CN104820425A - Intelligent chemical spraying robot for farmland based on electromagnetic detection - Google Patents
Intelligent chemical spraying robot for farmland based on electromagnetic detection Download PDFInfo
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Abstract
The invention discloses an intelligent chemical spraying robot for a farmland based on electromagnetic detection, and the robot is characterized in that a central controller of the robot is connected with an electromagnetic detection recognition path module, a permanent magnet detection module, a solar tracking module, a solar power generation module, an image processing module, a chemical spraying module, a chemical dispensing module, a chemical detection module, a wireless communication module, a man-machine interaction module, a self-condition detection module, a driving module, an alarm module, a storage module, and a power supply module. The robot intelligently completes the whole process of chemical spraying for crops of the farmland, reduces the waste and residuals of chemicals, improves the work efficiency and utilization rate of chemicals, is environment-friendly, saves energy, and enables a person not to be damaged by chemicals.
Description
Technical field
The present invention relates to a kind of intelligent robot, particularly for a kind of intelligence spraying machine device people of the farmland based on electromagnetic detection.
Background technology
Electromagnetic detection carries out path detection with the electromagnetic field that the wire of exchange current produces.Route guidance is set by erection wire, generates an electromagnetic field during indirect current stream in wire, utilize magnetic field sensor constantly to realize the detection to path to electromagnetic field detection.
At present, to the work of agricultural spraying medicine primarily of manually completing.There is following unfavorable factor in artificial mark spraying medicine: 1, medicine is harmful, can cause the potential pathology harm of human body.2, spray medicine inefficiency, artificial mark spraying medicine not only consumes one's strength, and more wastes time.3, utilization ratio of drug is low, and artificial mark spraying medicine can cause spray medicine uneven, and the problems such as medicine water clock, cause the waste of medicine.Have some mechanical spray medicine devices to be applied in agricultural spraying prescription face, but there is following drawback in these chemical spraying devices: 1, to need manual control, independently can not complete spray medicine overall process.2, spray value is unreasonable, and drug waste is serious, and utilization ratio of drug is not high enough.3, working method does not meet garden of the building standard in present farmland.4, mode of operation is complicated.
Therefore, there is many drawbacks in current agricultural spraying prescription formula, and inventing a kind of farmland based on electromagnetic detection intelligence spraying machine device people can by the problem solving agricultural spraying medicine, and help farmland planting family completes the spray medicine to farmland crops easily.
Summary of the invention
The present invention is directed to the problem that prior art cannot meet above-mentioned agricultural spraying prescription face, provide a kind of farmland based on electromagnetic detection intelligence spraying machine device people, this farmland intelligence spraying machine device people to be moved along wire by magnetic field sensor detection of electromagnetic fields and realizes intelligent robot identification Farmland and build garden autonomous path and move, start and end position by detecting permanent magnet determination proportion of crop planting interval, by image procossing identification crops, according to different crops and residing different growing stage conservative control spray value, complete 2 row crops tops simultaneously, middle part and bottom spray medicine, outdoor solar electrical energy generation can be utilized, intelligence completes the whole spray medicine process to farmland crops.
In order to complete above-mentioned purpose, the present invention by the following technical solutions.
A kind of intelligence spraying machine device people of the farmland based on electromagnetic detection, it is characterized in that, described farmland intelligence spraying machine device people comprises: central controller, electromagnetic detection identification path module, permanent magnet detection module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, traveling module, alarm module, memory module, supply module.Described central controller respectively with electromagnetic detection identification path module, permanent magnet detection module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, travel module, alarm module, memory module, supply module connects, described supply module respectively with central controller, electromagnetic detection identification path module, permanent magnet detection module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, travel module, alarm module, memory module connects.By the unification of above modules, the work of coordination, realize the function of modules, complete farmland intelligence spraying machine device people and the spray pharmaceutical worker of farmland crops is done.
Described central controller respectively with electromagnetic detection identification path module, permanent magnet detection module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, travel module, alarm module, memory module, supply module be connected, receive and process Information Monitoring and the data of each module, control modules fast and complete concrete function.
The alternating electromagnetic field that described electromagnetic detection identification path module adopts magnetic field sensor to detect exchange current generation carries out identification path technique.By the straight wire of erection parcel waterproof unsettled above the passageway, vacant lot outside proportion of crop planting district, Farmland, anti corrosion insulation, in straight wire, indirect current stream is to produce the electromagnetic field of alternation; Robot erects a support bar and install magnetic field sensor is used for detecting alternating current generation alternating electromagnetic field close to the straight wire being connected with exchange current, exchange current is provided by AC power; Robot is by the alternating magnetic field intensity of process magnetic field sensor detection and the locus residing for directional information identification, and the position along straight wire erection is followed alternating electromagnetic field and advanced; Electromagnetic detection identification path module comprises magnetic field sensor, wire, AC power.
Described permanent magnet detection module completes robot to starting between proportion of crop planting district and end position detection, locate above the wire set up above passageway, vacant lot outside proportion of crop planting district to start between proportion of crop planting district and end position installation permanent magnet, robot is installed permanent magnet pick-up unit near permanent magnet position; When robot detects permanent magnet, the number of times of record detection permanent magnet is determined and is started and end position between proportion of crop planting district, control to start to spray medicine entering between proportion of crop planting district starting position, control to stop spray medicine leaving end position between proportion of crop planting district; Central controller is added up the permanent magnet number of times that permanent magnet detection module detects, determines the position distinguishing spray medicine reference position, end position and spray medicine concrete condition.Permanent magnet detection module comprises permanent magnet and permanent magnet pick-up unit.
Described solar energy tracking module completes carries out mobile tracking solar energy to solar panel, makes solar panel receive maximum illumination, uses photoelectric tracking, looks daily motion tracking method for tracking solar energy.Solar energy tracking module comprises: reducing motor, motor drive ic, illuminance sensor, light sensor, three-freedom mechanical arm; Reducing motor and motor drive ic composition motor power structure, complete the movement of solar panel; Illuminance sensor and light sensor realize the detection and tracking to the maximum illumination of sun power; Adopt three-freedom mechanical arm support solar cell panel.
Described solar electrical energy generation module realizes sun power and is converted into electric energy, adopt solar panel to gather solar illumination to transform sun power, converting galvanic current stream to by DC/DC transducer is stored in high energy efficiency electric battery, and solar electrical energy generation module comprises: solar panel, DC/DC transducer.
Described image processing module completes crops identification and real-time photography monitoring ambient conditions, and image processing module comprises The Cloud Terrace high-definition camera, image pick-up card, image processing software; Image processing module adopts image procossing and mode identification technology, by the image of The Cloud Terrace high-definition camera shooting crops, by the image of image pick-up card and image processing software process crops, extract the important external appearance characteristic of crops and the crops image characteristic information data storehouse in memory module and check and more afterwards the species name of crops judged to Crop classification.
Described spray medicine module completes robot and does the spray pharmaceutical worker of crops, by 2 telescopic mechanical arms, 6 medicine shower nozzles simultaneously to the top of 2 row crops, middle part and bottom spray medicine; 6 medicine shower nozzles are arranged on the top of 2 telescopic mechanical arms, middle part and bottom and spray medicine tubes connection respectively, each telescopic mechanical arm at top, middle part and bottom respectively install a medicine shower nozzle, changed the height of medicine shower nozzle by telescopic mechanical arm; Medicine nozzle switch, by electric control valve gauge tap, controls medicine spray medicine speed by the aperture controlling electric control valve; Spraying liquid pressure is provided by the agricultural chemical spraying forcing pump be arranged in robot; Each medicine shower nozzle is connected with agricultural chemical spraying forcing pump by spray medicine conduit; Spray medicine module comprises: 2 telescopic mechanical arms, 6 medicine shower nozzles, 6 electric control valves, 1 agricultural chemical spraying forcing pump, spray medicine conduit.
Described dispensing module completes to be allocated the stirring of medicine, when making up a prescription, is stirred evenly by built-in stirrer to medicine, makes medicine fully fused; In spray medicine process, agitator motor drives built-in stirrer to stir medicine by the time interval that user sets, and medicine can not be precipitated, and ensures the evenly fused of spray medicine Procedures Drug.Dispensing module comprises: built-in stirrer, agitator motor, medicine bucket.Medicine bucket is detachable, can unload, being arranged on robot and blocking fixing with it after having joined medicine when making up a prescription.
Described drug test module realizes the detection to medicine surplus, spray medicine flow velocity, drug test module comprises liquid level sensor, turbo flow meter, by liquid level sensor, turbo flow meter detection of drugs surplus, spray medicine flow velocity respectively, can avoid doing without pharmaceutical worker and blocking Timeliness coverage to medicine shower nozzle.When spray medicine flow velocity cross slow abnormal time, illustrates that medicine shower nozzle occurs to block or other faults.
Described wireless communication module carries out radio communication for robot with host computer and is connected, wireless communication module comprises WiFi radio-cell and GPRS communication unit, WiFi radio-cell is used for robot and host computer carries out WiFi radio communication connected mode, and GPRS communication unit is used for robot and host computer carries out GPRS radio communication connected mode.
Described human-computer interaction module realizes the information communication between human and computer people.Robot carries out being connected with user's handheld mobile communication device by wireless communication module and communicates by human-computer interaction module.User can carry out functional parameter by the handheld mobile communication device end upper computer software after being connected with robot communication to robot and arranges and control in real time, receive image information and the warning message of robot collection, realize the far distance controlled to robot and supervision.
Described oneself state detection module realizes robot and detects barrier and oneself state, oneself state detection module comprises gyroscope, odometer, acceleration transducer, ultrasonic sensor, detects barrier and oneself state by gyroscope, odometer, acceleration transducer, ultrasonic sensor.
Described traveling module uses crawler-type mobile.The physical construction travelling module adopts 2 synchronous crawler belts, 1 main shaft, 1 spur gear, 1 conical gear, 2 driving wheels, 2 engaged wheels.Dynamic structure adopts 2 DC servo motor, 2 speed reduction units, 2 rotary encoders, 2 H bridge motor PWM driving circuits, motor overcurrent protection devices.Speed reduction unit is connected with power wheel; DC servo motor is connected with speed reduction unit, rotary encoder, H bridge motor PWM driving circuit, forms driving dynamics device.H bridge motor PWM driving circuit controls rotating and reverse of motor, controls driving wheel forward and backward, drives synchronous crawler belt to move robot and advance, retreat and turn in farmland.
Described alarm module achieves when medicine surplus is not enough, medicine shower nozzle blocks, battery electric quantity is not enough, alarm voice is play by speech player, reported to the police to user's handheld mobile communication device host computer by radio communication, so that the process of user's Timeliness coverage, alarm module comprises speech player and user's handheld mobile communication device host computer alarm.
Described memory module realizes record to image acquisition data, Detection Information, crops image characteristic information data storehouse and other module datas and storage, and memory module comprises storer.
Described supply module completes power supply to robot whole system, voltage transitions, electric energy charging control, residual capacity measurement, ensures that robot powers safe, efficient.Supply module comprises high energy efficiency electric battery, electric pressure converter, electric energy charger, coulometric detector.
The invention has the beneficial effects as follows: a kind of farmland based on electromagnetic detection of the present invention intelligence spraying machine device people can build garden autonomous path and move in Intelligent Recognition farmland, determine that proportion of crop planting interval starts and end position, according to different crops and residing different growing stage conservative control spray value, replace the intelligent whole spray medicine process completed farmland crops of people.This farmland intelligence spraying machine device people decreases waste and the medicament residue of medicine, substantially increases work efficiency and utilization ratio of drug, environmental protection and energy saving, decreases the manual labor of people, make people not by the harm of medicine.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present invention.
Fig. 2 is robot of the present invention method of work schematic diagram.
Fig. 3 is robot of the present invention external structure.
Fig. 4 is upper computer software main operation interface of the present invention schematic diagram.
In figure 1, central controller, 2, electromagnetic detection identification path module, 3, permanent magnet detection module, 4, solar energy tracking module, 5, solar electrical energy generation module, 6, image processing module, 7, spray medicine module, 8, dispensing module, 9, drug test module, 10, wireless communication module, 11, human-computer interaction module, 12, oneself state detection module, 13, travel module, 14, alarm module, 15, memory module, 16, supply module, 20, Farmland, 21, wire, 22, permanent magnet, 23, robot work starting point and terminal, 24, proportion of crop planting district, 30, solar panel, 31, three-freedom mechanical arm, 32, robot cabinet, 33, medicine bucket, 34, wireless antenna, 35, agricultural chemical spraying forcing pump motor gear, 36, scalable mechanical arm, 37, medicine shower nozzle, 38, permanent magnet pick-up unit, 39, magnetic field sensor, 40, The Cloud Terrace high-definition camera, 41, crawler belt, 42, running motor gear.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated, specifically to set forth technical scheme of the present invention.
As shown in Figure 1, a kind of farmland based on electromagnetic detection of the present invention intelligence spraying machine device people central controller 1 selects dsp processor and electromagnetic detection identification path module 2, permanent magnet detection module 3, solar energy tracking module 4, solar electrical energy generation module 5, image processing module 6, spray medicine module 7, dispensing module 8, drug test module 9, wireless communication module 10, human-computer interaction module 11, oneself state detection module 12, travel module 13, alarm module 14, memory module 15, supply module 16 connects, described supply module 16 respectively with central controller 1, electromagnetic detection identification path module 2, permanent magnet detection module 3, solar energy tracking module 4, solar electrical energy generation module 5, image processing module 6, spray medicine module 7, dispensing module 8, drug test module 9, wireless communication module 10, human-computer interaction module 11, oneself state detection module 12, travel module 13, alarm module 14, memory module 15 connects, and ensures the efficiency of farmland intelligence spraying machine device people's Information Monitoring and process information, accurately controls modules and completes correlation function.
As shown in Figures 2 and 3, a kind of farmland based on electromagnetic detection intelligence spraying machine device people electromagnetic detection path identification method realizes as follows: by the straight wire 21 of erection parcel waterproof unsettled above the passageway, vacant lot outside proportion of crop planting district, Farmland 20 24, anti corrosion insulation, in straight wire 21, indirect current stream is to produce the electromagnetic field of alternation; Robot erects a support bar and magnetic field sensor 39 is used for detecting alternating current generation alternating electromagnetic field close to the straight wire 21 leading to exchange current is installed; Robot, by the alternating magnetic field intensity of process magnetic field sensor 39 detection and the locus residing for directional information identification, follows alternating electromagnetic field along the position that straight wire 21 sets up and advances.The alternating electromagnetic field that real-time electromagnetic detection identification path module 2 is produced by the straight wire 21 detecting assigned address, identifies accurately in the vacant lot that path makes robot outside proportion of crop planting district 24 and Farmland 20 and moves.Locate above the wire 21 set up above passageway, vacant lot outside proportion of crop planting district 24 to start between proportion of crop planting district 24 and end position installation permanent magnet 22, robot is installed permanent magnet pick-up unit 38 near permanent magnet 22 position; When robot detects permanent magnet 22, the number of times of record detection permanent magnet is determined and is started and end position between proportion of crop planting district 24, control to start to spray medicine entering between proportion of crop planting district 24 starting position, control to stop spray medicine leaving end position between proportion of crop planting district 24; The permanent magnet number of times that central controller 1 pair of permanent magnet detection module 3 detects is added up, and determines the position distinguishing spray medicine reference position, end position and spray medicine concrete condition.
Magnetic field sensor 39 preferably uses I-shaped inductance, and permanent magnet pick-up unit 38 preferably uses tongue tube.
User uses handheld mobile communication device to pass through in wireless communication module 10 WiFi radio-cell or GPRS communication unit and selects WiFi radio communication connected mode or GPRS radio communication connected mode to be connected with robot to communicate, user carries out functional parameter by handheld mobile communication device end upper computer software to robot and arranges and control in real time, receive image information, Detection Information, information about power and warning message that robot gathers, realize the far distance controlled to robot and supervision.
This farmland intelligence spraying machine device people automatic mode operation principle is as follows: first, user prepares medicine and water in proportion in medicine bucket 33, is arranged on by medicine bucket 33 after robot blocks fixing.After the gear of built-in stirrer is connected with robot agitator motor, uses user's handheld mobile communication device upper computer software to control to start the machine people, control agitator motor work, make medicine after stirrer stirs, arrange and enter automatic mode.Medicine in medicine bucket is connected with agricultural chemical spraying forcing pump by spray medicine conduit, extracts medicine for agricultural chemical spraying forcing pump.Teat pipette motor starts running, and agricultural chemical spraying forcing pump gets out work.
Image processing module 6 is started working and is gathered proportion of crop planting district and surrounding environment image information, the image of crops is taken by The Cloud Terrace high-definition camera 40, by the image of image pick-up card and image processing software process crops, extract the important external appearance characteristic of crops and the crops image characteristic information data library information in memory module 15 and check and more afterwards the species name of crops judged to Crop classification.
As shown in Figure 2, robot follows according to diagram solid arrow direction the magnetic field being connected with the generation of exchange current wire and moves forward from robot work starting point and terminal 23 position, after robot detects the permanent magnet 22 of section start by permanent magnet detection module 3, robot central controller 1 controls spray medicine module 7 and stretchs out scalable mechanical arm 36, the top to crops opened by the medicine shower nozzle electric control valve that central controller 1 controls side, proportion of crop planting district 24, middle part and bottom spray medicine, the species name of the crops that central controller 1 judges according to image processing module 6 and the growth period conservative control residing for crops manually arranged in functional parameter regulate the aperture of electric control valve, control spray survival dose.
When robot completes the spray medicine of side, first row proportion of crop planting district 24, robot permanent magnet detection module 3 detects permanent magnet 22, determine to terminate first row crop spraying medicine, robot will leave proportion of crop planting district 24, robot central controller 1 controls to cut out electric control valve and stops spray medicine, robot continues mobile turning to by solid arrow direction and enters between Liang Lie proportion of crop planting district 24, robot permanent magnet detection module 3 detects permanent magnet 22, determine that robot will enter between proportion of crop planting district 24 again, the top to 2 row crops opened by the medicine shower nozzle electric control valve of robot central controller 1 control both sides, middle part and bottom spray medicine, the species name of the crops that robot central controller 1 judges according to image processing module 6 and the growth period conservative control residing for crops manually arranged in functional parameter regulate the aperture of electric control valve, control spray survival dose.
In the process of spray medicine, stirrer stirred medicine according to the time interval set in advance, ensured that medicine is even all the time.
Robot has continued to do the spray pharmaceutical worker of crops according to the method described above, when robot arrive last row proportion of crop planting district 24 outer time, the medicine shower nozzle electric control valve that robot central controller 1 only controls side, proportion of crop planting district 24 opens top to crops, middle part and bottom spray medicine, the species name of the crops that robot central controller 1 judges according to image processing module 6 and the growth period conservative control residing for crops manually arranged in functional parameter regulate the aperture of electric control valve, control spray survival dose.
When robot permanent magnet detection module 3 detects that permanent magnet 22 numbers have reached the permanent magnet number of times after doing all crop spraying pharmaceutical workers, central controller 1 controls to cut out electric control valve and stops spray medicine, control spray medicine module 7 contract arm, control follows magnetic and moves to robot work starting point and next step concrete operations of terminal 23 position wait user along wire direction.
Robot hand work pattern principle is as follows: user is realized robot controlling by handheld mobile communication device end upper computer software.As shown in Figure 4, user enters into the sub-interface of manual mode control software design by handheld mobile communication device end upper computer software main operation interface and robot is implemented to control travels, mechanical arm is flexible, motorized adjustment threshold switch, Teat pipette switch, whip switch.By the situation around video window observer robot, left and right slides up and down left and right that window can realize The Cloud Terrace high-definition camera 38 and moves up and down and change monitoring visual angle.
Robot solar energy tracking module realizes the detection and tracking to the maximum illumination of sun power by illuminance sensor and light sensor, utilizes reducing motor and motor drive ic composition motor power structure, completes the movement of solar panel 30; Adopt three-freedom mechanical arm 31 support solar cell panel 30, when using solar panel 30, central controller 1 controls three-freedom mechanical arm 31 and is propped up by solar panel 30, when not using solar panel 30, central controller 1 controls three-freedom mechanical arm 31 and is fallen by solar panel 30.
Robot realizes sun power by solar electrical energy generation module and is converted into electric energy, adopts solar panel to gather solar illumination and transforms sun power, convert galvanic current stream to be stored in high energy efficiency Li-ion batteries piles by DC/DC transducer.
Robot is by detection of drugs surplus, the spray medicine flow speed data respectively of liquid level sensor, turbo flow meter in drug test module 9, data are sent to central controller 1, transferred data in handheld mobile communication device end host computer by wireless communication module and show, with Timeliness coverage and avoid without pharmaceutical worker do and medicine shower nozzle stopping state.
Robot detects barrier and oneself state in real time by gyroscope, odometer, acceleration transducer, ultrasonic sensor in oneself state detection module 12.
Robot adopts crawler-type mobile by travelling module 13.Dsp processor control H bridge motor PWM driving circuit controls rotating and reverse of motor, controls driving wheel forward and backward, drives synchronous crawler belt to move robot and advance, retreat and turn in Farmland 20.
Robot achieves when medicine surplus is not enough, medicine shower nozzle blocks, battery electric quantity is not enough by alarm module 14, reported to the police and speech player broadcasting audio alert, so that the process of user's Timeliness coverage to user's handheld mobile communication device by wireless communication module 10.
Robot memory module 15 uses storer, realizes the record to image acquisition data, Detection Information, crops image characteristic information data storehouse and other module datas and storage.
Robot selects high energy efficiency Li-ion batteries piles store electrical energy by supply module 16, the modules that electric pressure converter is robot provides suitable voltage and current, electric energy charger completes the charging of high energy efficiency Li-ion batteries piles, and coulometric detector detects the dump energy of electric battery.
User can be arranged according to the mode of operation of the demand of oneself to robot, can arrange the artificial automatic mode of machine or manual mode operation pattern.Under automatic mode, robot autonomous intelligence realizes the process of whole spray medicine.Manual mode relies on the artificial work being carried out control by the upper computer software of user's handheld mobile communication device.
Claims (1)
1. the intelligence spraying machine device people of the farmland based on electromagnetic detection, it is characterized in that, described farmland intelligence spraying machine device people comprises: central controller, electromagnetic detection identification path module, permanent magnet detection module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, traveling module, alarm module, memory module, supply module, described central controller respectively with electromagnetic detection identification path module, permanent magnet detection module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, travel module, alarm module, memory module, supply module connects, described supply module respectively with central controller, electromagnetic detection identification path module, permanent magnet detection module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, travel module, alarm module, memory module connects.
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