CN208335015U - The unmanned plant protection spraying system of view-based access control model SLAM airmanship - Google Patents
The unmanned plant protection spraying system of view-based access control model SLAM airmanship Download PDFInfo
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- CN208335015U CN208335015U CN201820696090.6U CN201820696090U CN208335015U CN 208335015 U CN208335015 U CN 208335015U CN 201820696090 U CN201820696090 U CN 201820696090U CN 208335015 U CN208335015 U CN 208335015U
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Abstract
The utility model relates to a kind of plant protection spraying system more particularly to a kind of unmanned plant protection spraying systems of view-based access control model SLAM airmanship；Including computer, the vision guided navigation mechanism being connected with computer input terminal and relative positioning sensor and the walking mechanism being connected with fanout and spray mechanism；Wherein, vision guided navigation mechanism includes the image acquisition and processing module being sequentially connected and digital signal processor；Relative positioning sensor includes the odometer and inertial sensor being arranged in walking mechanism；Spray fluid box and spray head that mechanism includes water pump and is connected respectively with water pump input terminal and output end；Unmanned technology and spraying system are organically combined, effectively improve operating efficiency by the unmanned plant protection spraying system of the view-based access control model SLAM airmanship of the utility model.
Description
Technical field
The utility model relates to nobody of a kind of plant protection spraying system more particularly to a kind of view-based access control model SLAM airmanship
Drive plant protection spraying system.
Background technique
In the prior art with the plant protection spraying system of walking mechanism, sprayer apparatus is usually simply mounted at existing vehicle
As on tractor, since tractor is manual operation, running on wheels structure, this plant protection spraying system is to road and farmland
It is more demanding, and human machine is difficult to accomplish that walking route is straight uniformly, influences spraying effect.
With the propulsion of urbanization, a large amount of agricultural personnel, which go down town, to work, this results in traditional farming practices to need to occur
Change, it is especially desirable to it is a kind of can automatic Pilot, be easily accomplished the agricultural machinery for spraying operation.Chinese Patent Application No. is
201420053908.4 utility model patent discloses a kind of unmanned cultivated complete machine of agricultural, each manipulation on whole cultivated machine
Function has corresponding motor and electric pushrod to realize corresponding operation movement, and all electric pushrods can be transferred through remote controler
It realizes Telescopic, to realize the remote control to cultivated complete machine, however manually passes through remote control device, it is difficult to accomplish precisely to lead
Boat traction, can only use on daytime.Chinese Patent Application No. is the patent of invention of CN201710076791.X, discloses a kind of north
Bucket navigates unmanned all-hydraulic tractor, can realize the automatic unmanned of agricultural machinery, however its do not accomplish by
Automatic Pilot and the combination for mechanically installing equipment, only application of the simple unmanned technology on tractor.
In view of the above shortcomings, the designer, is actively subject to research and innovation, to found, one kind is new structural to be based on
The unmanned plant protection spraying system of vision SLAM airmanship makes it with more the utility value in industry.
Utility model content
In order to solve the above technical problems, the purpose of the utility model is to provide a kind of by unmanned technology and sprayer apparatus
Organically combine, effectively improve the unmanned plant protection spraying system of the view-based access control model SLAM airmanship of operating efficiency.
The unmanned plant protection spraying system of the view-based access control model SLAM airmanship of the utility model, including computer, with
The vision guided navigation mechanism and relative positioning sensor and the row being connected with fanout that computer input terminal is connected
It walks mechanism and sprays mechanism；
Wherein, the vision guided navigation mechanism includes the image acquisition and processing module being sequentially connected and digital signal processor；
The relative positioning sensor includes the odometer and inertial sensor being arranged in walking mechanism；The mechanism that sprays includes water
Pump and the fluid box and spray head being connected respectively with water pump input terminal and output end.
Immediately positioning is referred to map structuring (Simultaneous Localization And Mapping, SLAM)
Can walking arrangement create map in complete graphics communication under the conditions of self-position is uncertain, while map being utilized to carry out
Autonomous positioning and navigation.The unmanned plant protection spraying system of the view-based access control model SLAM airmanship of the utility model, image are adopted
After collection processing module acquires ambient video, digitized processing is carried out by digital signal processor (DSP) and obtains environmental data,
Then pass to computer analysis processing.Computer carries out following calculate according to environmental data: 1) positioning: determining oneself in environment
Middle position；2) figure is built: the position of feature in record environment；3) SLAM: environmental map is established while positioning.Its basic principle
It is the method for transporting probability statistics, positioning is reached by multiple features matching and reduces position error.
It can walking arrangement be self-positioning is closely related with environmental modeling problem.The accuracy of environmental model is dependent on positioning
Precision, and the realization positioned be unable to do without environmental model.In circumstances not known, robot can only be relied on without what object of reference
Oneself not very accurate sensor obtains external information.While computer control walking mechanism moves, also
Need the odometer and inertial sensor by being mounted in walking mechanism, acquisition speed, acceleration, inclination, shock and vibration,
The information such as rotation and multiple degrees of freedom (DoF) movement, the error of positioning is reduced by the fusion of a variety of heat transfer agents；At the same time,
While by relative positioning sensor estimation displacement, use environment information carries out analysis extraction environment feature and protects
It deposits, self-position is corrected by the comparison to environmental characteristic in next step.
During actual job, the case where due to the out-of-flatness of surface road, the plantation situation of crops and barrier,
Walking mechanism is difficult to keep the stable speed of travel and direction, or there is a situation where walking process or approaches place of having passed by,
Thus, computer navigator fix processing, walking mechanism path planning and travelling control while, also need to adjust accordingly to spray
Mechanism sprays state.
Further, the mechanism that sprays further includes spraying pitch angle and in the front-back direction angle tune for adjusting spray head
Save device.When occur walking mechanism walking by or close to passed by path when, or collected according to image acquisition and processing module
Environmental data find wait spray crops height change when, can by angle demodulator adjust spray head spray angle and
Direction, to improve spraying effect.
Although the method for aforementioned view-based access control model SLAM navigator fix, it can be walked and be set according to self reckoning of kinematics model
Standby pose and track, but inevitably there is increase at any time and the increase of distance and increase accumulation track and miss
Difference.Thus, it further include auxiliary positioning mechanism further, the auxiliary positioning mechanism is connected with computer, the auxiliary positioning
Mechanism includes satellite positioning mechanism and/or navigation beacon.The precision of satellite positioning mechanism positioning is higher, can be used to correct part
The position error of positioning.
Specifically, described image acquisition processing module includes one of video camera, ccd image sensor or a variety of.
In order to improve spraying effect, specifically, the spray head is static nozzle.Made by the charge inducing of static nozzle
With making the liquid droplet charged sprayed, charged drop is adsorbed in the tow sides of crops blade, no under the action of Electrostatic Absorption
It reduced by only the waste rate for spraying liquid, also improve crop surface and spray area, improve spraying effect.
Further, the mechanism that sprays further includes liquid level sensor, and the liquid level sensor is connected with computer.Work as liquid
When level sensor monitors the applying liquid deficiency to be painted in fluid box, liquid level information is sent to computer, computer control row
It walks mechanism and is moved to setting position, to supplement applying liquid to be painted.
It further, further include air velocity transducer, the air velocity transducer is connected with computer.
It further, further include communication module, the communication module is connected with computer.Computer by communication module with
The other intelligent terminals such as mobile phone, computer interact data.
Specifically, the communication module is mobile communication module or bluetooth module or wireless module.
Specifically, the walking mechanism include fuel power vehicle, gas power vehicle, electric vehicle, fuel cell-powered car, with
And hybrid electric vehicle.
According to the above aspect of the present invention, the utility model at least has the following advantages: using view-based access control model SLAM airmanship nothing
People drives vehicle, and it is organically combined with mechanism is sprayed, it is possible to reduce labour cost, and effectively improve operating efficiency.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means, and can be implemented in accordance with the contents of the specification, below on the preferred embodiment of the present invention and the accompanying drawings in detail
It describes in detail bright as after.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is not intended to limit the scope of the present invention for illustrating the utility model.
Referring to Fig. 1, the unmanned plant protection of the view-based access control model SLAM airmanship of one preferred embodiment of the utility model is sprayed
Apply system, including computer 1, the vision guided navigation mechanism 2 being connected with computer input terminal and relative positioning sensor 3 and
The walking mechanism 4 that is connected with fanout and spray mechanism 5；Wherein, vision guided navigation mechanism 2 includes the figure being sequentially connected
As acquisition processing module 21 and digital signal processor 22；Relative positioning sensor 3 includes the mileage being arranged in walking mechanism
Meter 31 and inertial sensor 32；Spray the liquid that mechanism 5 includes water pump 51 and is connected respectively with 51 input terminal of water pump and output end
Body case 52 and spray head 53；Image acquisition and processing module includes one of video camera, ccd image sensor or a variety of.
It should be noted that the unmanned plant protection spraying system of the utility model, according to different usage scenarios, row
Walking mechanism 4 can choose fuel power vehicle, gas power vehicle, electric vehicle, fuel cell-powered car or hybrid electric vehicle, vehicle with walking machine
The travel unit of structure can also select wheeled or crawler type according to different pavement behavior demands.For example, the pesticide application in orchard,
Wheeled fuel oil four-wheel motor cycle can be selected；Big wheel footpath, narrow wheel fuel oil tractor can be selected in the pesticide application in rice field；The work of sand ground
Object water sprays, and Caterpillar fuel transport vehicle can be selected.
In the case where actually using scene, the unmanned plant protection spraying system of the utility model can be placed in wait spray by user
The start position in region inputs region to be sprayed by computer, path planning, sprays the parameters such as plan, walking program, then
It completes unmanned to spray automatically.
During unmanned, texture information that vision guided navigation mechanism can obtain magnanimity from environment, being imbued with redundancy,
Possess superpower scenery identification ability, by with sparsity nonlinear optimization theoretical (Bundle Adjustment) and
The vision SLAM of real time execution may be implemented in the progress of camera technique, calculated performance, vision guided navigation mechanism.And computer is in vision
During SLAM, it is big to play the role of two, first is that when there is winding (near the place accessed before determining to have returned to), hair
Existing winding simultaneously corrects the intermediate position and posture everywhere of access twice；Second is that when vision guided navigation mechanism is tracked and lost, according to view
The texture information of feel relocates walking mechanism.
Although the method for view-based access control model SLAM navigator fix, self can be calculated according to kinematics model can walking arrangement
Pose and track, but inevitably there is increase at any time and the increase of distance and increase accumulation course error.Cause
And the unmanned plant protection spraying system of the view-based access control model SLAM airmanship of the utility model, in addition to configuration relative positioning passes
Except sensor 3, it can also be equipped with the auxiliary positioning mechanisms such as satellite positioning mechanism 61 or navigation beacon 62.Long-term fixed frequency is sprayed
Region is applied, navigation beacon or Sign Board can be set, to improve the accuracy of vision guided navigation mechanism positioning；On-fixed is sprayed
Region can increase satellite positioning mechanism in systems, such as GPS or Beidou navigation equipment, be positioned and map structuring with improving
Stability；Navigation beacon or Sign Board can certainly be combined with satellite positioning mechanism, so that vision guided navigation mechanism is in machine
Certain positioning accuracy can be kept when dynamic (fierce acceleration and deceleration and rotation), prevents tracking from losing, greatly improves positioning and ground
Scheme the stability of building.
Spraying mechanism 5 further includes spraying pitch angle and in the front-back direction angle demodulator 54 for adjusting spray head.When out
Show walking mechanism walking to pass through or approach when having passed by place or according to the collected environmental data of image acquisition and processing module
It was found that when spraying crops height and changing or when other situations, what computer can be transmitted according to vision guided navigation mechanism
Environmental data calculates spray head pitch angle and direction under best spraying effect, and is adjusted and realized by angle demodulator.
It should be noted that when calculating spray head pitch angle and the direction under best spraying effect, it is optimal, it also needs to examine
Consider the wind speed and direction in environment, thus, the unmanned plant protection spraying system of the utility model further includes air velocity transducer 7,
Air velocity transducer is connected with computer, and wind speed and direction information is sent to computer by air velocity transducer, and computer is corrected accordingly
The analysis result of best spraying effect.
In order to improve spraying effect, spray head 53 can be set to static nozzle.It is acted on by the charge inducing of static nozzle,
Make the liquid droplet charged sprayed, charged drop is adsorbed in the tow sides of crops blade, not only drops under the action of Electrostatic Absorption
The low waste rate for spraying liquid, also improves crop surface and sprays area, improve spraying effect.
Lack the equipment idle running in the case of liquid in order to prevent, spraying mechanism further includes liquid level sensor 55, liquid level sensor with
Computer is connected.When liquid level sensor monitors the applying liquid deficiency to be painted in fluid box, liquid level information is sent to calculating
Machine, computer control walking mechanism is moved to setting position, to supplement applying liquid to be painted.
In order to real-time watch device operational situation, and realize long-range control, the unmanned plant protection of the utility model
Spraying system further includes communication module 8, and communication module is connected with computer.Computer passes through communication module and mobile phone, computer etc.
Other intelligent terminal interacts data；According to the distance of transmission range and the difference of usage scenario, communication module be can be set
For mobile communication module or bluetooth module or wireless module, i.e., intelligent terminal by mobile communications network or bluetooth connection,
Or local area network wireless transmission is connected with the computer of unmanned plant protection spraying system.
The above is only the preferred embodiment of the utility model, is not intended to limit the utility model, it is noted that
For those skilled in the art, without deviating from the technical principle of the utility model, it can also do
Several improvements and modifications out, these improvements and modifications also should be regarded as the protection scope of the utility model.
Claims (10)
1. a kind of unmanned plant protection spraying system of view-based access control model SLAM airmanship, it is characterised in that: including computer, with
The vision guided navigation mechanism and relative positioning sensor and the row being connected with fanout that computer input terminal is connected
It walks mechanism and sprays mechanism；
Wherein, the vision guided navigation mechanism includes the image acquisition and processing module being sequentially connected and digital signal processor；It is described
Relative positioning sensor includes the odometer and inertial sensor being arranged in walking mechanism；It is described spray mechanism include water pump,
And the fluid box and spray head being connected respectively with water pump input terminal and output end.
2. the unmanned plant protection spraying system of view-based access control model SLAM airmanship according to claim 1, feature exist
In: it further include auxiliary positioning mechanism, the auxiliary positioning mechanism is connected with computer, and the auxiliary positioning mechanism includes satellite
Position mechanism and/or navigation beacon.
3. the unmanned plant protection spraying system of view-based access control model SLAM airmanship according to claim 1, feature exist
In: described image acquisition processing module include one of video camera, ccd image sensor or a variety of.
4. the unmanned plant protection spraying system of view-based access control model SLAM airmanship according to claim 1, feature exist
In: the mechanism that sprays further includes spraying pitch angle and in the front-back direction angle demodulator for adjusting spray head.
5. the unmanned plant protection spraying system of view-based access control model SLAM airmanship according to claim 4, feature exist
In: it further include air velocity transducer, the air velocity transducer is connected with computer.
6. the unmanned plant protection spraying system of view-based access control model SLAM airmanship according to claim 1, feature exist
In: the spray head is static nozzle.
7. the unmanned plant protection spraying system of view-based access control model SLAM airmanship according to claim 1, feature exist
In: the mechanism that sprays further includes liquid level sensor, and the liquid level sensor is connected with computer.
8. the unmanned plant protection spraying system of view-based access control model SLAM airmanship according to claim 1, feature exist
In: it further include communication module, the communication module is connected with computer.
9. the unmanned plant protection spraying system of view-based access control model SLAM airmanship according to claim 8, feature exist
In: the communication module is mobile communication module or bluetooth module or wireless module.
10. the unmanned plant protection spraying system of view-based access control model SLAM airmanship according to claim 1, feature exist
In: the walking mechanism includes fuel power vehicle, gas power vehicle, electric vehicle, fuel cell-powered car and hybrid power
Vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820696090.6U CN208335015U (en) | 2018-05-10 | 2018-05-10 | The unmanned plant protection spraying system of view-based access control model SLAM airmanship |
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| CN201820696090.6U CN208335015U (en) | 2018-05-10 | 2018-05-10 | The unmanned plant protection spraying system of view-based access control model SLAM airmanship |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111897264A (en) * | 2020-08-03 | 2020-11-06 | 安徽泗州拖拉机制造有限公司 | Data supervisory systems based on unmanned tractor |
| CN113631480A (en) * | 2020-06-30 | 2021-11-09 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle frame, agricultural plant protection unmanned aerial vehicle and control method |
-
2018
- 2018-05-10 CN CN201820696090.6U patent/CN208335015U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113631480A (en) * | 2020-06-30 | 2021-11-09 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle frame, agricultural plant protection unmanned aerial vehicle and control method |
| WO2022000277A1 (en) * | 2020-06-30 | 2022-01-06 | 深圳市大疆创新科技有限公司 | Rack of multi-rotor unmanned aerial vehicle, and agricultural plant protection unmanned aerial vehicle and control method therefor |
| CN111897264A (en) * | 2020-08-03 | 2020-11-06 | 安徽泗州拖拉机制造有限公司 | Data supervisory systems based on unmanned tractor |
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