CN109526923A - One plant intelligence spray robot - Google Patents
One plant intelligence spray robot Download PDFInfo
- Publication number
- CN109526923A CN109526923A CN201811570446.2A CN201811570446A CN109526923A CN 109526923 A CN109526923 A CN 109526923A CN 201811570446 A CN201811570446 A CN 201811570446A CN 109526923 A CN109526923 A CN 109526923A
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- China
- Prior art keywords
- control module
- plant
- automatically controlled
- image capture
- spray
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/006—Mounting of the nozzles
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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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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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)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to plant intelligence spray robots, without manually lower ground operation, its cleverly mechanical structure and layout design, comparing it with existing machine has the characteristics that structure is simple, operation is easy, saves cost, is suitable for spraying to the arbors plant such as apple plants, pear tree, cherry, improves spray drug operation safety, reduce spray cost, spray effect and spray efficiency are improved, vinyl house, orchard etc. is suitble to make the integrated control of pest and disease damage under substance environment, application prospect is extensive.
Description
Technical field
The present invention relates to plant intelligence spray robots, belong to agricultural plant protection technical field.
Background technique
In plant growing process, crops need to spray often, and tradition spray mostly uses greatly backpack, this mode
A large amount of labours are not only needed, but also spraying efficiency is low, application is uneven and medical fluid is huge to the injury of human body, working efficiency pole
It is low.Spray robot currently on the market, mostly bulky, and it is expensive.For large stretch of farmland, existing robot energy
Enough accomplish uniformly to spray, but for single plant, especially for the arbors plant such as apple plant, pear tree, cherry, existing spray
Robot cannot ensure that the tree crown Omnibearing even of single plant by medicine, causes the pesticide supplying effect of existing spray robot not show
It writes.
Summary of the invention
Technical problem to be solved by the invention is to provide one kind to be able to solve problem present in existing spray robot, energy
Omnibearing even spray enough is realized for single plant plant, significantly improves the plant intelligence spray robot of effect of spraying pesticide.
In order to solve the above-mentioned technical problem the present invention uses following technical scheme: the present invention devises a plant and intelligently sprays
Medicine robot realizes automated detection, spray operation for being directed to plant to be sprayed；Scheme including control module, plant to be sprayed
As locating module, driving device carrier, lifting device, positioning device, pressure pump device, it is automatically controlled push away stretch device, the first image is caught
Obtain device, the second image capture apparatus, third image capture apparatus, explosive box, middleware, communication device, two arc frames, two
A diameter regulator, at least two spray heads；
Wherein, driving device carrier is connected with control module, driving device carrier under the control of control module, realize
Multi-direction movement, explosive box are fixedly installed on driving device carrier, and water inlet is arranged in explosive box upper surface；Control module, to
Spray plant framing module, communication device are set on explosive box, and control module is connected with communication device, positioning device
For realizing the positioning of driving device carrier, positioning device is connected with control module；Lifting device is fixedly installed on storage vertically
The upper surface of medicine-chest, the first image capture apparatus is set to the top of lifting device, and the image of the first image capture apparatus is caught
It obtains direction and the positive direction of advance of driving device carrier is in the same direction；Lifting device is connected with control module, and lifting device is being controlled
Under the control of molding block, realize its working end moving up and down in the vertical direction, and the working end institute of lifting device is towards side
To in the same direction with the positive direction of advance of driving device carrier；Automatically controlled push away stretches device and is connected with control module, and automatically controlled push away stretches device
It is mutually fixedly connected with the working end of lifting device, it is automatically controlled to push away the just side of marching forward for stretching the mobile terminal direction driving device carrier of device
To and automatically controlled push away stretches the movement routine of device mobile terminal in horizontal attitude, and automatically controlled push away stretches device and be connected with control module, automatically controlled
It pushes away and stretches the mobile terminal of device and be moved forward and backward with the control of control module；
Automatically controlled push away is stretched the mobile terminal of device and is mutually fixedly connected with the midpoint of middleware side, and middleware is in horizontal appearance
State, the both ends of middleware pass through diameter regulator, respectively movable wherein one end for docking each arc frame, middleware and two respectively
Root arc frame three is coplanar, and the arc shaped inside of two arc frames is toward each other；Second image capture apparatus, third image capture
Device is respectively arranged on one end on two arc frames far from middleware, and the image capture side of the second image capture apparatus
The arc shaped inside area of arc frame set by it is directed to the image capture direction of, third image capture apparatus；First image capture
Device, the second image capture apparatus, third image capture apparatus are connected with plant framing module to be sprayed respectively, to be painted
Medicine plant framing module realizes the positioning for treating spray plant, wait spray according to the acquired image of each image capture apparatus
Plant framing module is connected with control module；Each spray head is evenly distributed the arc shaped inside face for being set to two arc frames
On, and the output end of each spray head is directed to the arc shaped inside region of its set arc frame；Pressure pump device is set to explosive box
On, the input terminal of pressure pump device docks explosive box inner space, realizes the acquisition of medical fluid, the output end of pressure pump device passes through
Pipeline successively docks the input terminal of each spray head, and pressure pump device is connected with control module, real under the control of control module
Now work.
As a preferred technical solution of the present invention: automatically controlled push away stretches device and includes tooth plate, automatically controlled push rod device, pushes away
Plate and at least one gear support device；Wherein, the surface of tooth plate is rectangle, wherein one end of tooth plate and the work of lifting device
Make end to be mutually fixedly connected, tooth plate is in horizontal attitude, and the tooth plate other end is directed toward the positive direction of advance of driving device carrier；It is automatically controlled
The motor of push rod device is connected with control module, and the motor of automatically controlled push rod device is fixedly installed on tooth plate upper surface, docking rises
The side of falling unit working end, and the push rod mobile terminal of automatically controlled push rod device is horizontally directed to the just side of marching forward of driving device carrier
To；On the two sides of the non-automatically controlled push rod device motor setting area in tooth plate upper surface, tooth socket rail, and twice tooth socket rail is respectively set
Specification is mutually the same；The length of push plate is greater than the length of the non-automatically controlled push rod device motor setting area in tooth plate upper surface, push plate
Width is no more than the spacing between two tooth socket rails on tooth plate；The push rod mobile terminal phase of wherein one end of push plate and automatically controlled push rod device
It is fixedly connected, push plate is in horizontal attitude, and the other end of push plate is directed toward the positive direction of advance of driving device carrier；Each gear support
Device includes rotation axis and two gears respectively, and each horizontal through-hole for running through its two sides, through-hole are respectively set in push plate
Quantity it is equal with the quantity of gear support device, and the internal diameter of through-hole be greater than gear support device in rotation axis outer diameter, with
And the center line of each through-hole is perpendicular with the positive direction of advance of driving device carrier, each gear support device respectively with push plate
The quantity of upper each through-hole corresponds, and the rotation axis in each gear support device is each passed through the correspondence through-hole in push plate, and each
The both ends of rotation axis are located at the two sides of corresponding through-hole, and two gears in each gear support device butt up against corresponding turn respectively
The both ends of moving axis；Two gears in each gear support device are mutually engaged with the tooth socket rail of corresponding position on tooth plate respectively；Push plate
The other end be mutually fixedly connected with the midpoint of middleware side.
As a preferred technical solution of the present invention: the diameter regulator includes rotary electric machine and two connectors, directly
In diameter adjuster, the drive rod of rotary electric machine is docked in wherein one end of each connector respectively, and two connectors drive in rotary electric machine
It under the action of bar, relatively rotates with respect to each other, the other end of each connector docks one end of corresponding middleware respectively and corresponds to arc
One end of frame；The rotary electric machine of each diameter regulator is connected with control module respectively, is directed to each diameter adjustment by control module
The rotary electric machine of device is controlled.
As a preferred technical solution of the present invention: the positioning device includes gyroscope and GPS positioning module, gyro
Instrument and GPS positioning module are respectively arranged on the explosive box, and gyroscope and GPS positioning module are connected with control module respectively
It connects, the alignment by union to driving device carrier is realized by gyroscope and GPS positioning module.
As a preferred technical solution of the present invention: further including the liquid level sensor being set in the explosive box, liquid
Level sensor is connected with the control module.
As a preferred technical solution of the present invention: it further include the buzzer being set on the driving device carrier,
And buzzer is connected with the control module.
As a preferred technical solution of the present invention: the driving device carrier is rubber belt track chassis assembly.
As a preferred technical solution of the present invention: each spray head is atomizer.
A plant of the present invention intelligently spray robot compared with the prior art by using the above technical solution, have with
Lower technical effect:
(1) intelligence of a plant designed by present invention spray robot, using the obtained image of image capture apparatus as foundation,
Traveling control is carried out for driving device carrier by control module, and obtains the position of plant to be sprayed by image capture apparatus
It sets, device and diameter regulator is stretched by designed lifting device, automatically controlled push away, using two arcs that each spray head is arranged
Frame realizes the encirclement to plant, then is controlled by pressure pump device explosive box, realizes spray for the plant surrounded
Operation, effectively improves plant spraying efficiency；
(2) automatically controlled to push away the introducing for stretching device in the intelligence of a plant designed by present invention spray robot, it can effectively keep away
Mian Liao robot and plant distance are too close, damage to plant；And the liquid level sensor by being built in explosive box, energy
Enough for liquid volume number monitored in real time, for plant sprinkling provide safeguard；There are also two arcs for combining diameter regulator
Shape frame surrounds design, when spraying to plant, it can be ensured that plant Omnibearing even is by medicine；There are also the design of buzzer,
It can ensure to quickly and accurately find out robot in the orchard of large area；Moreover, the installation of communication device enhances institute
Stating encircling type, intelligently spray the artificial of robot intervenes performance.
Detailed description of the invention
Fig. 1 is a plant proposed by the present invention intelligently spray robot overall schematic；
Fig. 2 is that intelligently spray automatically controlled push away of robot stretches schematic device to a plant proposed by the present invention；
Fig. 3 is a plant proposed by the present invention intelligently spray robot arc frame schematic diagram；
Fig. 4 is a plant proposed by the present invention intelligently spray robot circuit diagram.
Wherein, 1. driving device carrier, 2. lifting devices, 3. gyroscopes, 4.GPS locating module, 5. buzzers, 6. pressure
Pump installation, 701. first image capture apparatus, 702. second image capture apparatus, 703. third image capture apparatus, 8. tooth plates,
9. gear support device, 10. automatically controlled push rod device, 11. arc frames, 12. spray heads, 13. diameter regulators, 14. explosive boxs, 15.
Water inlet, 16. liquid level sensors, 17. push plates, 18. middlewares.
Specific embodiment
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawings of the specification.
The present invention devise a plant intelligently spray robot, for be directed to plant to be sprayed, realize automated detection,
Spray operation；In practical application, as shown in Figure 1, including control module, plant framing module to be sprayed, driving device
Carrier 1, lifting device 2, positioning device, buzzer 5, pressure pump device 6, automatically controlled push away stretch device, the first image capture apparatus
701, the second image capture apparatus 702, third image capture apparatus 703, explosive box 14, middleware 18, communication device, two arcs
11, two diameter regulators 13 of shape frame, liquid level sensor 16, at least two spray heads 12.
Wherein, driving device carrier 1 is connected with control module, and driving device carrier 1 is under the control of control module, in fact
Existing multi-direction movement, explosive box 14 are fixedly installed on driving device carrier 1, and water inlet 15 is arranged in 14 upper surface of explosive box；Liquid
Level sensor 16 is set in explosive box 14, and liquid level sensor 16 is connected with control module；Control module, plant to be sprayed figure
As locating module, communication device are set on explosive box 14, control module is connected with communication device, positioning device for realizing
The positioning of driving device carrier 1, positioning device are connected with control module；
In practical application, positioning device includes gyroscope 3 and GPS positioning module 4, and gyroscope 3 and GPS positioning module 4 are divided
It is not set on the explosive box 14, gyroscope 3 and GPS positioning module 4 are connected with control module respectively, pass through gyroscope 3
The alignment by union to driving device carrier 1 is realized with GPS positioning module 4.
Lifting device 2 is fixedly installed on the upper surface of explosive box 14 vertically, and the first image capture apparatus 701 is set to lifting
The top of device 2, and the positive direction of advance of the image capture direction of the first image capture apparatus 701 and driving device carrier 1
In the same direction；Lifting device 2 is connected with control module, lifting device 2 under the control of control module, realize its working end vertical
Moving up and down on direction, and working end institute's face direction of lifting device 2 and the positive direction of advance of driving device carrier 1 are same
To；Automatically controlled push away stretches device and is connected with control module, and automatically controlled push away is stretched device and be mutually fixedly connected with the working end of lifting device 2, electricity
Control, which pushes away, stretches the mobile terminal of device and is directed toward the positive direction of advance of driving device carrier 1, and automatically controlled pushes away the movement for stretching device mobile terminal
Path is in horizontal attitude, and automatically controlled push away stretches device and be connected with control module, and the automatically controlled mobile terminal for stretching device that pushes away is with control module
It controls and is moved forward and backward；In practical application, lifting device 2 uses hydraulic lift.
Push away that stretch device include tooth plate 8, automatically controlled push rod device 10, push plate 17 and at least one gear branch as shown in Fig. 2, automatically controlled
Support arrangement 9；Wherein, the surface of tooth plate 8 is rectangle, the working end of wherein one end of tooth plate 8 and lifting device 2 mutually fixed company
It connects, tooth plate 8 is in horizontal attitude, and 8 other end of tooth plate is directed toward the positive direction of advance of driving device carrier 1；Automatically controlled push rod device
10 motor is connected with control module, and the motor of automatically controlled push rod device 10 is fixedly installed on 8 upper surface of tooth plate, docking lifting dress
The side of 2 working ends is set, and the push rod mobile terminal of automatically controlled push rod device 10 is horizontally directed to the just side of marching forward of driving device carrier 1
To；On the two sides of the non-automatically controlled 10 motor setting area of push rod device in 8 upper surface of tooth plate, tooth socket rail, and twice tooth is respectively set
Grooved rail specification is mutually the same；The length of push plate 17 is greater than the length of the non-automatically controlled 10 motor setting area of push rod device in 8 upper surface of tooth plate
Degree, the width of push plate 17 is no more than the spacing between two tooth socket rails on tooth plate 8；Wherein one end of push plate 17 and automatically controlled push rod device
10 push rod mobile terminal is mutually fixedly connected, and push plate 17 is in horizontal attitude, and the other end of push plate 17 is being directed toward driving device carrier 1 just
It marches forward direction；Each gear support device 9 includes rotation axis and two gears respectively, and each level is respectively set in push plate 17
The quantity of through-hole through its two sides, through-hole is equal with the quantity of gear support device 9, and the internal diameter of through-hole is greater than gear branch
Positive direction of advance of the center line of the outer diameter of rotation axis and each through-hole with driving device carrier 1 is mutually hung down in support arrangement 9
Directly, each gear support device 9 is corresponded with the quantity of each through-hole in push plate 17 respectively, the rotation in each gear support device 9
Axis is each passed through the correspondence through-hole in push plate 17, and the both ends of each rotation axis are located at the two sides of corresponding through-hole, each gear branch
Two gears in support arrangement 9 butt up against the both ends of corresponding rotation axis respectively；Two gears difference in each gear support device 9
It is mutually engaged with the tooth socket rail of corresponding position on tooth plate 8；The other end of push plate 17 and the midpoint of 18 side of middleware are mutually fixed
Connection.
As shown in figure 3, automatically controlled push away is stretched the mobile terminal of device and is mutually fixedly connected with the midpoint of 18 side of middleware, it is intermediate
Part 18 is in horizontal attitude, and the both ends of middleware 18 pass through diameter regulator 13 respectively, each arc frame 11 is docked in difference activity
Wherein one end, middleware 18 and two 11 threes of arc frame are coplanar, and the arc shaped inside of two arc frames 11 is toward each other.
In practical application, diameter regulator 13 includes rotary electric machine and two connectors, in diameter regulator 13, each connector
Wherein one end dock the drive rod of rotary electric machine respectively, two connectors are under the action of rotary electric machine drive rod, opposite to each other
Rotation, the other end of each connector dock one end of corresponding middleware 18 and one end of corresponding arc frame 11 respectively；Each diameter
The rotary electric machine of adjuster 13 is connected with control module respectively, and the rotary electric machine of each diameter regulator 13 is directed to by control module
Controlled, in specific practical application, diameter regulator 13 can according to the size of plant, adjust two arc frames 11 form it is whole
The size of body arc.
Second image capture apparatus 702, third image capture apparatus 703 are respectively arranged on two arc frames 11 far from
Between part 18 one end on, and the image of the image capture direction of the second image capture apparatus 702, third image capture apparatus 703
Capture direction is directed to the arc shaped inside area of its set arc frame 11；First image capture apparatus 701, the second image capture apparatus
702, third image capture apparatus 703 is connected with plant framing module to be sprayed respectively, plant framing to be sprayed
Module realizes the positioning for treating spray plant, plant framing mould to be sprayed according to the acquired image of each image capture apparatus
Block is connected with control module；Each spray head 12 is evenly distributed on the arc shaped inside face for being set to two arc frames 11, and each
The output end of spray head 12 is directed to the arc shaped inside region of its set arc frame 11；Pressure pump device 6 is set on explosive box 14,
The input terminal of pressure pump device 6 docks 14 inner space of explosive box, realizes the acquisition of medical fluid, and the output end of pressure pump device 6 is logical
The input terminal that pipeline successively docks each spray head 12 is crossed, pressure pump device 6 is connected with control module, in the control of control module
Lower realization work.
Buzzer 5 is set on driving device carrier 1, and buzzer 5 is connected with control module；In practical application,
Driving device carrier 1 is rubber belt track chassis assembly；Each spray head 12 is atomizer.
Based on shown in Fig. 4, by a plant designed by the present invention intelligently spray robot application reality, it is set to liter
First image capture apparatus 701 at 2 top of falling unit captures the image on the positive direction of travel of driving device carrier 1 in real time, and
It is uploaded in control module in real time, by control module according to the image obtained in real time, controls the traveling of driving device carrier 1,
Meanwhile control module is sent to plant framing to be sprayed for the image from the first image capture apparatus 701 is obtained in real time
Module is analyzed for image by plant framing module to be sprayed, obtains the position of plant to be sprayed, work as control module
By wait the plant framing module that sprays obtain wait spray plant position when, control module controls 13 work of diameter regulator first
Make, two arc frames 11 are opened, then control module lifting device 2 works, the height of the arc frame 11 of adjustment setting spray head 12
It spends, in height adjustment, judges the shooting angle of plant photo to be sprayed, inclination angle is carried out to the plant height to be sprayed being calculated
Amendment, obtains really plant height to be sprayed, and then control module is according to really plant height to be sprayed, i.e., adjustable to rise
The range of falling unit 2.
Then control module controls automatically controlled push rod device 10 and extends, by middleware 18, diameter regulator 13, arc frame 11
Overall structure is mobile towards plant to be sprayed, that is, two arc frames 11 for controlling expansion are mobile towards spray plant, towards to
It sprays in the moving process of plant, cooperation is respectively arranged at the second image capture apparatus 702, third image on two arc frames 11
The real-time capturing video of acquisition equipment 703, real-time imaging of the control module real-time reception from two image capture apparatus are seen
Position of the spray plant with respect to two arc frames 11 is surveyed, when spraying plant between two arc frames 11, control module
It controls automatically controlled push rod device 10 immediately to stop working, further control module controls two diameter regulators 13 and works, control two
Root arc frame 11 is mobile towards plant enclosed to be sprayed, and same cooperation is caught from the second image capture apparatus 702, third image
The real-time imaging of device 703 is obtained, until control module judges that plant to be sprayed is located between two arc frames 11, finally, control
The i.e. controllable pressure pump device 6 of module works, and the medical fluid in explosive box 14 is sent by the road to setting up separately on two arc frames 11
Each spray head 12, and then sprayed by each spray head 12, realize the sprinkling for treating spray plant.
The intelligence spray of plant designed by above-mentioned technical proposal robot, using the obtained image of image capture apparatus as foundation,
Traveling control is carried out for driving device carrier 1 by control module, and plant to be sprayed is obtained by image capture apparatus
Device and diameter regulator 13 are stretched by designed lifting device 2, automatically controlled push away in position, using the two of each spray head 12 of setting
Root arc frame 11 realizes the encirclement to plant, then is controlled by pressure pump device 6 explosive box 14, for the plant surrounded
Spray operation is realized in strain, effectively improves plant spraying efficiency.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
It makes a variety of changes.
Claims (8)
- A robot 1. plant intelligently sprays realizes automated detection, spray operation for being directed to plant to be sprayed；It is special Sign is: including control module, plant framing module to be sprayed, driving device carrier (1), lifting device (2), positioning dress It sets, pressure pump device (6), automatically controlled push away stretch device, the first image capture apparatus (701), the second image capture apparatus (702), Three image capture apparatus (703), explosive box (14), middleware (18), two arc frames (11), two diameter regulators (13), Communication device, at least two spray heads (12)；Wherein, driving device carrier (1) is connected with control module, and driving device carrier (1) is under the control of control module, in fact Existing multi-direction movement, explosive box (14) are fixedly installed on driving device carrier (1), and water inlet is arranged in explosive box (14) upper surface (15)；Control module, plant framing module to be sprayed, communication device are set on explosive box (14), control module and logical T unit is connected, and for realizing the positioning of driving device carrier (1), positioning device is connected positioning device with control module； Lifting device (2) is fixedly installed on the upper surface of explosive box (14) vertically, and the first image capture apparatus (701) is set to lifting dress Set the top of (2), and the image capture direction of the first image capture apparatus (701) and driving device carrier (1) just march forward Direction is in the same direction；Lifting device (2) is connected with control module, lifting device (2) under the control of control module, realize its work End moving up and down in the vertical direction, and working end institute's face direction of lifting device (2) and driving device carrier (1) are just Direction of marching forward is in the same direction；Automatically controlled push away stretches device and is connected with control module, automatically controlled to push away the working end for stretching device Yu lifting device (2) Mutually it is fixedly connected, it is automatically controlled to push away the positive direction of advance for stretching mobile terminal direction driving device carrier (1) of device, and automatically controlled push away stretches dress The movement routine of mobile terminal is set in horizontal attitude, automatically controlled push away stretches device and be connected with control module, automatically controlled to push away the movement for stretching device End is moved forward and backward with the control of control module；Automatically controlled push away is stretched the mobile terminal of device and is mutually fixedly connected with the midpoint of middleware (18) side, and middleware (18) is in level Posture, the both ends of middleware (18) pass through each diameter regulator (13), difference activity docking arc frame (11) wherein respectively One end, middleware (18) He Lianggen arc frame (11) three is coplanar, and the arc shaped inside of two arc frames (11) is toward each other；The Two image capture apparatus (702), third image capture apparatus (703) are respectively arranged on two arc frames (11) far from middleware (18) on one end, and the figure of the image capture direction of the second image capture apparatus (702), third image capture apparatus (703) As capture direction is directed to the arc shaped inside area of its set arc frame (11)；First image capture apparatus (701), the second image are caught Obtain device (702), third image capture apparatus (703) is connected with plant framing module to be sprayed respectively, wait spray plant Strain framing module realizes the positioning for treating spray plant, plant to be sprayed according to the acquired image of each image capture apparatus Framing module is connected with control module；Each spray head (12) is evenly distributed in the arc for being set to two arc frames (11) On side, and the output end of each spray head (12) is directed to the arc shaped inside region of its set arc frame (11)；Pressure pump device (6) it is set on explosive box (14), the input terminal of pressure pump device (6) docks explosive box (14) inner space, realizes medical fluid It obtains, the output end of pressure pump device (6) successively docks the input terminal of each spray head (12), pressure pump device (6) by pipeline It is connected with control module, realizes work under the control of control module.
- 2. the intelligent spray robot of a plant according to claim 1, it is characterised in that: automatically controlled push away stretches device and include Tooth plate (8), automatically controlled push rod device (10), push plate (17) and at least one gear support device (9)；Wherein, the surface of tooth plate (8) Wherein one end for rectangle, tooth plate (8) is mutually fixedly connected with the working end of lifting device (2), and tooth plate (8) is in horizontal attitude, And tooth plate (8) other end is directed toward the positive direction of advance of driving device carrier (1)；The motor of automatically controlled push rod device (10) and control Module is connected, and the motor of automatically controlled push rod device (10) is fixedly installed on tooth plate (8) upper surface, butting lifting device (2) work The side at end, and the push rod mobile terminal of automatically controlled push rod device (10) is horizontally directed to the positive direction of advance of driving device carrier (1)； On the two sides of non-automatically controlled push rod device (10) the motor setting area in tooth plate (8) upper surface, tooth socket rail, and twice tooth is respectively set Grooved rail specification is mutually the same；The length of push plate (17) is greater than non-automatically controlled push rod device (10) motor in tooth plate (8) upper surface and area is arranged The length in domain, the width of push plate (17) is no more than the spacing between two tooth socket rails on tooth plate (8)；Wherein one end of push plate (17) with The push rod mobile terminal of automatically controlled push rod device (10) is mutually fixedly connected, and push plate (17) is in horizontal attitude, and the other end of push plate (17) refers to To the positive direction of advance of driving device carrier (1)；Each gear support device (9) includes rotation axis and two gears respectively, Each horizontal through-hole for running through its two sides, the quantity of through-hole and the number of gear support device (9) are respectively set in push plate (17) Measure it is equal, and the internal diameter of through-hole be greater than gear support device (9) in rotation axis outer diameter and each through-hole center line with drive The positive direction of advance of dynamic device medium (1) is perpendicular, each gear support device (9) number with each through-hole on push plate (17) respectively Amount corresponds, and the rotation axis in each gear support device (9) is each passed through the correspondence through-hole on push plate (17), and each rotation axis Both ends be located at the two sides of corresponding through-hole, two gears in each gear support device (9) butt up against corresponding rotation respectively The both ends of axis；Two gears in each gear support device (9) are mutually engaged with the tooth socket rail of corresponding position on tooth plate (8) respectively； The other end of push plate (17) is mutually fixedly connected with the midpoint of middleware (18) side.
- 3. plant intelligence spray robot according to claim 1, it is characterised in that: diameter regulator (13) packet Include rotary electric machine and two connectors, in diameter regulator (13), the drive of rotary electric machine is docked in wherein one end of each connector respectively Lever, two connectors relatively rotate with respect to each other under the action of rotary electric machine drive rod, and the other end of each connector docks pair respectively Answer one end of middleware (18) and the one end of corresponding arc frame (11)；The rotary electric machine of each diameter regulator (13) respectively with Control module is connected, and the rotary electric machine by control module for each diameter regulator (13) is controlled.
- 4. the intelligent spray robot of a plant according to claim 1 or claim 2, it is characterised in that: the positioning device includes Gyroscope (3) and GPS positioning module (4), gyroscope (3) and GPS positioning module (4) are respectively arranged at the explosive box (14) On, gyroscope (3) and GPS positioning module (4) are connected with control module respectively, pass through gyroscope (3) and GPS positioning module (4) alignment by union to driving device carrier (1) is realized.
- 5. the intelligent spray robot of a plant according to claim 1 or claim 2, it is characterised in that: further include be set to it is described Liquid level sensor (16) in explosive box (14), liquid level sensor (16) are connected with the control module.
- 6. the intelligent spray robot of a plant according to claim 1 or claim 2, it is characterised in that: further include be set to it is described Buzzer (5) on driving device carrier (1), and buzzer (5) is connected with the control module.
- A robot 7. plant according to claim 1 or claim 2 intelligently sprays, it is characterised in that: the driving device carrier It (1) is rubber belt track chassis assembly.
- A robot 8. plant according to claim 1 or claim 2 intelligently sprays, it is characterised in that: each spray head (12) It is atomizer.
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| CN201811570446.2A CN109526923A (en) | 2018-12-21 | 2018-12-21 | One plant intelligence spray robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811570446.2A CN109526923A (en) | 2018-12-21 | 2018-12-21 | One plant intelligence spray robot |
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| CN109526923A true CN109526923A (en) | 2019-03-29 |
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| CN112889791A (en) * | 2021-01-28 | 2021-06-04 | 尹魁林 | Jujube tree is planted and is used disease and pest control device |
| CN114208472A (en) * | 2022-01-14 | 2022-03-22 | 仲恺农业工程学院 | Passion fruit foliage spray device |
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