CN204426448U - A kind of self-walking intelligent sprayer based on image procossing - Google Patents

A kind of self-walking intelligent sprayer based on image procossing Download PDF

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Publication number
CN204426448U
CN204426448U CN201420663133.2U CN201420663133U CN204426448U CN 204426448 U CN204426448 U CN 204426448U CN 201420663133 U CN201420663133 U CN 201420663133U CN 204426448 U CN204426448 U CN 204426448U
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China
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controller
vehicle frame
self
master controller
sprayer
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CN201420663133.2U
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Chinese (zh)
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陈黎卿
程备久
丁克坚
王韦韦
刘立超
王品品
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Anhui Agricultural University AHAU
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Anhui Agricultural University AHAU
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Abstract

The utility model discloses a kind of self-walking intelligent sprayer based on image procossing, comprise vehicle frame, chassis, actuating unit, transmission mechanism, two creepers undercarriage, spraying mechanism and control systems, vehicle frame is fixed on above chassis, actuating unit and transmission mechanism are arranged on chassis, two creepers undercarriage are arranged on both sides, chassis respectively, and spraying mechanism is arranged on vehicle frame; Spraying mechanism comprises explosive box, liquid transmission system, cartridge nozzle carrying platform, centrifugal pump and stepper motor, and stepper motor output shaft and cartridge nozzle carrying platform drive and be connected and drive cartridge nozzle carrying platform to rotate; Control system comprises image collecting device and master controller, image collecting device is arranged on vehicle frame front end, master controller obtains sprayer image information in front by image collecting device and obtains area information to be painted according to above-mentioned image information analysis, and controls actuating unit, centrifugal pump, stepper motor action according to above-mentioned area information to be painted.

Description

A kind of self-walking intelligent sprayer based on image procossing
Technical field
The utility model relates to plant protection spraying machine tool technical field, particularly relates to a kind of self-walking intelligent sprayer based on image procossing.
Background technology
The equipment for plant protection automaticity of China is low, and the amount of spraying insecticide can not be carried out intellectuality according to plant growing way difference and be sprayed, and also cannot realize the functions such as the automatic location of sprayer, automatically walking, automatically adjustable spraying amount.At present, for the extermination of disease and insect pest of the narrow row distances such as corn, wheat, soybean, cotton, Chinese sorghum, large area height plant crop, mechanical type is manually born in most dependence or power driven mist blower sprays field or plant, so not only cause environmental pollution, cause drug resource to be wasted, and medicine droplet drift and high-temperature operation environment in, be easy to cause the poisoning heatstroke of operating personnel, cause unnecessary casualties.The development of plant protection aircraft is that the extermination of disease and insect pest of large field crops provides a kind of effective feasible scheme, but due to reasons such as the delayed and expensive prices of plant protection aircraft technology level, makes the program slowly fail to popularize.Other relevant self-walking fog machine tools, also can not adapt to the extermination of disease and insect pest work of crop due to the restriction of body width.
Utility model content
In order to solve the technical problem existed in background technology, the utility model proposes a kind of self-walking intelligent sprayer based on image procossing, achieve and carry out intellectuality sprinkling according to plant growing way difference, automatically can locate, automatically walk, automatic adjustable spraying amount, also save dosage and water consumption, very big limit reduces environmental pollution simultaneously.
In the utility model, direction is sprayed in sprayer advance is front, after direction is in contrast, in the utility model in control system the annexation of each parts for illustration of the mode of connection, and the control action under above-mentioned connection belongs to mature technology of the prior art, be the existence of essential features in technical scheme.
A kind of self-walking intelligent sprayer based on image procossing that the utility model proposes, comprise vehicle frame, chassis, actuating unit, transmission mechanism, two creepers undercarriage, spraying mechanism and control systems, vehicle frame is fixed on above chassis, actuating unit and transmission mechanism are arranged on chassis, two creepers undercarriage are arranged on both sides, chassis respectively, and spraying mechanism is arranged on vehicle frame;
Spraying mechanism comprises explosive box, liquid transmission system, cartridge nozzle carrying platform, centrifugal pump and stepper motor, explosive box, centrifugal pump and stepper motor are arranged on vehicle frame, the inlet of centrifugal pump and explosive box inner chamber pipeline connection, the liquid outlet of centrifugal pump is communicated with cartridge nozzle carrying platform inlet by liquid transmission system, and stepper motor output shaft and cartridge nozzle carrying platform drive and be connected and drive cartridge nozzle carrying platform to rotate;
Control system comprises image collecting device and master controller, actuating unit, centrifugal pump, stepper motor all communicate to connect with master controller and by its action of main controller controls, image collecting device is arranged on vehicle frame front end, master controller obtains sprayer image information in front by image collecting device and obtains area information to be painted according to above-mentioned image information analysis, and controls actuating unit, centrifugal pump, stepper motor action according to above-mentioned area information to be painted.
Preferably, cartridge nozzle carrying platform comprises hollow spray medicine bar, above-mentioned spray medicine bar is provided with multiple spraying nozzle, above-mentioned spraying nozzle staggered parallel is distributed on spray medicine bar, each spraying nozzle place correspondence is provided with shower nozzle, spiral flow solenoid valve is provided with in spray medicine bar, the valve body oil duct in the shape of a spiral of above-mentioned spiral flow solenoid valve, oil duct bore is consistent with spraying nozzle bore, spiral flow solenoid valve and spray medicine bar inwall interference fit, spiral flow solenoid valve and master controller communicate to connect, master controller controls the Distance geometry uninterrupted spraying each shower nozzle injection of medicine bar by controlling spiral flow solenoid valve adhesive degree.
Preferably, cartridge nozzle carrying platform comprises hollow spray medicine bar and miniature supercharger, above-mentioned spray medicine bar is provided with multiple spraying nozzle, above-mentioned spraying nozzle staggered parallel is distributed on spray medicine bar, each spraying nozzle place correspondence is provided with shower nozzle, spray medicine bar is connected with miniature supercharger liquid outlet near stepper motor one end, and miniature supercharger inlet is communicated with the liquid outlet of centrifugal pump by liquid transmission system.
Preferably, also comprise sprayer machine hand and hydraulic pump, hydraulic pump is arranged in frame, stepper motor output shaft is driven with cartridge nozzle carrying platform by above-mentioned sprayer machine hand and is connected, sprayer machine hand comprises knuckle arm, pitman arm, circular drag link and hydraulic jack, hydraulic pump liquid outlet is communicated with hydraulic jack inlet, pitman arm one end and stepper motor output shaft fix and the other end and knuckle arm hinged, hydraulic jack one end and circular drag link is hinged and other end pitman arm is hinged, knuckle arm one end and circular drag link is hinged and other end pitman arm is hinged, knuckle arm, pitman arm, circular drag link and hydraulic jack composition quadric chain.
Preferably, also comprise remote manipulator, master controller has wireless launcher, remote manipulator and master controller are communicated to connect by above-mentioned wireless launcher, and remote manipulator is by obtaining sprayer image information in front and controlling actuating unit, centrifugal pump, stepper motor action to master controller sending controling instruction with mode of priority.
Preferably, also comprise the first sub-controller, the first sub-controller and master controller communicate to connect, and master controller is by the first sub-controller control step motor action.
Preferably, creeper undercarriage comprises crawler belt, driving wheel, regulating wheel, support wheel and tugboat, actuating unit is connected with drive wheel, crawler belt is installed on the drive wheel, tugboat is arranged on vehicle frame by rolling bearing is parallel, the bottom of tugboat is embedded in crawler belt, and regulating wheel is rotatably installed in back-end support by core wheel and is embedded in crawler belt, and regulating wheel core wheel is connected with vehicle frame with long bolt by baffle plate.
Preferably, also comprise the second sub-controller, first range sensor, second distance sensor and electromagnetic clutch, first range sensor, second distance sensor, electromagnetic clutch is all connected with the second sub-controller communication, first range sensor, second distance sensor is arranged on outside the driving wheel of two creepers undercarriage respectively, second sub-controller is by the first range sensor, second distance sensor obtains range information between sprayer and both sides barrier, second sub-controller and master controller communicate to connect, master controller obtains above-mentioned range information by the second sub-controller and controls electromagnetic clutch action by the second sub-controller and turns to realize sprayer.
Preferably, actuating unit comprises motor and speed reducer, and motor drives with reductor and is connected, and transmission mechanism comprises power transmission shaft, and reductor to be driven with power transmission shaft by electromagnetic clutch and is connected, and power transmission shaft is connected with drive wheel.
Preferably, remote manipulator is intelligent remote remote controller, and it comprises supply module, STM32 controller, wireless video receiver, PAN telegon, LCD MODULE, key-press module; Supply module to be connected respectively with STM32 controller, wireless video receiver, PAN telegon and LCD MODULE by power line and to provide power supply for it, PAN telegon to be connected with the serial ports of STM32 controller by serial ports and to carry out Local network communication, user is by remote central dominating pair of vertices System Implementation monitor and forecast, and key-press module is connected with the I/O mouth of STM32 module; Display is connected with wireless receiver.
Preferably, image collector is set to high-definition camera; High-definition camera is fixed in frame by T-shaped support.
The self-walking intelligent sprayer based on image procossing in the utility model, actuating unit drives creeper undercarriage action that sprayer is walked by transmission mechanism, and has control system control sprayer walking and spraying mechanism to spray, by the image information in image acquisition device sprayer front, thus determine region to be painted, liquid in explosive box is delivered to the ejection of cartridge nozzle carrying platform through liquid transmission system by centrifugal pump, stepper motor then under control of the control system, drive cartridge nozzle carrying platform to rotate, liquid is accurately sprayed to region to be painted, therefore, compared with existing equipment for plant protection, its automaticity is high, easy and simple to handle, operating efficiency is high, achieve and carry out intellectuality sprinkling according to plant growing way difference, can automatically locate, automatic walking, automatic adjustable spraying amount, also save dosage and water consumption simultaneously, very big limit reduces environmental pollution, in the sprayer course of work, operating personnel is without the need to being sitting in sprayer, easily can complete pesticide application, the accidents such as the poisoning heatstroke of personnel of drifting about due to medicine droplet when this process completely avoid Traditional Man operation and cause in hot environment.
Accompanying drawing explanation
Fig. 1 is a kind of self-walking intelligent sprayer structure chart based on image procossing that the utility model proposes;
Fig. 2 is the front view of Fig. 1;
Fig. 3 is the end view of Fig. 1;
Fig. 4 is sprayer machine arm device figure;
Fig. 5 is spiral flow electromagnetic valve core profile;
Fig. 6 is remote manipulator mechanism map.
Embodiment
As shown in Figure 1, Fig. 1 is the structural representation of a kind of self-walking intelligent sprayer based on image procossing that the utility model proposes.
With reference to Fig. 1, a kind of self-walking intelligent sprayer based on image procossing that the utility model proposes, comprise vehicle frame 1, chassis, actuating unit, transmission mechanism, two creepers undercarriage 2, spraying mechanism and control systems, vehicle frame 1 is fixed on above chassis, actuating unit and transmission mechanism are arranged on chassis, two creepers undercarriage 2 are arranged on both sides, chassis respectively, and spraying mechanism is arranged on vehicle frame 1;
Spraying mechanism comprises explosive box 31, liquid transmission system, shower nozzle 322 loading platform 32, centrifugal pump 33 and stepper motor 34, explosive box 31, centrifugal pump 33 and stepper motor 34 are arranged on vehicle frame 1, the inlet of centrifugal pump 33 and explosive box 31 inner chamber pipeline connection, the liquid outlet of centrifugal pump 33 is communicated with shower nozzle 322 loading platform 32 inlet by liquid transmission system, and stepper motor 34 output shaft and shower nozzle 322 loading platform 32 drive and be connected and drive shower nozzle 322 loading platform 32 to rotate;
Control system comprises image collecting device 41 and master controller 42, actuating unit, centrifugal pump 33, stepper motor 34 all communicate to connect with master controller 42 and control its action by master controller 42, image collecting device 41 is arranged on vehicle frame 1 front end, master controller 42 obtains sprayer image information in front by image collecting device 41 and obtains area information to be painted according to above-mentioned image information analysis, and controls actuating unit, centrifugal pump 33, stepper motor 34 action according to above-mentioned area information to be painted.
In the above-described embodiments, actuating unit drives creeper undercarriage 2 action that sprayer is walked by transmission mechanism, and has control system control sprayer walking and spraying mechanism to spray, the image information in sprayer front is gathered by image collecting device 41, thus determine region to be painted, liquid in explosive box 31 is delivered to shower nozzle 322 loading platform 32 through liquid transmission system and is sprayed by centrifugal pump 33, stepper motor 34 under control of the control system, drive shower nozzle 322 loading platform 32 to rotate, liquid is accurately sprayed to region to be painted, therefore, compared with existing equipment for plant protection, its automaticity is high, easy and simple to handle, operating efficiency is high, achieve and carry out intellectuality sprinkling according to plant growing way difference, can automatically locate, automatic walking, automatic adjustable spraying amount, also save dosage and water consumption simultaneously, very big limit reduces environmental pollution, in the sprayer course of work, operating personnel is without the need to being sitting in sprayer, easily can complete pesticide application, the accidents such as the poisoning heatstroke of personnel of drifting about due to medicine droplet when this process completely avoid Traditional Man operation and cause in hot environment.
In the technical scheme improved further, shower nozzle 322 loading platform 32 comprises hollow spray medicine bar 321, above-mentioned spray medicine bar 321 is provided with multiple spraying nozzle, above-mentioned spraying nozzle staggered parallel is distributed on spray medicine bar 321, each spraying nozzle place correspondence is provided with shower nozzle 322, spiral flow solenoid valve 324 is provided with in spray medicine bar 321, the valve body oil duct 3242 in the shape of a spiral of above-mentioned spiral flow solenoid valve 324, oil duct 3242 bore is consistent with spraying nozzle bore, spiral flow solenoid valve 324 and spray medicine bar 321 inwall interference fit, spiral flow solenoid valve 324 and master controller 42 communicate to connect, master controller 42 controls the Distance geometry uninterrupted spraying each shower nozzle 322 injection of medicine bar 321 by controlling spiral flow solenoid valve 324 adhesive degree.
In above-mentioned improvement, the multiple shower nozzles 322 on spray medicine bar 321 can realize multirow spraying; In preferred mode, it can be 10 by shower nozzle 322 quantitative design, owing to installing spiral flow solenoid valve 324 in spray medicine bar 321, under the control of master controller 42, spiral flow solenoid valve 324 adhesive degree can control to spray the Distance geometry uninterrupted that on medicine bar 321,10 shower nozzles 322 spray; The spool 3241 of spiral flow solenoid valve 324 can be made up of hard aluminium alloy material.
In the technical scheme improved further, shower nozzle 322 loading platform 32 also comprises miniature supercharger 323, spray medicine bar 321 is connected with miniature supercharger 323 liquid outlet near stepper motor 34 one end, and miniature supercharger 323 inlet is communicated with the liquid outlet of centrifugal pump 33 by liquid transmission system.
In above-mentioned improvement, hydraulic pressure to be raised by miniature supercharger 323 and delivers to spray medicine bar 321 by liquid again, thus improves medical liquid spraying ability.
In the technical scheme improved further, also comprise sprayer machine hand 35 and hydraulic pump 36, hydraulic pump 36 is arranged on vehicle frame 1, stepper motor 34 output shaft is driven with shower nozzle 322 loading platform 32 by above-mentioned sprayer machine hand 35 and is connected, sprayer machine hand 35 comprises knuckle arm 354, pitman arm 351, circular drag link 353 and hydraulic jack 352, hydraulic pump 36 liquid outlet is communicated with hydraulic jack 352 inlet, pitman arm 351 one end and stepper motor 34 output shaft fix and the other end and knuckle arm 354 hinged, hydraulic jack 352 one end and circular drag link 353 is hinged and other end pitman arm 351 is hinged, knuckle arm 354 one end and circular drag link 353 is hinged and other end pitman arm 351 is hinged, knuckle arm 354, pitman arm 351, circular drag link 353 and hydraulic jack 352 form quadric chain.
In above-mentioned improvement, by the oil pressure cntrol of hydraulic pump 36 pairs of oil cylinders, height and the telescopic adjustment of spray medicine bar 321 can be realized by sprayer machine hand 35, thus make medicine liquid spray more accurate.
In the technical scheme improved further, also comprise remote manipulator 6, master controller 42 has wireless launcher 45, remote manipulator 6 and master controller 42 are communicated to connect by above-mentioned wireless launcher 45, and remote manipulator 6 is by obtaining sprayer image information in front and controlling actuating unit, centrifugal pump 33, stepper motor 34 action to master controller 42 sending controling instruction with mode of priority.
In above-mentioned improvement, can make sprayer on the basis automatically run, there is the pattern that artificial long-range interference controls, occur unpredictable situation in the course of the work at sprayer, operating personnel can carry out remote control, make sprayer work more reliable and accurate.
In the technical scheme improved further, also comprise the first sub-controller 43, first sub-controller 43 and communicate to connect with master controller 42, master controller 42 is by the first sub-controller 43 control step motor 34 action.
In above-mentioned design, by the first sub-controller 43, the working strength of master controller 42 can be reduced.
In the technical scheme improved further, creeper undercarriage 2 comprises crawler belt 21, driving wheel 22, regulating wheel 25, support wheel 23 and tugboat 24, actuating unit drives with driving wheel 22 and is connected, crawler belt 21 is arranged on driving wheel 22, tugboat 24 is arranged on vehicle frame 1 by rolling bearing is parallel, the bottom of tugboat 24 is embedded in crawler belt 21, and regulating wheel 25 is rotatably installed in back-end support by core wheel and is embedded in crawler belt 21, and regulating wheel 25 core wheel is connected with vehicle frame 1 with long bolt by baffle plate.
In above-mentioned design, each parts of creeper undercarriage 2 are fitted to each other, stable.
In the technical scheme improved further, also comprise the second sub-controller 44, first range sensor, second distance sensor and electromagnetic clutch, first range sensor, second distance sensor, electromagnetic clutch is all connected with the second sub-controller 44 communication, first range sensor, second distance sensor is arranged on outside the driving wheel 22 of two creepers undercarriage 2 respectively, second sub-controller 44 is by the first range sensor, second distance sensor obtains range information between sprayer and both sides barrier, second sub-controller 44 communicates to connect with master controller 42, master controller 42 obtains above-mentioned range information by the second sub-controller 44 and controls electromagnetic clutch action by the second sub-controller 44 and turns to realize sprayer.
In above-mentioned design, first range sensor and second distance sensor detect the operating range between sprayer and both sides barrier in real time, real-Time Signal Transfer to the second sub-controller 44 simultaneously will detected, thus the break-make that can control electromagnetic clutch according to safety traffic distance and the magnitude relationship of real time running distance realizes turning to of chassis drive part; Particularly, in the normal driving process of chassis drive part, when the real time running distance of the first side is less than safety traffic distance, first range sensor sends voltage signal to control system, the voltage signal of reception is converted to the electromagnetic clutch controlling execution second side and disconnects by control system, such chassis drive part turns to the second side, in steering procedure when the real time running distance of the first side is greater than safety traffic distance, the electromagnetic clutch that control system controls the second side combines, and travels in safe range to make sprayer; The existence of the second sub-controller 44 then can share the work of master controller 42, makes control system more reliable.
In the technical scheme improved further, actuating unit comprises motor 5 and reductor, and motor 5 drives with reductor and is connected, and transmission mechanism comprises power transmission shaft, and reductor to be driven with power transmission shaft by electromagnetic clutch and is connected, and power transmission shaft drives with driving wheel 22 and is connected.
In above-mentioned improvement, motor 5 can adopt brshless DC motor 5, and whole actuating unit and transmission mechanism operate steadily reliably.
In the technical scheme improved further, remote manipulator 6 is intelligent remote remote controller 6, and it comprises supply module, STM32 controller, wireless video receiver 62, PAN telegon 63, LCD MODULE 61, key-press module 64; Supply module to be connected respectively with STM32 controller, wireless video receiver 62, PAN telegon 63 and LCD MODULE 61 by power line and to provide power supply for it, PAN telegon to be connected with the serial ports of STM32 controller by serial ports and to carry out Local network communication, user is by remote central dominating pair of vertices System Implementation monitor and forecast, and key-press module 64 is connected with the I/O mouth of STM32 module; Display is connected with wireless receiver; Image collecting device 41 adopts high-definition camera; High-definition camera is fixed on vehicle frame 1 by T-shaped support.
In sum, the sprayer that above-described embodiment provides, compared with existing equipment for plant protection, its automaticity is high, easy and simple to handle, operating efficiency is high, in the course of work, operating personnel may stand in the edge of a field operating remote remote control part and easily can complete pesticide application, due to accidents such as the poisoning heatstrokes of personnel that causes in the drift of medicine droplet and hot environment when this process completely avoid Traditional Man operation; This utility model adopts smog dispersion pattern spraying pesticide, at least can save the Pesticide use amount of 50% and the water consumption of 80%, reduce resources costs and environmental pollution to a great extent, have good market prospects and promotional value.
The above; be only the utility model preferably embodiment; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; be equal to according to the technical solution of the utility model and utility model design thereof and replace or change, all should be encompassed within protection domain of the present utility model.

Claims (12)

1. the self-walking intelligent sprayer based on image procossing, it is characterized in that, comprise vehicle frame (1), chassis, actuating unit, transmission mechanism, two creepers undercarriage (2), spraying mechanism and control systems, vehicle frame (1) is fixed on above chassis, actuating unit and transmission mechanism are arranged on chassis, two creepers undercarriage (2) are arranged on both sides, chassis respectively, and spraying mechanism is arranged on vehicle frame (1);
Spraying mechanism comprises explosive box (31), liquid transmission system, shower nozzle (322) loading platform (32), centrifugal pump (33) and stepper motor (34), explosive box (31), centrifugal pump (33) and stepper motor (34) are arranged on vehicle frame (1), the inlet of centrifugal pump (33) and explosive box (31) inner chamber pipeline connection, the liquid outlet of centrifugal pump (33) is communicated with shower nozzle (322) loading platform (32) inlet by liquid transmission system, stepper motor (34) output shaft and shower nozzle (322) loading platform (32) drive and are connected and drive shower nozzle (322) loading platform (32) to rotate,
Control system comprises image collecting device (41) and master controller (42), actuating unit, centrifugal pump (33), stepper motor (34) all communicate to connect with master controller (42) and control its action by master controller (42), and image collecting device (41) is arranged on vehicle frame (1) front end.
2. the self-walking intelligent sprayer based on image procossing according to claim 1, it is characterized in that, shower nozzle (322) loading platform (32) comprises hollow spray medicine bar (321), above-mentioned spray medicine bar (321) is provided with multiple spraying nozzle, above-mentioned spraying nozzle staggered parallel is distributed in spray medicine bar (321), each spraying nozzle place correspondence is provided with shower nozzle (322), spiral flow solenoid valve (324) is provided with in spray medicine bar (321), the valve body oil duct (3242) in the shape of a spiral of above-mentioned spiral flow solenoid valve (324), oil duct (3242) bore is consistent with spraying nozzle bore, spiral flow solenoid valve (324) and spray medicine bar (321) inwall interference fit, spiral flow solenoid valve (324) and master controller (42) communicate to connect, master controller (42) controls the Distance geometry uninterrupted that spray medicine bar (321) each shower nozzle (322) is sprayed by controlling spiral flow solenoid valve (324) adhesive degree.
3. the self-walking intelligent sprayer based on image procossing according to claim 1, it is characterized in that, shower nozzle (322) loading platform (32) comprises hollow spray medicine bar (321) and miniature supercharger (323), above-mentioned spray medicine bar (321) is provided with multiple spraying nozzle, above-mentioned spraying nozzle staggered parallel is distributed in spray medicine bar (321), each spraying nozzle place correspondence is provided with shower nozzle (322), spray medicine bar (321) is connected with miniature supercharger (323) liquid outlet near stepper motor (34) one end, miniature supercharger (323) inlet is communicated with the liquid outlet of centrifugal pump (33) by liquid transmission system.
4. the self-walking intelligent sprayer based on image procossing according to claim 1, it is characterized in that, also comprise sprayer machine hand (35) and hydraulic pump (36), hydraulic pump (36) is arranged on vehicle frame (1), stepper motor (34) output shaft is driven with shower nozzle (322) loading platform (32) by above-mentioned sprayer machine hand (35) and is connected, sprayer machine hand (35) comprises knuckle arm (354), pitman arm (351), circular drag link (353) and hydraulic jack (352), hydraulic pump (36) liquid outlet is communicated with hydraulic jack (352) inlet, pitman arm (351) one end and stepper motor (34) output shaft fix and the other end and knuckle arm (354) hinged, hydraulic jack (352) one end and circular drag link (353) is hinged and other end pitman arm (351) is hinged, knuckle arm (354) one end and circular drag link (353) is hinged and other end pitman arm (351) is hinged, knuckle arm (354), pitman arm (351), circular drag link (353) and hydraulic jack (352) composition quadric chain.
5. the self-walking intelligent sprayer based on image procossing according to claim 1, it is characterized in that, also comprise remote manipulator (6), master controller (42) has wireless launcher (45), and remote manipulator (6) and master controller (42) are communicated to connect by above-mentioned wireless launcher (45).
6. the self-walking intelligent sprayer based on image procossing according to claim 5, it is characterized in that, also comprise the first sub-controller (43), first sub-controller (43) and master controller (42) communicate to connect, and master controller (42) is by the first sub-controller (43) control step motor (34) action.
7. the self-walking intelligent sprayer based on image procossing according to claim 1, it is characterized in that, creeper undercarriage (2) comprises crawler belt (21), driving wheel (22), regulating wheel (25), support wheel (23) and tugboat (24), actuating unit drives with driving wheel (22) and is connected, crawler belt (21) is arranged on driving wheel (22), tugboat (24) is arranged on vehicle frame (1) by rolling bearing is parallel, the bottom of tugboat (24) is embedded in crawler belt (21), regulating wheel (25) is rotatably installed in back-end support by core wheel and is embedded in crawler belt (21), regulating wheel (25) core wheel is connected with vehicle frame (1) with long bolt by baffle plate.
8. the self-walking intelligent sprayer based on image procossing according to claim 7, it is characterized in that, also comprise the second sub-controller (44), first range sensor, second distance sensor and electromagnetic clutch, first range sensor, second distance sensor, electromagnetic clutch is all connected with the second sub-controller (44) communication, first range sensor, second distance sensor is arranged on driving wheel (22) outside of two creepers undercarriage (2) respectively, second sub-controller (44) is by the first range sensor, second distance sensor obtains range information between sprayer and both sides barrier, second sub-controller (44) and master controller (42) communicate to connect, master controller (42) controls electromagnetic clutch action by the second sub-controller (44) and turns to realize sprayer.
9. the self-walking intelligent sprayer based on image procossing according to claim 8, it is characterized in that, actuating unit comprises motor (5) and reductor, motor (5) drives with reductor and is connected, transmission mechanism comprises power transmission shaft, reductor to be driven with power transmission shaft by electromagnetic clutch and is connected, and power transmission shaft drives with driving wheel (22) and is connected.
10. the self-walking intelligent sprayer based on image procossing according to any one of claim 1-9, it is characterized in that, remote manipulator (6) is intelligent remote remote controller (6), and it comprises supply module, STM32 controller, wireless video receiver (62), PAN telegon (63), LCD MODULE (61), key-press module (64); Supply module is connected by power line respectively with STM32 controller, wireless video receiver (62), PAN telegon (63) and LCD MODULE (61) and provides power supply for it, PAN telegon (63) to be connected with the serial ports of STM32 controller by serial ports and to carry out communication, and key-press module (64) is connected with the I/O mouth of STM32 module; Display is connected with wireless receiver.
11. self-walking intelligent sprayers based on image procossing according to any one of claim 1-9, it is characterized in that, image collecting device (41) is high-definition camera; High-definition camera is fixed on vehicle frame (1) by T-shaped support.
The 12. self-walking intelligent sprayers based on image procossing according to claim 10, it is characterized in that, image collecting device (41) is high-definition camera; High-definition camera is fixed on vehicle frame (1) by T-shaped support.
CN201420663133.2U 2014-11-06 2014-11-06 A kind of self-walking intelligent sprayer based on image procossing Expired - Fee Related CN204426448U (en)

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CN117136932A (en) * 2023-10-31 2023-12-01 北京市农林科学院智能装备技术研究中心 Medicine spraying machine

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CN105360095B (en) * 2015-12-08 2017-11-10 山东农业大学 A kind of greenhouse single track plant protection robot and its control method
CN105360095A (en) * 2015-12-08 2016-03-02 山东农业大学 Monorail plant protection robot for greenhouse and control method thereof
CN106070149A (en) * 2016-06-29 2016-11-09 徐洪恩 A kind of farm reagent feeder device people
WO2018010216A1 (en) * 2016-07-14 2018-01-18 江苏大学 Unmanned intelligent tracked high-clearance sprayer and control method
CN107047511A (en) * 2017-04-12 2017-08-18 柳州凡科技有限公司 It is a kind of to be used for the pesticide spraying device that agricultural is administered
CN107242225A (en) * 2017-07-19 2017-10-13 胡俊 A kind of spraying machine with safeguard function
CN107242225B (en) * 2017-07-19 2020-08-14 深圳龙图腾创新设计有限公司 Sprayer with protection function
CN107258751A (en) * 2017-07-31 2017-10-20 山东省农业机械科学研究院 A kind of winter jujube pesticide spraying device
CN108157339A (en) * 2018-02-13 2018-06-15 佳木斯大学 A kind of crawler type greenhouse spraying machine and its method with height and breadth regulatory function
CN109229220A (en) * 2018-10-11 2019-01-18 南京农业大学 A kind of industrialized agriculture crawler type pure electric vehicle
CN109644971A (en) * 2019-01-10 2019-04-19 金华市婺城区九峰职业学校 A kind of centre of gravity electric caterpillar band remote control type spraying machine
CN110100703A (en) * 2019-05-06 2019-08-09 杭州成威物业管理有限公司 A kind of intelligence afforestation maintenance machine people and its control system
CN111771857A (en) * 2020-06-24 2020-10-16 贵州电网有限责任公司 Weeding robot for transformer substation and use method thereof
CN117136932A (en) * 2023-10-31 2023-12-01 北京市农林科学院智能装备技术研究中心 Medicine spraying machine
CN117136932B (en) * 2023-10-31 2024-03-01 北京市农林科学院智能装备技术研究中心 Medicine spraying machine

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