CN204719813U - A kind of intelligence spraying machine device people of the farmland based on suspended chain conveyor - Google Patents
A kind of intelligence spraying machine device people of the farmland based on suspended chain conveyor Download PDFInfo
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- CN204719813U CN204719813U CN201520312890.XU CN201520312890U CN204719813U CN 204719813 U CN204719813 U CN 204719813U CN 201520312890 U CN201520312890 U CN 201520312890U CN 204719813 U CN204719813 U CN 204719813U
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Abstract
A kind of intelligence spraying machine device people of the farmland based on suspended chain conveyor, it is characterized in that, the central controller of described farmland intelligence spraying machine device people respectively with suspended chain conveyor module, detect identification module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module, supply module connects, this farmland intelligence spraying machine device people can utilize outdoor solar electrical energy generation, intelligence completes the whole spray medicine process to farmland crops, reduce waste and the medicament residue of medicine, improve work efficiency and utilization ratio of drug, environmental protection and energy saving, decrease the manual labor of people, make people not by the harm of medicine.
Description
Technical field
The present invention relates to a kind of intelligent robot, particularly for a kind of intelligence spraying machine device people of the farmland based on suspended chain conveyor.
Background technology
Suspended chain is the chain being specifically designed to overhead chain conveyer or suspension conveying line.The conveyor be made up of suspended chain is called suspended chain conveyor.Suspended chain conveyor is primarily of track, roller, balladeur train, suspended chain, suspender, hauling power device composition.
At present, to the work of agricultural spraying medicine primarily of manually completing.There is following unfavorable factor in artificial mark spraying medicine: 1, medicine is harmful, can cause the potential pathology harm of human body.2, spray medicine inefficiency, artificial mark spraying medicine not only consumes one's strength, and more wastes time.3, utilization ratio of drug is low, and artificial mark spraying medicine can cause spray medicine uneven, and the problems such as medicine water clock, cause the waste of medicine.Have some mechanical spray medicine devices to be applied in agricultural spraying prescription face, but there is following drawback in these chemical spraying devices: 1, to need manual control, independently can not complete spray medicine overall process.2, spray value is unreasonable, and drug waste is serious, and utilization ratio of drug is not high enough.3, working method does not meet garden of the building standard in present farmland.4, mode of operation is complicated.
Therefore, there is many drawbacks in current agricultural spraying prescription formula, and inventing a kind of farmland based on suspended chain conveyor intelligence spraying machine device people can by the problem solving agricultural spraying medicine, and help farmland planting family completes the spray medicine to farmland crops easily.
Summary of the invention
The present invention is directed to the problem that prior art cannot meet above-mentioned agricultural spraying prescription face, provide a kind of farmland based on suspended chain conveyor intelligence spraying machine device people, people can be replaced to complete robot farmland crops intelligence being sprayed to medicine.This farmland intelligence spraying machine device people builds garden autonomous path by suspended chain conveyor technology according to farmland and moves, by image procossing identification crops, according to different crops and residing different growing stage conservative control spray value, can utilize outdoor solar electrical energy generation, intelligence completes the whole spray medicine process to farmland crops.
In order to complete above-mentioned purpose, the present invention by the following technical solutions.
A kind of intelligence spraying machine device people of the farmland based on suspended chain conveyor, it is characterized in that, described farmland intelligence spraying machine device people comprises: central controller, suspended chain conveyor module, detection identification module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module, supply module.Described central controller respectively with suspended chain conveyor module, detect identification module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module, supply module connects, described supply module respectively with central controller, suspended chain conveyor module, detect identification module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module connects.By the unification of above modules, the work of coordination, realize the function of modules, complete the farmland intelligence spray pharmaceutical worker of intelligence spraying machine device people to farmland crops and do.
Described central controller respectively with suspended chain conveyor module, detect identification module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module, supply module be connected, receive and process Information Monitoring and the data of each module, control modules fast and complete concrete function.
Described suspended chain conveyor module adopts suspended chain conveyor technology.Suspended chain conveyor module comprises track, roller, balladeur train, suspended chain, suspender, hauling power device; Hauling power device is made up of motor, speed reduction unit, belt gear or chain-drive mechanism.The number of the suspended chain pipeline length determination hauling power device required for the size of actual farmland, pipeline arranges a hauling power device every 500 meters of length, and hauling power device provides transmitting power; Track flex point place is arranged detects marker by the flex point detecting identification module detection identification track.Track is set up above passageway, vacant lot outside inner proportion of crop planting district, Farmland, suspended chain, roller and balladeur train are set in orbit, suspender is hinged on below balladeur train, and robot is arranged on suspender, realizes the vacant lot passageway of robot outside inner proportion of crop planting district, Farmland is moved.
Described detection identification module is used for the detection marker that recognition detection robot arrives track flex point place, and feedback track flex point information control carries out start and stop spray pharmaceutical worker and does; Central controller carries out number statistics to the detection marker detecting the track flex point place that identification module detects, determines the position distinguishing spray medicine reference position, end position and spray medicine concrete condition.Detect identification module and comprise infrared tube sensor.
Described solar energy tracking module completes carries out mobile tracking solar energy to solar panel, makes solar panel receive maximum illumination, uses photoelectric tracking, looks daily motion tracking method for tracking solar energy.Solar energy tracking module comprises: reducing motor, motor drive ic, illuminance sensor, light sensor, three-freedom mechanical arm; Reducing motor and motor drive ic composition motor power structure, complete the movement of solar panel; Illuminance sensor and light sensor realize the detection and tracking to the maximum illumination of sun power; Adopt three-freedom mechanical arm support solar cell panel.
Described solar electrical energy generation module realizes sun power and is converted into electric energy, adopt solar panel to gather solar illumination to transform sun power, converting galvanic current stream to by DC/DC transducer is stored in high energy efficiency electric battery, and solar electrical energy generation module comprises: solar panel, DC/DC transducer.
Described image processing module completes crops identification and real-time photography monitoring ambient conditions, and image processing module comprises The Cloud Terrace high-definition camera, image pick-up card, image processing software; Image processing module adopts image procossing and mode identification technology, by the image of The Cloud Terrace high-definition camera shooting crops, by the image of image pick-up card and image processing software process crops, extract the important external appearance characteristic of crops and the crops image characteristic information data storehouse in memory module and check and more afterwards the species name of crops judged to Crop classification.
Described spray medicine module completes robot and does the spray pharmaceutical worker of crops, by 2 telescopic mechanical arms, 6 medicine shower nozzles simultaneously to the top of 2 row crops, middle part and bottom spray medicine; 6 medicine shower nozzles are arranged on the top of 2 telescopic mechanical arms, middle part and bottom and spray medicine tubes connection respectively, each telescopic mechanical arm at top, middle part and bottom respectively install a medicine shower nozzle, changed the height of medicine shower nozzle by telescopic mechanical arm; Medicine nozzle switch, by electric control valve gauge tap, controls medicine spray medicine speed by the aperture controlling electric control valve; Spraying liquid pressure is provided by the agricultural chemical spraying forcing pump be arranged in robot; Each medicine shower nozzle is connected with agricultural chemical spraying forcing pump by spray medicine conduit; Spray medicine module comprises 2 telescopic mechanical arms, 6 medicine shower nozzles, 6 electric control valves, 1 agricultural chemical spraying forcing pump, spray medicine conduit.
Described dispensing module completes to be allocated the stirring of medicine, when making up a prescription, is stirred evenly by built-in stirrer to medicine, makes medicine fully fused; In spray medicine process, agitator motor drives built-in stirrer to stir medicine by the time interval that user sets, and medicine can not be precipitated, and ensures the evenly fused of spray medicine Procedures Drug.Dispensing module comprises built-in stirrer, agitator motor, medicine bucket.Medicine bucket is detachable, can unload, being arranged on robot and blocking fixing with it after having joined medicine when making up a prescription.
Described drug test module realizes the detection to medicine surplus, spray medicine flow velocity, drug test module comprises liquid level sensor, turbo flow meter, by liquid level sensor, turbo flow meter detection of drugs surplus, spray medicine flow velocity respectively, can avoid doing without pharmaceutical worker and blocking Timeliness coverage to medicine shower nozzle.When spray medicine flow velocity cross slow abnormal time, illustrates that medicine shower nozzle occurs to block or other faults.
Described wireless communication module carries out radio communication for robot with host computer and is connected, wireless communication module comprises WiFi radio-cell and GPRS communication unit, WiFi radio-cell is used for robot and host computer carries out WiFi radio communication connected mode, and GPRS communication unit is used for robot and host computer carries out GPRS radio communication connected mode.
Described human-computer interaction module realizes the information communication between human and computer people.Robot carries out being connected with user's handheld mobile communication device by wireless communication module and communicates by human-computer interaction module.User can carry out functional parameter by the handheld mobile communication device end upper computer software after being connected with robot communication to robot and arranges and control in real time, receive image information and the warning message of robot collection, realize the far distance controlled to robot and supervision.
Described alarm module achieves when medicine surplus is not enough, medicine shower nozzle blocks, battery electric quantity is not enough, alarm voice is play by speech player, reported to the police to user's handheld mobile communication device host computer by radio communication, so that the process of user's Timeliness coverage, alarm module comprises speech player and user's handheld mobile communication device host computer alarm.
Described memory module realizes record to image acquisition data, crops image characteristic information data storehouse and other module datas and storage, and memory module comprises storer.
Described supply module completes power supply to robot whole system, voltage transitions, electric energy charging control, residual capacity measurement, ensures that robot powers safe, efficient.Supply module comprises high energy efficiency electric battery, electric pressure converter, electric energy charger, coulometric detector.
The invention has the beneficial effects as follows: the orbital path that a kind of farmland based on suspended chain conveyor of the present invention intelligence spraying machine device people sets up according to suspended chain conveyor automatically movement realizes robot identification Farmland and builds garden autonomous path and move, by image procossing identification crops, according to different crops and residing different growing stage conservative control spray value, complete 2 row crops tops, middle part and bottom spray medicine, intelligence completes the whole spray medicine process to farmland crops simultaneously.This farmland intelligence spraying machine device people decreases waste and the medicament residue of medicine, substantially increases work efficiency and utilization ratio of drug, environmental protection and energy saving, decreases the manual labor of people, make people not by the harm of medicine.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present invention.
Fig. 2 is robot of the present invention method of work schematic diagram.
Fig. 3 is upper computer software main operation interface of the present invention schematic diagram.
Fig. 4 is robot of the present invention external structure.
In figure 1, central controller, 2, suspended chain conveyor module, 3, detect identification module, 4, solar energy tracking module, 5, solar electrical energy generation module, 6, image processing module, 7, spray medicine module, 8, dispensing module, 9, drug test module, 10, wireless communication module, 11, human-computer interaction module, 12, alarm module, 13, memory module, 14, supply module, 20, Farmland, 21, track, 22, detect marker, 23, robot work starting point and terminal, 24, proportion of crop planting district, 30, solar panel, 31, three-freedom mechanical arm, 32, wireless antenna, 33, middle part medicine shower nozzle, 34, bottom medicine shower nozzle, 35, balladeur train, 36, infrared tube sensor, 37, The Cloud Terrace high-definition camera, 38, robot cabinet, 39, top medicine shower nozzle, 40, scalable mechanical arm, 41, medicine bucket.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated, specifically to set forth technical scheme of the present invention.
As shown in Figure 1, a kind of farmland based on suspended chain conveyor of the present invention intelligence spraying machine device people central controller 1 selects dsp processor and suspended chain conveyor module 2, detect identification module 3, solar energy tracking module 4, solar electrical energy generation module 5, image processing module 6, spray medicine module 7, dispensing module 8, drug test module 9, wireless communication module 10, human-computer interaction module 11, alarm module 12, memory module 13, supply module 14 connects, described supply module 14 respectively with central controller 1, suspended chain conveyor module 2, detect identification module 3, solar energy tracking module 4, solar electrical energy generation module 5, image processing module 6, spray medicine module 7, dispensing module 8, drug test module 9, wireless communication module 10, human-computer interaction module 11, alarm module 12, memory module 13 connects, ensure the efficiency of farmland intelligence spraying machine device people's Information Monitoring and process information, accurate control modules completes correlation function.
As shown in Figure 2, a kind of farmland based on suspended chain conveyor intelligence spraying machine device people suspended chain conveyor transfer robot method realizes as follows: the number of the suspended chain pipeline length determination hauling power device required for the size of actual farmland, pipeline arranges a hauling power device every 500 meters of length, and track 21 flex point place is arranged detects marker 22 is detected identification track 21 flex point by detection identification module 3.Track 21 is set up above passageway, vacant lot outside proportion of crop planting district, Farmland 20 24, in track 21, suspended chain is set, roller and balladeur train, suspender is hinged on below balladeur train, robot is arranged on suspender, above realizing the passageway, vacant lot of robot outside proportion of crop planting district, Farmland 24, track 21 moves, robot arrives track 21 flex point place, the detection marker 22 feedback information control detecting the infrared tube sensor recognition detection track 21 flex point place of identification module 3 carries out starting to spray pharmaceutical worker and does just entering place between proportion of crop planting district, just leave place between proportion of crop planting district carry out stopping spray medicine, central controller 1 carries out number statistics to the detection marker 22 detecting the track 21 flex point place that identification module 3 detects, determines the position distinguishing spray medicine reference position, end position and spray medicine concrete condition.
User uses handheld mobile communication device to pass through in wireless communication module 10 WiFi radio-cell or GPRS communication unit and selects WiFi radio communication connected mode or GPRS radio communication connected mode to be connected with robot to communicate, user carries out functional parameter by handheld mobile communication device end upper computer software to robot and arranges and control in real time, receive image information, information about power and warning message that robot gathers, realize the far distance controlled to robot and supervision.
This farmland intelligence spraying machine device people automatic mode operation principle is as follows: first, user prepares medicine and water in proportion in medicine bucket 41, is arranged on by medicine bucket 41 after robot blocks fixing.After the gear of built-in stirrer is connected with robot agitator motor, uses user's handheld mobile communication device upper computer software to control to start the machine people, control agitator motor work, make medicine after stirrer stirs, arrange and enter automatic mode.Medicine in medicine bucket 41 is connected with agricultural chemical spraying forcing pump by spray medicine conduit, extracts medicine for agricultural chemical spraying forcing pump.Teat pipette motor starts running, and agricultural chemical spraying forcing pump gets out work.
Image processing module 6 is started working and is gathered proportion of crop planting district 24 and surrounding environment image information, the image of crops is taken by The Cloud Terrace high-definition camera 37, by the image of image pick-up card and image processing software process crops, extract the important external appearance characteristic of crops and the crops image characteristic information data library information in memory module 13 and check and more afterwards the species name of crops judged to Crop classification.
As shown in Figure 2, robot starts to move according to diagram solid arrow direction from robot work starting point and terminal 23s along the track 21 set up, robot detection identification module 3 detects the detection marker 22 on track 21, determine that first row spray medicine starts, robot will enter proportion of crop planting district 24, robot central controller 1 controls spray medicine module 7 and stretchs out mechanical arm, the top to crops opened by the medicine shower nozzle electric control valve that central controller 1 controls side, proportion of crop planting district 24, middle part and bottom spray medicine, the species name of the crops that central controller 1 judges according to image processing module 6 and the growth period conservative control residing for crops manually arranged in functional parameter regulate the aperture of electric control valve, control spray survival dose.
When robot completes the spray medicine of side, first row proportion of crop planting district 24, robot detection identification module 3 detects the detection marker 22 on track 21, determine to terminate first row crop spraying medicine, robot will leave proportion of crop planting district 24, robot central controller 1 controls to cut out electric control valve and stops spray medicine, robot continues mobile turning to by solid arrow direction and enters between Liang Lie proportion of crop planting district 24, robot detection identification module 3 detects the detection marker 22 on track 21, robot will enter between proportion of crop planting district 24 again, the top to 2 row crops opened by the medicine shower nozzle electric control valve of robot central controller 1 control both sides, middle part and bottom spray medicine, the species name of the crops that robot central controller 1 judges according to image processing module 6 and the growth period conservative control residing for crops manually arranged in functional parameter regulate the aperture of electric control valve, control spray survival dose.
In the process of spray medicine, stirrer stirred medicine according to the time interval set in advance, ensured that medicine is even all the time.
Robot has continued to do the spray pharmaceutical worker of crops according to the method described above, when robot arrive last row proportion of crop planting district 24 outer time, the medicine shower nozzle electric control valve that robot central controller 1 only controls side, proportion of crop planting district 24 opens top to crops, middle part and bottom spray medicine, the species name of the crops that robot central controller 1 judges according to image processing module 6 and the growth period conservative control residing for crops manually arranged in functional parameter regulate the aperture of electric control valve, control spray survival dose.
After the number of the detection marker 22 at the infrared tube sensor recognition detection track 21 flex point place of robot detection identification module 3 has reached the number of the detection marker 22 after doing all crop spraying pharmaceutical workers, central controller 1 controls to cut out electric control valve and stops spray medicine, control spray medicine module 7 contract arm, control continues to move to robot work starting point and next step concrete operations of terminal 23 position wait user along track 21.
Robot hand work pattern principle is as follows: user is realized robot controlling by handheld mobile communication device end upper computer software.As shown in Figure 3, user enters into the sub-interface of manual mode control software design by handheld mobile communication device end upper computer software main operation interface and robot is implemented to control mechanical arm is flexible, motorized adjustment threshold switch, Teat pipette switch, whip switch.By the situation around video window observer robot, left and right slides up and down left and right that window can realize The Cloud Terrace high-definition camera 37 and moves up and down and change monitoring visual angle.
As shown in Figure 4, robot solar energy tracking module realizes the detection and tracking to the maximum illumination of sun power by illuminance sensor and light sensor, utilizes reducing motor and motor drive ic composition motor power structure, completes the movement of solar panel; Adopt three-freedom mechanical arm 31 support solar cell panel 30, when using solar panel 30, central controller 1 controls three-freedom mechanical arm 31 and is propped up by solar panel 30, when not using solar panel 30, central controller 1 controls three-freedom mechanical arm 31 and is fallen by solar panel 30.
Robot realizes sun power by solar electrical energy generation module and is converted into electric energy, adopts solar panel 30 to gather solar illumination and transforms sun power, convert galvanic current stream to be stored in high energy efficiency Li-ion batteries piles by DC/DC transducer.
Robot is by detection of drugs surplus, the spray medicine flow speed data respectively of liquid level sensor, turbo flow meter in drug test module 9, data are sent to central controller 1, transferred data in handheld mobile communication device end host computer by wireless communication module 10 and show, with Timeliness coverage and avoid without pharmaceutical worker do and medicine shower nozzle stopping state.
Robot achieves when medicine surplus is not enough, medicine shower nozzle blocks, battery electric quantity is not enough by alarm module 12, reported to the police and speech player broadcasting audio alert, so that the process of user's Timeliness coverage to user's handheld mobile communication device by wireless communication module 10.
Robot memory module 13 uses storer, realizes the record to image acquisition data, crops image characteristic information data storehouse and other module datas and storage.
Robot selects high energy efficiency Li-ion batteries piles store electrical energy by supply module 14, the modules that electric pressure converter is robot provides suitable voltage and current, electric energy charger completes the charging of high energy efficiency Li-ion batteries piles, and coulometric detector detects the dump energy of electric battery.
User can be arranged according to the mode of operation of the demand of oneself to robot, can arrange the artificial automatic mode of machine or manual mode operation pattern.Under automatic mode, robot autonomous intelligence realizes the process of whole spray medicine.Manual mode relies on the artificial work being carried out control by the upper computer software of user's handheld mobile communication device.
Claims (1)
1. the intelligence spraying machine device people of the farmland based on suspended chain conveyor, it is characterized in that, described farmland intelligence spraying machine device people comprises: central controller, suspended chain conveyor module, detection identification module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module, supply module, described central controller respectively with suspended chain conveyor module, detect identification module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module, supply module connects, described supply module respectively with central controller, suspended chain conveyor module, detect identification module, solar energy tracking module, solar electrical energy generation module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module connects.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520312890.XU CN204719813U (en) | 2015-05-15 | 2015-05-15 | A kind of intelligence spraying machine device people of the farmland based on suspended chain conveyor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520312890.XU CN204719813U (en) | 2015-05-15 | 2015-05-15 | A kind of intelligence spraying machine device people of the farmland based on suspended chain conveyor |
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| CN204719813U true CN204719813U (en) | 2015-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520312890.XU Expired - Fee Related CN204719813U (en) | 2015-05-15 | 2015-05-15 | A kind of intelligence spraying machine device people of the farmland based on suspended chain conveyor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104820947A (en) * | 2015-05-15 | 2015-08-05 | 济南大学 | Intelligent chemical spraying robot for farmland based on suspension chain conveyer |
| CN106714554A (en) * | 2016-04-29 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Spraying control method of drone and drone |
-
2015
- 2015-05-15 CN CN201520312890.XU patent/CN204719813U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104820947A (en) * | 2015-05-15 | 2015-08-05 | 济南大学 | Intelligent chemical spraying robot for farmland based on suspension chain conveyer |
| CN104820947B (en) * | 2015-05-15 | 2018-01-02 | 济南大学 | A kind of farmland intelligence spray robot based on suspended chain conveyer |
| CN106714554A (en) * | 2016-04-29 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Spraying control method of drone and drone |
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Granted publication date: 20151021 Termination date: 20180515 |
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