CN110663674A - Pesticide spraying equipment and method for field crops and weeds - Google Patents
Pesticide spraying equipment and method for field crops and weeds Download PDFInfo
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- CN110663674A CN110663674A CN201911124740.5A CN201911124740A CN110663674A CN 110663674 A CN110663674 A CN 110663674A CN 201911124740 A CN201911124740 A CN 201911124740A CN 110663674 A CN110663674 A CN 110663674A
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- 239000000575 pesticide Substances 0.000 title claims abstract description 93
- 241000196324 Embryophyta Species 0.000 title claims abstract description 82
- 238000005507 spraying Methods 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 19
- 244000037666 field crops Species 0.000 title description 2
- 244000038559 crop plants Species 0.000 claims abstract description 27
- 239000007921 spray Substances 0.000 claims abstract description 27
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 239000000284 extract Substances 0.000 claims description 3
- 238000002372 labelling Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000009333 weeding Methods 0.000 abstract description 8
- 239000003814 drug Substances 0.000 description 14
- 230000001105 regulatory effect Effects 0.000 description 7
- 230000000087 stabilizing effect Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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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
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
- A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
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- Pest Control & Pesticides (AREA)
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Abstract
The application discloses field crop weed pesticide spraying equipment and method, a stepping motor is arranged on an equipment support, an output shaft of the stepping motor is fixedly connected with one end of a screw rod of the stepping motor, the other end of the screw rod of the stepping motor is movably connected with a guide rail sliding block, the guide rail sliding block is fixedly connected with one end of a transverse supporting rod, a pesticide spray head is fixedly arranged on the transverse supporting rod, a front-mounted camera and a laser sensor are arranged on the front end side of the supporting rod, the equipment support is further provided with a controller, and the controller is respectively electrically connected with the stepping motor, the pesticide spray head, the front-mounted camera and the laser sensor. The front-mounted camera and the laser sensor acquire weed information and crop plant height information of a crop area in real time, and then the controller controls the stepping motor to work according to the acquired information. The height of the pesticide spray nozzle is controlled according to the height of the crop plants, the pesticide spray nozzle for spraying pesticide and the pesticide spraying amount are controlled according to weed information, and then the residual pollution of the pesticide is reduced on the basis of ensuring the weeding of the pesticide.
Description
Technical Field
The application relates to the technical field of crop plant protection pesticide spraying, in particular to field crop weed pesticide spraying equipment and a field crop weed pesticide spraying method.
Background
Today, grain safety is becoming more important as a strategic requirement, and therefore crop cultivation processes must be handled effectively. Weeding is taken as a necessary step in the crop cultivation process, at present, people basically abandon traditional artificial physical weeding, and chemical weeding by adopting pesticides becomes a more common mode. The pesticide weeding can reduce the cost, reduce the labor force and improve the labor productivity.
However, during the process of pesticide weeding, uniform pesticide spraying is generally carried out by both manual operation and mechanical operation. That is, the area of the crop where the crop needs to be sprayed is basically indistinguishable from the beginning of spraying to the end of spraying. Although the weeds can be removed, the weeds among crops are not uniformly distributed, and in some areas, more weeds are needed to be sprayed. But when the area is available, no weeds or few weeds exist, and only a small amount of pesticide needs to be sprayed. And the height of the sprayed pesticide is required to be adjusted according to the growth height of crops when the pesticide is sprayed by machinery along with the growth of the crops.
Consequently, pesticide among the prior art sprays can't effectively spray according to current ruderal actual conditions when spraying pesticide on the one hand, and on the other hand and the height that can't realize spraying according to the high-speed adjustment pesticide of crops, and then makes to spray that pesticide pollutes in the prior art and remain greatly, arouses pesticide environmental pollution easily, is unfavorable for protecting ecological environment.
Disclosure of Invention
In order to solve the technical problems, the following technical scheme is provided:
in a first aspect, the present application provides a field crop weed spraying device, including: the device comprises a device support, wherein a stepping motor is arranged on the device support, an output shaft of the stepping motor is fixedly connected with one end of a screw rod of the stepping motor, the other end of the screw rod of the stepping motor is movably connected with a guide rail sliding block, the guide rail sliding block is fixedly connected with one end of a transverse supporting rod, a pesticide spray head, a front camera and a laser sensor are fixedly arranged on the transverse supporting rod, the front camera and the laser sensor are arranged on the front end side of the supporting rod, and a lens surface of the front camera and a signal end of the laser sensor are arranged downwards; the equipment support is also provided with a controller, and the controller is respectively electrically connected with the stepping motor, the pesticide sprayer, the front camera and the laser sensor.
By adopting the implementation mode, the front-end camera and the laser sensor arranged at the front end acquire weed information and crop plant height information of the crop area in real time, and then the controller controls the stepping motor to work according to the acquired information. The height of the pesticide spray nozzle is controlled according to the height of the crop plants, the pesticide spray nozzle for spraying pesticide and the pesticide spraying amount are controlled according to weed information, and then the residual pollution of the pesticide is reduced on the basis of ensuring the weeding of the pesticide.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the guide rail slider is provided with an internal thread, the other end of the lead screw of the stepping motor is provided with an external thread matched with the internal thread, and the other end of the lead screw of the stepping motor is in threaded connection with the guide rail slider. When the controller controls the stepping motor to work, the stepping motor can rotate forwards and backwards, so that the screw rod of the stepping motor is driven to rotate forwards and backwards. The other end of the screw rod of the stepping motor is in threaded connection with the guide rail sliding block, so that the guide rail sliding block can be controlled to move up and down when the screw rod of the stepping motor rotates forwards and backwards, and the transverse supporting rod is driven to move up and down.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the pesticide spray heads are provided in multiple numbers, and the multiple pesticide spray heads are uniformly arranged at the lower end of the transverse support rod. A plurality of pesticide shower nozzles step by step can realize effectual medicine operation of spouting, also can guarantee to spout the medicine to the weeds of a certain position when, the control open the pesticide shower nozzle that corresponds the position top can.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the pesticide sprayer comprises an electric control valve and a sprayer, the electric control valve is fixedly arranged at the lower end of the transverse support rod, the sprayer is communicated with a pesticide outlet of the electric control valve, a pesticide inlet of the electric control valve is communicated with the pesticide conveying pipeline, and the electric control valve is further electrically connected with the controller. The electric control valve can realize the opening and closing of the pesticide spray head through the controller and can also realize the control of the pesticide spraying amount.
With reference to the second possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, a plurality of front cameras are provided, and the plurality of front cameras are uniformly arranged. The front-mounted cameras can obtain weed information of a pesticide spraying operation area, and the controller controls whether pesticide spray heads in areas corresponding to different images are opened or not and the pesticide spraying amount according to images obtained by different front-mounted cameras.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, a fixed support rod is disposed between the front camera and the transverse support rod, and two ends of the fixed support rod are respectively fixedly connected to the fixed end of the front camera and the transverse support rod. The fixed bolster sets up the front end of horizontal bracing piece, and then has guaranteed that leading camera is located the foremost of equipment, like this before pesticide shower nozzle reachs the medicine region of spouting, can confirm the region that needs spout the medicine in advance to the pesticide shower nozzle of medicine operation is spouted in the adjustment.
With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the number of the laser sensors is multiple, and the multiple laser sensors are uniformly arranged on the fixed support rod. Laser sensor is provided with a plurality ofly equally, and sets up at fixed support bar, has guaranteed to acquire crop plant height information in advance on the one hand, and a plurality of laser sensor can determine the highest crop plant information in medicine spraying area moreover to when making the adjustment pesticide shower nozzle height, with the highest crop plant as the standard, protected crop plant.
With reference to the first aspect or any one of the first to the sixth possible implementation manners of the first aspect, in a seventh possible implementation manner of the first aspect, the equipment support includes a first base, a second base, and a connecting plate, two ends of the connecting plate are respectively and fixedly connected to the first base and the second base, a supporting plate is fixedly disposed on the first base, the stepping motor is fixedly disposed on the supporting plate, and the controller is fixedly disposed on the connecting plate; an auxiliary sliding screw rod is arranged on the second base, an auxiliary guide rail sliding block is movably arranged on the auxiliary sliding screw rod, and the auxiliary guide rail sliding block is fixedly connected with the other end of the transverse supporting rod.
With reference to the seventh possible implementation manner of the first aspect, in an eighth possible implementation manner of the first aspect, a pulling device is further disposed on the connecting plate, the pulling device includes a first connecting rod, a second connecting rod and a supporting steel rod, one end of each of the first connecting rod and the second connecting rod is fixedly connected to the connecting plate, the other end of each of the first connecting rod and the second connecting rod is fixedly connected to two ends of the supporting steel rod, an oblique pull rod is further disposed between each of the first connecting rod and the second connecting rod and the supporting steel rod, and two ends of the oblique pull rod are connected to the supporting steel rod and the connecting rod respectively. The tail end of the connecting rod is provided with a threaded hole for being connected with a tractor traction device in a hanging mode, a supporting steel rod is stressed between the first connecting rod and the second connecting rod, and the supporting steel rod and the connecting rod are attached with an inclined pull rod for stabilizing the structure.
In a second aspect, the present embodiments provide a field crop weed spraying method, which is characterized by using the field crop weed spraying apparatus of the first aspect or any possible implementation manner of the first aspect, the method including: collecting a crop weed data set, preprocessing an image of the data set, dividing a sample of the data set into mask marks, and converting a file generated by labeling into a gray map as a sample label; the laser sensor and the front camera respectively and continuously scan, photograph and pick up the front space to obtain the height information of the front crop plants and the weed image data information, and the scanned data information is transmitted to the controller; before the transverse supporting rod reaches the position of a target crop plant, the controller controls the stepping motor to work according to the height information of the crop plant, and the height of the pesticide spray head is controlled through the screw rod of the stepping motor, the guide rail sliding block and the transverse supporting rod; the controller processes the received weed image data information, extracts the convolution characteristics of the weed sample image, and detects and segments the weed category information, the position information and the outline information; and the controller determines the pesticide spray nozzle and the pesticide spraying amount which need to be opened according to the weed category information, the weed position information and the weed outline information, and carries out variable spraying on the weeds.
The front camera continuously takes pictures of front crop plants to pick up the plants, and if the existence of weeds cannot be detected between plant lines, namely the detected data are all useless data, spraying is not carried out; if the data detected by the front-mounted camera contains useful data, useless data are eliminated through an algorithm, further, the useful data are processed to obtain the characteristic information and weed information of the plant, and the controller controls the position and the working state of the pesticide spray head to be adjusted according to the characteristic information and the weed information of the plant to implement variable spraying.
Drawings
FIG. 1 is a schematic view of a field crop weed spraying apparatus according to an embodiment of the present disclosure;
FIG. 2 is a side view of a field crop weed spraying apparatus provided in accordance with an embodiment of the present application;
FIG. 3 is a top plan view of a field crop weed spraying apparatus provided in accordance with an embodiment of the present application;
FIG. 4 is a schematic flow chart of a method for spraying field crop weeds provided by an embodiment of the present application;
the symbols in fig. 1-4 are represented as:
1-equipment support, 2-stepping motor, 3-stepping motor screw rod, 4-guide rail slide block, 5-transverse support rod, 6-front camera, 7-laser sensor, 8-controller, 9-first base, 10-second base, 11-connecting plate, 12-supporting plate, 13-auxiliary sliding screw rod, 14-auxiliary guide rail slide block, 15-electric regulating valve, 16-spray head, 17-pesticide conveying pipeline, 18-fixed support rod, 19-first connecting rod, 20-second connecting rod, 21-support steel rod and 22-inclined pull rod.
Detailed Description
The present invention will be described with reference to the accompanying drawings and embodiments.
Fig. 1 is a schematic structural diagram of a field crop weed spraying device provided in an embodiment of the present application, and referring to fig. 1, the field crop weed spraying device provided in the embodiment of the present application includes: the device comprises a device support 1, wherein a stepping motor 2 is arranged on the device support 1, an output shaft of the stepping motor 2 is fixedly connected with one end of a stepping motor lead screw 3, the other end of the stepping motor lead screw 3 is movably connected with a guide rail sliding block 4, the guide rail sliding block 4 is fixedly connected with one end of a transverse supporting rod 5, a pesticide spray head, a front camera 6 and a laser sensor 7 are fixedly arranged on the transverse supporting rod 5, the front camera 6 and the laser sensor 7 are arranged on the front end side of the supporting rod, and a lens surface of the front camera 6 and a signal end of the laser sensor 7 are arranged downwards; the equipment support 1 is further provided with a controller 8, and the controller 8 is electrically connected with the stepping motor 2, the pesticide sprayer, the front camera 6 and the laser sensor 7 respectively.
Specifically, the equipment support 1 includes a first base 9, a second base 10 and a connecting plate 11, two ends of the connecting plate 11 are respectively fixedly connected with the first base 9 and the second base 10, a supporting plate 12 is fixedly arranged on the first base 9, the stepping motor 2 is fixedly arranged on the supporting plate 12, and the controller 8 is fixedly arranged on the connecting plate 11. An auxiliary sliding screw rod 13 is arranged on the second base 10, an auxiliary guide rail sliding block 14 is movably arranged on the auxiliary sliding screw rod 13, and the auxiliary guide rail sliding block 14 is fixedly connected with the other end of the transverse supporting rod 5
The guide rail sliding block 4 is provided with an internal thread, the other end of the stepping motor lead screw 3 is provided with an external thread matched with the internal thread, and the other end of the stepping motor lead screw 3 is in threaded connection with the guide rail sliding block 4. When the controller 8 controls the stepping motor 2 to work, the stepping motor 2 can rotate forwards and backwards, so that the stepping motor screw rod 3 is driven to rotate forwards and backwards. Because the other end of the screw rod 3 of the stepping motor is in threaded connection with the guide rail sliding block 4, the guide rail sliding block 4 can be controlled to move up and down when the screw rod 3 of the stepping motor rotates forwards and backwards, and the transverse supporting rod 5 is driven to move up and down.
In the embodiment of the application, the pesticide shower nozzle is provided with a plurality ofly, and is a plurality of the pesticide shower nozzle evenly sets up the lower extreme of horizontal bracing piece 5. A plurality of pesticide shower nozzles not only can realize effectual medicine operation of spouting, also can guarantee to spout the medicine to the weeds of a certain position when, the control open the pesticide shower nozzle that corresponds the position top can.
The pesticide shower nozzle includes electrical control valve 15 and shower nozzle 16, electrical control valve 15 is fixed to be set up the lower extreme of horizontal bracing piece 5, shower nozzle 16 with electrical control valve 15's play medicine mouth is linked together, electrical control valve 15 advances the medicine mouth and is linked together with pesticide pipeline 17, electrical control valve 15 still with controller 8 electricity is connected. The electric control valve 15 can be set to open and close the pesticide nozzle through the controller 8 and control the spraying amount.
Leading camera 6 is provided with a plurality ofly, and is a plurality of leading camera 6 evenly sets up. The front cameras 6 can obtain weed information of a pesticide spraying operation area, and the controller 8 controls whether pesticide spray heads in areas corresponding to different images are opened or not and the pesticide spraying amount according to images obtained by different front cameras 6.
Referring to fig. 2, a fixed support rod 18 is arranged between the front camera 6 and the transverse support rod 5, and two ends of the fixed support rod 18 are respectively fixedly connected with the fixed end of the front camera 6 and the transverse support rod 5. The fixed bolster sets up the front end of horizontal bracing piece 5 has then guaranteed that leading camera 6 is located the foremost of equipment, and before the pesticide shower nozzle reachs to spout the medicine region, can confirm in advance that needs spout the region of medicine like this to the pesticide shower nozzle of medicine operation is spouted in the adjustment.
The laser sensors 7 are arranged in a plurality of numbers, and the laser sensors 7 are uniformly arranged on the fixed supporting rod 18. Laser sensor 7 is provided with a plurality ofly equally, and sets up at fixed support bar 18, has guaranteed to acquire crop plant height information in advance on the one hand, and a plurality of laser sensor 7 can determine the highest crop plant information in the medicine area of spouting moreover to when making the adjustment pesticide shower nozzle height, use the highest crop plant as the standard, protected crop plant.
Referring to fig. 3, a pulling device is further disposed on the connecting plate 11, the pulling device includes a first connecting rod 19, a second connecting rod 20 and a supporting steel rod 21, one end of each of the first connecting rod 19 and the second connecting rod 20 is fixedly connected to the connecting plate 11, the other end of each of the first connecting rod 19 and the second connecting rod 20 is fixedly connected to two ends of the supporting steel rod 21, an oblique pull rod 22 is further disposed between each of the first connecting rod 19 and the supporting steel rod 20, and two ends of the oblique pull rod 22 are connected to the supporting steel rod 21 and the connecting rod respectively. The tail end of the connecting rod is provided with a threaded hole for being connected with a tractor traction device in a hanging mode, a supporting steel rod 21 is stressed between the first connecting rod 19 and the second connecting rod 20, and the supporting steel rod 21 and the connecting rod are attached with an inclined pull rod 22 for stabilizing the structure.
Note that, the controller 8 in the embodiment of the present application includes: the device comprises an embedded control chip, an information data acquisition module, a stepping motor driving module and a multi-path regulating valve driving module. The information data acquisition module, the stepping motor driving module and the multi-path regulating valve driving module are all electrically connected with the embedded control chip, the information acquisition module is respectively electrically connected with the front camera 6 and the laser sensor 7, and the information acquisition module can send image information obtained by the front camera 6 and crop plant height information obtained by the laser sensor 7 to the embedded control chip. The stepping motor driving module is electrically connected with the stepping motor 2 and used for receiving the instruction sent by the embedded control chip so as to control the working state of the stepping motor 2. The multi-path regulating valve driving module is electrically connected with the electric regulating valve 15, different electric regulating valves 15 are controlled to be opened according to instructions of the embedded control chip, the opening amount of the electric regulating valves 15 is controlled, and the control of the pesticide spraying position and the pesticide spraying amount is realized.
It can be known from the above embodiments that this embodiment provides a field crop weed spraying device, and the front camera 6 and the laser sensor 7 arranged at the front end acquire weed information and crop plant height information of a crop area in real time, and then the controller 8 controls the operation of the stepping motor 2 according to the acquired information. The height of the pesticide spray nozzle is controlled according to the height of the crop plants, the pesticide spray nozzle for spraying pesticide and the pesticide spraying amount are controlled according to weed information, and then the residual pollution of the pesticide is reduced on the basis of ensuring the weeding of the pesticide.
Corresponding to the field crop weed spraying device provided by the embodiment, the application also provides an embodiment of a field crop weed spraying method. Referring to fig. 4, the method includes:
s101, collecting a crop weed data set, preprocessing an image of the data set, dividing a sample of the data set into mask marks, and converting a file generated by labeling into a gray image as a sample label.
And S102, the laser sensor and the front camera continuously scan, photograph and pick up the front space respectively to obtain the height information of the front crop plants and the weed image data information, and the scanned data information is transmitted to the controller.
S103, before the transverse supporting rod reaches the position of the target crop plant, the controller controls the stepping motor to work according to the height information of the crop plant, and the height of the pesticide sprayer is controlled through the screw rod of the stepping motor, the guide rail sliding block and the transverse supporting rod.
And S104, the controller processes the received weed image data information, extracts the convolution characteristics of the weed sample image, and detects the class information, the position information and the outline information of the divided weeds.
And S105, determining a pesticide spray nozzle and a pesticide spraying amount which need to be opened by the controller according to the weed category information, the position information and the contour information, and performing variable spraying on weeds.
In the embodiment of the application, the front camera continuously takes pictures of the front crop plants and picks up the plants, and if the existence of weeds cannot be detected between the rows of the plants, namely the detected data are all useless data, spraying is not carried out. If the data detected by the front-mounted camera contains useful data, useless data are eliminated through an algorithm, further, the useful data are processed to obtain the characteristic information and weed information of the plant, and the controller controls the position and the working state of the pesticide spray head to be adjusted according to the characteristic information and the weed information of the plant to implement variable spraying.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Of course, the above description is not limited to the above examples, and technical features that are not described in this application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present application and not for limiting the present application, and the present application is only described in detail with reference to the preferred embodiments instead, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present application may be made by those skilled in the art without departing from the spirit of the present application, and the scope of the claims of the present application should also be covered.
Claims (10)
1. A field crop weed spraying apparatus, comprising: the device comprises a device support, wherein a stepping motor is arranged on the device support, an output shaft of the stepping motor is fixedly connected with one end of a screw rod of the stepping motor, the other end of the screw rod of the stepping motor is movably connected with a guide rail sliding block, the guide rail sliding block is fixedly connected with one end of a transverse supporting rod, a pesticide spray head, a front camera and a laser sensor are fixedly arranged on the transverse supporting rod, the front camera and the laser sensor are arranged on the front end side of the supporting rod, and a lens surface of the front camera and a signal end of the laser sensor are arranged downwards; the equipment support is also provided with a controller, and the controller is respectively electrically connected with the stepping motor, the pesticide sprayer, the front camera and the laser sensor.
2. The field crop weed spraying apparatus of claim 1, wherein the guide rail slider is provided with an internal thread, the other end of the screw rod of the stepping motor is provided with an external thread matching the internal thread, and the other end of the screw rod of the stepping motor is in threaded connection with the guide rail slider.
3. The field crop weed spraying apparatus as claimed in claim 2, wherein the number of the pesticide spraying heads is plural, and the plural pesticide spraying heads are uniformly arranged at the lower end of the transverse supporting rod.
4. The field crop weed spraying device as claimed in claim 3, wherein the pesticide spraying nozzle comprises an electric control valve and a spraying nozzle, the electric control valve is fixedly arranged at the lower end of the transverse supporting rod, the spraying nozzle is communicated with a pesticide outlet of the electric control valve, a pesticide inlet of the electric control valve is communicated with a pesticide conveying pipeline, and the electric control valve is also electrically connected with the controller.
5. The field crop weed spraying apparatus of claim 3, wherein the number of front-facing cameras is multiple and the multiple front-facing cameras are evenly arranged.
6. The field crop weed spraying device as claimed in claim 5, wherein a fixed support bar is arranged between the front camera and the transverse support bar, and two ends of the fixed support bar are respectively and fixedly connected with the fixed end of the front camera and the transverse support bar.
7. The field crop weed spraying apparatus of claim 6, wherein the laser sensor is provided in plurality, and the plurality of laser sensors are uniformly arranged on the fixed support bar.
8. The field crop weed spraying apparatus of any one of claims 1-7, wherein the apparatus frame comprises a first base, a second base and a connecting plate, two ends of the connecting plate are fixedly connected with the first base and the second base respectively, a supporting plate is fixedly arranged on the first base, the stepping motor is fixedly arranged on the supporting plate, and the controller is fixedly arranged on the connecting plate;
an auxiliary sliding screw rod is arranged on the second base, an auxiliary guide rail sliding block is movably arranged on the auxiliary sliding screw rod, and the auxiliary guide rail sliding block is fixedly connected with the other end of the transverse supporting rod.
9. The field crop weed spraying device as claimed in claim 8, wherein a pulling device is further arranged on the connecting plate, the pulling device comprises a first connecting rod, a second connecting rod and a supporting steel rod, one end of each of the first connecting rod and the second connecting rod is fixedly connected with the connecting plate, the other end of each of the first connecting rod and the second connecting rod is fixedly connected with the two ends of the supporting steel rod, an oblique pull rod is further arranged between each of the first connecting rod and the second connecting rod and the supporting steel rod, and the two ends of each of the oblique pull rods are respectively connected with the supporting steel rod and the connecting rod.
10. A field crop weed spraying method characterized by using the field crop weed spraying apparatus of any one of claims 1 to 9, the method comprising:
collecting a crop weed data set, preprocessing an image of the data set, dividing a sample of the data set into mask marks, and converting a file generated by labeling into a gray map as a sample label;
the laser sensor and the front camera respectively and continuously scan, photograph and pick up the front space to obtain the height information of the front crop plants and the weed image data information, and the scanned data information is transmitted to the controller;
before the transverse supporting rod reaches the position of a target crop plant, the controller controls the stepping motor to work according to the height information of the crop plant, and the height of the pesticide spray head is controlled through the screw rod of the stepping motor, the guide rail sliding block and the transverse supporting rod;
the controller processes the received weed image data information, extracts the convolution characteristics of the weed sample image, and detects and segments the weed category information, the position information and the outline information;
and the controller determines the pesticide spray nozzle and the pesticide spraying amount which need to be opened according to the weed category information, the weed position information and the weed outline information, and carries out variable spraying on the weeds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911124740.5A CN110663674A (en) | 2019-11-18 | 2019-11-18 | Pesticide spraying equipment and method for field crops and weeds |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911124740.5A CN110663674A (en) | 2019-11-18 | 2019-11-18 | Pesticide spraying equipment and method for field crops and weeds |
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| CN110663674A true CN110663674A (en) | 2020-01-10 |
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| CN201911124740.5A Pending CN110663674A (en) | 2019-11-18 | 2019-11-18 | Pesticide spraying equipment and method for field crops and weeds |
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Cited By (5)
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| CN111887114A (en) * | 2020-07-30 | 2020-11-06 | 高森俊毅 | Rice seed production robot |
| CN113273559A (en) * | 2021-05-25 | 2021-08-20 | 南京工业职业技术大学 | Tractor for plant protection machinery |
| CN113558029A (en) * | 2021-07-15 | 2021-10-29 | 江苏叁拾叁信息技术有限公司 | Intelligent pesticide spraying equipment for rice roots and pesticide spraying method thereof |
| CN114097760A (en) * | 2021-10-20 | 2022-03-01 | 舒城县皖香源茶叶有限公司 | Adjustable weeding device for tea planting |
| CN114568418A (en) * | 2022-02-16 | 2022-06-03 | 海南思沃家电子商务有限公司 | Agricultural impurity removal system |
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| CN113273559A (en) * | 2021-05-25 | 2021-08-20 | 南京工业职业技术大学 | Tractor for plant protection machinery |
| CN113558029A (en) * | 2021-07-15 | 2021-10-29 | 江苏叁拾叁信息技术有限公司 | Intelligent pesticide spraying equipment for rice roots and pesticide spraying method thereof |
| CN114097760A (en) * | 2021-10-20 | 2022-03-01 | 舒城县皖香源茶叶有限公司 | Adjustable weeding device for tea planting |
| CN114568418A (en) * | 2022-02-16 | 2022-06-03 | 海南思沃家电子商务有限公司 | Agricultural impurity removal system |
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