CN104850123B - A kind of greenhouse intelligence spray robot and method based on electromagnetic detection - Google Patents
A kind of greenhouse intelligence spray robot and method based on electromagnetic detection Download PDFInfo
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- CN104850123B CN104850123B CN201510247544.2A CN201510247544A CN104850123B CN 104850123 B CN104850123 B CN 104850123B CN 201510247544 A CN201510247544 A CN 201510247544A CN 104850123 B CN104850123 B CN 104850123B
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Abstract
A kind of greenhouse intelligence spray robot and method based on electromagnetic detection, it is characterised in that intelligently spray robot includes the greenhouse：Central controller, electromagnetic detection identification path module, permanent magnet detection module, image processing module, spray module, dispensing module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, traveling module, alarm module, memory module, power supply module.The central controller is connected with electromagnetic detection identification path module, permanent magnet detection module, image processing module, spray module, dispensing module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, traveling module, alarm module, memory module, power supply module respectively.Intelligence of the invention completes the whole spray process to greenhouse fruit-vegetable plant, reduces drug waste and medicament residue, improves operating efficiency and utilization ratio of drug, make one not endangered by medicine.
Description
Technical field
The present invention relates to a kind of intelligent robot, especially for a kind of greenhouse intelligence spray machine based on electromagnetic detection
People and method.
Background technology
Electromagnetic detection is that electromagnetic field carries out path detection caused by the wire of alternating current.Set by setting up wire
Route guidance, electromagnetic field is produced during indirect current stream in wire, constantly electromagnetic field detection is realized using magnetic field sensor and satisfied the need
The detection in footpath.
At present, the work to greenhouse spray is mainly by being accomplished manually.Following unfavorable factor be present in artificial spray：1st, medicine pair
Human body is harmful to, and the potential lesion of human body can be caused to endanger.2nd, the efficiency that sprays is low, and artificial spray not only consumes one's strength, and more indulges in
Between mistaking.3rd, utilization ratio of drug is low, and artificial spray can cause to spray uneven, the problems such as medicine water clock, cause the waste of medicine.
There are some mechanical chemical spraying devices to apply in terms of greenhouse spray, but these chemical spraying devices have following drawback：1st, artificial control is needed
System, it is impossible to autonomous to complete spray overall process.2nd, spray value is unreasonable, and drug waste is serious, and utilization ratio of drug is not high enough.3rd, work
The building well standard of present greenhouse is not met as mode.4th, mode of operation is complicated.
Therefore, at present there are many drawbacks in greenhouse spraying method, and a kind of greenhouse based on electromagnetic detection of invention intelligently sprays
Robot and method can be used for solving the problems, such as greenhouse spray, help greenhouse gardening family easily to complete to greenhouse fruit-vegetable plant
Spray.
The content of the invention
The problem of present invention can not meet above-mentioned greenhouse spray aspect for prior art, there is provided one kind is examined based on electromagnetism
The greenhouse intelligence spray robot and method of survey, intelligently spray robot is led the greenhouse by magnetic field sensor detection electromagnetic field edge
The building well autonomous path movement of intelligent robot identification greenhouse area is realized in line movement, determines that fruit-vegetable plant is planted by detecting permanent magnet
Section beginning and end position, fruit-vegetable plant is identified by image procossing, according to different fruit-vegetable plants and residing different growths
Period rationally controls spray value, while completes to spray to 2 row fruit-vegetable plants top, middle part and bottom, and intelligence is completed to greenhouse fruit
The whole spray process of vegetable plant.
In order to complete above-mentioned purpose, the present invention uses following technical scheme.
A kind of greenhouse intelligence spray robot based on electromagnetic detection, it is characterised in that the greenhouse intelligence spray machine
People includes：Central controller, electromagnetic detection identification path module, permanent magnet detection module, image processing module, spray module,
Dispensing module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, traveling module, report
Alert module, memory module, power supply module.Described central controller is examined with electromagnetic detection identification path module, permanent magnet respectively
Survey module, image processing module, spray module, dispensing module, drug test module, wireless communication module, human-computer interaction module,
Oneself state detection module, traveling module, alarm module, memory module, power supply module connection, described power supply module respectively with
Central controller, electromagnetic detection identification path module, permanent magnet detection module, image processing module, the module that sprays, make up a prescription mould
Block, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, traveling module, alarm module,
Memory module connects.By the unification of above modules, the work coordinated, the function of modules is realized, completes greenhouse intelligence
Can be sprayed spray work of the robot to greenhouse fruit-vegetable plant.
Described central controller identifies path module, permanent magnet detection module, image procossing mould with electromagnetic detection respectively
Block, spray module, dispensing module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module,
Module, alarm module, memory module, power supply module connection are travelled, receives and handle the collection information and data of each module, quickly
Modules are controlled to complete concrete function.
Described electromagnetic detection identification path module is using alternating electromagnetic field caused by magnetic field sensor detection alternating current
Path technique is identified.By above the vacant lot passageway outside greenhouse area fruit-vegetable plant growing area it is hanging set up parcel waterproof,
The straight wire of anti-corrosion insulation, indirect current stream is to produce the electromagnetic field of alternation in straight wire；A branch is erected in robot
Strut installation magnetic field sensor is used for detecting alternating electromagnetic field caused by alternating current close to the straight wire for being connected with alternating current, hands over
Time-dependent current is provided by AC power；The alternating magnetic field intensity and directional information that robot is detected by handling magnetic field sensor
The residing locus of identification, the position set up along straight wire are followed alternating electromagnetic field and advanced；Electromagnetic detection identifies path module
Including magnetic field sensor, wire, AC power.
Described permanent magnet detection module completes robot and beginning and end position between fruit-vegetable plant growing area is detected,
Beginning and end between place's fruit-vegetable plant growing area above the wire set up above vacant lot passageway outside fruit-vegetable plant growing area
Permanent magnet is installed in position, and permanent magnet detection means is installed in robot close to permanent magnet position；When robot detects permanent magnet
The number of Shi Jilu detection permanent magnets determines beginning and end position between fruit-vegetable plant growing area, is entering fruit-vegetable plant kind
Starting position control starts to spray between growing area, the end position control stopping spray between fruit-vegetable plant growing area is left；In
Centre controller counts to the permanent magnet number that permanent magnet detection module detects, it is determined that distinguishing spray original position, terminating
Position and the position of spray concrete condition.Permanent magnet detection module includes permanent magnet and permanent magnet detection means.
Described image processing module is completed to monitor ambient conditions, image procossing mould to fruit-vegetable plant identification and real-time photography
Block includes head high-definition camera, image pick-up card, image processing software；Image processing module is known using image procossing and pattern
Other technology, the image of fruit-vegetable plant is shot by head high-definition camera, handled by image pick-up card and image processing software
The image of fruit-vegetable plant, extract the important external appearance characteristic of fruit-vegetable plant and the fruit-vegetable plant image feature information in memory module
Database check is classified to fruit-vegetable plant and judges the species name of fruit-vegetable plant more afterwards.
Described spray module completes spray work of the robot to fruit-vegetable plant, passes through 2 telescopic mechanical arms, 6
Individual medicine shower nozzle sprays to the top, middle part and bottom of 2 row fruit-vegetable plants simultaneously；6 medicine shower nozzles, which are separately mounted to 2, to be stretched
Top, middle part and the bottom of the mechanical arm of contracting are connected with spray conduit, and each telescopic mechanical arm is at top, middle part and bottom
A medicine shower nozzle is respectively installed in portion, passes through the height that telescopic mechanical arm changes medicine shower nozzle；Medicine nozzle switch is by electronic
Governor valve control switchs, by controlling the aperture of electric control valve to control medicine spray speed；Hydraulic pressure spray by installed in machine
Agricultural chemical spraying compression pump on people provides；Each medicine shower nozzle is connected by the conduit that sprays with agricultural chemical spraying compression pump；Spray mould
Block includes：2 telescopic mechanical arms, 6 medicine shower nozzles, 6 electric control valves, 1 agricultural chemical spraying compression pump, spray are led
Pipe.
Described dispensing module completes the stirring allotment to medicine, and when making up a prescription, medicine is stirred evenly by built-in agitator,
Make medicine fully fused；During spray, the time interval that agitator motor is set by user drives built-in agitator
Medicine is stirred, medicine is not precipitated, ensures the uniformly fused of spray Procedures Drug.Dispensing module includes：Built-in stirring
Device, agitator motor, medicine bucket.Medicine bucket is detachable, can be unloaded when making up a prescription, with after complete medicine be arranged on robot with
Block fixation.
Described drug test module realizes the detection to medicine surplus, the flow velocity that sprays, and drug test module includes liquid
Level sensor, turbine flowmeter, medicine surplus, spray flow velocity are detected by liquid level sensor, turbine flowmeter respectively, can
Avoid no medicine from working and block medicine shower nozzle to find in time.When the flow velocity that sprays is excessively slow abnormal, illustrate that medicine shower nozzle occurs
Blocking or other failures.
Described wireless communication module is used for robot and is connected with host computer progress radio communication, and wireless communication module includes
WiFi radio-cells and GPRS communication units, WiFi radio-cells are used for robot and are connected with host computer progress WiFi radio communications
Mode, GPRS communication units are used for robot and carry out GPRS radio communication connected modes with host computer.
Described human-computer interaction module realizes that the information between people and robot communicates.Human-computer interaction module passes through channel radio
Robot is attached by letter module with user's handheld mobile communication device to communicate.User can be by being connected with robot communication
Handheld mobile communication device end upper computer software afterwards carries out functional parameter to robot and sets and control in real time, receives robot
The image information and warning message of collection, realize the far distance controlled to robot and monitoring.
Described oneself state detection module realizes robot detection barrier and oneself state, oneself state detection module
Including gyroscope, odometer, acceleration transducer, ultrasonic sensor, by gyroscope, odometer, acceleration transducer, super
Sonic sensor detects barrier and oneself state.
Described traveling module uses crawler-type mobile.The mechanical structure of module is travelled using 2 synchronous crawler belts, 1 master
Axle, 1 spur gear, 1 conical gear, 2 driving wheels, 2 driven pulleys.Dynamic structure using 2 DC servo motors, 2
Decelerator, 2 rotary encoders, 2 H bridge motor PWMs drive circuits, motor overcurrent protection devices.Decelerator connects with power wheel
Connect；DC servo motor is connected with decelerator, rotary encoder, H bridge motor PWM drive circuits, forms driving dynamics device.H
Bridge motor PWM drive circuit controlled motor rotates and reverse, and controls driving wheel forward and backward, drives synchronous crawler belt movement to complete
Robot advances in greenhouse, retreats and turned to.
Described alarm module is realized when medicine surplus deficiency, the blocking of medicine shower nozzle, battery electric quantity deficiency, is passed through
Speech player plays alarm voice, is alarmed by radio communication to user's handheld mobile communication device host computer, so as to user
Timely discovery processing, alarm module include speech player and user's handheld mobile communication device host computer alarm.
Described memory module is realized to image acquisition data, detection information, fruit-vegetable plant image characteristic information data storehouse
Record and storage with other module datas, memory module include memory.
Described power supply module completes power supply to robot whole system, voltage conversion, residual capacity measurement, ensures machine
Device people powers safe efficient.Power supply module includes high energy efficiency battery pack, electric pressure converter, coulometric detector.
A kind of greenhouse intelligence spray method based on electromagnetic detection, it is characterised in that the greenhouse intelligence based on electromagnetic detection
Spray method comprises the following steps：Prevented by the hanging parcel that sets up above the vacant lot passageway outside greenhouse area fruit-vegetable plant growing area
The straight wire of water, anti-corrosion insulation, indirect current stream is to produce the electromagnetic field of alternation in straight wire；One is erected in robot
The straight wire of support bar installation magnetic field sensor close to logical alternating current is used for detecting alternating electromagnetic field caused by alternating current；Machine
Device people is by handling the locus residing for the alternating magnetic field intensity and directional information identification that magnetic field sensor detects, along straight wire
Alternating electromagnetic field advance is followed in the position of erection.Real-time electromagnetic detection identification path module is by detecting the straight wire of specified location
Caused alternating electromagnetic field, accurately identify that path makes to move in vacant lot and greenhouse area of the robot outside fruit-vegetable plant growing area
It is dynamic.Start and tie between place's fruit-vegetable plant growing area above the wire set up above vacant lot passageway outside fruit-vegetable plant growing area
Beam position installs permanent magnet, and permanent magnet detection means is installed in robot close to permanent magnet position；When robot detects permanent magnetism
The number of record detection permanent magnet determines beginning and end position between fruit-vegetable plant growing area during iron, into fruit-vegetable plant
Starting position control starts to spray between growing area, the end position control stopping spray between fruit-vegetable plant growing area is left；
Central controller counts to the permanent magnet number that permanent magnet detection module detects, it is determined that distinguishing spray original position, knot
The position of beam position and spray concrete condition.
Intelligently spray robot automatic mode operation principle is as follows for this greenhouse：First, user matches somebody with somebody in proportion in medicine bucket
Good medicine and water, medicine bucket is arranged on after blocking and fix in robot.The gear of built-in agitator is stirred with robot
After mixing device motor connection, controlled using user's handheld mobile communication device upper computer software and start robot, control agitator electricity
Machine works, and makes medicine after agitator stirs, and setting enters automatic mode.Medicine in medicine bucket passes through the conduit that sprays
It is connected with agricultural chemical spraying compression pump, medicine is extracted for agricultural chemical spraying compression pump.Teat pipette motor starts running, agricultural chemical spraying compression pump
Prepare good berth.
Image processing module, which is started working, gathers fruit-vegetable plant growing area and surrounding environment image information, passes through head high definition
Camera shoots the image of fruit-vegetable plant, and the image of fruit-vegetable plant, extraction are handled by image pick-up card and image processing software
To fruit-vegetable plant important external appearance characteristic compared with the fruit-vegetable plant image characteristic information data storehouse information verification in memory module
Fruit-vegetable plant is classified afterwards and judges the species name of fruit-vegetable plant.
Robot follows since machine manually makees beginning and end position is connected with magnetic field caused by alternating current wire forward
It is mobile, after robot detects the permanent magnet of section start by permanent magnet detection module, robot central controller controls spray
Module stretchs out mechanical arm, and the medicine shower nozzle electric control valve of central controller controls fruit-vegetable plant growing area side is opened to fruits and vegetables
Top, middle part and the bottom spray of plant, the species name for the fruit-vegetable plant that central controller judges according to image processing module
The aperture of electric control valve, control are rationally controlled to adjust with the growth period residing for the artificial fruit-vegetable plant set in functional parameter
Spray dosage.
When robot completes the spray of first row fruit-vegetable plant growing area side, robot permanent magnet detection module detection
To permanent magnet, it is determined that terminating to first row fruit-vegetable plant spray, robot will leave fruit-vegetable plant growing area, robot center
Controller control closes electric control valve and stops spray, and robot is entered between two row fruit-vegetable plant growing areas, and robot is forever
Magnet detection module detects permanent magnet, determines that robot will be again introduced between fruit-vegetable plant growing area, robot center control
The medicine shower nozzle electric control valve of device control machine people both sides processed is opened to spray to the top, middle part and bottom of 2 row fruit-vegetable plants,
In the species name for the fruit-vegetable plant that robot central controller judges according to image processing module and artificial setting functional parameter
Fruit-vegetable plant residing for growth period rationally control to adjust the aperture of electric control valve, control spray dosage.
During spray, agitator is stirred according to the time interval set in advance to medicine, ensures medicine
All the time it is uniform.
Robot continues to complete the spray work to fruit-vegetable plant according to the method described above, when robot reaches last row fruit
When outside vegetable plant species growing area, robot central controller only controls the medicine shower nozzle electric control valve of fruit-vegetable plant growing area side
Open and the top, middle part and bottom of fruit-vegetable plant are sprayed, the fruit that robot central controller judges according to image processing module
Growth period residing for the species name of vegetable plant and the artificial fruit-vegetable plant set in functional parameter rationally controls to adjust electronic
The aperture of regulating valve, control spray dosage.
The work that sprayed to all fruit-vegetable plants is completed when robot permanent magnet detection module detects that permanent magnet number reaches
During permanent magnet number after work, central controller controls close electric control valve and stop spray, control spray module contract
Arm, control machine people, which follows magnetic and is moved to robot work beginning and end opening position along wire direction, waits user specific in next step
Operation.
Robot hand pattern operation principle is as follows：User passes through the realization pair of handheld mobile communication device end upper computer software
Robot controls.User by handheld mobile communication device end upper computer software main operation interface enter manual mode control it is soft
Part sub-interface implements flexible control machine people traveling, mechanical arm, motorized adjustment threshold switch, Teat pipette switch, agitator to robot
Switch.By the situation around video window observer robot, left and right, which slides up and down window, can realize head high-definition camera
Left and right move up and down change monitoring visual angle.
The beneficial effects of the invention are as follows：The present invention a kind of greenhouse intelligence spray robot and method energy based on electromagnetic detection
Enough Intelligent Recognition greenhouse building well autonomous path movements, determine that fruit-vegetable plant plants section beginning and end position, according to different fruits
Vegetable plant and residing different growing stage rationally control spray value, and the whole spray to greenhouse fruit-vegetable plant is intelligently completed instead of people
Medicine process.This greenhouse intelligence spray robot reduces waste and the medicament residue of medicine, substantially increases operating efficiency and medicine
Thing utilization rate, reduce the manual labor of people, make one not endangered by medicine.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention.
Fig. 2 is robot method of work schematic diagram of the present invention.
Fig. 3 is robot external structure of the present invention.
Fig. 4 is upper computer software main operation interface schematic diagram of the present invention.
1, central controller in figure, 2, electromagnetic detection identification path module, 3, permanent magnet detection module, 4, image procossing mould
Block, 5, spray module, 6, dispensing module, 7, drug test module, 8, wireless communication module, 9, human-computer interaction module, 10, itself
State detection module, 11, traveling module, 12, alarm module, 13, memory module, 14, power supply module, 20, greenhouse area, 21, lead
Line, 22, permanent magnet, 23, robot work beginning and end, 24, fruit-vegetable plant growing area, 30, medicine bucket, 31, wireless antenna,
32nd, robot cabinet, 33, agricultural chemical spraying compression pump motor gear, 34, scalable mechanical arm, 35, medicine shower nozzle, 36, permanent magnet
Detection means, 37, magnetic field sensor, 38, head high-definition camera, 39, crawler belt, 40, running motor gear.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, to be specifically described the technical side of the present invention
Case.
As shown in figure 1, a kind of greenhouse based on electromagnetic detection of the present invention intelligently select by spray robot central controller 1
DSP Processor and electromagnetic detection identification path module 2, permanent magnet detection module 3, image processing module 4, spray module 5, make up a prescription
Module 6, drug test module 7, wireless communication module 8, human-computer interaction module 9, oneself state detection module 10, traveling module
11st, alarm module 12, memory module 13, power supply module 14 connect, described power supply module 14 respectively with central controller 1, electricity
Magnetic testi identification path module 2, permanent magnet detection module 3, image processing module 4, spray module 5, dispensing module 6, medicine inspection
Survey module 7, wireless communication module 8, human-computer interaction module 9, oneself state detection module 10, traveling module 11, alarm module 12,
Memory module 13 connects, and ensures the greenhouse intelligently efficiency of spray robot collection information and processing information, accurately controls each mould
Block completes correlation function.
As shown in Figures 2 and 3, a kind of electromagnetic detection Path Recognition side of greenhouse intelligence spray robot based on electromagnetic detection
Method is realized as follows：Waterproof is wrapped up by hanging erection above the vacant lot passageway outside the fruit-vegetable plant growing area 24 of greenhouse area 20, prevented
The straight wire 21 of etching insulating layer, indirect current stream is to produce the electromagnetic field of alternation in straight wire 21；One is erected in robot
The straight wire 21 of support bar installation magnetic field sensor 37 close to logical alternating current is used for detecting alternating electromagnetism caused by alternating current
；Robot identifies residing locus by the alternating magnetic field intensity and directional information for handling the detection of magnetic field sensor 37,
The position set up along straight wire 21 is followed alternating electromagnetic field and advanced.Real-time electromagnetic detection identifies path module by detecting specific bit
Alternating electromagnetic field caused by the straight wire 21 put, accurately identify that path makes vacant lot of the robot outside fruit-vegetable plant growing area 24
Moved with greenhouse area 20.Fruit-vegetable plant above the wire 21 set up above vacant lot passageway outside fruit-vegetable plant growing area 24
Permanent magnet 22 is installed in beginning and end position between growing area 24, and permanent magnet detection means 36 is installed in robot close to permanent magnet
22 positions；When robot detects permanent magnet 22, the number of record detection permanent magnet is determined between fruit-vegetable plant growing area 24
Beginning and end position, starting position controls and starts to spray between fruit-vegetable plant growing area 24 is entered, and is leaving fruit-vegetable plant
End position control stops spray between growing area 24；The permanent magnet that central controller 1 detects to permanent magnet detection module 3
Number is counted, it is determined that distinguishing the position of spray original position, end position and the concrete condition that sprays.
Magnetic field sensor 37 preferably uses I-shaped inductance, and permanent magnet detection means 36 preferably uses tongue tube.
User passes through WiFi radio-cells in wireless communication module or GPRS communication units using handheld mobile communication device
WiFi radio communications connected mode or GPRS radio communications connected mode and robot connection communication are selected, user is moved by hand-held
Dynamic communication equipment end upper computer software carries out functional parameter setting and control in real time to robot, receives the image that robot gathers
Information, detection information, information about power and warning message, realize the far distance controlled to robot and monitoring.
Intelligently spray robot automatic mode operation principle is as follows for this greenhouse：First, user in medicine bucket 30 in proportion
Medicine and water are prepared, medicine bucket 30 is arranged on after blocking and fix in robot.By the gear and machine of built-in agitator
After the connection of people's agitator motor, controlled using user's handheld mobile communication device upper computer software and start robot, control stirring
Device motor works, and makes medicine after agitator stirs, and setting enters automatic mode.Medicine in medicine bucket passes through spray
Conduit is connected with agricultural chemical spraying compression pump, and medicine is extracted for agricultural chemical spraying compression pump.Teat pipette motor starts running, agricultural chemical spraying pressure
Power pump prepares good berth.
Image processing module 4, which is started working, gathers fruit-vegetable plant growing area and surrounding environment image information, passes through head height
Clear camera 38 shoots the image of fruit-vegetable plant, and the image of fruit-vegetable plant is handled by image pick-up card and image processing software,
Extract the important external appearance characteristic of fruit-vegetable plant and the fruit-vegetable plant image characteristic information data storehouse information core in memory module 13
To classifying and judging the species name of fruit-vegetable plant to fruit-vegetable plant more afterwards.
As shown in Fig. 2 robot solid arrow direction as illustrated since machine manually makees the position of beginning and end 23
Follow and be connected with caused by alternating current wire magnetic field and move forward, robot detects section start by permanent magnet detection module 3
After permanent magnet 22, the control spray module 5 of robot central controller 1 stretchs out mechanical arm 34, and central controller 1 controls fruit-vegetable plant
The medicine shower nozzle electric control valve of the side of growing area 24 is opened to spray to the top, middle part and bottom of fruit-vegetable plant, center control
The species name for the fruit-vegetable plant that device 1 judges according to image processing module 4 and the artificial fruit-vegetable plant institute set in functional parameter
The growth period at place rationally controls to adjust the aperture of electric control valve, control spray dosage.
When robot completes the spray of the side of first row fruit-vegetable plant growing area 24, robot permanent magnet detection module 3
Permanent magnet 22 is detected, it is determined that terminating to first row fruit-vegetable plant spray, robot will leave fruit-vegetable plant growing area 24, machine
The control of device people central controller 1 closes electric control valve and stops spray, robot by solid arrow direction continue to move to turn into
Enter between two row fruit-vegetable plant growing areas 24, robot permanent magnet detection module 3 detects permanent magnet 22, determines that robot will
It is again introduced between fruit-vegetable plant growing area 24, the medicine shower nozzle electric adjustable of the control machine people both sides of robot central controller 1
Save valve opening to spray to the top, middle part and bottom of 2 row fruit-vegetable plants, robot central controller 1 is according to image processing module 4
Growth period residing for the species name of the fruit-vegetable plant of judgement and the artificial fruit-vegetable plant set in functional parameter rationally controls
Adjust the aperture of electric control valve, control spray dosage.
During spray, agitator is stirred according to the time interval set in advance to medicine, ensures medicine
All the time it is uniform.
Robot continues to complete the spray work to fruit-vegetable plant according to the method described above, when robot reaches last row fruit
When vegetable plant species growing area 24 is outer, robot central controller 1 only controls the medicine shower nozzle of the side of fruit-vegetable plant growing area 24 electronic
Regulating valve is opened to spray to the top, middle part and bottom of fruit-vegetable plant, and robot central controller 1 is according to image processing module 4
Growth period residing for the species name of the fruit-vegetable plant of judgement and the artificial fruit-vegetable plant set in functional parameter rationally controls
Adjust the aperture of electric control valve, control spray dosage.
Complete to spray to all fruit-vegetable plants when robot permanent magnet detection module 3 detects that 22 numbers of permanent magnet reach
During permanent magnet number after work, the control of central controller 1 closes electric control valve and stops spray, and control spray module 5 is shunk
Mechanical arm, control machine people, which follows magnetic and is moved to robot work beginning and end 23 opening position along wire direction, waits user next
Walk concrete operations.
Robot hand pattern operation principle is as follows：User passes through the realization pair of handheld mobile communication device end upper computer software
Robot controls.As shown in figure 4, user is entered manually by handheld mobile communication device end upper computer software main operation interface
Schema control software sub-interface implements control machine people traveling to robot, mechanical arm stretches, motorized adjustment threshold switch, Teat pipette are opened
Close, whip switch.By the situation around video window observer robot, left and right, which slides up and down window, can realize head height
The left and right of clear camera 38 moves up and down change monitoring visual angle.
Robot detects medicine surplus, spray respectively by liquid level sensor, turbine flowmeter in drug test module 7
Flow speed data, central controller 1 is transferred data to, handheld mobile communication device end is transferred data to by wireless communication module
Shown in host computer, to find and avoid no medicine work and medicine shower nozzle stopping state in time.
Robot passes through gyroscope, odometer, acceleration transducer, ultrasonic sensor in oneself state detection module 10
Detection barrier and oneself state in real time.
Robot uses crawler-type mobile by travelling module 11.DSP Processor controls H bridge motor PWM drive circuit controls
Motor processed rotates and reverse, and controls driving wheel forward and backward, before driving synchronous crawler belt movement to complete robot in greenhouse area 20
Enter, retreat and turn to.
Robot is by the way that alarm module 12 is realized when medicine surplus deficiency, medicine shower nozzle blocks, battery electric quantity is insufficient
When, by wireless communication module 8 to user's handheld mobile communication device alarm and speech player play audio alert, so as to
The family processing of discovery in time.
Robot memory module 13 uses memory, realizes special to image acquisition data, detection information, fruit-vegetable plant image
Levy record and the storage of information database and other module datas.
Robot stores electric energy by power supply module 14 from high energy efficiency Li-ion batteries piles, and electric pressure converter is robot
Modules suitable voltage and current is provided, coulometric detector detects the dump energy of battery pack.
User can be configured according to the demand of oneself to the mode of operation of robot, and machine can be set artificially automatic
Pattern or manual mode operation pattern.It is robot autonomous intelligently to realize the process entirely to spray under automatic mode.Manual mode according to
Manually by the upper computer software of user's handheld mobile communication device come the work of control machine people.
Claims (1)
- A kind of robot 1. greenhouse based on electromagnetic detection intelligently sprays, it is characterised in that the greenhouse intelligence spray robot Including：Central controller, electromagnetic detection identification path module, permanent magnet detection module, image processing module, spray module, match somebody with somebody Medicine module, drug test module, wireless communication module, human-computer interaction module, oneself state detection module, traveling module, alarm Module, memory module, power supply module；Described central controller detects with electromagnetic detection identification path module, permanent magnet respectively Module, image processing module, spray module, dispensing module, drug test module, wireless communication module, human-computer interaction module, from Body state detection module, traveling module, alarm module, memory module, power supply module connection, described power supply module is respectively with Entreat controller, electromagnetic detection identification path module, permanent magnet detection module, image processing module, spray module, dispensing module, Drug test module, wireless communication module, human-computer interaction module, oneself state detection module, traveling module, alarm module, deposit Store up module connection；Described electromagnetic detection identification path module is carried out using alternating electromagnetic field caused by magnetic field sensor detection alternating current Identify path technique；Electromagnetic detection identification path module includes magnetic field sensor, wire, AC power；Described permanent magnet detection module completes robot and beginning and end position between fruit-vegetable plant growing area is detected；Permanent magnetism Iron detection module includes permanent magnet and permanent magnet detection means；Described image processing module is completed to monitor ambient conditions, image processing module bag to fruit-vegetable plant identification and real-time photography Include head high-definition camera, image pick-up card, image processing software；Image processing module uses image procossing and pattern-recognition skill Art；Described spray module completes spray work of the robot to fruit-vegetable plant, passes through 2 telescopic mechanical arms, 6 medicines Thing shower nozzle sprays to the top, middle part and bottom of 2 row fruit-vegetable plants simultaneously；6 medicine shower nozzles be separately mounted to 2 it is telescopic Top, middle part and the bottom of mechanical arm are connected with spray conduit, and each telescopic mechanical arm is each in top, middle part and bottom One medicine shower nozzle is installed, changes the height of medicine shower nozzle by telescopic mechanical arm；Medicine nozzle switch is by motorized adjustment Valve controlling switch, by controlling the aperture of electric control valve to control medicine spray speed；Hydraulic pressure spray by robot Agricultural chemical spraying compression pump provide；Each medicine shower nozzle is connected by the conduit that sprays with agricultural chemical spraying compression pump；Spray module bag Include：2 telescopic mechanical arms, 6 medicine shower nozzles, 6 electric control valves, 1 agricultural chemical spraying compression pump, spray conduit；Described dispensing module completes the stirring allotment to medicine, when making up a prescription, medicine is stirred evenly by built-in agitator, makes medicine Thing is fully fused；During spray, the time interval that agitator motor is set by user drives built-in agitator to medicine Thing stirs, and medicine is not precipitated, and ensures the uniformly fused of spray Procedures Drug；Dispensing module includes：Built-in agitator, stir Mix device motor, medicine bucket；Medicine bucket is detachable, can be unloaded when making up a prescription, and is blocked with being arranged on after complete medicine with robot It is fixed；Described drug test module realizes the detection to medicine surplus, the flow velocity that sprays, and drug test module passes including liquid level Sensor, turbine flowmeter, medicine surplus, spray flow velocity are detected by liquid level sensor, turbine flowmeter respectively, can be avoided Worked without medicine and medicine shower nozzle is blocked and found in time；When the flow velocity that sprays is excessively slow abnormal, illustrate that medicine shower nozzle blocks Or other failures；Robot detects medicine surplus, spray flow speed data by drug test module, transfers data to center Controller, transferred data in the host computer of handheld mobile communication device end and shown by wireless communication module, to find in time simultaneously Avoid no medicine work and medicine shower nozzle stopping state；Described wireless communication module is used for robot and is connected with host computer progress radio communication, and wireless communication module includes WiFi Radio-cell and GPRS communication units, WiFi radio-cells are used for robot and carry out WiFi radio communication connection sides with host computer Formula, GPRS communication units are used for robot and carry out GPRS radio communication connected modes with host computer；Described human-computer interaction module realizes that the information between people and robot communicates；Human-computer interaction module passes through radio communication mold Robot is attached and communicated by block with user's handheld mobile communication device；After user can be by being connected with robot communication Handheld mobile communication device end upper computer software carries out functional parameter to robot and sets and control in real time, receives robot collection Image information and warning message, realize the far distance controlled to robot and monitoring；Described oneself state detection module realizes that robot detection barrier and oneself state, oneself state detection module include Gyroscope, odometer, acceleration transducer, ultrasonic sensor, pass through gyroscope, odometer, acceleration transducer, ultrasonic wave Sensor detects barrier and oneself state；Described traveling module uses crawler-type mobile；The mechanical structure of module is travelled using 2 synchronous crawler belts, 1 main shaft, 1 Individual spur gear, 1 conical gear, 2 driving wheels, 2 driven pulleys；Dynamic structure is using 2 DC servo motors, 2 decelerations Device, 2 rotary encoders, 2 H bridge motor PWMs drive circuits, motor overcurrent protection devices；Decelerator is connected with power wheel；Directly Flow servo motor is connected with decelerator, rotary encoder, H bridge motor PWM drive circuits, forms driving dynamics device；H bridge motors PWM drive circuit controlled motor rotates and reverse, and controls driving wheel forward and backward, drives synchronous crawler belt movement to complete robot Advance in greenhouse, retreat and turn to；Described alarm module is realized when medicine surplus deficiency, the blocking of medicine shower nozzle, battery electric quantity deficiency, passes through voice Player plays alarm voice, alarmed by radio communication to user's handheld mobile communication device host computer, so that user is timely It was found that processing, alarm module include speech player and user's handheld mobile communication device host computer alarm；Described memory module realize to image acquisition data, detection information, fruit-vegetable plant image characteristic information data storehouse and its The record of his module data and storage, memory module include memory；Described power supply module completes power supply to robot whole system, voltage conversion, residual capacity measurement, ensures robot That powers is safe efficient；Power supply module includes high energy efficiency battery pack, electric pressure converter, coulometric detector；Intelligently spray robot passes through the vacant lot outside greenhouse area fruit-vegetable plant growing area to the described greenhouse based on electromagnetic detection Hanging above passageway to set up parcel waterproof, the straight wire of anti-corrosion insulation, indirect current stream is to produce alternation in straight wire Electromagnetic field；The straight wire that support bar installation magnetic field sensor close to a logical alternating current are erected in robot is used for detecting exchange Alternating electromagnetic field caused by electric current；Robot is by handling the alternating magnetic field intensity and directional information identification that magnetic field sensor detects Residing locus, the position set up along straight wire are followed alternating electromagnetic field and advanced；Real-time electromagnetic detection identification path module By detecting alternating electromagnetic field caused by the straight wire of specified location, accurately identify that path makes robot be planted in fruit-vegetable plant Moved in vacant lot and greenhouse area outside area；Locate fruits and vegetables above the wire set up above vacant lot passageway outside fruit-vegetable plant growing area Permanent magnet is installed in beginning and end position between plant species growing area, and permanent magnet detection means is installed in robot close to permanent magnet position Put；When robot detects permanent magnet, the number of record detection permanent magnet determines beginning and knot between fruit-vegetable plant growing area Beam position, starting position controls and starts to spray between fruit-vegetable plant growing area is entered, between fruit-vegetable plant growing area is left End position control stops spray；Central controller counts to the permanent magnet number that permanent magnet detection module detects, really The fixed position for distinguishing spray original position, end position and the concrete condition that sprays；User is selected using handheld mobile communication device by WiFi radio-cells in wireless communication module or GPRS communication units WiFi radio communications connected mode or GPRS radio communications connected mode and robot connection communication, user pass through hand-held mobile logical Believe that equipment end upper computer software carries out functional parameter setting and control in real time to robot, receive the image letter that robot gathers Breath, detection information, information about power and warning message, realize the far distance controlled to robot and monitoring；Intelligently spray robot automatic mode operation principle is as follows for greenhouse based on electromagnetic detection：First, user is in medicine bucket Medicine and water are prepared in proportion, medicine bucket are arranged on after blocking and fix in robot；By the gear of built-in agitator with After robot agitator motor connection, controlled using user's handheld mobile communication device upper computer software and start robot, control Agitator motor works, and makes medicine after agitator stirs, and setting enters automatic mode；Medicine in medicine bucket passes through Spray conduit is connected with agricultural chemical spraying compression pump, and medicine is extracted for agricultural chemical spraying compression pump；Teat pipette motor starts running, agricultural spraying Medicine compression pump prepares good berth；Image processing module, which is started working, gathers fruit-vegetable plant growing area and surrounding environment image information, passes through head high-definition camera The image of head shooting fruit-vegetable plant, the image of fruit-vegetable plant is handled by image pick-up card and image processing software, extracts fruit The important external appearance characteristic of vegetable plant and the fruit-vegetable plant image characteristic information data storehouse information verification in memory module are more right Fruit-vegetable plant is classified and judges the species name of fruit-vegetable plant；Robot follows since machine manually makees beginning and end position is connected with magnetic field forward movement caused by alternating current wire, After robot detects the permanent magnet of section start by permanent magnet detection module, robot central controller controls spray module is stretched Mechanical arm is opened, the medicine shower nozzle electric control valve of central controller controls fruit-vegetable plant growing area side is opened to fruit-vegetable plant Top, middle part and bottom spray, the species name for the fruit-vegetable plant that central controller judges according to image processing module and manually The growth period residing for the fruit-vegetable plant in functional parameter is set rationally to control to adjust the aperture of electric control valve, control spray is used Amount；When robot completes the spray of first row fruit-vegetable plant growing area side, robot permanent magnet detection module detects forever Magnet, it is determined that terminating to first row fruit-vegetable plant spray, robot will leave fruit-vegetable plant growing area, robot center control Device control closes electric control valve and stops spray, and robot is entered between two row fruit-vegetable plant growing areas, robot permanent magnet Detection module detects permanent magnet, determines that robot will be again introduced between fruit-vegetable plant growing area, robot central controller The medicine shower nozzle electric control valve of control machine people both sides is opened to spray to the top, middle part and bottom of 2 row fruit-vegetable plants, machine The species name for the fruit-vegetable plant that people's central controller judges according to image processing module and the artificial fruit set in functional parameter Growth period residing for vegetable plant rationally controls to adjust the aperture of electric control valve, control spray dosage；During spray, agitator is stirred according to the time interval set in advance to medicine, ensures medicine all the time Uniformly；Robot continues to complete the spray work to fruit-vegetable plant, when robot is reached outside last row fruit-vegetable plant growing area When, robot central controller only controls the medicine shower nozzle electric control valve of fruit-vegetable plant growing area side to open to fruit-vegetable plant Top, middle part and bottom spray, the kind class name for the fruit-vegetable plant that robot central controller judges according to image processing module The aperture for claiming and manually setting the growth period residing for the fruit-vegetable plant in functional parameter rationally to control to adjust electric control valve, control System spray dosage；After robot permanent magnet detection module detects that permanent magnet number reaches completion to all fruit-vegetable plant spray work Permanent magnet number when, central controller controls close electric control valve stop spray, control spray module contract arm, control Robot processed follows magnetic and is moved to robot work beginning and end opening position wait user's next step concrete operations along wire direction；Intelligently spray robot dynamic model formula operation principle is as follows for greenhouse based on electromagnetic detection：User passes through handheld mobile communication Equipment end upper computer software, which is realized, to be controlled robot；User passes through upper computer software main operation circle of handheld mobile communication device end Face enters manual mode control software sub-interface and implements that control machine people traveling, mechanical arm be flexible, motorized adjustment to robot Threshold switch, Teat pipette switch, whip switch；By the situation around video window observer robot, left and right slides up and down window It can realize that the left and right of head high-definition camera moves up and down change monitoring visual angle.
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| CN105739508B (en) * | 2016-05-12 | 2018-12-11 | 哈尔滨工业大学 | Multinode navigation system based on electromagnetic navigation |
| ES2899284T3 (en) * | 2016-07-15 | 2022-03-10 | Fastbrick Ip Pty Ltd | Vehicle incorporating a brick laying machine |
| CN107140351A (en) * | 2017-06-22 | 2017-09-08 | 张珺虞 | Multifunctional intelligent garbage bin |
| DE102017214314A1 (en) * | 2017-08-17 | 2019-02-21 | Robert Bosch Gmbh | Method for detecting a position of a mobile robotic vehicle and robotic vehicle and system |
| CN108958330A (en) * | 2018-05-24 | 2018-12-07 | 山东百家兴农业科技股份有限公司 | One kind being used for greenhouse corps growth of seedling monitoring device |
| CN110442173A (en) * | 2019-07-29 | 2019-11-12 | 江苏农林职业技术学院 | A kind of plant pet Multifunctional intelligent robot |
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