CN114275163A - Folding arm module, spraying equipment and driving method - Google Patents
Folding arm module, spraying equipment and driving method Download PDFInfo
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- CN114275163A CN114275163A CN202210037049.9A CN202210037049A CN114275163A CN 114275163 A CN114275163 A CN 114275163A CN 202210037049 A CN202210037049 A CN 202210037049A CN 114275163 A CN114275163 A CN 114275163A
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Abstract
The embodiment of the invention discloses a folding arm module, spraying equipment and a driving method, wherein the folding arm module is arranged on the spraying equipment for spraying crops in hilly lands, and comprises the following components: n arm levers, wherein the N arm levers have an extended state and a retracted state; further comprising: the camera module is used for collecting topographic image information of hilly lands within a preset range of the folding arm module; the processing module is connected with the camera module and used for determining the telescopic state of the folding arm module according to the terrain image information; a driving module is arranged between two adjacent arm levers, and the driving module is connected with the processing module and used for determining a driving state according to the telescopic state; wherein, the different driving states correspondingly drive the motion directions and the motion speeds of the adjacent arm levers to be different. So, realized utilizing folding arm module to realize that the intelligence of spraying apparatus sprays, can spray the operation for the crops in hilly area accurately when reducing human cost.
Description
Technical Field
The invention relates to the technical field of electric power, in particular to a folding arm module, spraying equipment and a driving method.
Background
In the related art, unmanned aerial vehicle spraying and manual spraying are mainly used in crop farms in hilly lands. The spraying automation can be realized by the unmanned aerial vehicle, but the liquid spraying effect is not good because the liquid medicine cannot be sprayed to the back of the leaf; the manual spraying effect is good, but the efficiency is low, the cost is high, and a certain poisoning risk exists. Therefore, how to ensure the spraying efficiency and the spraying precision becomes a technical problem which needs to be solved urgently.
Disclosure of Invention
In order to solve the existing technical problems, the embodiment of the invention provides a folding arm module, spraying equipment and a driving method.
In order to achieve the above purpose, the technical solution of the embodiment of the present invention is realized as follows:
the embodiment of the invention provides a folding arm module, which is arranged on spraying equipment for spraying crops in hilly lands, and comprises: the device comprises N arm levers, a controller and a controller, wherein the N arm levers have an extension state and a contraction state, in the extension state, a first preset angle which is not equal to 0 is formed at the joint between two adjacent arm levers by two adjacent arm levers, and in the contraction state, a second preset angle which is equal to 0 is formed at the joint between two adjacent arm levers by two adjacent arm levers;
the folding arm module still includes:
the camera module is used for collecting topographic image information of hilly lands within a preset range of the folding arm module;
the processing module is connected with the camera module and used for determining the telescopic state of the folding arm module according to the terrain image information;
a driving module is arranged between every two adjacent arm rods, is connected with the processing module and is used for determining a driving state according to the telescopic state; wherein, different drive states correspond to different motion directions and motion speeds of driving adjacent arm levers.
Preferably, each of the N arm levers includes two ends;
the first end of the 1 st arm rod is fixedly arranged, the second end of the 1 st arm rod is rotatably connected with the first end of the 2 nd arm rod, and so on, and the second end of the (N-1) th arm rod is rotatably connected with the first end of the (N) th arm rod, wherein N is a positive integer greater than or equal to 1.
Preferably, the driving module further includes:
the signal sensor is arranged at the connection position where the second end of the (N-1) th arm lever is rotatably connected with the first end of the (N-1) th arm lever and is used for converting the telescopic state into a numerical signal capable of representing the sub-telescopic state of the (N-1) th arm lever and the (N-1) th arm lever; and determining the driving state according to the numerical value signal.
Preferably, the processing module further includes: determining signal generation time sequence information of the N signal sensors according to the stretching state; according to the time sequence information, sending a control signal to the signal sensor corresponding to the time sequence information;
the signal sensor is further used for responding to the received control signal and converting the telescopic state into a numerical value signal representing the sub-telescopic state of the (N-1) th arm rod and the (N) th arm rod.
Preferably, the N arm levers are four arm levers;
the driving module is further used for comparing a first quantity of first numerical signals used for representing the stretching state in the N numerical signals with a second quantity of second numerical signals in the stretching state in the initial state; in response to the first number being greater than the second number, determining the driving state as driving the N arms to extend; and/or, in response to the first number being less than the second number, determining the driving state as driving the N arm levers to contract; and/or, in response to the first number being equal to the second number, determining the driving state as a stopped driving state.
Preferably, the processing module is further configured to:
determining whether the spraying equipment needs to travel to the next hilly area or not according to the terrain image information;
determining that the telescopic state of the folding arm module is a retracted state in response to the spray apparatus walking to a next hill zone.
An embodiment of the present invention further provides a spraying apparatus, including:
the spray equipment comprises a spray equipment body and the folding arm module which is arranged on the spray equipment body and is provided with the folding arm module according to any embodiment.
An embodiment of the present invention further provides a driving method applied to any of the above folding arm modules, where the folding arm module is disposed on a spraying device for spraying crops in hilly lands, and includes: the device comprises N arm levers, a controller and a controller, wherein the N arm levers have an extension state and a contraction state, in the extension state, a first preset angle which is not equal to 0 is formed at the joint between two adjacent arm levers by two adjacent arm levers, and in the contraction state, a second preset angle which is equal to 0 is formed at the joint between two adjacent arm levers by two adjacent arm levers; the method comprises the following steps:
collecting topographic image information of hilly lands within a preset range of the folding arm module;
determining the telescopic state of the folding arm module according to the topographic image information;
and determining a driving state according to the telescopic state, wherein different driving states correspondingly drive the motion directions and the motion speeds of the adjacent arm levers to be different.
Preferably, the determining the telescopic state of the folding arm module according to the topographic image information includes:
determining whether the spraying equipment needs to travel to the next hilly area or not according to the terrain image information;
determining that the telescopic state of the folding arm is a contracted state in response to the spraying device walking to a next hill zone.
An embodiment of the present invention further provides a foldable arm module, including: a processor and a memory for storing calculations and programs executable on the processor, wherein the processor is configured to implement any of the above described driving methods when executing the computer program.
The folding arm module, spraying apparatus and driving method provided by the above embodiments, the folding arm module is arranged on a spraying apparatus for spraying crops in hilly lands, and includes: the device comprises N arm levers, a controller and a controller, wherein the N arm levers have an extension state and a contraction state, in the extension state, a first preset angle which is not equal to 0 is formed at the joint between two adjacent arm levers by two adjacent arm levers, and in the contraction state, a second preset angle which is equal to 0 is formed at the joint between two adjacent arm levers by two adjacent arm levers; the folding arm module still includes: the camera module is used for collecting topographic image information of hilly lands within a preset range of the folding arm module; the processing module is connected with the camera module and used for determining the telescopic state of the folding arm module according to the terrain image information; a driving module is arranged between every two adjacent arm rods, is connected with the processing module and is used for determining a driving state according to the telescopic state; wherein, different drive states correspond to different motion directions and motion speeds of driving adjacent arm levers. Consequently, compare prior art, need artifically to spray the crops in hilly areas, perhaps utilize unmanned aerial vehicle to spray, owing to adopted the folding arm module that can stretch out and draw back automatically to consider the blade back of the crops that unmanned aerial vehicle can't spray, also can reduce the manual work simultaneously and spray that the arouse and spray inefficiency, spray risks such as poisoning. Therefore, the folding arm module arranged on the spraying equipment provided by the embodiment of the invention can ensure the spraying accuracy while ensuring the spraying efficiency, thereby realizing the safe and efficient spraying of crops in hilly lands.
Drawings
Fig. 1 is a schematic structural diagram of a folding arm module according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a foldable arm module according to an embodiment of the present invention;
fig. 3 is another schematic structural diagram of a foldable arm module according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a foldable arm module according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a folding arm module according to an embodiment of the present invention;
fig. 6 is a functional structure diagram of a foldable arm module according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating a driving method according to an embodiment of the invention;
fig. 8 is a flowchart illustrating a driving method according to an embodiment of the invention;
fig. 9 is a schematic hardware structure diagram of a folding arm module according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the embodiment of the present invention, the application scenario of the spraying apparatus equipped with the folding arm module may be as follows: in pesticide spraying scenes in hilly terrain. It can be understood that in the prior art, in the pesticide spraying scene of crops to hilly areas, usually spraying by unmanned aerial vehicle, or spraying by manual work. But neither of these two spraying methods is satisfactory. For example, unmanned aerial vehicle sprays and can appear spraying not in place the phenomenon, and the manual work sprays and can appear spraying inefficiency again, sprays that the pesticide poisoning risk that leads to is big, and the cost of labor is high.
Based on this, provide a take spraying apparatus of folding arm module of folding function in this embodiment, can combine unmanned aerial vehicle to spray and the manual work is again that, is applied to the farm environment of complicated topography such as hilly topography, for example, in the orchard environment of hilly topography to solve the manual work and spray inefficiency and unmanned aerial vehicle and spray the problem that the precision is not high.
The technical scheme of the invention is further elaborated by combining the drawings and the specific embodiments in the specification.
Referring to fig. 1 to 6, an embodiment of the present invention provides a foldable arm module 1, where the foldable arm module 1 is disposed on a spraying apparatus for spraying crops in hilly lands, and includes: n arms, wherein the N arms have an extended state and a retracted state;
the camera module 11 is used for collecting topographic image information of hilly lands within a preset range of the folding arm module 1;
the processing module 12 is connected with the camera module 11 and is used for determining the telescopic state of the folding arm module according to the topographic image information, in the extended state, the joint between two adjacent arms is at a first preset angle not equal to 0, and in the contracted state, the joint between two adjacent arms is at a second preset angle equal to 0;
a driving module 13 is arranged between two adjacent arm levers, and the driving module 13 is connected with the processing module 12 and used for determining a driving state according to the telescopic state; wherein, different drive states correspond to different motion directions and motion speeds of driving adjacent arm levers.
The N arm levers have an extended state, and any two adjacent arm levers in the N arm levers have an extended state; the N arm levers have a contraction state, and any two adjacent arm levers in the N arm levers are in the contraction state.
Referring to fig. 1 again, as an example, the folding rod of the folding arm module 1 has an extended state as shown in fig. 1. Referring to fig. 2 again, the folding bar of the folding arm module 1 has a contracted state as shown in fig. 2.
The camera module 11 here includes a binocular camera or a monocular camera. In practical application, the camera module 11 can be mounted on the arm of the folding module 1, or at the end of the arm; on the one hand, the terrain image information of hilly lands in the preset range of the folding module 1 can be collected, and on the other hand, the terrain image information of crops in the preset range of the folding module 1 can also be collected. It can be understood that the topographic image information can be used for judging the walking state of the spraying equipment provided with the folding arm module 1, whether the spraying equipment needs to go up a slope or not, and the like; and this crops image information can be used for judging whether folding arm module 1 sprays for near crops to can adjust the fold condition between each armed lever of folding arm according to the judged result whether sprays, thereby realize automatic spraying.
The driving module 13 here may include a motor, which includes but is not limited to a permanent magnet dc motor, or a stepping motor and a push rod, etc., and in any case, under the operation of the motor, the motor can drive the two adjacent arms to move, so as to change the angle of the joint between the two adjacent arms, i.e. change the telescopic state between the two adjacent arms.
The processing module 12 may be an upper computer and a lower computer, and the lower computer may be installed in the folding arm module 1 and connected to the camera module 11 and the driving module 13 in the folding arm module 1. The host computer is used for data processing and may be a computer or the like. The lower computer can be used as an instruction issuing transfer station, wherein the upper computer and the lower computer can be in communication connection through 485, network and the like.
For example, the upper computer may be haisi H3519A, and the lower computer may be rassa RA4M 2. The arm rod in the folding arm module 1 can be a gantry structure.
The moving direction and the moving speed are the moving direction and the moving speed of the motor driving the arm lever. And determining the driving state according to the telescopic state and the initial state so as to obtain the movement direction and the movement speed of the motor-driven arm lever. It will be appreciated that in some embodiments, the speed of movement may be constant, and the direction of movement may be based on a comparison of the initial state with the retracted state. For example, if the initial state of the folding arm set 1 is an extended state, the topographic image information indicates that the folding arm set 1 needs to be in a contracted state, and the movement direction is the direction of the opposite movement between two adjacent arm levers; on the contrary, if the initial state of the folding arm set 1 is the contracted state, the topographic image information indicates that the folding arm set 1 needs to be in the expanded state, and the moving direction is the direction of the back-to-back movement between two adjacent arms. Of course, the direction of movement may be non-directional when the initial state is the same as the final desired telescopic state. Of course, in other embodiments, the movement speed may also be changed intelligently, and may be determined, for example, by topographical image information.
Above-mentioned embodiment, compare prior art, need artifically to spray the crops in hilly areas, perhaps utilize unmanned aerial vehicle to spray, owing to adopted the folding arm module that can stretch out and draw back automatically to consider the blade back of the crops that unmanned aerial vehicle can't spray, also can reduce the manual work simultaneously and spray that the arouse and spray inefficiency, spray risks such as poisoning. Therefore, the folding arm module arranged on the spraying equipment provided by the embodiment of the invention can ensure the spraying accuracy while ensuring the spraying efficiency, thereby realizing the safe and efficient spraying of crops in hilly lands.
In some embodiments, the processing module 12 is further configured to:
determining whether the spraying equipment needs to travel to the next hilly area or not according to the terrain image information;
determining that the telescopic state of the folding arm module is a retracted state in response to the spray apparatus walking to a next hill zone.
It should be noted that, in the hilly area scene, since each hilly area rises according to the steps, the spraying device sprays along each hilly area. When climbing to another hilly area in a hilly area, if the folding arm module is in an extension state, the folding arm module is easily damaged. Based on the above, the telescopic state of the folding arm module can be adjusted to be the contracted state under the condition that whether the spraying equipment needs to walk to the next hilly area or not is determined according to the terrain image information.
So, in this embodiment, through determining whether spraying apparatus need walk to the next hilly area under the condition, can determine the flexible state of folding arm module and be the shrink state to let folding arm module can accomplish to walk to next hilly area under the shrink state, thereby can reduce the problem that the folding arm module that spraying apparatus walking in-process leads to because the topography is complicated damages easily.
Illustratively, the determining whether the spraying device needs to travel to the next hilly area according to the terrain image information includes: determining whether the spraying equipment walks to the end part of the current hilly zone according to the terrain image information; if the end of the hilly band is reached, it is determined that the spraying device needs to be walked to the next hilly band.
Illustratively, determining whether the spraying device walks to the end of the current hilly zone according to the terrain image information comprises: determining gray information in the topographic image information according to the topographic image information; if the gray information indicates that an area with gray variation larger than a variation threshold exists; and if the area with the gray level change larger than the change threshold value is determined to be the end part of the hilly area according to the deep learning model, determining that the spraying equipment walks to the end part of the current hilly area. So, can discern intelligently whether need contract the armed lever of folding arm module to reduce the damage of spraying apparatus walking in-process to the armed lever.
Referring to fig. 1 to 5 again, each of the N arm levers includes two ends;
the first end of the 1 st arm rod is fixedly arranged, the second end of the 1 st arm rod is rotatably connected with the first end of the 2 nd arm rod, and so on, and the second end of the (N-1) th arm rod is rotatably connected with the first end of the (N) th arm rod, wherein N is a positive integer greater than or equal to 1. So, can all shrink each armed lever, reduce because spraying equipment walking in-process, especially the climbing downhill path in hilly area in-process, crops to the damage of hitting of the not collapsible armed lever.
In other embodiments, referring to fig. 1 again, the driving module 1 further includes:
the signal sensor is arranged at the connection position where the second end of the (N-1) th arm lever is rotatably connected with the first end of the (N-1) th arm lever and is used for converting the telescopic state into a numerical signal capable of representing the sub-telescopic state of the (N-1) th arm lever and the (N-1) th arm lever; and determining the driving state according to the numerical value information.
Illustratively, the signal sensor may be a metal proximity switch. When metal approaches, high level is output and is represented by a numerical signal 1, otherwise, low level is output and is represented by a numerical signal 0. Illustratively, if contraction is desired, it may be represented by 0, and if expansion is desired, it may be represented by 1.
The sub-telescopic state refers to the telescopic state of the (N-1) th arm lever and the (N) th arm lever.
Therefore, the telescopic state is converted into the numerical value signal, so that the signal is simplified, reading is facilitated, and corresponding telescopic operation and the like are executed based on the numerical value signal.
In other embodiments, the processing module 12 further includes: determining signal generation time sequence information of the N signal sensors according to the stretching state; according to the time sequence information, sending a control signal to the signal sensor corresponding to the time sequence information;
the signal sensor is further used for responding to the received control signal and converting the telescopic state into a numerical value signal capable of representing the sub-telescopic states of the (N-1) th arm rod and the (N) th arm rod.
Here, the signal generation timing information of the N signal sensors means that each signal sensor has its own priority. For example, referring to fig. 1 to 5, the priority of the third signal sensor 133 is higher than that of the second signal sensor 132, and is higher than that of the first signal sensor 131. In this way, according to the priorities of the N signal sensors, the signal generation timing information of the N signal sensors can be determined, so that the respective arm levers of the folding arm module 1 can be sequentially extended or contracted. Of course, in some embodiments, the priority of the signal sensor may be determined according to the captured topographic image information, for example, in some cases, the priority of the second signal sensor 132 may be higher than that of the third signal sensor 133.
In other embodiments, referring to fig. 1 again, as shown in fig. 1, the N arm levers are four arm levers;
the driving module 13 is further configured to compare a first quantity of a first numerical signal used for representing the stretching state in the N numerical signals with a second quantity of a second numerical signal in the stretching state in the initial state; in response to the first number being greater than the second number, determining the driving state as driving the N arms to extend; and/or, in response to the first number being less than the second number, determining the driving state as driving the N arm levers to contract; and/or, in response to the first number being equal to the second number, determining the driving state as a stopped driving state.
In practical application, comparing the number of the sensors of the extension group needing to be extended with the number of the sensors in the initial state which are in the extension state, and if A is larger than B, confirming that the folding arm of the spraying machine needs to be extended; if A is less than B, the folding arm of the spraying machine is determined to need to be contracted; if A is B, confirming that the folding arm of the spraying machine does not need to act; when the folding arm of the spraying machine needs to be extended, according to the priority of the extension group sensors, if the extension group sensors need to reach the state that the state with low priority is the extension state, and the state with high priority is not the extension state, the operation is not executed, and the abnormal feedback is given to the upper computer. If the stretching group sensor needs to reach a normal state, determining whether the actual state with high priority in the stretching group sensor is shrinkage or not and the actual state with low priority is expansion, if the actual state is not the shrinkage, feeding back an abnormality to the upper computer, otherwise, normally stretching; when the folding arm of the spraying machine needs to be contracted, according to the priority of the contraction group sensor, if the contraction group sensor needs to reach the state that the state with low priority is the contraction state, and the state with high priority is not the contraction state, the contraction group sensor is not executed, and the abnormal feedback is given to the upper computer. If the shrinkage group sensor needs to reach a normal state, whether the actual state with high priority in the shrinkage group sensor is stretching or not is confirmed, and the actual state with low priority is shrinkage or not is confirmed, if the actual state is not stretching, the abnormal state is fed back to the upper computer, and if the actual state is not stretching, the normal shrinkage is realized.
An embodiment of the present invention further provides a spraying apparatus, including: the spraying equipment comprises a spraying equipment body and the folding arm module which is arranged on the spraying equipment body and is provided with the folding arm module according to any embodiment.
The advantages and contributions of this embodiment with respect to the prior art are the same as those described for the embodiment of the folding arm module described above. Through the spraying equipment who installs the folding arm module of above-mentioned embodiment promptly, realized that hilly area sprays crops safely high-efficiently.
Fig. 7 is a schematic flow chart of a driving method applied to any of the above folding arm modules, according to an embodiment of the present invention, the folding arm module is disposed on a spraying device for spraying crops in hilly terrain, as shown in fig. 7, the method includes:
step 701: collecting topographic image information of hilly lands within a preset range of the folding arm module;
step 702: determining the telescopic state of the folding arm module according to the topographic image information;
step 703: and determining a driving state according to the telescopic state, wherein different driving states correspondingly drive the motion directions and the motion speeds of the adjacent arm levers to be different.
In some optional embodiments, the step 701, namely, determining the telescopic state of the folding arm module according to the topographic image information, includes:
determining whether the spraying equipment needs to travel to the next hilly area or not according to the terrain image information;
determining that the telescopic state of the folding arm is a contracted state in response to the spraying device walking to a next hill zone.
In some optional embodiments, the step 703 of determining a driving state according to the expansion state includes:
the signal sensor is arranged at the connection position where the second end of the (N-1) th arm lever is rotatably connected with the first end of the (N-1) th arm lever and is used for converting the telescopic state into a numerical signal capable of representing the sub-telescopic state of the (N-1) th arm lever and the (N-1) th arm lever; and determining the driving state according to the numerical value signal.
In some optional embodiments, the method further comprises:
determining signal generation time sequence information of the N signal sensors according to the stretching state; according to the time sequence information, sending a control signal to the signal sensor corresponding to the time sequence information;
the determining the driving state according to the value signal includes:
and responding to the received control signal, and converting the telescopic state into a numerical value signal capable of representing the sub-telescopic states of the N-1 arm lever and the N arm lever.
In some optional embodiments, the determining the driving state according to the value signal includes:
comparing a first number of first numerical signals used for representing the stretching state in the N numerical signals with a second number of second numerical signals in the stretching state in the initial state; in response to the first number being greater than the second number, determining the driving state as driving the N arms to extend; and/or, in response to the first number being less than the second number, determining the driving state as driving the N arm levers to contract; and/or, in response to the first number being equal to the second number, determining the driving state as a stopped driving state.
Here, it should be noted that: the description of the driving method is similar to the description of the driving module, and the description of the beneficial effects of the same method is omitted for brevity. For technical details that are not disclosed in the embodiments of the driving method of the present invention, please refer to the description of the embodiments of the driving module of the present invention.
The present invention also provides an embodiment to further understand the folding arm module, the spraying apparatus and the driving method.
Referring to fig. 8, fig. 8 is a schematic flow chart of a driving method according to an embodiment of the present invention, as shown in fig. 8, the method includes:
step 81: the upper computer sends an instruction to the lower computer;
the upper computer may be a command that needs to extend or retract the folding arm module, which is generated according to actual conditions, that is, determine the telescopic state of the folding arm module.
Step 82: analyzing the instruction by the lower computer;
here, the lower computer decomposes the numerical signals generated by the signal sensors according to the telescopic state to be displayed by the folding arm module.
Step 83: the lower computer calculates the number A of the sensors of the stretching group which need to reach the stretching state;
the stretch group sensor here may be a sensor for generating a stretch signal among the signal sensors. The contraction group sensor may then be the sensor of the signal sensors used to generate the contraction signal.
Step 84: determining an extended group and a retracted group sensor priority;
step 85: the lower computer obtains the initial state of the stretching group register;
step 86: the lower computer calculates the number B of the sensors in the stretching group in the initial state as the stretching state;
step 87: comparing A and B;
step 871: if A is larger than B, determining whether the required state of the stretching group sensor is matched with the priority of the stretching group sensor;
step 872: if so, determining whether the initial state of the stretching group sensor is matched with the priority of the stretching group sensor;
step 873: if yes, normally stretching in sequence; otherwise, feeding back the abnormity to the upper computer;
step 874: if A is smaller than B, confirming whether the required state of the shrinkage group sensor is matched with the priority thereof;
step 875: if so, determining whether the initial state of the shrinkage group sensor is matched with the priority of the shrinkage group sensor;
step 876: if yes, contracting normally in sequence;
step 877: otherwise, feeding back the abnormity to the upper computer;
step 878: if A equals B, then no action is taken.
According to the embodiment of the invention, the problem that the folding arm of the spraying machine is safely, efficiently and automatically extended and contracted in the complex environment of the hilly terrain orchard is solved, so that the damage to the folding arm of the spraying machine easily caused in the complex environment of the hilly terrain orchard is reduced.
As shown in fig. 9, an embodiment of the present invention further provides a folding arm module, which includes a memory 92, a processor 91, and computer instructions stored on the memory 92 and executable on the processor 91; the processor 91, when executing the instructions, implements the steps applied to the vulnerability scanning method.
In some embodiments, memory 92 in embodiments of the present invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (ddr Data Rate SDRAM, ddr SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 92 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
And processor 91 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 91. The Processor 91 may be a general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 92, and the processor 91 reads the information in the memory 92 and performs the steps of the above method in combination with the hardware thereof.
In some embodiments, the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For a hardware implementation, the Processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Yet another embodiment of the present invention provides a computer storage medium storing an executable program, which when executed by the processor 91, can implement the steps applied to the driving method. For example, as one or more of the methods shown in fig. 7 and 8.
In some embodiments, the computer storage medium may include: a U-disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: the technical schemes described in the embodiments of the present invention can be combined arbitrarily without conflict.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The utility model provides a folding arm module, its characterized in that, folding arm module sets up on the sprinkler apparatus that is used for spraying for the crops in hilly area, includes: the device comprises N arm levers, a controller and a controller, wherein the N arm levers have an extension state and a contraction state, in the extension state, a first preset angle which is not equal to 0 is formed at the joint between two adjacent arm levers by two adjacent arm levers, and in the contraction state, a second preset angle which is equal to 0 is formed at the joint between two adjacent arm levers by two adjacent arm levers;
the folding arm module still includes:
the camera module is used for collecting topographic image information of hilly lands within a preset range of the folding arm module;
the processing module is connected with the camera module and used for determining the telescopic state of the folding arm module according to the terrain image information;
a driving module is arranged between every two adjacent arm rods, is connected with the processing module and is used for determining a driving state according to the telescopic state; wherein, different drive states correspond to different motion directions and motion speeds of driving adjacent arm levers.
2. The folding arm module of claim 1 wherein each of said N arms includes two ends;
the first end of the 1 st arm rod is fixedly arranged, the second end of the 1 st arm rod is rotatably connected with the first end of the 2 nd arm rod, and so on, and the second end of the (N-1) th arm rod is rotatably connected with the first end of the (N) th arm rod, wherein N is a positive integer greater than or equal to 1.
3. The folding arm module of claim 2, wherein said drive module further comprises:
the signal sensor is arranged at the connection position where the second end of the (N-1) th arm lever is rotatably connected with the first end of the (N-1) th arm lever and is used for converting the telescopic state into a numerical signal capable of representing the sub-telescopic state of the (N-1) th arm lever and the (N-1) th arm lever; and determining the driving state according to the numerical value signal.
4. The folding arm module of claim 3, wherein the processing module further comprises: determining signal generation time sequence information of the N signal sensors according to the stretching state; according to the time sequence information, sending a control signal to the signal sensor corresponding to the time sequence information;
the signal sensor is further used for responding to the received control signal and converting the telescopic state into a numerical value signal capable of representing the sub-telescopic states of the (N-1) th arm rod and the (N) th arm rod.
5. The folding arm module of claim 3 or 4, wherein the N arms are four arms;
the driving module is further used for comparing a first quantity of first numerical signals used for representing the stretching state in the N numerical signals with a second quantity of second numerical signals in the stretching state in the initial state; in response to the first number being greater than the second number, determining the driving state as driving the N arms to extend; and/or, in response to the first number being less than the second number, determining the driving state as driving the N arm levers to contract; and/or, in response to the first number being equal to the second number, determining the driving state as a stopped driving state.
6. The folding arm module of claim 1, wherein the processing module is further configured to:
determining whether the spraying equipment needs to travel to the next hilly area or not according to the terrain image information;
determining that the telescopic state of the folding arm module is a retracted state in response to the spray apparatus walking to a next hill zone.
7. A spraying device, characterized in that the spraying device comprises:
a spray apparatus body, and a folding arm module according to any one of claims 1 to 4 mounted on the spray apparatus body.
8. A method of driving a folding arm module as claimed in any one of claims 1 to 7, said folding arm module being provided on a spraying apparatus for spraying crops in hilly terrain, comprising: the device comprises N arm levers, a controller and a controller, wherein the N arm levers have an extension state and a contraction state, in the extension state, a first preset angle which is not equal to 0 is formed at the joint between two adjacent arm levers by two adjacent arm levers, and in the contraction state, a second preset angle which is equal to 0 is formed at the joint between two adjacent arm levers by two adjacent arm levers; the method comprises the following steps:
collecting topographic image information of hilly lands within a preset range of the folding arm module;
determining the telescopic state of the folding arm module according to the topographic image information;
and determining a driving state according to the telescopic state, wherein different driving states correspondingly drive the motion directions and the motion speeds of the adjacent arm levers to be different.
9. The method of claim 8, wherein determining the telescopic state of the folding arm module from the topographical image information comprises:
determining whether the spraying equipment needs to travel to the next hilly area or not according to the terrain image information;
determining that the telescopic state of the folding arm is a contracted state in response to the spraying device walking to a next hill zone.
10. A folding arm module, comprising: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor is configured to implement the driving method of claim 8 or 9 when running the computer program.
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| CN107410255A (en) * | 2017-05-04 | 2017-12-01 | 曲靖师范学院 | A kind of long-distance intelligent control pesticide-spraying cart |
| US20190208761A1 (en) * | 2018-01-10 | 2019-07-11 | UNIVERSITé LAVAL | New formulation for spraying biopesticides and spraying apparatus to control pest |
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| CN114275163B (en) | 2023-07-14 |
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