CN109699623A - A kind of Multifunctional plant protection machine people's system - Google Patents
A kind of Multifunctional plant protection machine people's system Download PDFInfo
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- CN109699623A CN109699623A CN201910146992.1A CN201910146992A CN109699623A CN 109699623 A CN109699623 A CN 109699623A CN 201910146992 A CN201910146992 A CN 201910146992A CN 109699623 A CN109699623 A CN 109699623A
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Abstract
A kind of Multifunctional plant protection machine people's system, the rack of creeper undercarriage is equipped with including bottom, installs spraying operation system, dynamical system and control system by rack；Spraying operation system includes the spray tank that machine frame inside is arranged in, pumps and be arranged in the spraying machine above Shelf External, and spraying machine is equipped with spraying pose adjustment module and for identification infrared thermal imager of pest species；The dynamical system includes that the Teat pipette motor and track drive motor that machine frame inside is arranged in, Teat pipette motor and track drive motor are connected by motor drive module with engine power generation unit；The control system includes the image processing module being connected with infrared thermal imager and the main control chip connecting with spraying pose adjustment module, motor drive module, main control chip control creeper undercarriage moves in bounded domain according to path planning, and the spray value of the type adjustable spraying machine according to pest and disease damage.The present invention is applied widely, can be improved spray efficiency.
Description
Technical field
The present invention relates to a kind of agricultural robots, and in particular to a kind of Multifunctional plant protection machine people's system.
Background technique
Recently as the rise and development of unmanned air vehicle technique, plant protection drone is widely used in prevention and treatment pest and disease damage.It plants
Protecting unmanned plane has many advantages, such as that unmanned manipulation, spray effect is good, applicability is good, small to crop damage.However, in some cases
Under, there is also significant defects for plant protection drone.For example, drug is difficult to cover plant lower part for plant with luxuriant foliage
Blade face；Farmland uneven for topography, it is difficult to according to the flexible change of flight height of complex terrain；In addition, there is also when continuation of the journey
Between it is short, load-carrying is small, effect of spraying pesticide is poor, upper hand difficulty is big, at high price disadvantage high to application site requirements.
Therefore, it is necessary to develop a kind of Multifunctional plant protection machine people's system, have path planning and avoidance in bounded domain, becomes
Multiple operation units such as amount spray and identification pest and disease damage, the scope of application for solving plant protection drone is small, and job ticket first-class protrusion is asked
Topic is improving the efficiency that sprays, and while protecting equipment for plant protection, can reduce operating cost, reduces pesticide to the danger of operating personnel
Evil.
Summary of the invention
It is an object of the invention to be directed to above-mentioned the problems of the prior art, a kind of Multifunctional plant protection machine people system is provided
System has the function of walking certainly, variable spray, identifying path planning and avoidance in pest and disease damage and bounded domain for complicated landform.
To achieve the goals above, the technical solution adopted by the present invention are as follows:
The rack of creeper undercarriage is installed including bottom, by rack install spraying operation system, dynamical system with
And control system；Spraying operation system includes the spray tank that machine frame inside is arranged in, pumps and be arranged in above Shelf External
Spraying machine is provided with spraying pose adjustment module and for identification infrared thermal imaging of pest species on the spraying machine
Instrument；The dynamical system includes the Teat pipette motor and track drive motor that machine frame inside is arranged in, Teat pipette motor and crawler belt
Driving motor is connected by motor drive module with engine power generation unit；The control system includes and infrared thermal imager
Connected image processing module and the main control chip being connect with spraying pose adjustment module, motor drive module, the master
Control chip controls creeper undercarriage moves in bounded domain according to path planning, and according to the type adjustable spraying of pest and disease damage
The spray value of machine.
The spraying operation system includes axial flow blower, and axial flow blower passes through motor drive module and generator of engine
Group is connected.
The spraying machine using can Duckbill type spray head, Duckbill type spray head can stir blade and be sprayed.
The pressure sensor for detecting spray head inlet pressure is provided on the spraying machine.
Binocular camera is set in rack, camera inter frame motion estimation robot position is calculated according to image by visual odometry
It sets, constructs map, manual setting beginning and end, passage path planning algorithm searches for optimal path, realizes bounded domain Nei Lu
Diameter planning.
Three infrared ray obstacle avoidance sensors are installed by rack, one are installed at the head center of rack, another two cloth
It sets at both ends；During advance, infrared ray obstacle avoidance sensor emits infrared ray, infrared ray avoidance sensing to its front for robot
Device, which receives, encounters the infrared signal that barrier is reflected back, which is transmitted to motor drive module after being handled by main control chip.
The rack and creeper undercarriage forms integral type vehicle body.
Infrared thermal imager is in the model database for during actual test, pre-establishing pest and disease damage, by what is detected
The signal of body surface temperature is converted to electric signal, simulates the spatial distribution of object temperature, and by spectrum conversion and brightness
Enhancing extracts characteristics of image to visible images, characteristics of image and the Pest model in database is compared, disease pest is obtained
Harmful type.
Compared with prior art, the present invention have it is following the utility model has the advantages that
It realizes the real-time positioning in bounded domain and builds figure, plant protection robot cognition ambient enviroment can be made and to spray
It is planned in path；Also, infrared thermal imager can identify diseases and pests of agronomic crop, optimal anti-by being calculated
Control dose, the problems such as variable spray is able to solve pesticide at this stage and largely wastes, excessive pesticide residues.In addition, spraying posture tune
Mould preparation block, which can be realized, is sprayed the plant of different height, improves nebulization efficiency.Multifunctional plant protection machine people's system
Without human intervention, the contingency for avoiding the staff's pesticide poisoning that may cause in spray operations, is carried out using rubber
Belt walking mechanism, compared to traditional wheeled construction, track structure adapts to the road conditions environment of field complexity, passage capacity
It is good, there is biggish contact area, platform is more stable, and compared to steel tracks, rubber belt track has that noise is small, is not easy to skid
Advantage.
Further, spraying machine is connect by axial flow blower with perfusion tube, duckbill spray head, in the wind of duckbill spray head blowout
Under the action of, the leaf of crops is blown, so that medical fluid is uniformly sprayed onto the front and back sides of leaf, improves medical fluid utilization rate.
Detailed description of the invention
The structure front view of Fig. 1 plant protection robot system of the present invention；
The structural side view of Fig. 2 plant protection robot system of the present invention；
The nozzle structure schematic diagram of Fig. 3 spraying machine of the present invention；
The overall structure front view of Fig. 4 spraying machine of the present invention；
The obstacle avoidance flow chart of Fig. 5 plant protection robot of the present invention；
Fig. 6 plant protection robot localization of the present invention and build figure (SLAM) flow chart；
Fig. 7 infrared imaging system of the present invention identifies pest and disease damage flow chart；
Fig. 8 variable spray flow chart of the present invention；
Fig. 9 present invention is sprayed pose adjustment flow chart；
The workflow schematic diagram of Figure 10 plant protection robot system of the present invention；
In attached drawing: 1- directive wheel；2- spraying machine；3- main control chip；4- rack；5- track drive motor；6- driving wheel；7-
Pump；8- carrier wheel；9- Teat pipette motor；10- thrust wheel；11- spray tank；12- creeper undercarriage；13- transmission device 14- starts
Machine generating set；15- infrared ray obstacle avoidance sensor；16- infrared thermal imager；17- duckbill spray head；18- axial flow blower；19-
Binocular camera；20- air inlet；21- feeding opening；22- air outlet；23- atomizing nozzle.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings.
Referring to Fig. 1-4, Multifunctional plant protection machine people's system of the invention includes that bottom is equipped with creeper undercarriage 12
Rack 4, rack 4 and creeper undercarriage 12 form integral type vehicle body.Spraying operation system, dynamical system are installed by rack 4
And control system.Spraying operation system includes that spray tank 11 inside rack 4, pump 7 is arranged in and is arranged outside rack 4
The spraying machine 2 of top.Spraying machine 2 uses Duckbill type spray head 17, and axial flow blower 18, spraying pose adjustment are provided on spraying machine 2
The infrared thermal imager 16 of module and for identification pest species.Dynamical system includes the Teat pipette electricity being located inside rack 4
Machine 9 and track drive motor 5, axial flow blower 18, Teat pipette motor 9 and track drive motor 5 pass through motor drive module and hair
Motivation generating set 14 is connected；Control system include the image processing module being connected with infrared thermal imager 16 and with spraying appearance
State adjusts the main control chip 3 of module, motor drive module connection.Rack 4 and creeper undercarriage 12 form integral type vehicle body, machine
Binocular camera 19 is fixed with sucking disk type supporting stand in the external top of frame 4, installs three infrared ray obstacle avoidance sensors 15 by rack 4,
One is installed at the head center of rack 4, another two is arranged in both ends.Referring to Fig. 5, robot is infrared during advance
Line obstacle avoidance sensor 15 emits infrared ray to its front, receives the infrared signal that barrier is reflected back, and infrared ray avoidance passes
Signal is transmitted to single-chip microcontroller by sensor 15, and single-chip microcontroller links to motor drive module, and control track drive motor 5 drives crawler haulage
Device makes the movement of " advance ", " turning " or " stopping ", and the function of avoidance is realized with this.
As shown in fig. 6, vision SLAM is broadly divided into following and part:
(1) reading of binocular camera information: the pretreatment to image information；
(2) front end: the matching of adjacent two picture is obtained, its movement is calculated:
(3) rear end optimizes: optimizing to existing error；
(4) closed loop detects: detecting whether to reach the position having arrived at；
(5) it builds figure: map is established according to track.
As shown in fig. 6, the infrared chart that infrared thermal imager 16 is obtained carries out image procossing by image processing module
The type of pest and disease damage is obtained after image recognition.As shown in fig. 7, main control chip 3 acquires speed and disease and insect information, further according to identification
Pest and disease damage as a result, be calculated voltage value control electric control valve movement, control electric control valve realize variable spray.Such as
Shown in Fig. 8, according to established map, the plant of different height is adjusted flexibly the elevation angle of humidifier.As shown in figure 9, this
Multiple functional modules are controlled by it relationship and interdepend in system: wherein the realization of variable spray functional module is by crawler travel machine
The influence of the results such as pressure data and identification pest and disease damage at the speed of structure, spray head；The adjustment of spraying machine Structure Attitude depends on
The map with building is positioned in real time；The speed of creeper undercarriage is controlled by path planning in bounded domain and obstacle avoidance module.
Claims (8)
1. a kind of Multifunctional plant protection machine people's system, it is characterised in that: be equipped with the machine of creeper undercarriage (12) including bottom
Frame (4) installs spraying operation system, dynamical system and control system by rack (4)；
Spraying operation system includes that setting is external in rack (4) in the internal spray tank (11) of rack (4), pump (7) and setting
The spraying machine (2) of top is provided with spraying pose adjustment module and for identification pest species on the spraying machine (2)
Infrared thermal imager (16)；The dynamical system includes that setting is driven in the internal Teat pipette motor (9) of rack (4) and crawler belt
Dynamic motor (5), Teat pipette motor (9) and track drive motor (5) pass through motor drive module and engine power generation unit (14) phase
Even；The control system include the image processing module being connected with infrared thermal imager (16) and with spraying pose adjustment mould
The main control chip (3) that block, motor drive module connect, the main control chip (3) control creeper undercarriage (12) in bounded
It is moved in region according to path planning, and the spray value of the type adjustable spraying machine (2) according to pest and disease damage.
2. Multifunctional plant protection machine people's system according to claim 1, it is characterised in that: the spraying operation system packet
It includes axial flow blower (18), axial flow blower (18) is connected by motor drive module with engine power generation unit (14).
3. Multifunctional plant protection machine people's system according to claim 1 or 2, it is characterised in that: the spraying machine (2) is adopted
With can Duckbill type spray head (17), Duckbill type spray head (17) can stir blade and be sprayed.
4. Multifunctional plant protection machine people's system according to claim 1 or 2, it is characterised in that: on the spraying machine (2)
It is provided with the pressure sensor for detecting spray head inlet pressure.
5. Multifunctional plant protection machine people's system according to claim 1, it is characterised in that: the external top of rack (4) is set
Binocular camera (19) are equipped with, camera inter frame motion estimation robot location, building ground are calculated according to image by visual odometry
Figure, manual setting beginning and end, passage path planning algorithm search for optimal path, realize the path planning in bounded domain.
6. Multifunctional plant protection machine people's system according to claim 1, it is characterised in that: install three by rack (4)
Infrared ray obstacle avoidance sensor (15) installs one at the head center of rack (4), and another two is arranged in both ends；Robot exists
During advance, infrared ray obstacle avoidance sensor (15) emits infrared ray to its front, and infrared ray obstacle avoidance sensor (15) receives
The infrared signal that barrier is reflected back is encountered, which is transmitted to motor drive module after being handled by main control chip (3).
7. Multifunctional plant protection machine people's system according to claim 1, it is characterised in that: the rack (4) and crawler belt
Walking mechanism (12) forms integral type vehicle body.
8. Multifunctional plant protection machine people's system according to claim 1, it is characterised in that: infrared thermal imager (16)
During actual test, the model database of pest and disease damage is pre-established, the signal of the body surface temperature detected is converted to
Electric signal simulates the spatial distribution of object temperature, and by spectrum conversion and brightness enhancing, extracts image to visible images
Feature compares characteristics of image and the Pest model in database, to obtain the type of pest and disease damage.
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| CN201910146992.1A CN109699623A (en) | 2019-02-27 | 2019-02-27 | A kind of Multifunctional plant protection machine people's system |
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| CN201910146992.1A CN109699623A (en) | 2019-02-27 | 2019-02-27 | A kind of Multifunctional plant protection machine people's system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115067299A (en) * | 2022-06-21 | 2022-09-20 | 中国人民解放军疾病预防控制中心 | Insect collecting device, insect monitoring device and insect monitoring method |
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| CN101518223A (en) * | 2009-04-03 | 2009-09-02 | 西北农林科技大学 | Self-propelled remote control spraying machine |
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| CN115067299A (en) * | 2022-06-21 | 2022-09-20 | 中国人民解放军疾病预防控制中心 | Insect collecting device, insect monitoring device and insect monitoring method |
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Application publication date: 20190503 |
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