CN107639640A - A kind of more shower nozzle intelligence spray robots - Google Patents
A kind of more shower nozzle intelligence spray robots Download PDFInfo
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- CN107639640A CN107639640A CN201711017506.3A CN201711017506A CN107639640A CN 107639640 A CN107639640 A CN 107639640A CN 201711017506 A CN201711017506 A CN 201711017506A CN 107639640 A CN107639640 A CN 107639640A
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- shower nozzles
- electric pushrod
- shower nozzle
- control device
- shower
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Abstract
The invention provides a kind of more shower nozzles intelligently spray robot, including chemical spraying device, running gear, image collecting device, dip measuring device and control device；The chemical spraying device includes at least two shower nozzles and at least two electric pushrods, and the electric pushrod is in upright state, and each shower nozzle is arranged at the top of an electric pushrod, and electric pushrod is used under control of the control means, adjust the height of each shower nozzle；Described image harvester includes video camera, and the video camera is used to gather plant photo；According to plant photo and more shower nozzles, intelligently spray robot with respect to the inclination angle of ground level, calculates plant height, and control every electric pushrod to be retractable to different height according to plant height to control device.The present invention adjusts the height of multiple shower nozzles by setting multiple shower nozzles, enable multiple shower nozzles total spraying range cover it is whole take root in strain, and then ensure that the whole tree crown Omnibearing even for taking root in strain by medicine, improves pesticide supplying effect.
Description
Technical field
The present invention relates to field in intelligent robotics, more particularly to a kind of more shower nozzle intelligence spray robots.
Background technology
Agriculture dispenser is the Agricultural Activities that a kind of workload is big, labor intensity is high, needs a large amount of labours.Due to people
Work spray efficiency is low, dispenser is uneven, utilization ratio of drug is low and medicine is larger to human injury during spraying, so various at present each
The agricultural chemical spraying robot of sample is developed and utilized.These existing spray robots have his own strong points, application scenarios also each not phase
Together.For full wafer farmland, although existing spray robot can guarantee that the uniform and precision of spraying area, for single plant
Strain, especially for the short shrub such as matrimony vine, tea tree or dungarunga plant, existing spray robot cannot ensure single plant
Tree crown Omnibearing even by medicine, cause the pesticide supplying effect of existing spray robot not notable.
The content of the invention
It is an object of the invention to provide a kind of more shower nozzles intelligence spray robots, more shower nozzles intelligence spray robots
Can solve the problems of existing spray robot, that is, can ensure that the short shrub such as single matrimony vine, tea tree or dungarunga plant
Tree crown Omnibearing even by medicine, improve pesticide supplying effect.
To achieve these goals, the present invention provides following technical scheme：A kind of more shower nozzle intelligence spray robots, including
Chemical spraying device, running gear, image collecting device, dip measuring device and control device；
The chemical spraying device includes explosive box, pressure apparatus, at least two shower nozzles and at least two electric pushrods, the pressure
Power apparatus is used to medicine being pumped to shower nozzle from explosive box, and the electric pushrod is in upright state, and each shower nozzle is arranged at one
The top of root electric pushrod, electric pushrod are used under control of the control means, adjust the height of each shower nozzle；
The dip measuring device is used to measure inclination angle of the more shower nozzle intelligence spray robots with respect to ground level, described
Dip measuring device is connected with control device；
Described image harvester includes video camera, and the video camera is used to gathering plant photo, and by the plant of collection
Photo is transferred to control device；Control device intelligently sprays robot with respect to ground level according to plant photo and more shower nozzles
Inclination angle, plant height is calculated, and control every electric pushrod to be retractable to different height according to plant height.
In above-mentioned technical proposal, by plant height to adjust the height of each shower nozzle, make the whole tree crown for taking root in strain from top
Equably covered by total spraying range of multiple shower nozzles to bottom, and then ensure that whole plant Omnibearing even of taking root in is applied by medicine, raising
Drug effect fruit, solves problem of the prior art.
Preferably, the quantity of the shower nozzle is three, and the quantity of the electric pushrod is three；Three electric pushrods
Respectively the first electric pushrod, the second electric pushrod and the 3rd electric pushrod, the shower nozzle on the first electric pushrod are tilted towards dividing into
Put, the shower nozzle on the second electric pushrod is horizontally disposed with, and the shower nozzle on the 3rd electric pushrod tilts upward setting.
Preferably, the dip measuring device is gyroscope.Due to farmland road out-of-flatness, can be sent out during robot ambulation
Raw inclination of jolting, control device judge the shooting of plant photo according to inclination angle of the robot that gyroscope measures with respect to ground level
Angle, inclination correction is carried out to the plant height being calculated, draws real plant height.Controller is according to real plant
The elongation of electric pushrod is highly adjusted, and according to inclination angle of the robot with respect to ground level, finely tunes the height of electric pushrod.
Preferably, the shower nozzle is atomizer.Atomizer realizes that pesticide granules are atomized, and improves the utilization rate of agricultural chemicals.
Preferably, the running gear is tracked drive.The obstacle climbing ability of crawler type driving, landform adapt to energy
Power, grabs ground ability are very superior, and energy pivot stud, and these advantages make crawler type driving more adapt to farmland walking.
Further, liquid level sensor is provided with the explosive box, the liquid level sensor is used to measure in explosive box
The liquid level of medicine, the liquid level sensor are connected with control device；The pressure apparatus and running gear also fill with control
Put connection, the control device controls shower nozzle whether to stop spraying according to the liquid level information of medicine, controls the running gear to be
It is no to stop walking.By the setting of liquid level sensor, the surplus of medicine is can detect, if medicine is used up, control device can control
Intelligently spray robot stops operation more shower nozzles, avoids electric energy equal energy source loss and waste, more avoids more shower nozzle intelligence
Spray during the unloaded walking of robot, because plant part fails by medicine, cause the dispenser of full wafer farmland uneven.
Further, intelligently spray robot also includes GPS, the GPS and control to more shower nozzles
Device connects.The GPS is used to receiving, track, convert and measuring gps signal, is applied with obtaining more shower nozzles in real time
The positional information of medicine robot, control device combine existing route planning information in memory according to the positional information,
Running gear is controlled to turn to.
Further, intelligently spray robot also includes communication device to more shower nozzles, and the communication device fills with control
Connection is put, the position that the communication device is used to be received liquid level information, the GPS of plant photo, medicine is believed
Breath sends monitor terminal to.The intelligently spray robot of more shower nozzles described in manual intervention, user are easy in the setting of the communication device
It is whether normal that the working condition of more shower nozzle intelligence spray robots can be monitored by plant photo and positional information, Yong Huke
Prepare and feed medicine in time by the liquid level information of medicine.
Further, intelligently spray robot also includes buzzer to more shower nozzles, and the buzzer connects with control device
Connect.When needing to feed medicine, control device control buzzer sounding, it is easy to user to position rapidly and finds more shower nozzle intelligence
Spray robot；Send and instruct to monitor terminal with timed unit, prompt user to need to feed medicine.
Compared with prior art, more shower nozzle intelligence spray robots of the present invention are more suitable for low to matrimony vine, tea tree etc.
The plant dispenser such as brushwood or dungarunga, by setting multiple shower nozzles, and the height of multiple shower nozzles is adjusted, make the total of multiple shower nozzles
Spraying range can cover the tree crown of whole strain plant, and then the tree crown Omnibearing even for ensuring whole strain plant is improved dispenser effect by medicine
Fruit, solves problem of the prior art.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly introduced, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as to model
The restriction enclosed, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these
Accompanying drawing obtains other relevant drawings.
Fig. 1 show the structural representation of more shower nozzle intelligence spray robots of the present invention.
Fig. 2 show the circuit diagram of more shower nozzle intelligence spray robots of the present invention.
Label declaration in figure：
11- explosive boxs；12- shower nozzles；13- electric pushrods；The electric pushrods of 1301- first；The electric pushrods of 1302- second；
The electric pushrods of 1303- the 3rd；14- liquid level sensors；31- cameras；32- gyroscopes；41- pressure apparatus；51-GPS receivers；
52- buzzers.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly complete
Description.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, it is not intended to limit the present invention.Base
In embodiments of the invention, every other implementation that those skilled in the art are obtained on the premise of no creative work
Example, belongs to protection scope of the present invention.
Embodiment 1：
Fig. 1 and Fig. 2 are referred to, can not be realized to the short shrub of individual plant or dungarunga tree to solve existing spray robot
The problem of Omnibearing even dispenser of hat, present embodiments provide a kind of more shower nozzles intelligently spray robot.More shower nozzle intelligence
The robot that can spray includes chemical spraying device, running gear, image collecting device, dip measuring device and control device.
The control device includes controller, calculator and memory.The chemical spraying device includes being used to store medicine
Explosive box 11, pressure apparatus 41, multiple shower nozzles 12 and Duo Gen electric pushrods 13.The pressure apparatus 41 is used for medicine from drug storage
Shower nozzle 12 is pumped in case 11, as an example, the pressure apparatus 41 selects suction pump, and the suction pump is arranged at explosive box
Bottom.The electric pushrod 13 is erected on explosive box 11, and each shower nozzle 12 is respectively arranged at electric pushrod 13
Top, the shower nozzle 12 connect the pressure apparatus 41 by conduit.
Described image harvester includes camera 31, and the camera 31 is towards the intelligent spray robots of more shower nozzles
The diagonally forward of direction of travel, more shower nozzles plant that intelligently spray robot diagonally forward is closely located is stated for shooting.
Consider farmland road out-of-flatness, can jolt inclination during robot ambulation, and the inclined angle of robot can be right
Plant height result of calculation causes error, so in the present embodiment, dip measuring device is used to measure more shower nozzles intelligently spray
Medicine robot is with respect to the inclination angle of ground level, the calculator connection of the dip measuring device and control device.As an example, at this
In embodiment, the dip measuring device selects gyroscope 32.
The electric pushrod 13 is connected with the controller of control device, and the calculator of the video camera and control device connects
Connect.In use, intelligently spray robot is advanced slowly running gear driving more shower nozzles, the speed control of advance is in 0.05m
~0.2m/s.The video camera captures once the plant photo of more shower nozzle intelligence spray robots diagonally forward every 10s, and
Photo is transferred to calculator.Calculator calculates plant gross altitude according to the photo.Calculator measures according to gyroscope
Robot judges the shooting angle of plant photo, the plant gross altitude being calculated is inclined with respect to the inclination angle of ground level
Angle is corrected, and draws plant true altitude.Controller according to plant true altitude control electric pushrod stretch, while controller according to
Robot finely tunes the height of electric pushrod with respect to the inclination angle of ground level.The flexible variable lengths of each electric pushrod, make electric pushrod
On shower nozzle 12 total spraying range can cover it is whole take root in strain, and then ensure that whole plant Omnibearing even of taking root in by medicine, improves dispenser
Effect.It should be appreciated that above-mentioned, " data such as 0.05m~0.2m/s ", " 10s " are only a kind of citing of the present embodiment, not right
Protection scope of the present invention is defined.
Intelligently the state of spray robot during operation is summarized as more shower nozzles：Lasting walking, camera 31 are regular
Diagonally forward plant is captured, electric pushrod, which periodically stretches, changes the height of shower nozzle 12, and shower nozzle 12 persistently sprays medicine by plant.
As an example, the quantity of the shower nozzle 12 is three in the present embodiment, and the quantity of electric pushrod 13 is three.Three
Root electric pushrod 13 is respectively the first electric pushrod 1301, the second electric pushrod 1302 and the 3rd electric pushrod 1303, and first is electric
Shower nozzle 12 on dynamic push rod 1301 is set diagonally downward, and the shower nozzle 12 on the second electric pushrod 1302 is horizontally disposed, and the 3rd is electronic
Shower nozzle 12 on push rod 1303 tilts upward setting.Plant height is h0, controller the first electric pushrod of control of control device
1301 are retractable to 5h0/ 4, the second electric pushrod 1302 of control is retractable to 3h0/ 4, the 3rd electric pushrod 1303 of control is retractable to h0/
4.It should be appreciated that above-mentioned " 5h0/4”、“3h0/4”、“h0The data such as/4 " are only a kind of citing of the present embodiment, not to this hair
Bright protection domain is defined.
In the present embodiment, the shower nozzle 12 selects atomizer.Atomizer realizes that pesticide granules are atomized, and improves agricultural chemicals
Utilization rate.
In view of more shower nozzles, intelligently spray robot walks in farmland, in order that the robot can more adapt to agriculture
Field mud ground walking, in the present embodiment, the running gear selects tracked drive.Due to tracked drive be into
Ripe prior art, so the present embodiment is not described in detail.
Embodiment 2：
Fig. 1 and Fig. 2 are referred to, present embodiments provides institute in a kind of more shower nozzle intelligence spray robots, including embodiment 1
All technical characteristics stated.
In addition in the present embodiment, liquid level sensor 14, the liquid level sensor 14 are additionally provided with the explosive box 11
For measuring the liquid level of medicine in explosive box 11.The liquid level sensor 14 is connected with the controller of control device, simultaneously
The pressure apparatus 41 and running gear are also connected with the controller of control device.Liquid level sensor 14 is by measured medicine liquid
Face highly sends the controller of control device to, when the liquid level of medicine is less than a certain level altitude in explosive box 11,
Indication medicine will be used up, and the controller control pressure device 41 of this timed unit stops aspirating drug operation, and controls row
Walking apparatus stops walking, avoids electric energy equal energy source loss and waste, more avoids more shower nozzles intelligently unloaded walking of spray robot
Period, because plant part fails by medicine, cause the dispenser of full wafer farmland uneven.
Intelligently spray robot can solve existing robot for single plant dispenser inequality to more shower nozzles described in the present embodiment
The problem of, in order that intelligently spray robot can solve the problems, such as full wafer farmland dispenser inequality, in this reality more shower nozzles
Apply in example, intelligently spray robot also includes GPS 51, the GPS 51 and control device to more shower nozzles
Controller connects.The GPS 51 is used to receiving, track, convert and measuring gps signal, to obtain more sprays in real time
The positional information of head dispenser robot.The calculator of the control device calculates in advance according to farmland road and plant distribution
Outbound path program results, the memory of control device are used to store the route programming result.The controller of control device according to
The positional information, and existing route programming result is combined, control running gear turns to.
Complicated in view of situation in farm environment, intelligently spray robot may face more shower nozzles during operation
The problems such as wild animal disturbs, in order to strengthen more shower nozzles, intelligently spray the artificial of robot intervenes performance, to monitor it
Working condition, in the present embodiment, intelligently spray robot also includes communication device, the communication device and control to more shower nozzles
The controller connection of device processed.As an example, the communication device selects 3G/4G communication devices.In use, communication device will plant
The positional information that strain photo, the liquid level information of medicine and GPS 51 are received sends the monitoring such as computer or mobile phone to
Terminal.Whether just user can monitor the working condition of more shower nozzle intelligence spray robots by plant photo and positional information
Often, when intelligently spray robot deviates the path planned or gets into a difficult position middle more shower nozzles, user can be sent out by 3G/4G networks
Signal is penetrated, sends the controller of control device, the controller control pressure of control device after 3G/4G communication device reception signals to
Device 41 stops aspirating drug operation, and control running gear is turned back or stops walking.User can pass through the liquid level of medicine
Information prepares in time and supply medicine.
In view of farmland area is larger, dense vegetation, when more shower nozzles, intelligently spray robots need to feed medicine,
Or during working state abnormal, facilitate user to position rapidly and find more shower nozzles intelligently spray robot.More shower nozzles
Buzzer 52 is additionally provided with intelligence spray robot, the buzzer 52 is connected with the controller of control device.When described more
When shower nozzle intelligence spray robot needs to feed medicine, the controller control sounding of buzzer 52 of the control device, and pass through
Communication module sends signal to monitoring module.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art, the invention discloses technical scope in, change or replacement can be readily occurred in, all should
Cover within the scope of the present invention.
Claims (9)
- A kind of 1. intelligent spray robot of more shower nozzles, it is characterised in that including chemical spraying device, running gear, image collecting device, Dip measuring device and control device；The chemical spraying device includes explosive box, pressure apparatus, at least two shower nozzles and at least two electric pushrods, the pressure dress Put for medicine to be pumped into shower nozzle from explosive box, the electric pushrod is in upright state, and each shower nozzle is arranged at an electricity The top of dynamic push rod, electric pushrod are used under control of the control means, adjust the height of each shower nozzle；The dip measuring device is used to measure more shower nozzle intelligence spray robots with respect to the inclination angle of ground level, the inclination angle Measurement apparatus is connected with control device；Described image harvester includes video camera, and the video camera is used to gathering plant photo, and by the plant photo of collection It is transferred to control device；Control device is according to plant photo and more shower nozzle intelligence spray robot inclining with respect to ground level Angle, plant height is calculated, and control every electric pushrod to be retractable to different height according to plant height.
- 2. more shower nozzles intelligence spray robots according to claim 1, it is characterised in that the quantity of the shower nozzle is three, The quantity of the electric pushrod is three；Three electric pushrods are respectively the first electric pushrod, the second electric pushrod and Three electric pushrods, the shower nozzle on the first electric pushrod are set diagonally downward, and the shower nozzle on the second electric pushrod is horizontally disposed with, and the 3rd Shower nozzle on electric pushrod tilts upward setting.
- 3. more shower nozzles intelligence spray robots according to claim 1, it is characterised in that the dip measuring device is gyro Instrument.
- 4. more shower nozzles intelligence spray robots according to claim 1, it is characterised in that the shower nozzle is atomizer.
- 5. more shower nozzles intelligence spray robots according to claim 1, it is characterised in that the running gear is that crawler type is driven Dynamic device.
- 6. more shower nozzles intelligence spray robots according to claim 1, it is characterised in that be provided with liquid level in the explosive box Sensor, the liquid level sensor are used for the liquid level for measuring medicine in explosive box, the liquid level sensor and control device Connection；The pressure apparatus and running gear are also connected with control device, and the control device is believed according to the liquid level of medicine Whether breath control shower nozzle stops spraying, controls whether running gear stops walking.
- 7. more shower nozzles intelligence spray robots according to claim 6, it is characterised in that more shower nozzles intelligence spray machines People also includes GPS, and the GPS is connected with control device.
- 8. more shower nozzles intelligence spray robots according to claim 7, it is characterised in that more shower nozzles intelligence spray machines People also includes communication device, the communication device is connected with control device, and the communication device is used for plant photo, medicine The positional information that liquid level information, GPS are received sends monitor terminal to.
- 9. more shower nozzles intelligence spray robots according to claim 8, it is characterised in that more shower nozzles intelligence spray machines People also includes buzzer, and the buzzer is connected with control device.
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| CN201711017506.3A CN107639640A (en) | 2017-10-26 | 2017-10-26 | A kind of more shower nozzle intelligence spray robots |
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| CN201711017506.3A CN107639640A (en) | 2017-10-26 | 2017-10-26 | A kind of more shower nozzle intelligence spray robots |
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| CN201711017506.3A Pending CN107639640A (en) | 2017-10-26 | 2017-10-26 | A kind of more shower nozzle intelligence spray robots |
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Cited By (11)
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|---|---|---|---|---|
| CN108157340A (en) * | 2018-02-27 | 2018-06-15 | 西北农林科技大学 | A kind of teaching and contest spray robot |
| CN109121874A (en) * | 2018-08-08 | 2019-01-04 | 明证智能科技（天津）有限公司 | A kind of greenhouse plant protection system based on robot |
| CN109169585A (en) * | 2018-08-14 | 2019-01-11 | 安徽速飞航空航天科技有限公司 | A kind of 4G intelligence laxative system and liquid-spraying-cart |
| 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 |
| CN109526923A (en) * | 2018-12-21 | 2019-03-29 | 甘肃农业大学 | One plant intelligence spray robot |
| CN109892311A (en) * | 2018-10-26 | 2019-06-18 | 济南钰成霖信息科技有限公司 | A kind of independent navigation spray robot and its working method for orchard operation |
| CN110058550A (en) * | 2019-04-29 | 2019-07-26 | 李志海 | A kind of farmland robot automatic shift body of rod control system |
| CN116442190A (en) * | 2023-06-20 | 2023-07-18 | 中数智科(杭州)科技有限公司 | Robot train inspection system |
| US11832609B2 (en) | 2020-12-21 | 2023-12-05 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
| CN117397661A (en) * | 2023-10-27 | 2024-01-16 | 佛山市天下谷科技有限公司 | Medicine spraying control method of medicine spraying robot and medicine spraying robot |
| US11944087B2 (en) | 2020-12-21 | 2024-04-02 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108157340A (en) * | 2018-02-27 | 2018-06-15 | 西北农林科技大学 | A kind of teaching and contest spray robot |
| CN109121874A (en) * | 2018-08-08 | 2019-01-04 | 明证智能科技（天津）有限公司 | A kind of greenhouse plant protection system based on robot |
| CN109169585A (en) * | 2018-08-14 | 2019-01-11 | 安徽速飞航空航天科技有限公司 | A kind of 4G intelligence laxative system and liquid-spraying-cart |
| CN109892311A (en) * | 2018-10-26 | 2019-06-18 | 济南钰成霖信息科技有限公司 | A kind of independent navigation spray robot and its working method for orchard operation |
| 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 |
| CN109526923A (en) * | 2018-12-21 | 2019-03-29 | 甘肃农业大学 | One plant intelligence spray robot |
| CN110058550A (en) * | 2019-04-29 | 2019-07-26 | 李志海 | A kind of farmland robot automatic shift body of rod control system |
| US11832609B2 (en) | 2020-12-21 | 2023-12-05 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
| US11944087B2 (en) | 2020-12-21 | 2024-04-02 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
| CN116442190A (en) * | 2023-06-20 | 2023-07-18 | 中数智科(杭州)科技有限公司 | Robot train inspection system |
| CN116442190B (en) * | 2023-06-20 | 2023-09-05 | 中数智科(杭州)科技有限公司 | Robot train inspection system |
| CN117397661A (en) * | 2023-10-27 | 2024-01-16 | 佛山市天下谷科技有限公司 | Medicine spraying control method of medicine spraying robot and medicine spraying robot |
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