CN115462357A - Adaptive width adjustment type intelligent row-aligning pesticide spraying machine and control method thereof - Google Patents
Adaptive width adjustment type intelligent row-aligning pesticide spraying machine and control method thereof Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. 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
- A01M7/0089—Regulating or controlling systems
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- G06V10/20—Image preprocessing
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Abstract
The invention provides a self-adaptive width-adjusting intelligent line-aligning pesticide spraying machine and a control method thereof. According to the invention, when the pesticide spraying machine enters the field to work, the two cameras respectively arranged above the frame shoot images of corn seedlings in front of the vehicle in real time, then image processing is rapidly carried out to obtain the seedling lines of the corn seedlings, the distance between the seedling lines is measured, the real coordinates of the corn seedling lines are obtained through coordinate conversion, and the coordinates of the spray heads are respectively changed through the automatic aligning mechanism to enable the spray heads to realize seedling line-to-line operation.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to an intelligent row-aligning pesticide sprayer capable of adaptively adjusting the width and a control method thereof.
Background
At present, in the field operation environment of corn, high-ground-clearance plant protection machines and aviation plant protection machines are mainly adopted, and generally, a full-coverage spraying mode is adopted, so that large-area coverage spraying can be realized, but the idle spraying among crop rows not only causes a large amount of liquid medicine loss, but also pollutes soil and air. At present, the planting mode of corns in China mainly focuses on scattered small-agriculture economy, and is characterized in that plots are scattered and are not suitable for large-scale high-clearance plant protection machines and aviation plant protection machines to control plant diseases and insect pests, so that small-scale manual backpack type plant protection machines are mainly used in vast rural plant protection machines, uneven medicine spraying is easily caused by the small-scale manual backpack type plant protection machines, and operators and pesticides are located in the same space, so that chronic poisoning of the operators is easily caused, and the physical health of workers is seriously damaged. The unable accurate spraying to going of shower nozzle in current field spray lance formula machine of giving medicine to poor free of charge spraying causes the pesticide waste easily, and the width of laxative machine hardly changes moreover, has the fritter topography that hinders to the left and right sides, hardly carries out the operation.
In summary, it is a problem to be solved urgently that a pesticide spraying machine is designed to change the spraying width of the spraying rod in a self-adaptive manner and enable the spray head to automatically align with crops with different row distances.
Disclosure of Invention
In order to overcome a series of defects in the prior art, the invention aims to provide an intelligent self-adaptive width-adjusting line-aligning pesticide spraying machine, which comprises a four-wheel-drive electric chassis, a spraying mechanism, an automatic line-aligning mechanism, a self-adaptive width-adjusting mechanism, a spray rod lifting mechanism 13 and an electric control box 9, and is characterized in that the electric control box 9 controls the four-wheel-drive electric chassis, the spraying mechanism, the automatic line-aligning mechanism and the self-adaptive width-adjusting mechanism to cooperatively operate together, so that the purposes of self-adaptive width adjustment and automatic line spacing adjustment are achieved, and the intelligent automatic control is realized to finish accurate spraying operation.
Preferably, the four-wheel drive electric chassis comprises a frame 1 and four wheels 2, wherein the four wheels 2 are respectively installed on the frame 1 through corresponding wheel supports 3, the four wheels 2 are respectively driven by four independent motors 4, and the steering and turning of the machine are realized by controlling the speeds of the four motors 4 and utilizing differential speed.
Preferably, the spraying mechanism includes a chemical tank 10 and an electric diaphragm pump 12 installed on the vehicle frame 1, and the chemical tank 10 is connected with six spray heads 17 through the electric diaphragm pump 12.
Preferably, the automatic aligning mechanism comprises a synchronous belt slide rail 15, a stepping motor 16, a slider 19 and a spray rod frame 21, wherein the synchronous belt slide rail 15, the stepping motor 16 and the slider 19 are all provided with six nozzles which are respectively arranged in one-to-one correspondence with the six spray heads 17, the six spray heads 17 are respectively arranged on the corresponding slider 19, the six slider 19 are arranged on the corresponding synchronous belt slide rail 15, the six stepping motors 16 are all arranged on one side of the corresponding synchronous belt slide rail 15, the stepping motor 16 drives the corresponding slider 19 to perform linear translation motion through the corresponding synchronous belt slide rail 15, and the automatic aligning mechanism is adapted to equal line spacing and variable line spacing at the same time, so that accurate positioning of different line spacings is realized; spray lance frame 21 includes the same left side spray lance of structure, right side spray lance and middle spray lance, and left side spray lance rotates respectively with the right side spray lance to be connected to the left and right ends of middle spray lance, and two hold-in range slide rails 15 are all installed to the rear wall of left side spray lance, right side spray lance and middle spray lance.
Preferably, the adaptive width adjusting mechanism comprises two folding electric push rods 20 and six electromagnetic water valves, the folding electric push rods 20 are arranged in bilateral symmetry, two ends of the folding electric push rod 20 located on the right side are respectively and rotatably connected to the front side walls of the right spray rod and the middle spray rod, and two ends of the folding electric push rod 20 located on the left side are respectively and rotatably connected to the front side walls of the left spray rod and the middle spray rod.
Preferably, the boom lifting mechanism 13 includes a lifting electric push rod 18 and two connecting rods, the two connecting rods are arranged in bilateral symmetry and two ends of the two connecting rods are respectively and rotatably connected to the rear side wall of the frame 1 and the middle boom, one end of the lifting electric push rod 18 is fixedly connected to the frame 1, the other end of the lifting electric push rod 18 is inclined upwards and rotatably connected to the middle boom, and the spraying height of the spraying head 17 is adjusted by adjusting and controlling the extension of the lifting electric push rod 18.
Preferably, the vehicle frame 1 is further provided with a battery 14 and a gasoline range extender 11, wherein the battery 14 is used for supplying power to the whole pesticide sprayer, and the gasoline range extender 11 is used for charging the battery 14 so as to increase the driving mileage.
Preferably, the left side and the right side of the front end of the frame 1 are both provided with a camera 5 through a camera frame 8, an electrical control box 9 comprises a computer and an electronic control unit, the camera 5 is connected to the computer through a USB data line, and the computer is connected with the electronic control unit through a USB-CAN conversion module.
The invention also aims to provide a control method of the intelligent row-aligning pesticide spraying machine capable of adaptively adjusting the width, which comprises the following steps:
s1, a camera 5 acquires and acquires ground corn condition video information and transmits the ground corn condition video information to a computer through a USB;
s2, decomposing the video acquired by the camera 5 into image information with a frame as a unit by a computer;
s3, preprocessing the image information to obtain corn row information;
s4, dividing a self-adaptive region of interest, judging the number of corn rows in the region of interest, and processing the existing corn row information by adopting a binocular distance measurement algorithm to obtain a transverse pixel coordinate value of the image;
s5, converting the horizontal pixel coordinate values in the image into actual coordinate values by using the center of the frame 1 as an origin through a computer;
s6, the computer controls the rotation angle of the stepping motor 16 according to the difference value between the current position and the target position of the slide block 19, so that the slide block 19 with the spray head 17 moves to the designated position;
and S7, the computer sends the corn row position information needing to work to the electronic control unit through the USB-CAN conversion module, and the electronic control unit automatically closes the unnecessary nozzles 17 by controlling the closing of the electromagnetic valve.
Preferably, in step S3, the specific method for preprocessing the image is as follows: processing the image by using a color characteristic factor by adopting an Exprocess Green method to obtain a gray level image of the corn seedling, converting the gray level image into a binary image, eliminating discrete noise points by using a median filtering method, then performing morphological processing of corrosion operation after expansion, and finally performing self-adaptive region-of-interest division on the preprocessed image by using a vertical projection method.
Compared with the prior art, the invention has the following beneficial effects:
when the pesticide spraying machine enters the field to work, images of corn seedlings in front of a vehicle are shot in real time through two cameras respectively arranged above a vehicle frame, then image processing is rapidly carried out to obtain seedling lines of the corn seedlings, the distance between the seedling lines is measured, the real coordinates of the corn seedling lines are obtained through coordinate conversion, and the coordinates of the spray heads are respectively changed through an automatic alignment mechanism to enable the spray heads to realize the alignment of the seedling lines; in addition, spout the maize that the medicine machine can the different row spacing of automatic alignment in the in-process of traveling to can be according to the position of crop row quantity and crop row in the region of interest, the self-adaptation changes the spray lance spraying amplitude, and self-closing shower nozzle that does not need, the device's the adaptability of environment is stronger, and the spraying is accurate, can save the pesticide use amount and reduce environmental pollution.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a top view of the overall structure of the present invention;
FIG. 3 is a schematic view of a spray bar construction of the present invention;
FIG. 4 is a diagram of a camera capture frame of the present invention;
FIG. 5 is a diagram of the identification of the maize seedling line of the present invention.
The reference numbers in the figures are:
the device comprises a frame, 2 wheels, 3 wheel supports, 4 motors, 5 cameras, 6 motor reducers, 7 transmission mechanisms, 8 camera frames, 9 electrical control boxes, 10 liquid medicine tanks, 11 gasoline range extenders, 12 electric diaphragm pumps, 13 spray rod lifting mechanisms, 14 batteries, 15 synchronous belt sliding rails, 16 stepping motors, 17 spray heads, 18 lifting electric push rods, 19 sliding blocks, 20 folding electric push rods and 21 spray rod frames.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention.
All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The embodiments and the directional terms described below with reference to the drawings are exemplary and intended to be used in the explanation of the invention, and should not be construed as limiting the invention.
In a wide embodiment of the invention, the self-adaptive width-adjusting intelligent line-aligning pesticide sprayer comprises a four-wheel-drive electric chassis, a spraying mechanism, an automatic line-aligning mechanism, a self-adaptive width-adjusting mechanism, a spray rod lifting mechanism 13 and an electric control box 9, and is characterized in that the electric control box 9 controls the four-wheel-drive electric chassis, the spraying mechanism, the automatic line-aligning mechanism and the self-adaptive width-adjusting mechanism to cooperatively operate together, so that the purposes of self-adaptive width adjustment and automatic line spacing adjustment are achieved, and intelligent automatic control is realized to finish precise spraying operation.
Preferably, the four-wheel drive electric chassis comprises a frame 1 and four wheels 2, wherein the four wheels 2 are respectively installed on the frame 1 through corresponding wheel supports 3, the four wheels 2 are respectively driven by four independent motors 4, and the steering and turning of the machine are realized by controlling the speeds of the four motors 4 and utilizing differential speed.
Preferably, the spraying mechanism includes a chemical tank 10 and an electric diaphragm pump 12 installed on the vehicle frame 1, and the chemical tank 10 is connected with six spray heads 17 through the electric diaphragm pump 12.
Preferably, the automatic aligning mechanism comprises a synchronous belt slide rail 15, a stepping motor 16, a slide block 19 and a spray rod frame 21, wherein the synchronous belt slide rail 15, the stepping motor 16 and the slide block 19 are all provided with six spray heads 17 which are respectively arranged corresponding to the six spray heads, the six spray heads 17 are respectively arranged on the corresponding slide blocks 19, the six slide blocks 19 are arranged on the corresponding synchronous belt slide rail 15, the six stepping motors 16 are all arranged on one side of the corresponding synchronous belt slide rail 15, the stepping motor 16 drives the corresponding slide blocks 19 to do linear translation motion through the corresponding synchronous belt slide rail 15, and the automatic aligning mechanism is suitable for equal line spacing and variable line spacing at the same time, so that accurate positioning of different line spacings is realized; spray lance frame 21 includes the same left side spray lance of structure, right side spray lance and middle spray lance, and left side spray lance rotates respectively with the right side spray lance to be connected to the left and right ends of middle spray lance, and two hold-in range slide rails 15 are all installed to the rear wall of left side spray lance, right side spray lance and middle spray lance.
Preferably, the adaptive width adjusting mechanism comprises two folding electric push rods 20 and six electromagnetic water valves, the folding electric push rods 20 are arranged in bilateral symmetry, two ends of the folding electric push rod 20 located on the right side are respectively and rotatably connected to the front side walls of the right spray rod and the middle spray rod, and two ends of the folding electric push rod 20 located on the left side are respectively and rotatably connected to the front side walls of the left spray rod and the middle spray rod.
Preferably, the boom lifting mechanism 13 includes a lifting electric push rod 18 and two connecting rods, the two connecting rods are arranged in bilateral symmetry and two ends of the two connecting rods are respectively and rotatably connected to the rear side wall of the frame 1 and the middle boom, one end of the lifting electric push rod 18 is fixedly connected to the frame 1, the other end of the lifting electric push rod 18 is inclined upwards and rotatably connected to the middle boom, and the spraying height of the spray head 17 is adjusted by adjusting and controlling the extension of the lifting electric push rod 18.
Preferably, the vehicle frame 1 is further provided with a battery 14 and a gasoline range extender 11, wherein the battery 14 is used for supplying power to the whole pesticide spraying machine, and the gasoline range extender 11 is used for charging the battery 14 so as to increase the driving mileage.
Preferably, the left side and the right side of the front end of the frame 1 are both provided with a camera 5 through a camera frame 8, an electric control box 9 comprises a computer and an electronic control unit, the camera 5 is connected to the computer through a USB data line, and the computer is connected with the electronic control unit through a USB-CAN conversion module.
The invention also aims to provide a control method of the intelligent row-aligning pesticide spraying machine capable of adaptively adjusting the width, which comprises the following steps:
s1, a camera 5 acquires and acquires ground corn condition video information and transmits the ground corn condition video information to a computer through a USB;
s2, decomposing the video acquired by the camera 5 into image information with a frame as a unit by a computer;
s3, preprocessing the image information to obtain corn row information;
s4, dividing a self-adaptive region of interest, judging the number of corn rows in the region of interest, and processing the existing corn row information by adopting a binocular distance measurement algorithm to obtain a transverse pixel coordinate value of the image;
s5, converting the horizontal pixel coordinate values in the image into actual coordinate values by using the center of the frame 1 as an origin through a computer;
s6, the computer controls the rotation angle of the stepping motor 16 according to the difference value between the current position and the target position of the slide block 19, so that the slide block 19 with the spray head 17 moves to the designated position;
and S7, the computer sends the corn row position information needing to work to the electronic control unit through the USB-CAN conversion module, and the electronic control unit automatically closes the unnecessary nozzles 17 by controlling the closing of the electromagnetic valve.
Preferably, in step S3, the specific method for preprocessing the image is as follows: processing the image by using a color characteristic factor by adopting an Exprocess Green method to obtain a gray level image of the corn seedling, converting the gray level image into a binary image, eliminating discrete noise points by using a median filtering method, then performing morphological processing of corrosion operation after expansion, and finally performing self-adaptive region-of-interest division on the preprocessed image by using a vertical projection method.
The present invention will be described in further detail below with reference to the accompanying drawings, which illustrate preferred embodiments of the present invention.
As shown in fig. 1-2, the adaptive width-adjusting intelligent line-aligning pesticide sprayer comprises a four-wheel drive electric chassis, a spraying mechanism, an automatic line-aligning mechanism, an adaptive width-adjusting mechanism and an electric control box 9.
As shown in fig. 1, the four-wheel drive electric chassis comprises four wheels 2 and a frame 1 mounted and supported on the four wheels 2, the four wheels 1 are respectively driven by four separate motors 4, and steering and turning of the machine are realized by controlling the speeds of the motors 4 on the left and right sides and using differential speed. The motor 4 is driven by a motor reducer 6 and a transmission mechanism 7, wherein: the motor reducer 6 reduces the revolution number of the motor to a required revolution number by using a speed converter of a gear, obtains a large torque, and improves the output torque while reducing the speed; the transmission mechanism 7 transmits the power output by the motor reducer 6 to the wheels 2 remotely through chain transmission to drive the vehicle to run.
As shown in fig. 1, the spraying mechanism includes a chemical tank 10 mounted on a carriage 1, an electric diaphragm pump 12, and six spray heads 17 mounted on a slider 19.
As shown in fig. 2, the automatic aligning mechanism is composed of a stepping motor 16 and a slider 19 carrying a nozzle 17, and the stepping motor 16 drives the slider 19 to make linear translation motion through a synchronous belt slide rail 15; the six sliders 19 are respectively driven by six independent stepping motors 16, can adapt to equal line spacing and variable line spacing simultaneously, and can realize accurate positioning of different line spacings.
As shown in fig. 2, the adaptive width adjusting mechanism is composed of a left and right folding electric push rod 20 of a spray rod, six electromagnetic water valves and an automatic aligning mechanism. Six electromagnetic water valves respectively control the closing of the six spray heads 17. The outermost spray head 17 can be aligned to the corn row by controlling the extension of the electric push rod 20, so that the working width of the spray rod can be adaptively adjusted according to the operation row number and the row spacing. Under the coordination of the automatic line aligning mechanism and the left and right folding electric push rods 20, the function of self-adaptive width adjustment can be realized.
The electric control box 9 controls the four-wheel drive electric chassis, the spraying mechanism, the automatic row aligning mechanism and the self-adaptive width adjusting mechanism to cooperatively operate together so as to realize accurate pesticide spraying on corn plants.
The control method for automatically adjusting the line spacing comprises the following steps:
s1, a camera 5 acquires ground corn condition video information and transmits the ground corn condition video information to a computer through a USB (universal serial bus);
s2, decomposing the video acquired by the camera 5 into image information with a frame as a unit by the computer;
s3, preprocessing the image information to obtain corn row information;
s4, processing the corn row information by adopting a binocular ranging algorithm to obtain a transverse pixel coordinate value of the image;
s5, the computer converts the horizontal pixel coordinate values in the image into actual coordinate values with the center of the frame 1 as an origin;
and S6, the computer controls the rotation angle of the stepping motor 16 according to the difference value between the current position and the target position of the sliding block 19, so that the sliding block 19 with the spray head 17 moves to the specified position, the spray head 17 can spray in line with crops, the spraying is accurate, and the environmental pollution is reduced.
In step S3, the specific method for preprocessing the image is as follows: processing the image by using a color characteristic factor by adopting an Exprocess Green method to obtain a gray image of the corn seedling, converting the gray image into a binary image, eliminating discrete noise by using a median filtering method, and then performing morphological processing of corrosion operation after expansion. And finally, carrying out self-adaptive region-of-interest division on the preprocessed image by using a vertical projection method.
Firstly, when the plant protection spraying machine is started, a vehicle drives into a farmland, at the moment, a spray head 17 is clicked and started on a human-computer interaction interface to automatically carry out line alignment, two cameras 5 above a frame 1 start to shoot videos, the videos are transmitted to a computer through a USB, the computer decomposes the videos collected by the cameras 5 into image information taking frames as units, and after preprocessing, the corn line information is processed by adopting a binocular distance measurement algorithm to obtain transverse pixel coordinate values of the images.
And secondly, the computer converts the coordinates of the transverse pixel coordinate values in the image into actual transverse coordinate values with the center of the vehicle frame 1 as an origin under a world coordinate system, so as to obtain the actual transverse coordinate values of the center lines of the corns in each row.
And thirdly, the computer communicates with the electronic control unit in a USB-CAN switching mode, and the electronic control unit adjusts the position of the sliding block 19 carrying the spray head 17 by controlling the rotating angle of the stepping motor 16. According to the transverse coordinate value obtained in the second step, the computer issues data to the electronic control unit through the USB-CAN conversion module, the electronic control unit calculates the rotation angle of the stepping motor 16 according to the difference value between the current position and the target position, the stepping motor 16 is controlled to rotate, the sliding block 19 carrying the spray head 17 is further moved to the specified position, the rotation angle of the stepping motor 16 is obtained in real time through the encoder and fed back to the electronic control unit, angle closed-loop control is achieved, the spray head 17 CAN spray crops in alignment, spraying is accurate, and environmental pollution is reduced.
The control method for adaptively adjusting the working width comprises the following steps:
s1, a camera 5 acquires and acquires ground corn condition video information and transmits the ground corn condition video information to a computer through a USB;
s2, decomposing the video acquired by the camera 5 into image information with a frame as a unit by the computer;
s3, preprocessing the image information to obtain corn row information;
s4, carrying out self-adaptive region of interest division, judging the number of corn rows in the region of interest, and processing the existing corn row information by adopting a binocular ranging algorithm to obtain a transverse pixel coordinate value of the image;
s5, the computer converts the transverse pixel coordinate values in the image into actual coordinate values with the center of the frame 1 as an origin;
and S6, the computer sends the corn row position information needing to work to the electronic control unit through the USB-CAN conversion module, and the electronic control unit automatically closes the unnecessary spray head 17 by controlling the closing of the electromagnetic valve.
S7, the left side spray rod is responsible for 2 rows of corns, the middle spray rod is responsible for two rows of corns, the right side spray rod is responsible for two rows of corns, and the maximum working width is 6 rows of corns. If there are only 5 rows of corn in the field of view, for example, the left spray bar is responsible for only 1 row of corn in the area, the electronic control unit controls the stepper motor 16 to move the leftmost spray head 17 to the leftmost end of the left spray bar, and the left spray bar is fixed and kept still. The electronic control unit controls the second left solenoid valve to close the second left spray head 17. The electronic control unit controls the electric push rod to fold the spray rod according to the calculated coordinate value of the corn row, so that the spray head 17 at the outermost side can be aligned with the corn row, and the function of self-adaptive width adjustment is realized. If the right spray bar is responsible for only 1 row of corns in the area, the control method is the same as that of the left spray bar. When left side spray lance or right side spray lance are responsible for the regional maize line that does not want the operation, two solenoid valves of electronic control unit control left side spray lance or right side spray lance department keep closed state simultaneously, close two shower nozzles 17 on left side or right side simultaneously, and the electric putter of electronic control unit control left side spray lance or right side spray lance carries out the folding of spray lance, makes left side spray lance or right side spray lance fold completely, realizes the function of self-adaptation adjustment breadth. The working width of the spray rod can be adaptively adjusted to be 2 rows, 3 rows, 4 rows, 5 rows and 6 rows, and the automatic row alignment function in the embodiment 1 is matched, so that the automatic row alignment device can adapt to different corn row distances, and meanwhile, the automatic row alignment function and the adaptive width adjustment function are realized.
In step S3, the specific method for preprocessing the image is as follows: processing the image by using a color characteristic factor by adopting an Exprocess Green method to obtain a gray level image of the corn seedling, converting the gray level image into a binary image, eliminating discrete noise by using a median filtering method, and then performing morphological processing of corrosion operation after expansion. And finally, carrying out self-adaptive region-of-interest division on the preprocessed image by using a vertical projection method.
Finally, it should be pointed out that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The self-adaptive width-adjusting intelligent line-to-line pesticide spraying machine comprises a four-wheel-drive electric chassis, a spraying mechanism, an automatic line-to-line mechanism, a self-adaptive width-adjusting mechanism, a spray rod lifting mechanism (13) and an electrical control box (9), and is characterized in that the electrical control box (9) controls the four-wheel-drive electric chassis, the spraying mechanism, the automatic line-to-line mechanism and the self-adaptive width-adjusting mechanism to cooperatively operate together, so that the purposes of self-adaptive width adjustment of working width and automatic line spacing adjustment are achieved, and intelligent automatic control is realized to finish precise spraying operation.
2. The adaptive width-adjustable intelligent row-spraying machine according to claim 1, characterized in that the four-wheel-drive electric chassis comprises a frame (1) and four wheels (2), the four wheels (2) are respectively mounted on the frame (1) through corresponding wheel supports (3), the four wheels (2) are respectively driven by four independent motors (4), and steering and turning of the machine are realized by controlling the speeds of the four motors (4) through differential speed.
3. The adaptive width-adjustable intelligent row-spraying machine according to claim 2, characterized in that the spraying mechanism comprises a pesticide tank (10) and an electric diaphragm pump (12) which are installed on the vehicle frame (1), and the pesticide tank (10) is connected with six spraying heads (17) through the electric diaphragm pump (12).
4. The self-adaptive width-adjustable intelligent line-aligning pesticide spraying machine according to claim 3, characterized in that the automatic line-aligning mechanism comprises a synchronous belt slide rail (15), a stepping motor (16), sliders (19) and a spray rod frame (21), wherein the synchronous belt slide rail (15), the stepping motor (16) and the sliders (19) are provided with six nozzles and are respectively arranged in one-to-one correspondence with the six nozzles (17), the six nozzles (17) are respectively installed on the corresponding sliders (19), the six sliders (19) are installed on the corresponding synchronous belt slide rail (15), the six stepping motors (16) are all installed on one side of the corresponding synchronous belt slide rail (15), and the stepping motors (16) drive the corresponding sliders (19) to perform linear translation through the corresponding synchronous belt slide rails (15) and simultaneously adapt to equal line spacing and variable line spacing to realize accurate positioning of different line spacings; spray lance frame (21) is including the same left side spray lance of structure, right side spray lance and middle spray lance, and left side spray lance rotates respectively with the right side spray lance and is connected to the both ends about middle spray lance, and two hold-in range slide rails (15) are all installed to the back wall of left side spray lance, right side spray lance and middle spray lance.
5. The self-adaptive width-adjustable intelligent row-aligning pesticide spraying machine as claimed in claim 4, wherein the self-adaptive width-adjusting mechanism comprises two folding electric push rods (20) and six electromagnetic water valves, the folding electric push rods (20) are symmetrically arranged in the left and right direction, two ends of the folding electric push rod (20) positioned on the right side are respectively and rotatably connected to the front side walls of the right spray rod and the middle spray rod, and two ends of the folding electric push rod (20) positioned on the left side are respectively and rotatably connected to the front side walls of the left spray rod and the middle spray rod.
6. The self-adaptive width-adjustable intelligent row-aligning pesticide spraying machine according to claim 5, characterized in that the spray rod lifting mechanism (13) comprises a lifting electric push rod (18) and two connecting rods, the two connecting rods are arranged in bilateral symmetry, two ends of the two connecting rods are respectively and rotatably connected to the rear side wall of the vehicle frame (1) and the middle spray rod, one end of the lifting electric push rod (18) is fixedly connected to the vehicle frame (1), the other end of the lifting electric push rod is arranged in an upward inclined manner and rotatably connected to the middle spray rod, and the spraying height of the spray head (17) is adjusted by adjusting and controlling the extension and retraction of the lifting electric push rod (18).
7. The adaptive width-adjustable intelligent pesticide spraying machine according to claim 2, characterized in that a battery (14) and a gasoline range extender (11) are further arranged on the vehicle frame (1), the battery (14) is used for supplying power to the whole pesticide spraying machine, and the gasoline range extender (11) is used for charging the battery (14) so as to increase the driving mileage.
8. The self-adaptive width-adjustable intelligent line pesticide spraying machine according to claim 2, wherein cameras (5) are mounted on the left side and the right side of the front end of the vehicle frame (1) through a camera frame (8), an electric control box (9) comprises a computer and an electronic control unit, the cameras (5) are connected to the computer through USB data lines, and the computer is connected with the electronic control unit through a USB-CAN conversion module.
9. The control method of the self-adaptive width-adjustable intelligent row pesticide sprayer according to any one of claims 1 to 8, characterized by comprising the following steps:
s1, a camera (5) acquires and acquires ground corn condition video information and transmits the ground corn condition video information to a computer through a USB (universal serial bus);
s2, decomposing the video acquired by the camera (5) into image information with a frame as a unit by the computer;
s3, preprocessing the image information to obtain corn row information;
s4, dividing a self-adaptive region of interest, judging the number of corn rows in the region of interest, and processing the existing corn row information by adopting a binocular distance measurement algorithm to obtain a transverse pixel coordinate value of the image;
s5, the computer converts the coordinate values of the transverse pixels in the image into actual coordinate values with the center of the frame (1) as an origin;
s6, controlling the rotation angle of the stepping motor (16) by the computer according to the difference value between the current position and the target position of the sliding block (19), and further moving the sliding block (19) carrying the spray head (17) to a specified position;
and S7, the computer sends the corn row position information needing to work to the electronic control unit through the USB-CAN conversion module, and the electronic control unit automatically closes the unnecessary nozzles (17) by controlling the closing of the electromagnetic valve.
10. The method for controlling an adaptive width-adjustable intelligent line pesticide sprayer according to claim 9, wherein in the step S3, the specific method for preprocessing the image is as follows: processing the image by using a color characteristic factor by adopting an Exprocess Green method to obtain a gray level image of the corn seedling, converting the gray level image into a binary image, eliminating discrete noise points by using a median filtering method, then performing morphological processing of corrosion operation after expansion, and finally performing self-adaptive region-of-interest division on the preprocessed image by using a vertical projection method.
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