CN207502949U - A kind of brainpower insufflation robot - Google Patents
A kind of brainpower insufflation robot Download PDFInfo
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- CN207502949U CN207502949U CN201721495250.2U CN201721495250U CN207502949U CN 207502949 U CN207502949 U CN 207502949U CN 201721495250 U CN201721495250 U CN 201721495250U CN 207502949 U CN207502949 U CN 207502949U
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Abstract
The utility model embodiment discloses a kind of brainpower insufflation robot.The brainpower insufflation robot includes：Image capturing system, including at least one visible spectrum camera and at least one non-visible camera, for obtaining the visible images of target plant and non-visible light image；Image analysis system, for according to visible images and non-visible light image, determining the upgrowth situation of target plant；Control system for the upgrowth situation according to target plant, determines the type for needing to spray, and generates sprinkling control signal；Storing and sprinkling system, connect with control system, for controlling signal according to the sprinkling of control system, determine sprinkling region and sprinkling dose, carry out spraying operation；Energy resource system is connect with image capturing system, image analysis system, control system and storing and sprinkling system, for providing the energy.The technical solution that the utility model embodiment is provided can realize the effect for improving the spray efficiency to plant, economizing on resources.
Description
Technical field
The utility model embodiment is related to robotic technology field more particularly to a kind of brainpower insufflation robot.
Background technology
With the continuous quickening of modernization, the continuous development of agriculture modernization, middle-size and small-size vehicular spray technique
Start gradually to apply in agricultural production, the sprinkling of pesticide is carried out in large-scale farmland and orchard.But this vehicular spray
There is also problems for mist technology：
Firstly, for for different plants, there may be need to apply fertilizer, need pesticide and needs watering etc. more
Aspect problem, and vehicular spray technique can only repeat operation, it is less efficient.Secondly, vehicular spraying generally requires manually to control
System or fixed-direction injection, cause the place for not needing to sprinkling to be also sprayed, cause the waste of resource.
It can be seen that there is many insufficient and defects for spray technique at present, it would be highly desirable to be further improved.
Utility model content
The utility model embodiment provides a kind of brainpower insufflation robot, can realize improve the spray efficiency to plant,
The effect to economize on resources.
The utility model embodiment provides a kind of brainpower insufflation robot, including：
Image capturing system including at least one visible spectrum camera and at least one non-visible camera, is used
In the acquisition visible images of target plant and non-visible light image；
Image analysis system is connect with described image acquisition system, for according to the visible images and it is described it is non-can
See light image, determine the upgrowth situation of target plant；
Control system is connect with described image analysis system, for the upgrowth situation according to the target plant, determines to need
The type to be sprayed, and generate sprinkling control signal；
Storing and sprinkling system are connect with the control system, for controlling signal according to the sprinkling of the control system,
It determines sprinkling region and sprinkling dose, carries out spraying operation；
Energy resource system, with described image acquisition system, described image analysis system, the control system and the storing and
Sprinkling system connects, for providing the energy.
Further, the brainpower insufflation robot further includes：
Communication system is connect with the control system, for being communicatively coupled with remote control；Wherein, the remote control
Device includes control room remote control and intelligent terminal remote control；
Kinematic system is connect with the control system, sprays robot for intelligent movable；It is additionally operable to according to the remote control
The target point sent out of device determines the moving target position of brainpower insufflation robot；And/or the hair according to the remote control
The target zone gone out determines the prospecting range of brainpower insufflation robot.
Further, the communication system is additionally operable to determine to the storing and the sprinkling system transmission control system
It needs the type to spray and generates sprinkling control signal.
Further, the kinematic system, including：
Sensing device, for according to inductive signal, determining the movement locus of brainpower insufflation robot.
Further, the kinematic system includes：
Telecontrol equipment, the telecontrol equipment are crawler belt of at least two width between 10-30 centimetres.
Further, the spectral wavelength variation range that the non-visible camera obtains non-visible light image is 10-
30 nanometers.
Further, described image analysis system determines the upgrowth situation of target plant by spectrum algorithm, described in analysis
Target plant needs water spray, spray fertilizer material, spray herbicide and/or pesticide.
Further, the storing and sprinkling system include storage vat, and the storage vat includes water storage storage vat, fertilizer stores up
Charging basket, herbicide storage vat and pesticide storage vat.
The utility model embodiment for brainpower insufflation robot by being configured：Image capturing system, including it is at least one can
Spectrum camera and at least one non-visible camera are seen, for obtaining the visible images of target plant and non-visible light
Image；Image analysis system is connect with described image acquisition system, for according to the visible images and the non-visible light
Image determines the upgrowth situation of target plant；Control system is connect with described image analysis system, for according to the target
The upgrowth situation of plant determines the type for needing to spray, and generates sprinkling control signal；Storing and sprinkling system, with the control
System connection processed for controlling signal according to the sprinkling of the control system, determines sprinkling region and sprinkling dose, is sprayed
Operation；Energy resource system, with described image acquisition system, described image analysis system, the control system and the storing and spray
System connection is spilt, for providing the energy, solves the problems, such as that efficiency is low, waste of resource for spray in the prior art, realizes and improves pair
The spray efficiency of plant, the effect to economize on resources.
Description of the drawings
Fig. 1 is brainpower insufflation robot architecture's block diagram that the utility model embodiment one provides；
Fig. 2 is brainpower insufflation robot architecture's block diagram that the utility model embodiment two provides；
Fig. 3 is brainpower insufflation robot architecture's block diagram that the utility model embodiment three provides；
Fig. 4 is the setting schematic diagram of the storing and sprinkling system of the offer of the utility model embodiment three in greenhouse.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model rather than the restriction to the utility model.It further needs exist for
It is bright, part relevant with the utility model rather than entire infrastructure are illustrated only for ease of description, in attached drawing.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing described as flow chart or method.Although each step is described as the processing of sequence, many of which by flow chart
Step can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of each step can be rearranged.When its operation
The processing can be terminated during completion, it is also possible to have the additional step being not included in attached drawing.The processing can be with
Corresponding to method, function, regulation, subroutine, subprogram etc..
Embodiment one
Fig. 1 be the utility model embodiment one provide brainpower insufflation robot architecture's block diagram, the applicable profit of the present embodiment
With the situation of artificial kind of plant spray of machine, which can be realized by the mode of software and/or hardware, can
For spraying to the kind plant in farmland, greenhouse.
As shown in Figure 1, the brainpower insufflation robot, including：
Image capturing system 10, including at least one visible spectrum camera and at least one non-visible camera,
For obtaining the visible images of target plant and non-visible light image；
Image analysis system 20 is connect with described image acquisition system 10, for according to visible images and described
Non-visible light image determines the upgrowth situation of target plant；
Control system 30 is connect with described image analysis system 20, for the upgrowth situation according to the target plant, really
The type to spray is needed calmly, and generates sprinkling control signal；
Storing and sprinkling system 40 are connect with the control system 30, for the sprinkling control according to the control system 30
Signal processed determines sprinkling region and sprinkling dose, carries out spraying operation；
Energy resource system 50, with described image acquisition system 10, described image analysis system 20, the control system 30 and institute
It states storing and sprinkling system 40 connects, for providing the energy.
Image capturing system 10, including at least one visible spectrum camera and at least one non-visible camera,
For obtaining the visible images of target plant and non-visible light image.Wherein, it is seen that spectrum camera can be for obtaining
Wavelength is the visible images of 400-700nm (nanometer), and non-visible camera can be for obtaining wavelength as 400-
Non-visible light image other than 700nm can include the non-visible light that wavelength is 850nm in the present embodiment.
In the present embodiment, optionally, non-visible camera obtains the spectral wavelength variation model of non-visible light image
Enclose is 10-30 nanometers.Multiple non-visible light cameras can be specifically set, and each non-visible light camera obtains the non-of image can
See optical wavelength can be 10-30nm wave it is wide, such as it is 845-855nm that non-visible light camera, which obtains image, other
Can be 800-810nm, 820-830nm, 860-870nm and 890-900nm.The benefit set in this way is can will be different
The non-visible light of wave band is imaged respectively, is conducive to subsequent image analysis.The side of visible image capturing head and non-visible light camera
Can be that fixed time intervals shooting picture either shoots video flowing picture or video is streamed to image to that can adjust
Analysis system 20.
Image analysis system 20 is connect with described image acquisition system 10, for according to visible images and described
Non-visible light image determines the upgrowth situation of target plant.Wherein it is possible to be wired connection or wireless connection, image
Analysis system 20 can determine that target plant puts the life of money after image is got according to visible images and non-visible light image
Long situation, such as current goal plant whether water shortage, fertilizer deficiency, specifically can according to image carry out spectrum algorithm determine target
The upgrowth situation of plant.
Wherein, image analysis system 20 can be also used for, according to the image of target plant got, determining target plant
It is the crops or weeds of plantation, can be specifically determined according to the height and leaf of plant, the shape of stem etc..
Storing and sprinkling system 40 are connect with the control system 30, for the sprinkling control according to the control system 30
Signal processed determines sprinkling region and sprinkling dose, carries out spraying operation.Wherein, the direction of the nozzle during spraying operation is
It can adjust, it is also what can be adjusted to spray.The benefit set in this way is can be determined according to the upgrowth situation of target plant
It sprays the angle of drug and sprays, and then spray to determining sprinkling region.And can spray be determined according to sprinkling dose
Duration, in this way can effectively for target plant demand carry out operation, avoid the waste of drug.
In the present embodiment, optionally, storing and sprinkling system 40 include storage vat, and the storage vat includes water storage storing
Bucket, fertilizer storage vat, herbicide storage vat and pesticide storage vat.
Energy resource system 50, with described image acquisition system 10, described image analysis system 20, the control system 30 and institute
It states storing and sprinkling system 40 connects, for providing the energy.Wherein, energy resource system can be single storage battery or storage battery group, go back
It can include small generator.
The technical solution of the present embodiment, by being configured for brainpower insufflation robot：Image capturing system, including at least one
Visible spectrum camera and at least one non-visible camera, for obtaining visible images of target plant and non-visible
Light image；Image analysis system is connect with described image acquisition system, for according to visible images and described non-visible
Light image determines the upgrowth situation of target plant；Control system is connect with described image analysis system, for according to the mesh
The upgrowth situation of plant is marked, determines the type for needing to spray, and generates sprinkling control signal；Storing and sprinkling system, it is and described
Control system connects, and for controlling signal according to the sprinkling of the control system, determines sprinkling region and sprinkling dose, is sprayed
Spill operation；Energy resource system, with described image acquisition system, described image analysis system, the control system and the storing and
Sprinkling system connects, and for providing the energy, solves the problems, such as that efficiency is low, waste of resource for spray in the prior art, realizes and improves
Spray efficiency to plant, the effect to economize on resources.
Based on the above technical solution, optionally, described image analysis system determines that target is planted by spectrum algorithm
The upgrowth situation of object, analyzing the target plant needs water spray, spray fertilizer material, spray herbicide and/or pesticide.What is set in this way is good
Which kind of it is in can be according to analysis result, it is determined whether drug is sprayed to target plant and sprays drug.
Embodiment two
Fig. 2 is brainpower insufflation robot architecture's block diagram that the utility model embodiment two provides.The present embodiment is in above-mentioned reality
On the basis of applying example, further optimization has been carried out.
As shown in Fig. 2, the brainpower insufflation robot, further includes：
Communication system 60 is connect with the control system 30, for being communicatively coupled with remote control 70；Wherein, institute
It states remote control 70 and includes control room remote control and intelligent terminal remote control.Wherein, communication system 60 can by bluetooth,
The modes such as wireless network and wired connection are connected with remote control 70, can receive the signal of remote control 70, carry out phase
The operation answered, such as switching signal, environmental scanning signal, temperature humidity obtain signal etc..Wherein, remote control 70 includes control room
Remote control can be located in the device being remotely controlled in control room to brainpower insufflation robot, such as computer, operation console,
It can also be intelligent terminal remote control, corresponding control program be installed such as on intelligent terminal, it, can be with into control program
Into control interface, brainpower insufflation robot is controlled.Wherein, intelligent terminal includes smart mobile phone, tablet computer etc..
Kinematic system 80 is connect with the control system 30, sprays robot for intelligent movable；It is additionally operable to according to
The target point that remote control 70 goes out determines the moving target position of brainpower insufflation robot；And/or according to the remote control
70 target zones gone out determine the prospecting range of brainpower insufflation robot.
Wherein it is possible in control room or on intelligent terminal, the working range where brainpower insufflation robot is established, such as
Field, greenhouse etc., and determine brainpower insufflation robot present position, a position conduct can be clicked on intelligent terminal
Target point, then brainpower insufflation robot is using the target point as target location, and is moved to the target location, and mobile route can
It, can also be by brainpower insufflation robot automatic identification path to be selected by user.It likewise, can also be in the control of intelligent terminal
A target area is selected in program, then brainpower insufflation robot is using the region as prospecting range, to whether having in the region
Target plant, which needs to water, apply fertilizer etc., to be reconnoitred, and according to the prospecting results to the region, spray.
In the present embodiment, optionally, the kinematic system 80：Telecontrol equipment, the telecontrol equipment are at least two wide
Spend the crawler belt between 10-30 centimetres.The benefit set in this way is the rotating speed for the crawler belt that can control two or more, to control intelligence
The direction of motion and movement velocity of robot can be sprayed, while crawler belt can provide stable movement for brainpower insufflation robot,
And the pressure of the soil body to greenhouse or field can be reduced, the growth to kind of plant is avoided to bring unfavorable factor.
In the present embodiment, optionally, the kinematic system 80, including：Sensing device, for according to inductive signal, really
Determine the movement locus of brainpower insufflation robot.Wherein, sensing device can be the devices such as sonar, laser radar, brainpower insufflation machine
Device people can determine the movement locus of brainpower insufflation robot in moving process according to the signal of the sensing device received,
It, can be by detecting other directions with the presence or absence of obstacle during as there is plant to block moving line in front of current kinetic direction
Object, if there is no the plant that front is then bypassed along other directions.The benefit set in this way is can to improve brainpower insufflation machine
The movement flexibility ratio of people is also avoided because of the damage that the movement of brainpower insufflation robot is brought to kind of plant.
The present embodiment provides a kind of intelligence that can be remotely controlled and can realize move alone on the basis of above-described embodiment
Robot can be sprayed, facilitates control of the user for brainpower insufflation robot, and improves being applicable in for brainpower insufflation robot
Range.
Embodiment three
Fig. 3 is brainpower insufflation robot architecture's block diagram that the utility model embodiment three provides.The present embodiment is in above-mentioned reality
On the basis of applying example, further optimization has been carried out.
As shown in figure 3, the communication system 60, is additionally operable to send the control system to the storing and sprinkling system 40
30 determine the type for needing to spray and generate sprinkling control signal.
Storing and sprinkling system 40 can be provided separately in brainpower insufflation robot in the present embodiment, and storing and
Storage vat and nozzle in sprinkling system 40 can also be provided separately, and connected by pipeline.Fig. 4 is the utility model embodiment three
Setting schematic diagram of the storing and sprinkling system of offer in greenhouse, the wherein top of greenhouse framework 403 can set multiple sprays
First 401, and storage vat 402 is provided in the side of greenhouse framework 403, setting in this way can facilitate supplement of the user to drug,
After the spray for receiving control system indicates, the modes such as pumping may be used by the drug in storage vat 402 by multiple nozzles
One or more ejection in 401.The benefit set in this way is can to reduce the own vol of brainpower insufflation robot and match
Weight, while disclosure satisfy that spray demand again, improve the flexibility in terms of the configuration of brainpower insufflation robot.
The present embodiment provides a kind of storing and sprinkling system and brainpower insufflation machine on the basis of the various embodiments described above
The separately positioned scheme of people can reduce the own vol and counterweight of brainpower insufflation robot, while disclosure satisfy that spray needs again
It asks, improves the flexibility in terms of the configuration of brainpower insufflation robot.
Note that it above are only the preferred embodiment of the utility model and institute's application technology principle.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, can carry out for a person skilled in the art various bright
Aobvious variation is readjusted and is substituted without departing from the scope of protection of the utility model.Therefore, although passing through above example
The utility model is described in further detail, but the utility model is not limited only to above example, is not departing from
In the case that the utility model is conceived, other more equivalent embodiments can also be included, and the scope of the utility model is by appended
Right determine.
Claims (8)
1. a kind of brainpower insufflation robot, which is characterized in that including：
Image capturing system, including at least one visible spectrum camera and at least one non-visible camera, for obtaining
Take the visible images of target plant and non-visible light image；
Image analysis system is connect with described image acquisition system, for according to the visible images and the non-visible light
Image determines the upgrowth situation of target plant；
Control system is connect with described image analysis system, for the upgrowth situation according to the target plant, determines to need to spray
The type of medicine, and generate sprinkling control signal；
Storing and sprinkling system are connect with the control system, for controlling signal according to the sprinkling of the control system, are determined
Region and sprinkling dose are sprayed, carries out spraying operation；
Energy resource system, with described image acquisition system, described image analysis system, the control system and the storing and sprinkling
System connects, for providing the energy.
2. brainpower insufflation robot according to claim 1, which is characterized in that further include：
Communication system is connect with the control system, for being communicatively coupled with remote control；Wherein, the remote control
Including control room remote control and intelligent terminal remote control；
Kinematic system is connect with the control system, sprays robot for intelligent movable；It is additionally operable to according to the remote control
The target point sent out, determine the moving target position of brainpower insufflation robot；And/or sending out according to the remote control
Target zone determines the prospecting range of brainpower insufflation robot.
3. brainpower insufflation robot according to claim 2, which is characterized in that the communication system is additionally operable to described
Storing and sprinkling system send the control system and determine the type for needing to spray and generate sprinkling control signal.
4. brainpower insufflation robot according to claim 2, which is characterized in that the kinematic system, including：
Sensing device, for according to inductive signal, determining the movement locus of brainpower insufflation robot.
5. brainpower insufflation robot according to claim 2, which is characterized in that the kinematic system includes：
Telecontrol equipment, the telecontrol equipment are crawler belt of at least two width between 10-30 centimetres.
6. according to claim 1-5 any one of them brainpower insufflations robot, which is characterized in that the non-visible camera shooting
The spectral wavelength variation range that head obtains non-visible light image is 10-30 nanometers.
7. brainpower insufflation robot according to claim 6, which is characterized in that described image analysis system is calculated by spectrum
Method determines the upgrowth situation of target plant, and analyzing the target plant needs water spray, spray fertilizer material, spray herbicide and/or pesticide.
8. brainpower insufflation robot according to claim 7, which is characterized in that the storing and sprinkling system include storing
Bucket, the storage vat include water storage storage vat, fertilizer storage vat, herbicide storage vat and pesticide storage vat.
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| CN201721495250.2U CN207502949U (en) | 2017-11-10 | 2017-11-10 | A kind of brainpower insufflation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107678318A (en) * | 2017-11-10 | 2018-02-09 | 昆山阳翎机器人科技有限公司 | A kind of intelligence spray robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107678318A (en) * | 2017-11-10 | 2018-02-09 | 昆山阳翎机器人科技有限公司 | A kind of intelligence spray robot |
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