CN113925036A - Accurate automatic pesticide applying device based on machine vision - Google Patents
Accurate automatic pesticide applying device based on machine vision Download PDFInfo
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- CN113925036A CN113925036A CN202111119326.2A CN202111119326A CN113925036A CN 113925036 A CN113925036 A CN 113925036A CN 202111119326 A CN202111119326 A CN 202111119326A CN 113925036 A CN113925036 A CN 113925036A
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- 239000000575 pesticide Substances 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 12
- 239000003814 drug Substances 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000003912 environmental pollution Methods 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 abstract description 2
- 230000006378 damage Effects 0.000 description 2
- 238000012377 drug delivery Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000000447 pesticide residue Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 241000219112 Cucumis Species 0.000 description 1
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 1
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
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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
- A01M7/0089—Regulating or controlling systems
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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
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a precise automatic pesticide applying device based on machine vision, which relates to the field of agricultural pesticide application and comprises a navigation device, a four-wheel chassis device, a controller, a power box and a pesticide applying device, wherein the navigation device is used for identifying road conditions, the obtained information is transmitted to the controller, the controller processes the information and transmits a control command to the four-wheel chassis device, the four-wheel chassis device is provided with a pesticide applying device, a camera of the pesticide applying device collects the seedling information and sends the position information of the seedling to the controller, the controller controls a moving device of the pesticide applying device to position the sprayer at a proper position right above the seedling, meanwhile, the sprayer works to apply the pesticide to the seedlings, and aiming at the problems of low pesticide application utilization rate and large environmental pollution, the device effectively avoids the pollution of the environment and the waste of the pesticide and realizes the accurate pesticide application to crops.
Description
Technical Field
The invention relates to the field of agricultural pesticide application, in particular to a precise pesticide application device based on machine vision
Background
The application of medicine of seedling is the important link in farming, traditional application of medicine mainly relies on the manual work to accomplish, or adopt equipment such as unmanned aerial vehicle to accomplish, unified homogeneity application of medicine is in the application of medicine in-process, enough accepting sufficient pesticide volume in order to guarantee that the target area sprays, adopt and spray excessive pesticide mode comprehensively, consequently, the waste of medicine has been caused to a great extent, cause the pollution of very big degree to the soil simultaneously, the melon and fruit vegetables of production also cause the pesticide content to exceed standard easily, not only caused ecological balance's destruction, also caused harm to the human body simultaneously, consequently, need an accurate device of applying medicine, only apply medicine to the target seedling, the pollution to the environment has been avoided, reduce the pesticide residue and reduction in production cost effectively simultaneously.
Disclosure of Invention
The invention aims to provide an accurate pesticide application device which can replace manual work to finish pesticide application work, can be accurately positioned on crops to be applied, realizes accurate pesticide application on the crops, effectively avoids the problem of environmental pollution caused by uniform pesticide application and excessive pesticide application, and reduces the residual quantity of pesticide and production cost.
In order to achieve the purpose, the invention provides the following technical scheme: a precise pesticide applying device based on machine vision is characterized by comprising a navigation device, a four-wheel chassis device, a controller, a power box and a pesticide applying device;
the navigation device 1 is installed right ahead of the four-wheel chassis device 2, the navigation device 1 is composed of a depth camera 101 and a depth camera installation frame 102, the depth camera 101 is fixed on the depth camera installation frame 102, meanwhile, the depth camera installation frame 102 is installed on the four-wheel chassis device 2, the depth camera 101 acquires an image of a road ahead and transmits acquired information to the controller 3, the controller 3 processes the acquired color image, a route is fitted by combining a least square method, and a control command is transmitted to the chassis device 2 to realize autonomous navigation of a vehicle;
the four-wheel chassis device 2 consists of an upper mounting plate 201, a steering motor 202, a support frame A203, a transmission belt A204, a belt pulley 205, a driving shaft 206, a support frame B207, a driving motor 208, a support frame C209, a front mounting frame A201, a pinion 211, a rack 212, a front mounting frame B213, a support frame C214, a steering rod 215, a front beam 216 and a rear beam 217; the support frame C209 and the support frame D214 are arranged on a front beam 216, the support frame A203 is arranged on the self support frame, the support frame B207 is arranged on a back beam 217, the upper layer mounting plate 201 is arranged on the support frame A203, the support frame B207, the support frame C209 and the support frame D214, the steering motor 202 is arranged right in front of the upper layer mounting plate 201, a pinion 211 is arranged on a shaft of the motor, the pinion 211 is meshed with a rack 212, the rack 212 is arranged on a steering rod 215, the rotating rod 215 is arranged on a front mounting frame A210 and a front mounting frame B213, the front mounting frame A210 and the front mounting frame B213 are arranged on the upper layer mounting plate 201, the steering motor 202 rotates to drive the pinion 212 so as to enable the rack 212 meshed with the rack to translate, the motion of the rack 212 drives the steering rod to move to finally realize the steering of the front wheels, the driving motor 208 is arranged on the back beam 217 and drives a belt pulley 205 arranged on the driving shaft 206 through a belt 204, the motion of the belt pulley 205 drives the driving shaft 206 to move, the rear wheels are connected with the driving shaft, and finally rear wheel driving is realized, so that the four-wheel chassis device 2 moves;
the pesticide applying device 5 mainly comprises a movable carrier plate 501, a Z-direction lead screw sliding table 502, a Z-direction mounting plate A503, a Z-direction mounting plate B504, a cylinder A505, a T-shaped block 506, a cylinder B507, a Z-direction mounting plate C508, a sprayer push rod 509, a sprayer 510, a positioning camera 511, a positioning camera mounting plate 512, an X-direction sliding table A513, an X-direction sliding table B514, a Y-direction lead screw 515, a Y-direction sliding table 516, a Z-direction lead screw 517, a guide rail sliding block 518, a linear guide rail 519, an X-direction lead screw A520 and an X-direction lead screw B521, wherein the X-direction sliding table A513 and the X-direction sliding table B514 are respectively arranged on the X-direction lead screw A520 and the X-direction lead screw B521, two ends of the Y-direction lead screw 515 are fixed on the X-direction sliding table A513 and the X-direction sliding table B514, the Y-direction sliding table 516 is arranged on the Y-direction lead screw 515, the movable carrier plate 501 is arranged on the Y-direction sliding table 516, the Z-direction mounting plate A503 is arranged on the movable carrier plate A501, a Z-direction lead screw 517 is mounted on a Z-direction mounting plate A503, a Z-direction lead screw sliding table 502 is mounted on the Z-direction lead screw 517, a Z-direction mounting plate B504 is fixed on the Z-direction lead screw sliding table 502, a linear guide rail 519 and a guide rail slider 518 are mounted on the Z-direction mounting plate B504, the guide rail slider 518 can move on the linear guide rail 519, a Z-direction mounting plate C508 is mounted on the guide rail slider 518, a cylinder A505 is mounted right above the Z-direction mounting plate B504, a cylinder B507 is mounted right above the Z-direction mounting plate C508, a sprayer 510 is mounted on the Z-direction mounting plate C508, a sprayer push rod is mounted on the sprayer 510, a T-shaped block 506 is mounted on the Z-direction mounting plate C508, the T-shaped block 506 is connected with the cylinder A505 through a pin, the cylinder B507 is connected with the sprayer push rod 509, the sprayer push rod is mounted on the sprayer 510, a positioning camera 511 is mounted in front of a positioning camera mounting plate 512, the positioning camera mounting plate 512 is fixed on the upper mounting plate 201, and the positioning camera 511 acquires information of seedlings positioned below the upper mounting plate 201 and transmits the information to the controller 3;
the energy required by the navigation device 1, the four-wheel chassis device 2, the controller 3 and the pesticide applying device 5 is provided by the power box 4.
Compared with the prior art, the invention has the beneficial effects that:
(1) the device realizes automatic navigation by means of machine vision;
(2) the device can realize accurate pesticide application to crops;
(3) excessive pesticide application is effectively avoided;
(4) the device has a multi-stage motion structure, can adjust the height of the sprayer according to different growth cycles and crops, and enhances the pesticide application effect;
(5) the production cost is effectively reduced;
(6) the pesticide residue of crops and the environmental pollution to the land are reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus;
FIG. 2 is a block diagram of a dispensing device;
FIG. 3 is a schematic view of a portion of the applicator motion structure;
FIG. 4 is a schematic view of the overall structure of the four-wheel chassis device;
fig. 5 is a schematic view of the internal structure of the four-wheel chassis device.
Number designation in the figures: a navigation device; 2. a four-wheel chassis device; 3. a controller; 4. a power supply box; 5. a drug delivery device; 101. a depth camera; 102. a depth camera mounting bracket; 201. an upper mounting plate; 202. a steering machine; 203. a support frame A; 204. a transmission belt A; 205. a belt pulley; 206. a drive shaft; 207. a support frame B; 208. a drive motor; 209. a support frame C; 210. a front mounting frame A; 211. a pinion gear; 212. a rack; 213. a front mounting frame B; 214. a support frame C; 215. a steering lever; 501. moving the carrier plate in the Z direction; 502. a Z-direction screw rod sliding table; 503. installing a plate A in the Z direction; 504. mounting a plate B in the Z direction; 505 cylinder A; 506. a T-shaped block; 507. a cylinder B; 508. mounting a plate C in the Z direction; 509. a sprayer push rod; 510. a sprayer; 511. positioning a camera; 512. positioning a camera mounting plate; 513. an X-direction sliding table A; 514. an X-direction sliding table B; 515. a Y-direction screw A; 516. a Y-direction sliding table; 517. a Y-direction cylinder fixing plate; 518. a guide rail slider; 519. a linear guide rail; 520. a screw A in the X direction; 521. x-direction lead screw B.
Detailed Description
The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention. It is to be understood that the embodiments described are only a few embodiments and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection.
Example 1: referring to fig. 1 to 5, the present invention provides a technical solution, a precise automatic drug delivery device based on machine vision, which is characterized in that: comprises a navigation device 1, a four-wheel chassis device 2, a controller 3, a power box 4 and a pesticide applying device 5;
the navigation device 1 is installed right ahead of the four-wheel chassis device 2, the navigation device 1 is composed of a depth camera 101 and a depth camera installation frame 102, the depth camera 101 is fixed on the depth camera installation frame 102, meanwhile, the depth camera installation frame 102 is installed on the four-wheel chassis device 2, the depth camera 101 acquires an image of a road ahead and transmits acquired information to the controller 3, the controller 3 processes the acquired color image, a route is fitted by combining a least square method, and a control command is transmitted to the chassis device 2 to realize autonomous navigation of a vehicle;
the four-wheel chassis device 2 consists of an upper mounting plate 201, a steering motor 202, a support frame A203, a transmission belt A204, a belt pulley 205, a driving shaft 206, a support frame B207, a driving motor 208, a support frame C209, a front mounting frame A210, a pinion 211, a rack 212, a front mounting frame B213, a support frame C214, a steering rod 215, a front beam 216 and a rear beam 217; the upper mounting plate 201 is connected with the driving shaft 206 through a support frame A203, a support frame B207, a support frame C209 and a support frame D214, wherein the support frame A209, the support frame B207, the support frame C209 and the support frame D214 are arranged on a front beam 216 and a rear beam 217, the upper mounting plate 201 is provided with a navigation device 1, a controller 3, a power supply box 4 and a drug application device 5, meanwhile, a steering motor 202 is also arranged on the upper mounting plate 201, the front end of the steering motor is provided with a pinion 211, the pinion 211 is meshed with a rack 212, the rack 212 is arranged on a steering rod 215 through threads, the steering rod 215 is driven to move through the movement of the rack 212, a rotating rod 215 is arranged on a front mounting frame A210 and a front mounting frame B213, the front mounting frame A210 and the front mounting frame B213 are arranged on the upper mounting plate 201, meanwhile, the rotating rod 215 is connected with the front wheel, the steering of the front wheel is realized through the swinging of the steering rod, a driving motor 208 is arranged on the rear beam 217, and drives a belt 205 arranged on the driving shaft 206 through a belt 204, the rear wheel is connected with the driving shaft, the driving motor 208 drives the driving shaft 206 to move through the belt 204 and the belt pulley 205, and finally rear wheel driving is realized, so that the four-wheel chassis device 2 moves;
the pesticide applying device 5 mainly comprises a movable carrier plate 501, a Z-direction lead screw sliding table 502, a Z-direction mounting plate A503, a Z-direction mounting plate B504, a cylinder A505, a T-shaped block 506, a cylinder B507, a Z-direction mounting plate C508, a sprayer push rod 509, a sprayer 510, a positioning camera 511, a positioning camera mounting plate 512, an X-direction sliding table A513, an X-direction sliding table B514, a Y-direction lead screw 515, a Y-direction sliding table 516, a Z-direction lead screw 517, a guide rail sliding block 518, a linear guide rail 519, an X-direction lead screw A520 and an X-direction lead screw B521, wherein the X-direction sliding table A513 and the X-direction sliding table B514 are respectively arranged on the X-direction lead screw A520 and the X-direction lead screw B521, two ends of the Y-direction lead screw 515 are fixed on the X-direction sliding table A513 and the X-direction sliding table B514, the Y-direction sliding table 516 is arranged on the Y-direction lead screw 515, the movable carrier plate 501 is arranged on the Y-direction sliding table 516, the Z-direction mounting plate A503 is arranged on the movable carrier plate A501, a Z-direction lead screw 517 is arranged on a Z-direction mounting plate A503, a Z-direction lead screw sliding table 502 is arranged on the Z-direction lead screw 517, a Z-direction mounting plate B504 is fixed on the Z-direction lead screw sliding table 502, a linear guide rail 519 and a guide rail slider 518 are arranged on the Z-direction mounting plate B504, the guide rail slider 518 can move on the linear guide rail 519, a Z-direction mounting plate C508 is arranged on the guide rail slider 518, an air cylinder A505 is arranged right above the Z-direction mounting plate B504, an air cylinder B507 is arranged right above the Z-direction mounting plate C508, an atomizer 510 is arranged on the Z-direction mounting plate C508, an atomizer push rod is arranged on the atomizer 510, a T-shaped block 506 is arranged on the Z-direction mounting plate C508, the T-shaped block 506 is connected with the air cylinder A505 through a pin, the air cylinder B507 is connected with the atomizer push rod 509, and a positioning camera 511 is arranged in front of a positioning camera mounting plate 512, the positioning camera mounting plate 512 is fixed on the upper mounting plate 201, the positioning camera 511 acquires information of seedlings positioned below the upper mounting plate 201 and transmits the information to the controller 3, the controller 3 acquires coordinate positions of the seedlings and controls the X-direction lead screw A520 and the X-direction lead screw B521 to rotate, so that the X-direction sliding table A513 and the X-direction sliding table B514 move, meanwhile, the controller 3 controls the Y-direction lead screw 515 to rotate, further the Y-direction sliding table 516 translates, finally the sprayer 510 is positioned right above the seedlings to be sprayed, in order to match different heights of the seedlings, the Z-direction lead screw 517 rotates to drive the Z-direction lead screw sliding table 502 to move, primary motion in the Z direction is realized, the air cylinder A505 moves, the Z-direction mounting plate C508 is pushed to move on the linear guide rail 519 through the T-shaped block 506, so that secondary motion in the Z direction can be realized, when the sprayer 510 is at a proper height from the seedlings, the cylinder B507 pushes the push rod 509 of the sprayer to make the liquid medicine sprayed out from the atomizing nozzle of the sprayer 510, after the application of one seedling is finished, the cylinder A505 returns to drive the Z-direction mounting plate C508 to return to the original height, meanwhile, the lead screw 515 in the Y direction moves to position the next seedling in the same row and different columns, the cylinder A505 pushes the mounting plate C508 in the Z direction to move and position the proper position, the cylinder B507 pushes the push rod 509 of the sprayer again to ensure that the liquid medicine is sprayed out from the atomizing nozzle of the sprayer 510 to finish the pesticide application of the seedling, after the seedlings in one row are subjected to pesticide application, the X-direction lead screw A520 and the X-direction lead screw B move to position the sprayer 510 to the next row, thereby completing the seedling pesticide application work below one upper mounting plate 201, and after completing all the seedling pesticide application work of the target area, the four-wheel chassis device 2 moves forward to start pesticide application work of the next target area;
the energy required by the navigation device 1, the four-wheel chassis device 2, the controller 3 and the pesticide applying device 5 is provided by the power box 4.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. The utility model provides an accurate automatic device of giving medicine to poor free of charge based on machine vision which characterized in that: comprises a navigation device (1), a four-wheel chassis device (2), a controller (3), a power box (4) and a pesticide applying device (5);
the navigation device (1) is installed right ahead of the four-wheel chassis device (2), the navigation device (1) is composed of a depth camera (101) and a depth camera mounting rack (102), the depth camera (101) is fixed on the depth camera mounting rack (102), meanwhile, the depth camera mounting rack (102) is installed on the four-wheel chassis device (2), the depth camera (101) obtains an image of a road ahead, the obtained information is transmitted to the controller (3), the controller (3) processes the obtained color image, a route is fitted by combining a least square method, and a control command is transmitted to the chassis device (2) to achieve autonomous navigation of a vehicle;
the four-wheel chassis device (2) is composed of an upper mounting plate (201), a steering motor (202), a support frame A (203), a transmission belt A (204), a belt pulley (205), a driving shaft (206), a support frame B (207), a driving motor (208), a support frame C (209), a front mounting frame A (201), a pinion (211), a rack (212), a front mounting frame B (213), a support frame C (214), a steering rod (215), a front beam (216), a rear beam (217), a support frame C (209) and a support frame D (214) are arranged on the front beam (216), a support frame A (203) per se, a support frame B (207) is arranged on the rear beam (217), the upper mounting plate (201) is arranged on the support frame A (203), the support frame B (207), the support frame C (209), the support frame D (214), the steering motor (202) is arranged right ahead of the upper mounting plate (201), a pinion (211) is arranged on a motor upper shaft, the pinion (211) is meshed with a rack (212), the rack (212) is arranged on a steering rod (215), the rotating rod (215) is arranged on a front mounting rack A (210) and a front mounting rack B (213), the front mounting rack A (210) and the front mounting rack B (213) are arranged on an upper mounting plate (201), a steering motor (202) rotates to drive the pinion (212), thereby leading the rack (212) meshed with the rack to translate, leading the rack (212) to move to drive the steering rod to move and finally realize the steering of the front wheels, leading the driving motor (208) to be arranged on the back beam (217), the belt pulley (205) arranged on the driving shaft (206) is driven by the belt (204), the driving shaft (206) is driven to move by the movement of the belt pulley (205), the rear wheel is connected with the driving shaft, and the rear wheel driving is finally realized, so that the four-wheel chassis device (2) moves;
the pesticide application device (5) mainly comprises a movable carrier plate (501), a Z-direction lead screw sliding table (502), a Z-direction mounting plate A (503), a Z-direction mounting plate B (504), a cylinder A (505), a T-shaped block (506), a cylinder B (507), a Z-direction mounting plate C (508), a sprayer push rod (509), a sprayer (510), a positioning camera (511), a positioning camera mounting plate (512), an X-direction sliding table A (513), an X-direction sliding table B (514), a Y-direction lead screw (515), a Y-direction sliding table (516), a Z-direction lead screw (517), a guide rail sliding block (518), a linear guide rail (519), an X-direction lead screw A (520) and an X-direction lead screw B (521), wherein the X-direction sliding table A (513) and the X-direction sliding table B (514) are respectively arranged on the X-direction lead screw A (520) and the X-direction lead screw B (521), two ends of the Y-direction lead screw (515) are fixed on the X-direction sliding table A (513) and the X-direction sliding table B (514), a Y-direction sliding table (516) is arranged on a Y-direction lead screw (515), a movable carrier plate (501) is arranged on the Y-direction sliding table (516), a Z-direction mounting plate A (503) is arranged on the movable carrier plate (501), a Z-direction lead screw (517) is arranged on the Z-direction mounting plate A (503), a Z-direction lead screw sliding table (502) is arranged on the Z-direction lead screw (517), a Z-direction mounting plate B (504) is fixed on the Z-direction lead screw sliding table (502), a linear guide rail (519) and a guide rail sliding block (518) are arranged on the Z-direction mounting plate B (504), the guide rail sliding block (518) can move on the linear guide rail (519), a Z-direction mounting plate C (508) is arranged on the guide rail sliding block (518), an air cylinder A (505) is arranged right above the Z-direction mounting plate B (504), an air cylinder B (507) is arranged right above the Z-direction mounting plate C (508), the sprayer (510) is installed on a Z-direction installation plate C (508), meanwhile, a sprayer push rod (509) is installed on the sprayer (510), a T-shaped block (506) is installed on the Z-direction installation plate C (508), the T-shaped block (506) is connected with a cylinder A (505) through a pin, a cylinder B (507) is connected with the sprayer push rod (509), the sprayer push rod (509) is installed on the sprayer (510), a positioning camera (511) is installed in front of a positioning camera installation plate (512), the positioning camera installation plate (512) is fixed on an upper layer installation plate (201), and the positioning camera (511) acquires information of seedlings located below the upper layer installation plate (201) and transmits the information to the controller (3);
the energy required by the navigation device (1), the four-wheel chassis device (2), the controller (3) and the pesticide applying device (5) is provided by the power box (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111119326.2A CN113925036A (en) | 2021-09-19 | 2021-09-19 | Accurate automatic pesticide applying device based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111119326.2A CN113925036A (en) | 2021-09-19 | 2021-09-19 | Accurate automatic pesticide applying device based on machine vision |
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| CN113925036A true CN113925036A (en) | 2022-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111119326.2A Pending CN113925036A (en) | 2021-09-19 | 2021-09-19 | Accurate automatic pesticide applying device based on machine vision |
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