CN109964905B - Self-propelled targeting pesticide application robot based on fruit tree identification and positioning and control method thereof - Google Patents
Self-propelled targeting pesticide application robot based on fruit tree identification and positioning and control method thereof Download PDFInfo
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- CN109964905B CN109964905B CN201910207442.6A CN201910207442A CN109964905B CN 109964905 B CN109964905 B CN 109964905B CN 201910207442 A CN201910207442 A CN 201910207442A CN 109964905 B CN109964905 B CN 109964905B
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 44
- 239000000575 pesticide Substances 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000008685 targeting Effects 0.000 title abstract description 5
- 238000005507 spraying Methods 0.000 claims abstract description 60
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 239000007921 spray Substances 0.000 claims abstract description 19
- 230000008569 process Effects 0.000 claims abstract description 5
- 239000003814 drug Substances 0.000 claims description 64
- 230000007246 mechanism Effects 0.000 claims description 20
- 239000007788 liquid Substances 0.000 claims description 15
- 230000001681 protective effect Effects 0.000 claims description 13
- 230000001105 regulatory effect Effects 0.000 claims description 12
- 230000001276 controlling effect Effects 0.000 claims description 3
- 238000004148 unit process Methods 0.000 claims description 3
- 239000002420 orchard Substances 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 8
- 238000012360 testing method Methods 0.000 description 8
- 238000013439 planning Methods 0.000 description 7
- 230000009466 transformation Effects 0.000 description 6
- 238000002474 experimental method Methods 0.000 description 4
- 239000000126 substance Substances 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Classifications
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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
- A01M7/0025—Mechanical sprayers
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- Environmental Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a self-propelled targeting pesticide applying robot based on fruit tree identification and positioning and a control method thereof, and the robot comprises a chassis, a control unit, a detection unit and a pesticide spraying unit, wherein the detection unit comprises a laser radar sensor, a stereo camera, a photoelectric sensor and an ultrasonic sensor which are arranged on the chassis, the detection unit is electrically connected with the control unit, a signal output end of the control unit is connected with a driving motor, a steering motor and a pesticide spraying assembly, the pesticide spraying assembly comprises a pesticide box and a pesticide pump, the pesticide box is arranged on the chassis, the pesticide pump is arranged in the pesticide box, and the pesticide pump is electrically connected with a signal output end of the control unit. The invention has convenient spraying, can automatically cruise and accurately spray the pesticide to the fruit trees in the process of self-walking.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to a self-propelled targeting pesticide application robot based on fruit tree identification and positioning and a control method thereof.
Background
Because the mechanical research of the orchard operation in China starts later, the mechanical foundation of the orchard is poor, and links with more labor consumption, high labor intensity, strong timeliness and high standardization requirements, such as nursery stock cultivation, grafting and transplanting, irrigation, pesticide application, weeding, harvesting, transportation and the like, do not realize mechanical and automatic operation well, and high-efficiency and labor-saving orchard management equipment and technology lack become technical 'bottleneck' for restricting the mechanical development of the orchard in China.
At present, the chemical spraying mechanical equipment and chemical spraying technology of the orchard in China are behind the world level, most of the chemical spraying equipment and the chemical spraying technology depend on manpower to spray, time and labor are wasted, uneven spraying of the orchard is easy to cause, and the pesticide utilization rate is low; and pesticides are harmful to human bodies, and long-term manual operation may cause damage to the health of the human bodies.
In chinese patent: in an automatic targeting spraying robot and a spraying method for an orchard (patent number: 201710910183.4), a spraying system is recorded to comprise a medicine barrel fixedly arranged in the middle of the machine body, a left spray head and a right spray head are arranged at the top of the medicine barrel, the left spray head and the right spray head are respectively communicated with the medicine barrel through an electromagnetic valve, and two electromagnetic valves are electrically connected with a uniform controller, so that the actions of moving, steering, spraying and discharging the medicine out of the orchard can be automatically completed in the orchard; however, the spraying angle and the like of the tree crown can not be adjusted, and the tree crown can not be identified and applied with the pesticide, so that the tree crown is inconvenient to use.
Disclosure of Invention
The invention aims to provide a self-propelled target application robot based on fruit tree identification and positioning so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The self-propelled target-alignment pesticide application robot based on fruit tree identification and positioning comprises a chassis, a control unit, a detection unit and a pesticide spraying unit, wherein the chassis is driven by a driving motor to walk through driving wheels at two sides of the rear end, the chassis is driven by a steering motor to steer through steering wheels at two sides of the front end, the detection unit comprises a sensor and a camera, the detection unit is arranged on the chassis, the information output ends of the sensor and the camera are connected with the input end of the control unit, and the instruction output end of the control unit is connected with the driving motor, the steering motor and the pesticide spraying component;
The medicine spraying unit comprises a medicine box and a medicine pump, the medicine box is arranged on the chassis, the medicine pumps are arranged on two sides in the medicine box, and the medicine pump is electrically connected with the instruction output end of the control unit;
The two opposite outer sides of the medicine box are respectively provided with a side plate, the bottom end of each side plate is hinged with the top surface of the chassis, the side plates are connected with the medicine box through an adjusting mechanism, each side plate is respectively provided with a liquid outlet hole, and the liquid outlet port of the medicine pump is connected with the liquid outlet hole of the corresponding side plate through a hose;
The outer port of the liquid outlet hole of each side plate is movably connected with an L-shaped medicine spraying pipe, and the liquid outlet port of the medicine spraying pipe is connected with a spray head; the outer side of the spraying pipe is provided with a protective cover, and the protective cover is provided with a flow regulating mechanism for regulating the spraying amount.
Further, a plurality of hose sections are distributed on the medicine spraying pipe at intervals, and the flow regulating mechanism is arranged on the corresponding protective cover of each hose;
The flow regulating mechanism comprises a bolt and a clamping block, wherein the bolt is movably screwed on the corresponding protective cover, the clamping block is arranged at the corresponding hose, one end of the clamping block is connected with the bolt, and the other end of the clamping block is in contact with the outer wall of the corresponding hose.
Further, the adjustment mechanism is an electric telescopic rod, the fixed end of the electric telescopic rod is connected with the medicine chest through a pin shaft, the telescopic end of the electric telescopic rod is connected with the corresponding side plate through a pin shaft, the electric telescopic rod is connected with an external power supply wire, and the instruction output end of the control unit is connected with the electric telescopic rod.
Further, the protective cover comprises a cylindrical bottom cover and a cylindrical top cover, and the bottom cover and the top cover are coaxially and spirally connected.
Further, the contact surface of the clamping block and the hose is an arc concave surface.
Further, the sensor comprises a laser radar sensor, a photoelectric sensor and an ultrasonic sensor.
Further, the control unit comprises an upper computer and a singlechip, wherein the upper computer receives and processes the information of the detection unit, the singlechip is electrically connected with the upper computer, and the singlechip receives a control instruction sent by the upper computer and controls corresponding components to operate according to the instruction.
The invention also provides a control method of the self-propelled target application robot based on fruit tree identification and positioning, which comprises the following steps:
step one: the robot moves to a working place, the robot is started, and a laser radar sensor, a photoelectric sensor and an ultrasonic sensor detect surrounding environment information of the robot and transmit the detected information to a control unit;
step two: the control unit receives environment information, plans a walking path in real time, gives a walking instruction to control the driving motor and the steering motor to work, and the robot walks according to the planned path;
Step three: the camera works, surrounding environment information is shot when the robot walks, the information is transmitted to the control unit, the control unit processes the received information, the position of the fruit tree is determined, and a pesticide spraying instruction is issued to the pesticide pump to control the pesticide pump to work, so that pesticide spraying is carried out on the fruit tree.
Further, the spraying of the fruit tree in the third step comprises the following regulation ways:
the stereoscopic camera is used for identifying fruit tree targets, acquiring positions of crowns of fruit trees, encoding information and transmitting the information to the control unit, and the control unit is used for controlling the adjusting motor and the electric telescopic rod, and adjusting the positions of the spray heads to be aligned with the crowns for accurately applying the pesticide.
The beneficial effects of the invention are as follows:
(1) According to the invention, the laser radar is used for collecting data, so that path planning and obstacle avoidance are realized, the robot can independently avoid obstacles and cruise, and the single chip microcomputer controls the driving motor, the steering motor, the adjusting motor and the electric telescopic rod, so that the range of spraying medicine is conveniently adjusted, more accurate spraying medicine is realized, and the cost is saved.
(2) The invention integrates multiple technologies of laser radar, image recognition and sensing, realizes the purpose of automatically spraying the orchard, greatly improves the production efficiency of the orchard, further improves the positioning accuracy of the fruit trees by using the two technologies of the laser radar and the image recognition, and greatly reduces the waste of pesticide spraying.
(3) The invention can realize the adjustment of the position of the spray head through the electric telescopic rod and the adjusting mechanism, thereby greatly facilitating the actual operation and having wide adaptability.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a top view of the overall structure of the present invention;
FIG. 2 is a side view of the overall structure of the present invention;
FIG. 3 is a schematic view of a portion of the structure of the present invention;
FIG. 4 is a schematic diagram of the operation of the present invention;
FIG. 5 is a schematic diagram of the result of planning a walking path by adopting a Hough transform line detection algorithm;
fig. 6 is a flow chart of the operation of the present invention.
In the figure: the device comprises a bottom plate 1, a steering wheel 21, a driving wheel 22, a protective cover 3, an adjusting motor 4, a mounting plate 5, a medicine pump 6, a mounting chamber 7, a side plate adjusting mechanism 8, a medicine box 9, a side plate 10, a driven gear 11, a hose 12, a hard tube 13, a flow adjusting mechanism 14, a spray head 15, a spring 16 and a clamping block 17.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 2, the self-propelled target-alignment pesticide-applying robot based on fruit tree identification and positioning comprises a chassis, a control unit, a detection unit and a pesticide spraying unit, wherein the chassis comprises a bottom plate 1, driving wheels 22 and steering wheels 21, the driving wheels 22 are arranged on two sides of the rear end of the bottom plate 1, and the driving wheels 22 walk through a driving motor; steering wheels 21 are arranged on two sides of the front end of the bottom plate 1, and the steering wheels 21 are driven to steer by a steering motor; the control unit is arranged on the chassis and comprises an upper computer and a singlechip, wherein the upper computer receives and processes the information of the detection unit, the singlechip is electrically connected with the upper computer, and the singlechip receives a control instruction sent by the upper computer and controls corresponding components to operate according to the instruction;
The detection unit comprises a sensor and an industrial camera, the detection unit is arranged on the chassis, and the sensor comprises a laser radar sensor, a photoelectric sensor and an ultrasonic sensor; the laser radar sensor, the photoelectric sensor and the ultrasonic sensor are all arranged at the front end of the robot, and the camera is arranged in the middle of the front end of the medicine chest 9; wherein, the laser radar sensor can be RPLIDAR A2 developed by the technology of the Sira, the photoelectric sensor can be EN33-D1T100NAM2Z, and the ultrasonic sensor can be MSW-A1640H10TR; the information output ends of the sensor and the camera are connected with the input end of the upper computer, and the instruction output end of the singlechip is connected with the driving motor, the steering motor and the pesticide spraying component;
The medicine spraying unit comprises a medicine box 9 and a medicine pump 6, the medicine box 9 is arranged on the chassis, the medicine pump 6 is arranged on two sides in the medicine box 9, and the medicine pump 6 is electrically connected with the instruction output end of the singlechip;
the two opposite outer sides of the medicine chest 9 are respectively provided with a side plate 10, the bottom end of each side plate 10 is hinged with the top surface of the chassis, the side plates 10 are connected with the medicine chest 9 through an adjusting mechanism 8, each side plate 10 is provided with a liquid outlet hole, and the liquid outlet port of the medicine pump 6 is connected with the liquid outlet hole of the corresponding side plate 10 through a hose;
The outer port of the liquid outlet of each side plate 10 is movably connected with an L-shaped medicine spraying pipe, the side plate 10 is provided with an angle adjusting mechanism for driving the medicine spraying pipe to rotate, and the liquid outlet of the medicine spraying pipe is connected with a spray head 15; the outer side of the spraying pipe is provided with a protective cover 3, and the protective cover 3 is provided with a flow regulating mechanism 14 for regulating the spraying amount;
a storage battery is arranged on the chassis at the front end of the medicine chest 9, the storage battery is connected with a control switch, and the storage battery supplies power for the control unit, the detection unit and the medicine spraying unit.
Further, the angle adjusting mechanism comprises a mounting plate 5, an adjusting motor 4 and a driven gear 11, wherein the mounting plate 5 is fixedly connected to the outer surface of the side plate 10, the adjusting motor 4 is arranged on the mounting plate 5, an output shaft of the adjusting motor 4 is coaxially connected with a driving gear, the driven gear 11 is arranged on a horizontal section pipe of the medicine spraying pipe and meshed with the driving gear, and an instruction output end of the singlechip is connected with the adjusting motor 4.
Further, a plurality of hose 12 sections are distributed on the spraying pipe at intervals, and the flow regulating mechanism is arranged on the protection cover 3 corresponding to each hose 12;
Referring to fig. 3, the flow regulating mechanism 14 includes a bolt 16 and a clamping block 17, the bolt 16 is movably screwed on the corresponding protection cover 3, the clamping block 17 is arranged at the corresponding hose 12, one end of the clamping block 17 is connected with the bolt 16, and the other end of the clamping block 17 is contacted with the outer wall of the corresponding hose 12; the contact surface of the clamping block 17 and the hose 12 is an arc concave surface.
Further, the adjusting mechanism 8 is an electric telescopic rod, the fixed end of the electric telescopic rod is connected with the medicine chest 9 through a pin shaft, the telescopic end of the electric telescopic rod is connected with the corresponding side plate 10 through a pin shaft, the electric telescopic rod is connected with an external power supply wire, and the instruction output end of the singlechip is connected with the electric telescopic rod.
Further, the protective cover 3 comprises a cylindrical bottom cover 32 and a cylindrical top cover 31, and the bottom cover 32 and the top cover 31 are coaxially and spirally connected through internal threads and external threads which are respectively arranged; a wireless camera is arranged at the front part of the top end of the medicine box 9 and is connected with an upper computer to transmit video information in real time;
Further, the steering motor is arranged at the front end of the chassis, the middle part of the steering wheel 21 is provided with a rotating shaft through a bearing, the motor shaft of the steering motor is downwards fixedly connected with the inner end of the rotating shaft corresponding to the steering wheel 21, and the steering motor drives the rotating shaft to rotate so as to realize steering of the steering wheel 21.
Referring to fig. 4 and 6, the control method of the self-propelled target application robot based on fruit tree identification and positioning specifically comprises the following steps:
Step one: the robot moves to a working place, the robot is started, and a laser radar sensor, a photoelectric sensor and an ultrasonic sensor detect surrounding environment information of the robot and transmit the detected information to an upper computer of a control unit, wherein the laser radar sensor identifies and positions fruit trees; the photoelectric sensor and the ultrasonic sensor detect the surrounding environment of the robot in real time and identify the obstacle;
Step two: the upper computer receives and processes the environmental information, plans a walking path in real time, gives a walking instruction to control the driving motor and the steering motor to work, and the robot walks according to the planned path;
step three: the camera works, surrounding environment information is shot when the robot walks, the information is transmitted to the control unit, the control unit processes the received information, the position of a fruit tree is determined, and a pesticide spraying instruction is issued to control the pesticide pump to work so as to spray the pesticide on the fruit tree.
Further, the spraying of the fruit tree in the third step comprises the following two regulation ways:
(1) The laser radar sensor acquires distance information of the robot and the fruit tree in real time, and the control unit adjusts the rotating speed of the medicine pump 6 according to the received distance information, and the farther the robot is from the fruit tree, the faster the rotating speed of the medicine pump 6 is, so as to control and adjust the medicine spraying distance;
(2) The stereoscopic camera recognizes the fruit tree target, the position of the fruit tree crown can be obtained, the information is encoded and then transmitted to the control unit, the control unit controls the adjusting motor 4 and the electric telescopic rod, and the angle position of the adjusting spray head is aligned to the precise pesticide application of the crown.
In the second step, a Hough transformation line detection algorithm is adopted to plan a walking path, and the basic principle of Hough transformation is as follows:
Any point on the two-dimensional plane may be part of a set of candidate lines that are parameterized by slope a and intercept b, such that any point on the original two-dimensional plane is mapped to a line on the parameter space plane (a, b). And superposing the straight line point sets on the parameter space plane corresponding to all points on the original two-dimensional plane on the parameter space plane, and obtaining a parameterized straight line corresponding to the parameter space point with the local maximum value, namely a Hough transformation detection result. In the practical numerical method, the linear parameterization method is different from the practical numerical method, in which the polar coordinate representation (ρ, θ) on the original two-dimensional plane is taken as a parameter space, and the linear equation is ρ= xcos θ+ ysin θ.
The parallel straight line detection algorithm of the fruit tree based on Hough transformation comprises the following steps:
(1) Calculating the number of rows and columns required by the accumulation matrix according to the set distance step Deltaρ and angle step Deltaθ and the corresponding distance and angle range;
(2) Taking out one data point (X, y) in the laser radar point cloud, and calculating a vector from an origin to the data point and an X-axis clamp angle theta;
(3) Equally dividing an angle range from theta-90 DEG to theta+90 DEG into (180 DEG/[ delta ] theta) angle values theta i (0-i-180 DEG/[ delta ] theta), corresponding to each angle value theta i, and calculating a corresponding value of rho i according to a formula;
(4) Self-increment 1 element of the rho i/[ delta ] rho column of the accumulation matrix of the theta i/[ delta ] row;
(5) If there are unprocessed data points in the laser radar point cloud, then go to step (2); if not, turning to the step (6);
(6) And solving the maximum value of the elements in the accumulation matrix and two extreme points corresponding to the included angle of the two straight lines being greater than 120 degrees, wherein the straight line equation corresponding to the two extreme points is the parallel straight line equation of the fruit tree detected by the algorithm.
Referring to fig. 5, the line a is an actual local straight line of the fruit tree line, the line B is a line straight line detected by the Hough transformation line detection algorithm, and it can be seen that the Hough transformation line detection algorithm can better extract the corresponding straight line parameters of the fruit tree line from the collected laser point cloud data, so that the vertical distance information of the robot from the fruit tree line is obtained through calculation, and effective path planning is realized.
The invention makes the following three groups of test experiments
(1) Spray test:
utilize cultivated in a pot to simulate the plant, carry out and apply medicine the test to the target, place cultivated in a pot on the track that the robot moved, for convenient measurement adopts both sides to spout the medicine in the test, carries out the continuous medicine that spouts in advance when every test, then carries out to target and spouts the medicine, and the test is repeated 3 times, all measures and take and record total water yield and surplus water yield before every time spouts the medicine, and the test result is shown in table 1:
TABLE 1
According to data analysis, the target spraying mode is adopted in the product, so that the application amount can be greatly saved, and the pesticide utilization rate is effectively improved.
(2) Image recognition experiment:
The pictures of the fruit trees are collected by using an industrial camera and are transmitted to an upper computer for picture identification, and experimental results are shown in a table II:
| Experimental sequence | Number of image recognition times | Number of successful image recognition | Success rate of identification |
| 1 | 234 | 227 | 97.01％ |
| 2 | 239 | 234 | 97.91％ |
| 3 | 231 | 228 | 98.70％ |
| 4 | 235 | 227 | 96.60％ |
Table 2 (3) route planning and spray accuracy experiment:
| Experimental sequence | Total plant number of experimental row | Number of collisions | Path success rate |
| 1 | 86 | 3 | 96.51％ |
| 2 | 75 | 1 | 98.67％ |
| 3 | 78 | 1 | 98.72％ |
| 4 | 80 | 2 | 97.50％ |
Table 3 shows the results of the path planning experiments
| Experimental sequence | Total plant number of experimental row | Number of spraying times | Target rate of |
| 1 | 86 | 80 | 93.02％ |
| 2 | 75 | 68 | 90.67％ |
| 3 | 78 | 72 | 92.31％ |
| 4 | 80 | 73 | 91.25％ |
TABLE 4 spray accuracy test results
In summary, according to the information in tables 3 and 4, the path success planning rate and the target spraying rate are both above 90%. The invention can successfully achieve the set aim of automatically avoiding obstacle and applying medicine to the target.
According to the invention, the laser radar is used for collecting data, so that path planning and obstacle avoidance are realized, the robot can independently avoid obstacles and cruises, and the single chip microcomputer controls the driving motor, the steering motor, the adjusting motor and the electric telescopic rod, so that the range of pesticide spraying is convenient to adjust, more accurate pesticide spraying is realized, the cost is saved, the production efficiency of an orchard is greatly improved, and the positioning accuracy of fruit trees is further improved by the application of the laser radar and the image recognition technology, and the pesticide spraying waste is greatly reduced; the position of the spray head is adjustable, so that the actual operation is greatly facilitated, and the adaptability is wide; the invention can also realize remote wireless connection with the control unit through the terminal, thereby realizing remote manual operation.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. Self-propelled target application robot based on fruit tree discernment location, including chassis, control unit, detection unit, spout medicine unit, the chassis walks through drive motor drive rear end both sides drive wheel (22), and the chassis turns to its characterized in that through the steering wheel that turns to motor drive front end both sides: the detection unit comprises a sensor and a camera, the detection unit is arranged on the chassis, the information output ends of the sensor and the camera are connected with the input end of the control unit, and the instruction output end of the control unit is connected with the driving motor, the steering motor and the pesticide spraying component;
the medicine spraying unit comprises a medicine box (9) and a medicine pump (6), the medicine box (9) is arranged on the chassis, the medicine pumps (6) are arranged on two sides in the medicine box (9), and the medicine pump (6) is electrically connected with the instruction output end of the control unit;
The two opposite outer sides of the medicine box (9) are respectively provided with a side plate (10), the bottom end of each side plate (10) is hinged with the top surface of the chassis, the side plates (10) are connected with the medicine box (9) through an adjusting mechanism (8), each side plate (10) is provided with a liquid outlet hole, and the liquid outlet port of the medicine pump (6) is connected with the liquid outlet hole of the corresponding side plate (10) through a hose;
The outer port of the liquid outlet hole of each side plate (10) is movably connected with an L-shaped medicine spraying pipe, and the liquid outlet port of the medicine spraying pipe is connected with a spray head (15); the outer side of the spraying pipe is provided with a protective cover (3), and the protective cover (3) is provided with a flow regulating mechanism (14) for regulating the spraying amount;
a plurality of hose (12) sections are distributed on the spraying pipe at intervals, and the flow regulating mechanism (14) is arranged on the protective cover (3) corresponding to each hose (12);
The flow regulating mechanism (14) comprises a bolt (16) and a clamping block (17), the bolt (16) is movably screwed on the corresponding protection cover (3), the clamping block (17) is arranged at the corresponding hose (12), one end of the clamping block (17) is connected with the bolt (16), and the other end of the clamping block (17) is in contact with the outer wall of the corresponding hose (12);
The control unit comprises an upper computer and a singlechip, wherein the upper computer receives and processes the information of the detection unit, the singlechip is electrically connected with the upper computer, and the singlechip receives a control instruction sent by the upper computer and controls corresponding components to operate according to the instruction.
2. The self-propelled targeted delivery robot based on fruit tree identification and positioning of claim 1, wherein: the adjusting mechanism (8) is an electric telescopic rod, the fixed end of the electric telescopic rod is connected with the medicine box (9) through a pin shaft, the telescopic end of the electric telescopic rod is connected with the corresponding side plate (10) through a pin shaft, the electric telescopic rod is connected with an external power supply wire, and the instruction output end of the control unit is connected with the electric telescopic rod.
3. The self-propelled targeted delivery robot based on fruit tree identification and positioning of claim 1, wherein: the protective cover (3) comprises a cylindrical bottom cover (32) and a cylindrical top cover (31), and the bottom cover (32) and the top cover (31) are coaxially and spirally connected.
4. The self-propelled targeted delivery robot based on fruit tree identification and positioning of claim 2, wherein: the contact surface of the clamping block (17) and the hose (12) is an arc concave surface.
5. The self-propelled targeted delivery robot based on fruit tree identification and positioning of claim 1, wherein: the sensor comprises a laser radar sensor, a photoelectric sensor and an ultrasonic sensor.
6. The method for controlling a self-propelled target application robot based on fruit tree identification and positioning according to any one of claims 1 to 5, wherein the specific steps include:
step one: the robot moves to a working place, the robot is started, and a laser radar sensor, a photoelectric sensor and an ultrasonic sensor detect surrounding environment information of the robot and transmit the detected information to a control unit;
step two: the control unit receives environment information, plans a walking path in real time, gives a walking instruction to control the driving motor and the steering motor to work, and the robot walks according to the planned path;
Step three: the camera works, surrounding environment information is shot when the robot walks, the information is transmitted to the control unit, the control unit processes the received information, the position of the fruit tree is determined, and a pesticide spraying instruction is issued to the pesticide pump to control the pesticide pump to work, so that pesticide spraying is carried out on the fruit tree.
7. The method for spraying the fruit on the basis of the fruit tree identification positioning self-propelled target application robot according to claim 6, wherein the fruit tree spraying in the third step comprises the following adjustment ways:
the stereoscopic camera is used for identifying fruit tree targets, acquiring positions of crowns of fruit trees, encoding information and transmitting the information to the control unit, and the control unit is used for controlling the adjusting motor (4) and the electric telescopic rod, and adjusting the positions of the spray heads to be aligned with the crowns for accurately applying the pesticide.
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| CN113100207B (en) * | 2021-04-14 | 2022-11-22 | 郑州轻工业大学 | Accurate formula pesticide applying robot system based on wheat disease information and pesticide applying method |
| CN115176790B (en) * | 2022-08-26 | 2023-11-24 | 湖南永粮机械股份有限公司 | Air-assisted mist and water mist fruit tree plant protection tractor |
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