one meter,
And higher than the height of described second support.
It is of the invention to be using the above-mentioned technical proposal beneficial effect to be reached：One kind that the present invention is provided is regarded based on machine
The deinsectization weeding spray robot of feel can fast and effectively recognize field crop smothering and damage level, and according to crop smothering and insect pest journey
Degree variable spray herbicide or insecticide, are adapted to field real-time working.Hand labor instead of with machine, work is reduced strong
Degree.Agricultural chemicals is extracted by water pump, the identification and positioning to weeds and insect pest is realized by visually-perceptible system, by control system
According to weeds and the positional information and the extent of injury of insect pest, multiple shower nozzle variable spray agricultures of the horizontal water pipe of afterbody 2 are utilized respectively
Medicine, substantially increases operating efficiency, and farmland management cost is reduced.
Brief description of the drawings
Fig. 1 is a kind of front view of deinsectization weeding spray robot based on machine vision of the invention；
Fig. 2 is a kind of side view of deinsectization weeding spray robot based on machine vision of the invention；
Fig. 3 is a kind of rearview of deinsectization weeding spray robot based on machine vision of the invention
In figure, 1, liquid medicine case, 2, vehicle frame, 3, first support, the 4, first camera, 5, second support, 6, second camera,
7th, horizontal water pipe, 8, weeding shower nozzle, 9, deinsectization shower nozzle.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
As Figure 1-3, the invention provides a kind of deinsectization weeding spray robot based on machine vision, it includes can
The vehicle frame 2 of walking, liquid medicine case 1, vision guided navigation device, visual perception device, power set, master control system and flusher, medicine
Water tank 1 is two；Vision guided navigation device includes first support 3 and two the first cameras 4, and first support 3 is arranged on vehicle frame 2
Front end, two the first cameras 4 by with ground into being mounted side by side in first support 3 in the way of 45 degree of angles, the first camera 4
Be connected with master control system, the image that master control system collects the first camera 4 after treatment, for recognize deinsectization weeding spray
Walking navigation path of the medicine robot in farmland；Visual perception device includes being arranged on two second supports 5 at the two ends of vehicle frame 2
With the second camera 6 being arranged in each second support 5, two second cameras 6 by with ground into the way of 45 degree of angles
It is separately mounted in respective second support 5, second camera 6 is connected with master control system, master control system adopts second camera 6
The image for collecting after treatment, is identified and positions to the insect on the weeds and crops in farmland；Flusher is set
In the rear of liquid medicine case 1, flusher includes two rows transverse direction water pipe 7 and the weeding being spaced apart along two rows transverse direction water pipe 7 respectively
Shower nozzle 8 and deinsectization shower nozzle 9, weeding shower nozzle 8 are separately arranged with deinsectization shower nozzle 9.
In order to improve the pressure of weeding shower nozzle and the sprinkling of deinsectization shower nozzle, to improve spray effect, machine vision should be based on
Deinsectization weeding spray robot also includes water pump, and water pump is arranged on vehicle frame 2, the water side of liquid medicine case 1 through water pump water inlet pipe
It is connected with the water inlet of water pump, the outlet pipe of water pump is connected with the horizontal water pipe 7 of flusher.
In order to further improve the spray effect of weeding shower nozzle and deinsectization shower nozzle, enable the two with rational flow velocity and stream
Amount is sprayed, and hydroseparator structure is additionally provided between the outlet pipe and flusher of water pump.
In the present embodiment, hydroseparator structure includes distributive pipe and controls the water controller that divides of the distributive pipe flow, sprinkling dress
The horizontal water pipe 7 put has can the water inlet for connecing relative with the effluent pipe mouth of distributive pipe respectively.
Further for the power and earth-grasping force that improve whole robot, it is suitable for being walked in field, power set
Power is provided by Diesel engine, and uses four-wheel drive.
Additionally, in order that the robot has a preferable homing capability, the height of first support 3 is higher than one meter, and is higher than
The height of second support 6.
Theory and practice proves that during advance, weeds and insect can effectively remove for the robot of this example,
High working efficiency, saves agricultural chemicals, serves the effect of environmental protection.
The place innovated of the present invention is can be while carry out the work of deinsectization weeding, and according to insect pest and the danger of crop smothering
Evil extent control fountain height, agricultural chemicals is extracted by water pump, identification and positioning by visual perception device to weeds and insect pest,
By master control system according to weeds and the positional information and the extent of injury of insect pest, become using the shower nozzle on two horizontal water pipes of afterbody
Amount sprays agricultural chemicals, substantially increases operating efficiency, and farming cost is lower, to lifting food and job safety, reduces environmental pollution
With significantly meaning.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, about the common of technical field
Technical staff, without departing from the spirit and scope of the present invention, can also make a variety of changes and modification, therefore all
Equivalent technical scheme falls within scope of the invention, and scope of patent protection of the invention should be defined by the claims.
Claims (3)
1. it is a kind of based on machine vision deinsectization weeding spray robot, it includes vehicle frame, liquid medicine case, the vision guided navigation that can walk
Device, visual perception device, power set, master control system and flusher, it is characterised in that described liquid medicine case is two；
Described vision guided navigation device includes first support and two the first cameras, and described first support is arranged on described vehicle frame
Front end, described two the first cameras by with ground into being mounted side by side on described first support in the way of 45 degree of angles
On, the first described camera is connected with described master control system, and described master control system gathers the first described camera
The image for arriving after treatment, for recognizing guidance path of the deinsectization weeding spray robot in farmland；Described regards
Feel that sensing device includes two second supports at the vehicle frame two ends for being arranged on described and be arranged in each second support second
Camera, described two second cameras by with ground into being separately mounted to respective second support in the way of 45 degree of angles
On, described second camera is connected with described master control system, and described master control system gathers described second camera
The image for arriving after treatment, is identified and positions to the insect on the weeds and crops in farmland；Described flusher
The rear of described liquid medicine case is arranged at, described flusher includes two rows transverse direction water pipe and respectively along two described row's transverse directions
Weeding shower nozzle and deinsectization shower nozzle that water pipe is spaced apart, described weeding shower nozzle are separately arranged with deinsectization shower nozzle；Described
The height of one support is higher than one meter, and higher than the height of described second support；Also include water pump, described water pump is arranged on car
On frame, the water side of described liquid medicine case is connected through the water inlet pipe of described water pump with the water inlet of described water pump, described
The outlet pipe of water pump is connected with the horizontal water pipe of described flusher；Described power set provide dynamic by Diesel engine
Power, and use four-wheel drive.
2. it is according to claim 1 it is a kind of based on machine vision deinsectization weeding spray robot, it is characterised in that it is described
Hydroseparator structure is additionally provided between the outlet pipe of water pump and the flusher.
3. it is according to claim 2 it is a kind of based on machine vision deinsectization weeding spray robot, it is characterised in that it is described
Hydroseparator structure include distributive pipe and control point water controller of the distributive pipe flow, the horizontal water pipe tool of described flusher
Having can the water inlet for connecing relative with the effluent pipe mouth of the distributive pipe respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410407549.2A CN104186451B (en) | 2014-08-19 | 2014-08-19 | A kind of deinsectization weeding spray robot based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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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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| CN104186451A CN104186451A (en) | 2014-12-10 |
| CN104186451B true CN104186451B (en) | 2017-06-20 |
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| CN201410407549.2A Expired - Fee Related CN104186451B (en) | 2014-08-19 | 2014-08-19 | A kind of deinsectization weeding spray robot based on machine vision |
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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105746481B (en) * | 2016-03-18 | 2019-06-11 | 东北农业大学 | It is a kind of to have both the weed-eradicating robot for targeting and quantitatively spraying with mechanical fixed point shovel digging function |
| WO2018003082A1 (en) * | 2016-06-30 | 2018-01-04 | 株式会社オプティム | Mobile body control application and mobile body control method |
| CN106614466B (en) * | 2016-09-14 | 2022-09-02 | 西安理工大学 | Six-foot walking type pesticide spraying robot |
| BR112019022421B1 (en) * | 2017-04-28 | 2023-05-16 | Bayer Aktiengesellschaft | MODULAR WEED CONTROL SYSTEM, SPRINKLER TRAIN AND METHOD FOR WEED CONTROL IN A RAIL BEARD |
| CN107272739B (en) * | 2017-07-24 | 2020-09-29 | 湘潭大学 | Pesticide spraying system and method based on primary and secondary systems |
| CN107624736B (en) * | 2017-09-22 | 2022-12-23 | 昆明理工大学 | Rail mounted pseudo-ginseng spouts medicine machine |
| CN107897158B (en) * | 2017-12-08 | 2023-10-13 | 台州市协丰机械有限公司 | electric sprayer |
| 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 |
| 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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| CN104186451A (en) | 2014-12-10 |
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Granted publication date: 20170620 Termination date: 20190819 |