CN204374710U - A kind of fall webworms larva net curtain spraying machine device people control system - Google Patents
A kind of fall webworms larva net curtain spraying machine device people control system Download PDFInfo
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- CN204374710U CN204374710U CN201520086521.3U CN201520086521U CN204374710U CN 204374710 U CN204374710 U CN 204374710U CN 201520086521 U CN201520086521 U CN 201520086521U CN 204374710 U CN204374710 U CN 204374710U
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Abstract
The utility model provides a kind of fall webworms larva net curtain spraying machine device people control system, comprise industrial control computer unit, it is characterized in that: described industrial control computer unit connects 4 axle actuator units, electric spray unit and industrial camera unit respectively, described 4 axle actuator units connect driving stepper motor unit and the spacing detecting unit of microswitch.Industrial control computer unit of the present utility model is that 4 axle actuator units, industrial camera unit and electric spray unit transmit control signal, 4 axle actuator units are according to the control signal control step electric-motor drive unit work received, the spacing detecting unit of microswitch obtains the positional information of stepper motor, send a signal to 4 axle actuator units, 4 axle actuator units are according to the work of the signal controling stepping motor driver element received or stopping, realize the robotization spray medicine operation of Intelligent targeting chemical spray machine device people, improve spray drug effect rate, reduce pollution by pesticides.
Description
Technical field
The utility model relates to robot control field, specifically, relates to a kind of fall webworms larva net curtain spraying machine device people control system.
Background technology
Fall webworms have another name called U.S. moths attracted by lamplight, the autumn curtain caterpillar, belong to Lepidoptera, Arctiidae is worldwide quarantine pest insect highly visible.Main harm fruit tree, shade tree and ornamental trees, especially attach most importance to broad leaf tree, causes serious harm to ornamental trees and shrubs, economic forest, agricultural protection forest etc.
Front 3 instar larvae net curtains are comparatively obvious, are the best opportunities of implementing control.The at present normal prevention and controls adopting manual removal to net curtain and chemical agent to spray on a large scale.These modes are extensive, poor efficiency, high pollution mostly, and Intelligent targeting chemical spray machine device people then can realize the robotization spray medicine operation of fall webworms larva net curtain, reduces labour intensity, improves spray drug effect rate.Prior art shorter mention fall webworms larva net curtain Intelligent targeting chemical spray machine device people control system.
Fall webworms larva net curtain Intelligent targeting chemical spray machine device people is made up of control system, spray medicine software systems and mechanical system.Patent of the present invention relates generally to the control system of fall webworms larva net curtain Intelligent targeting chemical spray machine device people.
summary of the invention:
The technical problems to be solved in the utility model is to provide a kind of fall webworms larva net curtain spraying machine device people control system, based on cooperatively interacting of industrial control computer and other unit, thus drives corresponding mechanism, realizes the operation of robotization spray medicine.
A kind of fall webworms larva net curtain spraying machine device people control system, comprise industrial control computer unit, it is characterized in that: described industrial control computer unit connects 4 axle actuator units, electric spray unit and industrial camera unit respectively, described 4 axle actuator units connect driving stepper motor unit and the spacing detecting unit of microswitch.
As the further restriction to the technical program, described industrial control computer unit is interconnected with described 4 axle actuator units and electric spray unit respectively by RS232 bus, and described industrial control computer unit is interconnected by usb bus and described industrial camera unit.
As the further restriction to the technical program, described driving stepper motor unit comprises the stepper motor of 3 57 series and corresponding stepper motor driver thereof, the relevant I/O mouth of 4 axle actuator units is connected with pulse signal mouth with the direction signal of stepper motor driver, control turning to and rotating speed of 3 stepper motors, drive line slideway by Timing Belt, realize two dimensional motion horizontal and vertical in a plane.
As the further restriction to the technical program, described electric spray unit comprises relay module and spray medicine head, relay module is interconnected by RS232 bus and described industrial control computer unit, accepts the control signal that industrial control computer unit sends.
Compared with prior art, advantage of the present utility model and good effect are: industrial control computer unit of the present utility model is 4 axle actuator units, industry camera unit and electric spray unit transmit control signal, 4 axle actuator units are according to the control signal control step electric-motor drive unit work received, the spacing detecting unit of microswitch obtains the positional information of stepper motor, send a signal to 4 axle actuator units, 4 axle actuator units are according to the work of the signal controling stepping motor driver element received or stopping, realize the robotization spray medicine operation of Intelligent targeting chemical spray machine device people, improve spray drug effect rate, reduce pollution by pesticides.
Accompanying drawing explanation
Fig. 1 is system architecture schematic diagram of the present utility model.
Fig. 2 is the connecting interface schematic diagram of industrial control computer unit and other unit.
embodiment:
Below in conjunction with embodiment, further illustrate the utility model.
See Fig. 1-Fig. 2, the utility model comprises industrial control computer unit, described industrial control computer unit connects 4 axle actuator units, electric spray unit and industrial camera unit respectively, and described 4 axle actuator units connect driving stepper motor unit and the spacing detecting unit of microswitch.
Described industrial control computer unit is interconnected with described 4 axle actuator units and electric spray unit respectively by RS232 bus, and described industrial control computer unit is interconnected by usb bus and described industrial camera unit.
Described driving stepper motor unit comprises the stepper motor of 3 57 series and corresponding stepper motor driver thereof, the relevant I/O mouth of 4 axle actuator units is connected with pulse signal mouth with the direction signal of stepper motor driver, control turning to and rotating speed of 3 stepper motors, drive line slideway by Timing Belt, realize two dimensional motion horizontal and vertical in a plane.
Described electric spray unit comprises relay module and spray medicine head, and relay module is interconnected by RS232 bus and described industrial control computer unit, accepts the control signal that industrial control computer unit sends.
First, start the Intelligent target spray medicine software systems that industrial control computer unit configures, system carries out initialization, sends control signal to 4 axle actuator units by RS232 bus.After 4 axle actuator units accept control signal, by the I/O signaling interface control step electric-motor drive unit connected, thus control step motor position zero, realize topworks's arrival initial position that stepper motor drives; Then, drive topworks according to the spray medicine path walking of planning, topworks is provided with industrial camera unit and electric spray unit, industrial camera unit catches fall webworms larva net curtain image information in real time, and is sent to industrial control computer unit; The Intelligent target spray medicine software systems that industrial control computer unit configures, extract fall webworms larva net curtain image information, by the image processing algorithm of solidification, judge suitable fall webworms larva net curtain spray medicine region, and on liquid crystal display, show image processing data in real time, once find spray medicine region, then send signal, stop stepper motor motion; Now, industrial control computer unit, by RS232 bus marco electric spray unit, by pilot relay module, is opened spray medicine head, is implemented spray medicine after 2 seconds to this region, close spray medicine head; Then, industrial camera unit and electric spray unit is driven to continue to walk according to the spray medicine path of planning; When topworks reaches the limit of position, the spacing detecting unit of microswitch is to the limit of sports record position of detection 3 stepper motors, send signal to 4 axle actuator units, 4 axle actuator units send control signal to driving stepper motor unit, stop stepper motor, prevent topworks to exceed the maximum position; And so forth, until 1 spray medicine is complete, thus, realize the robotization spray medicine operation of fall webworms larva net curtain.
Last it is noted that the foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, although be described in detail the utility model with reference to previous embodiment, for a person skilled in the art, it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (4)
1. a fall webworms larva net curtain spraying machine device people control system, comprise industrial control computer unit, it is characterized in that: described industrial control computer unit connects 4 axle actuator units, electric spray unit and industrial camera unit respectively, described 4 axle actuator units connect driving stepper motor unit and the spacing detecting unit of microswitch.
2. fall webworms larva net curtain spraying machine device people control system according to claim 1, it is characterized in that: described industrial control computer unit is interconnected with described 4 axle actuator units and electric spray unit respectively by RS232 bus, and described industrial control computer unit is interconnected by usb bus and described industrial camera unit.
3. fall webworms larva net curtain spraying machine device people control system according to claim 1, it is characterized in that: described driving stepper motor unit comprises the stepper motor of 3 57 series and corresponding stepper motor driver thereof, the relevant I/O mouth of 4 axle actuator units is connected with pulse signal mouth with the direction signal of stepper motor driver, control turning to and rotating speed of 3 stepper motors, drive line slideway by Timing Belt, realize two dimensional motion horizontal and vertical in a plane.
4. fall webworms larva net curtain spraying machine device people control system according to claim 1, it is characterized in that: described electric spray unit comprises relay module and spray medicine head, relay module is interconnected by RS232 bus and described industrial control computer unit, accepts the control signal that industrial control computer unit sends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520086521.3U CN204374710U (en) | 2015-02-09 | 2015-02-09 | A kind of fall webworms larva net curtain spraying machine device people control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520086521.3U CN204374710U (en) | 2015-02-09 | 2015-02-09 | A kind of fall webworms larva net curtain spraying machine device people control system |
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| Publication Number | Publication Date |
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| CN204374710U true CN204374710U (en) | 2015-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520086521.3U Expired - Fee Related CN204374710U (en) | 2015-02-09 | 2015-02-09 | A kind of fall webworms larva net curtain spraying machine device people control system |
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| CN (1) | CN204374710U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104615059A (en) * | 2015-02-09 | 2015-05-13 | 聊城大学 | Control system of spraying robot for hyphantria cunea larva net curtain |
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2015
- 2015-02-09 CN CN201520086521.3U patent/CN204374710U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104615059A (en) * | 2015-02-09 | 2015-05-13 | 聊城大学 | Control system of spraying robot for hyphantria cunea larva net curtain |
| CN104615059B (en) * | 2015-02-09 | 2017-03-22 | 聊城大学 | Control system of spraying robot for hyphantria cunea larva net curtain |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150603 Termination date: 20160209 |