CN108477130A - A kind of agricultural kill off animal all-terrain vehicle - Google Patents
A kind of agricultural kill off animal all-terrain vehicle Download PDFInfo
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- CN108477130A CN108477130A CN201810356102.5A CN201810356102A CN108477130A CN 108477130 A CN108477130 A CN 108477130A CN 201810356102 A CN201810356102 A CN 201810356102A CN 108477130 A CN108477130 A CN 108477130A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M27/00—Apparatus having projectiles or killing implements projected to kill the animal, e.g. pierce or shoot, and triggered thereby
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
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Abstract
A kind of agricultural kill off animal all-terrain vehicle, and manipulator, camera, infrared detecting device, ultrasonic detection device, medicament injection apparatus, solar panel are connect with control system；Camera and infrared detecting device and ultrasonic detection device of the design on body shell can detect presence and the position of the animal in forest land in real time, and movement and the navigation work of landform vehicle are completed by control system, animal is killed the malicious needle for sending out medicament injection apparatus to nearby existing animal under the instruction of control system by landform vehicle, camera by the growth image of species in the corpse image for collecting dead animal and forest land and is transmitted to control system simultaneously, the collection of dead corpse blood sample tissue is completed by itself front end syringe by control system guide manipulator, condition is provided further to study species and physiological status, apparatus structure design is simple, environmental protection and energy saving, effective solution measure is provided to endanger agricultural killing off for animal of growth.
Description
Technical field
The present invention relates to a kind of agricultural to kill off animal all-terrain vehicle, belongs to agricultural design of intelligent robot technical field.
Background technology
With the development of modern agricultural technology, agricultural, which develop more economic construction of China, has prodigious progradation, agricultural
Plantation becomes the developing important link of agricultural, and some endanger the animal pests of plant growth to agriculture forestry planting
Influence it is huge, can endanger agricultural growth animal pests be one of the main agricultural disaster in China, it have type it is more, influence
Greatly and often the characteristics of population outbreak, occurrence scope and severity can make Chinese national economy, particularly agricultural production
At heavy losses.Currently, the prevention and control of plant diseases, pest control of agricultural is not thorough, cause economic loss in agriculture forestry planting larger, the disease pest of agricultural
Evil preventing and controlling are the main contents in current agricultural production, and along with the continuous development of science and technology, the pest and disease damage of agricultural is anti-
It controls technology and has been achieved for significant progress to today, but there are still many problems, nowadays novel disease pests for many control measures
Using not perfect, prevention and control of plant diseases, pest control mode falls behind evil means of prevention, and largely there is no basic for these control measures
Property diseases and pests of agronomic crop is prevented, therefore, setting one kind crops animal pests can be continued to monitor and
Killed off in fundamental significance, at the same crops and species can be carried out the agricultural animal regulation device of growth monitoring for
Agricultural production and socio-economic development are of great significance.
Invention content
To solve the deficiencies in the prior art, problem to be solved of the present invention is intended to be adopted by intelligent body system, camera shooting
Collecting system, infrared detection system, ultrasonic wave detecting system, drug injection system, Control System Design a kind of agricultural kill off it is dynamic
Object all-terrain vehicle, by design camera shooting acquisition system, infrared detection system and ultrasonic wave detecting system in all-terrain vehicle come
The presence for detecting animal guides the positioning route of landform vehicle mobile and guides the drug of vehicle body in the shortest distance by control system
Injecting systems send out drug poison needle and kill animal, while the species growth image in full wafer forest land is completed by camera shooting acquisition system
Acquisition and dead animal corpse Image Acquisition are simultaneously collected to make syringe complete corpse sample information come for the piece by manipulator
The species in location analyze offer condition.
The technical solution adopted by the present invention is：A kind of agricultural kill off pest and disease damage all-terrain vehicle, it is characterised in that including：Vehicle body
Frame, intelligent wheel, manipulator, camera, infrared detecting device, ultrasonic detection device, medicament injection apparatus, solar-electricity
Pond plate, control system, manipulator, camera, infrared detecting device, ultrasonic detection device, drug test device are arranged at
On body shell, the top light receiving position in body shell, manipulator, camera, infrared detection dress is arranged in solar panel
It sets, ultrasonic detection device, medicament injection apparatus, solar panel are connect with control system；Design is on body shell
Camera and infrared detecting device and ultrasonic detection device can detect in real time forest land animal presence and position, and
Complete movement and the navigation work of landform vehicle by control system, landform vehicle by under the instruction of control system to nearby being deposited
Animal send out the malicious needle of medicament injection apparatus and kill animal, while camera will collect the corpse image of dead animal
And the growth image of species and it is transmitted to control system in forest land, guide manipulator to be injected by itself front end by control system
Device completes the collection of dead corpse blood sample tissue, and condition is provided for further research species and physiological status.
Further, the landform vehicle uses unmanned design, to adapt to the road environment of different terrain degree section, landform
The wheel design of vehicle uses eight wheel type designs, and the left and right end of the intelligence wheel is respectively four wheels, each connect with vehicle body
Support element connect two wheels, intelligent wheel can carry out the lifting of wheel automatically with contraction to ensure ground according to road of ground surface shape
The safety traffic of shape vehicle realizes that the driving path of the landform vehicle and the path planning of manipulator are passed through by control system with function
Camera and the animal location information of infrared detecting device and ultrasonic detection device detection are by being calculated optimal path
Controlling the movement of landform vehicle and the manipulation of manipulator, the internal work system of the all-terrain vehicle is identical as general car body, turn
It is connect to system, dynamical system, brake system with microcontroller, work system is controlled by microcontroller.
Further, camera is arranged at the vehicle body of landform vehicle, and camera is supported damping by holder, passes through
Support element is connect with vehicle body, which can carry out comprehensive acquisition to the location image, which can realize to endangering agriculture
The animal location drawing picture acquisition of woods growth, including the animal location drawing picture of viewable portion and animal hole carry out upload of taking pictures, can
Location drawing picture is transferred to control system to realize that location information captures, camera can also acquire the figure of the spoil in forest land
As acquisition, image information is transmitted to control terminal in real time, control terminal is by the image information sent out according to camera come control machinery arm
Work, in addition, camera the image on abnormal plant growth ground and position can also be acquired and upload to control system come
Preferably studied for the prevention of crop pathology and upgrowth situation.
Further, on vehicle body, infrared detecting device can pass through for infrared detecting device and ultrasonic detection device design
The animal information that infrared ray comes in detection accessory forest land is sent out, ultrasonic detection device can be measured dynamic by acoustic location function
The presence of object and position information, the setting of the two can effectively make up the unicity of camera information acquisition, infrared detection
The location information of animal can be transferred to control system to complete the path planning of landform vehicle by device and ultrasonic detection device,
In addition, ultrasonic detection device can also send out certain sound wave, ultrasonic detection device can be sent out not according to different species
The sound wave of same frequency, the animal which is placed in crisis to the plant growth in hole in the ground primarily directed to a part are designed
, the sound wave by sending out different frequency can capture animal by being resurrected in hole in the ground.
Further, the medicament injection apparatus designs on vehicle body, and the medicament injection apparatus is by support revolving part, height
Compression pump, injection pusher, injection nozzle, rotary drum poison needle plant disk, drug poison needle composition, and malicious needle is planted in disk and is provided with ring
Many malicious needles of shaped position, the operation principle of the medicament injection apparatus is mainly that the original of bullet is changed by mechanical thrust and revolver
It manages to realize, injection pusher is connected by revolving part, and revolving part is connect with microcontroller, is controlled by the prior art by microcontroller
The work of revolving part processed can carry out angle transfer according to the information of different location and height adjusts, when medicament injection apparatus obtains
After animal location information from control system, control system will control high-pressure pump and discharge an impulse force on injection pusher
It front poison needle is planted into corresponding drug poison needle on disk issues to benumb animal from injection nozzle and kill, and plant its on disk
The malicious needle of its position will not be sent out, and the high-pressure pump of control system control later no longer works, and injection pusher is turned back to original position again
It sets.
Further, it is planted in rotary drum poison needle and is provided with drug poison needle on disk, which plants disk in malicious needle
Transmitting mainly change the principle of bullet using revolver to realize, after a malicious needle transmitting, rotary drum poison needle plants disk meeting again
The turntable of itself is rotated by next malicious needle alignment injection pusher, the target of next transmitting position is waited for carry out malicious needle
Transmitting.
Further, the manipulator is arranged on vehicle body, which mainly completes spoil blood sample tissue
The collection of sample, which plants disk by hand syringe, rotary drum syringe, movement rotating mechanism forms, in rotary drum
Syringe plants the syringe that different groove positions are provided on disk, has number designation on each card slot, when camera acquires
To dead corpse image and be sent to control system, control system will according to image information be manipulator calculate optimum position
Path planning come guide the syringe of manipulator top design complete dead corpse every tissue samples such as blood sample collection, should
The blood sample of part injector is drawn the clamping mainly by manipulator and is completed with flexible parts, by the clamping parts of manipulator Lai
The steady operation for completing syringe, the movement rotating mechanism by the way that manipulator is arranged such as lift, stretch, rotate at the self-movements side
The 6DOF of formula makes syringe draw blood sample to complete flexible parts.
Further, after a syringe completes blood sample collection, card slot label number can carry out recording and sending to control
System processed, and rotary drum syringe plants disk and syringe can be received to the syringe to have worked by the flexible parts of manipulator
It is reduced to and plants in disk, without influencing the work of other syringes, while planting disk again and can be changed by revolver bullet principle will be next
A syringe rotates the collection that next dead animal blood sample is waited for flexible parts front end, and the job control of manipulator is main
It is to be completed by control system, microcontroller is by existing science and technology come the control of the motor to each degree of freedom of manipulator
System, to complete specific action of manipulator, including rotating forward, reversion and rotating speed for controlling motor etc. further allocates manipulator
Work reach better working effect, while microcontroller receives the image information of cam feedback, forms stable close
Ring controls.
Further, the power supply system of the present apparatus is provided by the self-powered and solar panel of landform vehicle, in vehicle body
Light part vehicle body is designed using solar panel, solar panel can by convert the solar into electric energy come for
The invention device provides part electric energy, and electric energy is provided for the vehicle together with interior power supply.
Further, the control system of the invention device includes wireless communication module, microcontroller, handheld terminal, PC data terminals,
Wireless communication module realizes that wireless communication module carries out data information exchange with microcontroller and passes using the prior art
It is defeated to arrive handheld terminal and the high in the clouds PC, further promote that data exchange can be carried out between microcontroller and handheld terminal and the high in the clouds PC, holds
The setting at end and the ends PC will effectively improve the ability of control system data processing, which is mainly the position of finishing device
Information and image information collect and are that optimal selection is made in the path movement of the path planning and manipulator of device, are completed at the same time pair
The growth analysis of crop species, the data information of various animals is provided in the control system, which can realize the dress
That sets kills off the selection of animal, catches and kills selection by data analysis to carry out animal, the Drug device of the device is incited somebody to action only can be right
The animal for endangering agricultural growth is worked, without generating harm to the animal and people that are conducive to agricultural growth.
A kind of agricultural kill off animal all-terrain vehicle, and control method includes the following steps：
Step 1：The camera being arranged in all-terrain vehicle collects animal painting information existing for agricultural section, and information is transmitted
To control system, the infrared detecting device being arranged in all-terrain vehicle detects existing near location move by sending out infrared thermal sensation
Object information, transfers information to control system, the ultrasonic detection device being arranged in all-terrain vehicle by send out ultrasonic wave come
The information for detecting animal, control system is sent to by the information.
Step 2：Ultrasonic detection device can send out different-waveband in the animal information for detecting hole in the ground by itself
Ultrasonic wave preferably carries out animal to kill off capture in turn to promote the animal in hole in the ground to flee from hole in the ground.
Step 3：By control system the camera for receiving detection device image information and infra-red ray detection device
After the location information that the animal information and ultrasonic detection device detected detects, control system is moved comprehensive detection device
Object location information show that the animal of the best path move mode progress next step of all-terrain vehicle kills off by calculating.
Step 4：Medicament injection apparatus on landform vehicle is set after obtaining the location information of animal, it will be automatically according to disease
The location information of insect pest carries out the adjustment of angle and height, most preferably kill off animal apart from when, medicament injection apparatus will be to this
The animal injection drug poison needle of position kills animal.
Step 5：Camera can acquire the growth image of the crops of agricultural section in real time, which will be straight
It connects and is transmitted to control system and carries out processing delivery, so that the symptom to species growth and plant physiology is prevented in time, this
Outside, camera can carry out the species of the section death image photographic acquisition, and the animal location information is transmitted to control system
The location information of dead animal can be carried out processing and be transferred to landform vehicle by system, control system.
Step 6：Control system moves the path for directly controlling landform vehicle, while direction movement and the angle of control machinery hand
Degree transfer, manipulator is by some animal specimen information such as the blood samples for acquiring dead animal by the syringe at top, so as to right
Species growth and the pathology prevention in the region provide study condition.
Step 7：In the whole work process of all-terrain vehicle, the electric energy offer of landform vehicle comes from itself electric energy and the sun
Can solar panel provide.
Compared with prior art, the present invention has the following advantages：1, the present apparatus uses camera shooting in animal position detection
Acquisition technique, infrared thermal sensation technology, ultrasonic wave principle have carried out animal information acquisition and position detection, and design structure is tight, make
It is good with effect；2, animal killing can be carried out by injecting drug poison needle, reduces conventional medicament sprinkling and carries out killing off animal
Pesticide use, animal kill off more thoroughly, are grown to agricultural more beneficial；3, by the image information collecting of camera and manipulator with
And the use of syringe, preferably farm-forestry crop is effectively detected, good condition is provided to research agricultural species；
4, device can largely reduce Pesticide use, be also added into solar energy in electric energy offer, environmental protection and economy is energy saving.
Description of the drawings
Fig. 1 is the overall structure figure of apparatus of the present invention；
Fig. 2 is the medicament injection apparatus structure chart of apparatus of the present invention；
Fig. 3 is the robot manipulator structure figure of apparatus of the present invention；
Fig. 4 is the system work block diagram of apparatus of the present invention；
Fig. 5 is the work block diagram of the control system of apparatus of the present invention；
Fig. 6 is the system circuit diagram of apparatus of the present invention；
Fig. 7 is the solar panel circuit diagram of apparatus of the present invention；
Fig. 8 is that the microcontroller of apparatus of the present invention controls the circuit diagram of motor.
Specific implementation mode
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the invention will be further described.It should be understood that these descriptions are exemplary, and it is not intended to limit the present invention
Range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this hair is unnecessarily obscured
Bright concept.
Please refer to Fig.1-4, a kind of agricultural kill off animal all-terrain vehicle, it is characterised in that including：Body shell 1, intelligent vehicle
Wheel 2, manipulator 3, camera 4, infrared detecting device 5, ultrasonic detection device 6, medicament injection apparatus 7, solar panel
8, control system, manipulator 3, camera 4, infrared detecting device 5, ultrasonic detection device 6, drug test device 7 are respectively provided with
On body shell 1, solar panel 8 is arranged the top light receiving position in body shell 1, manipulator 3, camera 4, infrared
Detection device 5, ultrasonic detection device 6, medicament injection apparatus 7, solar panel 8 are connect with control system；Design exists
Camera 4 and infrared detecting device 5 and ultrasonic detection device 6 on body shell 1 can detect the animal in forest land in real time
Presence and position, and by control system come complete landform vehicle movement and navigation work, landform vehicle will be in control system
The malicious needle that medicament injection apparatus 7 is sent out to nearby existing animal under instruction kills animal, while camera 4 will collect
The growth image of species and it is transmitted to control system in the corpse image of dead animal and forest land, machinery is guided by control system
Hand 3 completes the collection of dead corpse blood sample tissue by itself front end syringe, for further research species and physiological status
Offer condition.
The landform vehicle uses unmanned design, to adapt to the road environment of different terrain degree section, the wheel 2 of landform vehicle
Design uses eight wheel type designs, and the left and right end of the intelligence wheel 2 is respectively four wheels 2, each support being connect with vehicle body 1
Part connects two wheels 2, and the lifting that intelligent wheel 2 can carry out wheel automatically according to road of ground surface shape ensures landform vehicle with contraction
Safety traffic and function realize that the driving path of the landform vehicle and the path planning of manipulator 3 are by control system by taking the photograph
As first 4 and the animal location information that detects of infrared detecting device 5 and ultrasonic detection device 6 by the way that optimal path is calculated
Come control landform vehicle movement and manipulator 3 manipulation, the internal work system of the all-terrain vehicle is identical as general car body, turn
It is connect to system, dynamical system, brake system with microcontroller, work system is controlled by microcontroller.
Camera 4 is arranged at the vehicle body 1 of landform vehicle, and camera 4 is supported damping by holder, passes through support element
It is connect with vehicle body 1, which can carry out the location image comprehensive acquisition, which can realize to endangering agricultural life
Long animal location drawing picture acquisition, including the animal location drawing picture of viewable portion and animal hole carry out upload of taking pictures, can be by position
Image transmitting is set to control system to realize that location information captures, camera 4 can also acquire the image of the spoil in forest land
Acquisition transmits image information to control terminal in real time, and control terminal is by the image information sent out according to camera 4 come control machinery arm 3
Work, in addition, camera 4 image on abnormal plant growth ground and position can also be acquired and upload to control system come
Preferably studied for the prevention of crop pathology and upgrowth situation.
On vehicle body 1, infrared detecting device 5 can be red by sending out for infrared detecting device 5 and the design of ultrasonic detection device 6
Outside line carrys out the animal information in detection accessory forest land, and ultrasonic detection device 6 can measure animal by acoustic location function
In the presence of and position information, the setting of the two can effectively make up the unicity of 4 information collection of camera, infrared detecting device
5 and ultrasonic detection device 6 the location information of animal can be transferred to control system to complete the path planning of landform vehicle, this
Outside, ultrasonic detection device 6 can also send out certain sound wave, and ultrasonic detection device 6 can be sent out not according to different species
The sound wave of same frequency, the animal which is placed in crisis to the plant growth in hole in the ground primarily directed to a part are designed
, the sound wave by sending out different frequency can capture animal by being resurrected in hole in the ground.
The medicament injection apparatus 7 designs on vehicle body 1, and the medicament injection apparatus 7 is by support revolving part 701, high pressure
Air pump 702, injection pusher 703, injection nozzle 704, rotary drum poison needle plant disk 705, drug poison needle 706 forms, and malicious needle is inserted
Many malicious needles 706 that annular location is provided on disk 705 are set, the operation principle of the medicament injection apparatus 7 mainly passes through machinery
Thrust and revolver change the principle of bullet to realize, injection pusher 703 is connected by revolving part 701, revolving part 701 and monolithic
Machine connects, and controls the work of revolving part 701 by the prior art by microcontroller, can carry out angle according to the information of different location
Transfer and height adjust, and after medicament injection apparatus 7 obtains the animal location information from control system, control system will control
High-pressure pump 702 discharges an impulse force and front poison needle is planted corresponding drug poison needle on disk 705 on injection pusher 703
706 issue from injection nozzle 704 by animal paralysis killing, and the malicious needle 706 for planting the other positions on disk 705 will not be sent out
Go out, the high-pressure pump 702 of control system control later no longer works, and injection pusher 703 is turned back to original position again.
It is planted in rotary drum poison needle and is provided with drug poison needle 706 on disk 705, which plants disk 705 in malicious needle
706 transmitting mainly changes the principle of bullet to realize using revolver, and after a malicious needle 706 emits, rotary drum poison needle is planted
Disk 705 can rotate the turntable 705 of itself by the next malicious alignment of needle 706 injection pusher 703 again, wait for next transmitting position
Target carry out the transmitting of malicious needle 706.
The manipulator 3 is arranged on vehicle body 1, which is mainly to complete spoil blood sample tissue samples
It collects, which plants disk 302 by hand syringe 301, rotary drum syringe, movement rotating mechanism 303 forms, and is turning
Drum-type syringe plants the syringe 301 that different groove positions are provided on disk 302, has number designation on each card slot, when
Camera 4 collects the image of dead corpse and is sent to control system, and control system will be that manipulator 3 is counted according to image information
Every tissues such as the blood sample of the dead corpse of syringe completion for calculating optimum position path planning to guide 3 top design of manipulator
The collection of sample, the blood sample of the part injector 301 are drawn the clamping mainly by manipulator 3 and are completed with flexible parts, by
The clamping parts of manipulator 3 complete the steady operation of syringe 301, by the movement rotating mechanism 303 that manipulator 3 is arranged
The 6DOF of the self-movements mode such as lifting, flexible, rotation makes syringe 301 inhale blood sample to complete flexible parts
It takes.
After a syringe 301 completes blood sample collection, card slot label number can carry out recording and sending to control system,
And rotary drum syringe plant disk 302 can will the syringe 301 that work by the flexible parts of manipulator 3 by syringe
301 are retracted to and plant in disk 302, and without influencing the work of other syringes 301, while it is former to plant disk again and can be changed by revolver bullet
Reason rotates next syringe 301 to flexible parts front end, waits for the collection of next dead animal blood sample, manipulator 3
Job control mainly completed by control system, microcontroller is by existing technology come each freely to manipulator 3
The control of the motor of degree, to complete specific action of manipulator 3, including rotating forward, reversion and the rotating speed of control motor etc. into one
Step reaches better working effect to allocate the work of manipulator 3, while microcontroller receives the image letter that camera 4 is fed back
Breath, forms stable closed-loop control.
The power supply system of the present apparatus is provided by the self-powered and solar panel of landform vehicle, in the acceptance part of vehicle body 1
Point vehicle body is designed using solar panel 8, solar panel 8 can be by converting the solar into electric energy come for the invention
Device provides part electric energy, and electric energy is provided for the vehicle together with interior power supply.
The control system of the invention device includes wireless communication module, microcontroller, handheld terminal, PC data terminals, wireless telecommunications
Module realizes that wireless communication module carries out data information exchange with microcontroller and is transferred to hand-held using the prior art
End and the high in the clouds PC, further promote that data exchange can be carried out between microcontroller and handheld terminal and the high in the clouds PC, handheld terminal and the ends PC
Setting will effectively improve the ability of control system data processing, which is mainly the location information and figure of finishing device
As information collect and be device path planning and manipulator 3 path movement make optimal selection, be completed at the same time to crop object
Kind growth analysis, the data information of various animals is provided in the control system, which can realize removing for the device
The selection for killing animal catches and kills selection by data analysis to carry out animal, and the Drug device 7 of the device is incited somebody to action only can be to endangering agriculture
The animal of woods growth is worked, without generating harm to the animal and people that are conducive to agricultural growth.
Fig. 5-7 is please referred to, system circuit diagram of the invention includes：Clock circuit, reset circuit, 6 electricity of supersonic detector
Road, 4 circuit of simulation camera, microcontroller, infrared inductor 5,3 analog circuit of manipulator, 7 analog circuit of syringe, serial ports are logical
Believe circuit, 8 circuit of solar panel.Microcontroller model AT89C51 used in the system, 4 model OV6620 of camera, heat
It is PIR to release electric infrared sensor 5, and manipulator 3 is made of two direct current generators, syringe 7 direct current generator, direct current generator by
L298 is connected with microcontroller, all motors of the present apparatus and the connection type of microcontroller such as Fig. 7, and microcontroller 7 passes through
Existing science and technology controls motor.Camera 4 is that OV6620 is connected with P1.0-P1.7 respectively by eight switches,
To simulate eight inputs of camera 4.Pyroelectric infrared sensor 5, which is PIR, can detect whether biology nearby, will detect
To information microcontroller be transmitted to by signal amplification circuit handled.Ultrasonic detector 6 is by emitting portion and receiving part
It is divided into two parts composition.The square wave that 40kHz is generated by mcu programming is exported by P3.6 mouthfuls, using amplifying circuit, driving ultrasound
Wave transmitting probe emits ultrasonic wave.The ultrasonic wave launched receives head after barrier reflects, by ultrasonic wave and receives
Signal is sent by detection amplification, integral shaping and a series of processing of receiving circuit to microcontroller.Microcontroller utilizes sound wave
Spread speed and transmitting pulse calculate the distance of pest and disease damage to the time interval for receiving reflected impulse.It is used in radiating circuit
74HC04 integrated chips, 74HC04 are made of 6 reversers, play the function of amplification.Then LM741 is used to dock in receiving circuit
The signal received is amplified, then singlechip interruption mouth is output to after diode shaping.Microcontroller will be released by camera 4, heat
Electric infrared sensor 5, ultrasonic sensor 6 transmit the electric signal come and are handled, and behind the position for confirming animal, control syringe
7（It can positive and negative rotation direct current generator）Transmitting poison keeps pest lethal.After confirming animal dead, microcontroller transmits signal controlling machine tool hand
3（Two the left and right of control machinery hand 3 and can be moved forward and backward respectively with the dc motor of positive and negative rotation）Dead syringe（301）Into
The blood sample collection of the corpse of row animal pest.Below to the reset circuit in this system circuit, serial communication circuit, solar-electricity
Pond plate circuit illustrates：
Reset circuit：In order to ensure that microcontroller is run, increase reset circuit to microcontroller.Reset circuit has following functions：It powers on
Reset can reset internal storage；Synchronize inside and outside clock signal；Voltage fluctuation or it is unstable when, reset circuit is given
Circuit delay is until circuit stability；Microcontroller is set to restore normal operating condition by reset circuit when program malfunctions.
Serial communication circuit：Serial communication circuit is usually used in the data that computer obtains remote collection, which connects
It receives and wireless telecommunications is mainly realized by serial ports with transmission, the realization of wireless communication technique is using the prior art, the nothing
Line communication module one end is connect with microcontroller, the high in the clouds PC of one end and computer and handheld terminal connection, the ends PC and handheld terminal
The data information handled from microcontroller is received, the setting of handheld terminal can be collected data information the behaviour convenient for user
Make, the control of the device will be preferably realized in the setting in the high in the clouds PC by data receiver effectively realizes that teledata is converted
System makes the transmission that data can be achieved between computer and handheld terminal and microcontroller download by the setting of wireless communication module,
And then realize the information-based exchange of data module.MAX232 is level shifter interface, and the computer RS232 of COMPIM, that is, standard connects
Mouthful.The signal that microcontroller is sent out by RS232 interface after MAX232 switching levels through being transferred to computer.
8 circuit of solar panel：The model LT1073, A of figure chips are solar panel 8.Solar energy in figure
Solar panel A provides 6V voltages.LT1073 detects charging current via resistance R6, and 16 milliamperes of charging electricity is maintained in accumulator
Stream.There is low-voltage analyzer in LT1073, in the near 4V of the output voltage of solar panels 8, LT1073 will be switched off charging circuit,
And it can continue to charge the battery when voltage is raised to 5V.
The operation principle of this system circuit is：The animal pests frame that location is collected by camera 4, will clap
The image taken the photograph, which is sent to microcontroller, to be handled, and pyroelectric infrared sensor 5, which is PIR, can detect whether biological presence, will
The information detected is transmitted to microcontroller by signal amplification circuit and is handled, and ultrasonic detection device 6 sends out ultrasonic wave letter
Number, microcontroller using sound wave spread speed and transmitting pulse to reception reflected impulse time interval calculate pest and disease damage away from
From, microcontroller by by camera 4, pyroelectric infrared sensor 5, ultrasonic sensor 6 transmit Lai electric signal handle, really
After recognizing the position of animal pest, syringe 7 is controlled（It can positive and negative rotation direct current generator）Transmitting poison keeps animal pest lethal.Confirm dynamic
After object pest death, microcontroller transmits signal controlling machine tool hand 3（Two can distinguish control machinery with the dc motor of positive and negative rotation
It the left and right of hand and moves forward and backward）Syringe carry out animal pest corpse blood sample collection.
It should be understood that the above-mentioned specific implementation mode of the present invention is used only for exemplary illustration or explains the present invention's
Principle, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into attached claim scope and boundary or this range and the equivalent form on boundary and is repairing
Change example.
Claims (8)
1. a kind of agricultural kill off animal all-terrain vehicle, it is characterised in that including：Body shell（1）, intelligent wheel（2）, manipulator
（3）, camera（4）, infrared detecting device（5）, ultrasonic detection device（6）, medicament injection apparatus（7）, solar panel
（8）, control system, manipulator（3）, camera（4）, infrared detecting device（5）, ultrasonic detection device（6）, drug test dress
It sets（7）It is arranged at body shell（1）On, solar panel（8）It is arranged in body shell（1）Top light receiving position, machine
Tool hand（3）, camera（4）, infrared detecting device（5）, ultrasonic detection device（6）, medicament injection apparatus（7）, solar-electricity
Pond plate（8）It is connect with control system；Design is in body shell（1）On camera（4）And infrared detecting device（5）And it is super
Acoustic detector（6）Presence and the position of the animal in forest land can be detected in real time, and landform vehicle is completed by control system
Movement and navigation work, landform vehicle will send out medicament injection apparatus to nearby existing animal under the instruction of control system
（7）Malicious needle animal is killed, while camera（4）By the life of species in the corpse image and forest land that collect dead animal
Long image is simultaneously transmitted to control system, and manipulator is guided by control system（3）Dead corpse is completed by itself front end syringe
The collection of body blood sample tissue provides condition for further research species and physiological status.
2. a kind of agricultural according to claim 1 kill off animal all-terrain vehicle, it is characterised in that：The landform vehicle uses nothing
People drives design, to adapt to the road environment of different terrain degree section, the wheel of landform vehicle（2）Design uses eight wheel type designs, should
Intelligent wheel（2）Left and right end be respectively four wheels（2）, each and vehicle body（1）The support element of connection connects two wheels
（2）, intelligent wheel（2）The lifting that can carry out wheel automatically according to road of ground surface shape ensures the safety traffic of landform vehicle with contraction
It is realized with function, the driving path and manipulator of the landform vehicle（3）Path planning camera is passed through by control system（4）With
Infrared detecting device（5）And ultrasonic detection device（6）The animal location information of detection by be calculated optimal path come
Control movement and the manipulator of landform vehicle（3）Manipulation, the internal work system of the all-terrain vehicle is identical as general car body, turn
It is connect to system, dynamical system, brake system with microcontroller, work system is controlled by microcontroller.
3. a kind of agricultural according to claim 1 kill off animal all-terrain vehicle, it is characterised in that：Camera（4）Setting exists
The vehicle body of landform vehicle（1）Place, camera（4）It is supported damping by holder, passes through support element and vehicle body（1）Connection, should
Camera（4）Comprehensive acquisition, the camera can be carried out to the location image（4）The animal position to endangering agricultural growth can be achieved
Image Acquisition is set, including the animal location drawing picture of viewable portion and animal hole carry out upload of taking pictures, and can transmit location drawing picture
Realize that location information captures to control system, camera（4）Also the Image Acquisition of the spoil in forest land can be acquired, in real time
Image information is transmitted to control terminal, control terminal will be according to camera（4）The image information sent out carrys out control machinery arm（3）Work
Make, in addition, camera（4）The image on abnormal plant growth ground and position can also be acquired and upload to control system to come more
Good is that the prevention of crop pathology and upgrowth situation are studied.
4. a kind of agricultural according to claim 1 kill off animal all-terrain vehicle, it is characterised in that：Infrared detecting device（5）
And ultrasonic detection device（6）Design is in vehicle body（1）On, infrared detecting device（5）It can be by sending out infrared ray come detection accessory
Animal information in forest land, ultrasonic detection device（6）Presence and the place of animal can be measured by acoustic location function
The setting of location information, the two can effectively make up camera（4）The unicity of information collection, infrared detecting device（5）And ultrasound
Wave detection device（6）The location information of animal can be transferred to control system to complete the path planning of landform vehicle, in addition, super
Acoustic detector（6）Certain sound wave, ultrasonic detection device can also be sent out（6）Difference can be sent out according to different species
The sound wave of frequency, the information of acoustic wave are designed primarily directed to the animal of a part of crisis for being placed in hole in the ground to plant growth,
Sound wave by sending out different frequency can capture animal by being resurrected in hole in the ground.
5. a kind of agricultural according to claim 1 kill off animal all-terrain vehicle, it is characterised in that：The drug injection dress
It sets（7）Design is in vehicle body（1）On, the medicament injection apparatus（7）By support revolving part（701）, high-pressure pump（702）, injection push away
Dynamic device（703）, injection nozzle（704）, rotary drum poison needle plant disk（705）, drug poison needle（706）Composition, malicious needle plant disk
（705）Inside it is provided with many malicious needles of annular location（706）, the medicament injection apparatus（7）Operation principle mainly pass through machine
Tool thrust and revolver change the principle of bullet to realize, inject pusher（703）Pass through revolving part（701）Connection, revolving part
（701）It is connect with microcontroller, revolving part is controlled by the prior art by microcontroller（701）Work, can be according to different location
Information carry out angle transfer and height adjust, work as medicament injection apparatus（7）Obtain the animal location information from control system
Afterwards, control system will control high-pressure pump（702）An impulse force is discharged in injection pusher（703）On by front poison needle plant disk
（705）Upper corresponding drug poison needle（706）From injection nozzle（704）It issues to benumb animal and kill, and plant disk（705）On
Other positions malicious needle（706）It will not send out, control system controls high-pressure pump later（702）It no longer works, injection pushes
Device（703）It is turned back to original position again.
6. a kind of agricultural according to claim 1 kill off animal all-terrain vehicle, it is characterised in that：It is planted in rotary drum poison needle
Disk（705）On be provided with drug poison needle（706）, rotary drum poison needle plant disk（705）In malicious needle（706）Transmitting mainly apply
Revolver changes the principle of bullet to realize, in a malicious needle（706）After transmitting, rotary drum poison needle plants disk（705）It can rotate again
The turntable of itself（705）By next malicious needle（706）Alignment injection pusher（703）, wait for the target of next transmitting position
To carry out malicious needle（706）Transmitting.
7. a kind of agricultural according to claim 1 kill off animal all-terrain vehicle, it is characterised in that：The power supply system of the present apparatus
It is provided by the self-powered and solar panel of landform vehicle, in vehicle body（1）Light part use solar panel（8）Come
Design vehicle body, solar panel（8）Part electric energy can be provided for the invention device by converting the solar into electric energy, with
Interior power supply provides electric energy for the vehicle together.
8. a kind of agricultural according to claim 1 kill off animal all-terrain vehicle, it is characterised in that：The control of the invention device
System includes wireless communication module, microcontroller, handheld terminal, PC data terminals, and wireless communication module comes using the prior art
It realizes, wireless communication module carries out data information exchange with microcontroller and is transferred to handheld terminal and the high in the clouds PC, further promotes list
Data exchange can be carried out between piece machine and handheld terminal and the high in the clouds PC, handheld terminal and the setting at the ends PC will effectively improve control system
The ability of data processing, which is mainly the location information of finishing device and the path of device is collected and be to image information
Planning and manipulator（3）Path movement make optimal selection, be completed at the same time the growth analysis to crop species, the control system
It is inside provided with the data information of various animals, which can realize the selection for killing off animal of the device, pass through data point
Analysis catches and kills selection, the Drug device of the device to carry out animal（7）It can only will work to the animal for endangering agricultural growth, and
Harm will not be generated to the animal and people for being conducive to agricultural growth.
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| CN201810356102.5A CN108477130B (en) | 2018-04-19 | 2018-04-19 | Agriculture and forestry remove and kill animal all terrain vehicle |
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| CN201810356102.5A CN108477130B (en) | 2018-04-19 | 2018-04-19 | Agriculture and forestry remove and kill animal all terrain vehicle |
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| CN108477130A true CN108477130A (en) | 2018-09-04 |
| CN108477130B CN108477130B (en) | 2021-06-25 |
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