CN209498337U - A kind of fruit tree spray robot based on machine vision - Google Patents
A kind of fruit tree spray robot based on machine vision Download PDFInfo
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- CN209498337U CN209498337U CN201920087478.0U CN201920087478U CN209498337U CN 209498337 U CN209498337 U CN 209498337U CN 201920087478 U CN201920087478 U CN 201920087478U CN 209498337 U CN209498337 U CN 209498337U
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Abstract
The fruit tree that the utility model relates to a kind of based on machine vision sprays robot, it is characterized in that, including walking chassis and the chemical spraying mechanism being arranged in the walking chassis, control module, tracking module and oriented module, the spray bar of the chemical spraying mechanism is arranged on elevating mechanism to be adjusted with the upper and lower position for realizing the spray bar, one end of the spray bar is connect with the elevating mechanism by steering engine to realize that the spray bar rotates in perpendicular, is additionally provided with machine vision module in the spray bar.The walking chassis includes carrier frame, the MacPherson type independent suspension system that the carrier frame rear and front end is arranged in, the Mecanum wheel and wheel electrical machine that the carrier frame quadrangle is arranged in, and the upper end of the carrier frame is provided with bottom plate.The utility model is easy to operate, fixed point spray, precisely spray can be achieved, high degree of automation, save manpower, save pesticide, environmental pollution is small, the landform that is suitable for is extensive.
Description
Technical field
The utility model belongs to orchard agricultural machinery technological field, and in particular to a kind of fruit tree spray based on machine vision
Robot.
Background technique
Spraying method generally existing at present is still artificial spraying method, and artificial spraying method has spray low efficiency, spray
The problems such as medicine is uneven, waste is serious.Though being deposited in addition, the higher unmanned plane spraying method spray efficiency of the degree of automation is higher
The with high costs, inconvenient maintenance the problems such as.
Utility model content
The utility model devises a kind of fruit tree spray robot based on machine vision, it is desirable to provide one kind both operates letter
Just, high degree of automation, high-efficient, at low cost, and manpower can be saved, save the small chemical spraying device of pesticide, environmental pollution.
To achieve the goals above, the utility model discloses:
A kind of fruit tree spray robot based on machine vision, including walking chassis and is arranged in the walking chassis
The spray bar of chemical spraying mechanism, control module, tracking module and oriented module, the chemical spraying mechanism is arranged on elevating mechanism with reality
The upper and lower position of the existing spray bar is adjusted, and is additionally provided with machine vision module in the spray bar.
Further, the walking chassis includes carrier frame, the MacPherson type that the carrier frame rear and front end is arranged in
Independent suspension system, the Mecanum wheel and wheel electrical machine that the carrier frame quadrangle is set, the upper end of the carrier frame
It is provided with bottom plate；Spring in the MacPherson type independent suspension system is tilting at 45 degree of angles relative to the bottom plate, and upper end is solid
It is scheduled on the carrier frame, lower end is fixed in corresponding wheel electrical machine support.
Further, code-disc is additionally provided on the output shaft of the wheel electrical machine.
Further, the wheel electrical machine is 38 DC planetary reducer device motors, and the bottom plate is carbon fiber bottom plate, the bottom
Disk frame is built by aluminum profile.
Further, the chemical spraying mechanism further includes booster pump and sound module, the booster pump and sound module with it is described
Control module connection.
Further, one end of the spray bar is connect to realize the spray bar perpendicular with the elevating mechanism by steering engine
Straight rotation in surface.
Further, the spray bar has two, and is symmetrical set.
Further, the elevating mechanism is synchronous belt lifting mechanism, and the synchronous belt lifting mechanism is carried by synchronous belt
Frame is arranged in the walking chassis, and the synchronous belt lifting mechanism is driven by stepper motor；The stepper motor and the control
The connection of molding block.
Further, the control module includes master controller, the master controller respectively with the tracking module, described lead
To module, the wheel electrical machine of the walking chassis and code-disc, the booster pump of the chemical spraying mechanism, elevating mechanism, steering engine, machine view
Feel that module is connected with sound module.
Further, the master controller uses stm32 chip.
Further, the tracking module includes tracking sensor.
Further, the oriented module includes infrared sensor and nine axle sensors.
Further, the machine vision module uses OpenMv machine vision module.
When work, power supply is powered, and tracking module, oriented module and machine vision module are started to work, wherein tracking module
It is responsible for line walking, oriented module, i.e. infrared sensor and nine axle sensors are responsible for control guiding, to automatically determine carriage walking road
Line；Then control module output signal, control wheel electrical machine rotation, so that Mecanum wheel be driven to rotate, robot is according to row
Walk route walking；After reaching designated position, machine vision module identification spray target, and stop signal is sent to control module,
Wheel electrical machine is set to stop operating, robot halts；Stepper motor is sent to it pwm wave by control module to control its rotation
One fixing turn makes spray bar reach specified altitude assignment so that synchronous belt lifting mechanism be driven to move up and down；Steering engine from control module to
It sends expansion signal, it is made to control two spray bar expansion；Booster pump is sent to it spray signal by control module, keeps its right
Spray bar is carried out for medicine, to realize fixed point, quantitative spray.
Specifically, when machine vision module detects spray bar and spray target is in same vertical direction, robot
Halt, while stepper motor is powered, synchronous belt drive spray bar along the optical axis of synchronous belt lifting mechanism move up and down with
Aim at spray target.After spray head reaches designated position, booster pump energization carries out spray operation.
After the whole that sprays, sprinkler height adjustment, steering engine drives spray bar to be rotated by 90 ° upwards and packs up to reduce entirety
Volume；Then, stepper motor is powered, and lifting platform is driven to be down to bottom, i.e. completion work.
The fruit tree spray robot based on machine vision has the advantages that
(1) the utility model ensure that it turns to the flexibility advanced using Mecanum wheel, and machine is arranged in spray bar
Vision module ensure that the accuracy of its spray, front and back MacPherson type independent suspension system ensure that the multiplicity of its adaptation to the ground
Property, double spray boom pesticide spraying systems ensure that the high efficiency of its spray.Generally, compared to the heavy tired and unmanned plane manually to spray
The sky high cost of spray, the utility model product operation is easy, fixed point spray, precisely spray, high degree of automation, section can be achieved
Human-saving, save pesticide, environmental pollution is small, the landform that is suitable for is extensive.
(2) in the utility model, when robot does not work, two spray bars are in a vertical state, and overall volume is smaller.Work
When, the gesture of two spray bar flare up's both wings sprays to both sides different target, solves the problems, such as that steering wastes time, greatly
Spray efficiency is improved greatly.
Detailed description of the invention
Fig. 1: the structural schematic diagram of the fruit tree spray robot in the utility model embodiment based on machine vision；
Fig. 2: the main view of the fruit tree spray robot in the utility model embodiment based on machine vision；
Fig. 3: the right view of the fruit tree spray robot in the utility model embodiment based on machine vision；
Fig. 4: the knot when fruit tree spray robot spray bar in the utility model embodiment based on machine vision is packed up
Structure schematic diagram.
Description of symbols:
1-walking chassis；11-carrier frames；12-MacPherson type independent suspension systems；13-Mecanum wheels；14—
Bottom plate；15-wheel electrical machines；16-code-discs；17-wheel electrical machine supports；2-chemical spraying mechanisms；21-machine vision modules；22—
Synchronous belt lifting mechanism；23-synchronous belt carriers；24-stepper motors；25-steering engines；26-spray bars；27-booster pumps；
28-sound modules；3-control modules；4-tracking modules；5-nine axle sensors；6-infrared sensors.
Specific embodiment
With reference to the accompanying drawing, the utility model is described further:
Fig. 1 to Fig. 4 shows the specific embodiment of fruit tree spray robot of the utility model based on machine vision.Figure
1 is the structural schematic diagram of the fruit tree spray robot in present embodiment based on machine vision；Fig. 2 is based in present embodiment
The main view of the fruit tree spray robot of machine vision；Fig. 3 is the fruit tree spray machine in present embodiment based on machine vision
The right view of people；Fig. 4 is that the structure when fruit tree spray robot spray bar in present embodiment based on machine vision is packed up is shown
It is intended to.
As shown in Figures 1 to 4, the fruit tree spray robot based on machine vision in present embodiment, including walking bottom
Disk 1 and setting are in the One On The Chassis chemical spraying mechanism 2, control module 3, tracking module 4 and the oriented module of walking, the spray of chemical spraying mechanism 2
Medicine bar 26 is arranged on elevating mechanism to be adjusted with the upper and lower position for realizing spray bar 26, is additionally provided with machine vision in spray bar 26
Module 21.Machine vision module 21 determines spray target.
Preferably, walking chassis 1 includes carrier frame 11, the MacPherson type independence that 11 rear and front end of carrier frame is arranged in
Suspension 12, the Mecanum wheel 13 and wheel electrical machine 15 for being arranged in 11 4 jiaos of carrier frame, the upper end of carrier frame 11 is set
It is equipped with bottom plate 14.Spring in MacPherson type independent suspension system 12 is tilting at 45 degree of angles relative to bottom plate 14, and upper end is fixed on
On carrier frame 11, lower end is fixed in corresponding wheel electrical machine support 17.
Preferably, it is additionally provided with code-disc 16 on the output shaft of wheel electrical machine 15, as shown in Figure 1, measuring axis by code-disc 16
Corner carries out step counting.
In the present embodiment, wheel electrical machine 15 uses 38 DC planetary reducer device motors, and bottom plate 14 is carbon fiber bottom plate, chassis
Frame 11 is built by aluminum profile.
Preferably, chemical spraying mechanism 2 further includes booster pump 27, and booster pump 27 is connect with control module 3.
Preferably, one end of spray bar 26 is connect with elevating mechanism by steering engine 25 to realize spray bar 26 in perpendicular
Interior rotation.In the present embodiment, spray bar 26 has two, and is symmetrical set, and steering engine 25 passes through spray bar carrier and lifting
Mechanism connection.Steering engine 25 is sent to it signal by control module 3, so that it is controlled the expansion of spray bar 26 or is rotated up and packs up.
Preferably, the elevating mechanism is synchronous belt lifting mechanism 22, and synchronous belt lifting mechanism 22 is carried by synchronous belt
Frame 23 is arranged in walking chassis 1, and synchronous belt lifting mechanism 22 is driven by stepper motor 24；Stepper motor 24 and control module 3
Connection.Stepper motor 24 is sent to it pwm wave to control it and rotate a fixing turn, to drive synchronous belt liter by control module 3
Descending mechanism 22 moves up and down, and spray bar 26 is made to reach specified altitude assignment.
Preferably, chemical spraying mechanism 2 further includes sound module 28, and sound module 28 is connect with control module 3.
Preferably, control module 3 include master controller, the master controller respectively with tracking module 4, oriented module, row
Walk the wheel electrical machine 15 and code-disc 16, the booster pump 27 of chemical spraying mechanism 2, elevating mechanism, steering engine 25, machine vision module on chassis 1
21 are connected with sound module 28.In the present embodiment, master controller uses stm32 chip.
Preferably, tracking module 4 includes tracking sensor.In the present embodiment, tracking sensor uses gray-scale sensor.
Preferably, the oriented module includes infrared sensor 6 and nine axle sensors 5.
Preferably, machine vision module 21 uses OpenMv machine vision module.
When work, power supply is powered, and tracking module 4, oriented module and machine vision module 21 are started to work, wherein tracking mould
Block 4 is responsible for line walking, and oriented module, i.e. infrared sensor 6 and nine axle sensors 5 are responsible for control guiding, to automatically determine trolley
Track route；Then 3 output signal of control module, control wheel electrical machine 15 rotates, so that Mecanum wheel 13 is driven to rotate, machine
Device people walks according to track route；After reaching designated position, the identification spray target of machine vision module 21, and to control module 3
Stop signal is sent, so that wheel electrical machine 15 is stopped operating, robot halts；Stepper motor 24 is by 3 Xiang Qifa of control module
Pwm wave is sent to control it and rotate a fixing turn, so that synchronous belt lifting mechanism 22 be driven to move up and down, refers to the arrival of spray bar 26
Fixed height；Steering engine 25 is sent to it expansion signal by control module 3, so that it is controlled two spray bars 26 and is unfolded；Booster pump 27 by
Control module 3 is sent to it spray signal, carries out it for medicine to spray bar 26, to realize fixed point, quantitative spray.
Specifically, when machine vision module 21 detects spray bar 26 and spray target is in same vertical direction, machine
Device people halts, while stepper motor 24 is powered, and synchronous belt drives spray bar 26 to make along the optical axis of synchronous belt lifting mechanism 22
It moves up and down to aim at spray target.After spray head reaches designated position, the energization of booster pump 27 carries out spray operation.
After the whole that sprays, sprinkler height adjustment, steering engine 25 drives spray bar 26 to be rotated by 90 ° upwards and packs up to reduce
Overall volume, as shown in Figure 4；Then, stepper motor 24 is powered, and lifting platform is driven to be down to bottom, i.e. completion work.
The utility model is based on machine vision can know target automatically, while avoiding using a large amount of manpower and material resources, thus
Reach and obtains the target of optimal pesticide supplying effect, it can be achieved that fixed point spray, precisely spray with least pesticide.
The utility model by intelligent stm32 chip as master controller, it is true by gray scale, infrared sensor and nine axle sensors
Determine robot ambulation route, spray target is identified by OpenMv machine vision module, it is significant by front and back MacPherson strut
Product ground adaptability is improved, to realize to the fixed point spray of fruit tree, precisely spray, there is easy to operate, the degree of automation
High, saving manpower, saving pesticide, environmental pollution is small, is suitable for the advantages that landform is extensive.
In the utility model, when robot does not work, two spray bars are in a vertical state, and overall volume is smaller.When work,
The gesture of two spray bar flare up's both wings, sprays to both sides different target, solves the problems, such as that steering wastes time, mention significantly
High spray efficiency.
Illustrative description has been carried out to the utility model above in conjunction with attached drawing, it is clear that the realization of the utility model not by
The limitation of aforesaid way, if the method concept of the utility model and the various improvement of technical solution progress are used, or without
It improves and the conception and technical scheme of the utility model is directly applied into other occasions, in the protection scope of the utility model
It is interior.
Claims (10)
- The robot 1. a kind of fruit tree based on machine vision sprays, which is characterized in that including walking chassis and be arranged in the row Chemical spraying mechanism, control module, tracking module and the oriented module on chassis are walked, the spray bar setting of the chemical spraying mechanism is being gone up and down It is adjusted in mechanism with the upper and lower position for realizing the spray bar, is additionally provided with machine vision module in the spray bar.
- The robot 2. fruit tree according to claim 1 based on machine vision sprays, which is characterized in that the walking chassis Including carrier frame, MacPherson type independent suspension system that the carrier frame rear and front end is set, it is arranged on the chassis The Mecanum wheel and wheel electrical machine of frame quadrangle, the upper end of the carrier frame are provided with bottom plate；The MacPherson type is independent Spring in suspension is tilting at 45 degree of angles relative to the bottom plate, and upper end is fixed on the carrier frame, and lower end is fixed In corresponding wheel electrical machine support.
- The robot 3. fruit tree according to claim 2 based on machine vision sprays, which is characterized in that the wheel electrical machine Output shaft on be additionally provided with code-disc.
- The robot 4. fruit tree according to claim 1,2 or 3 based on machine vision sprays, which is characterized in that the spray Medicine mechanism further includes booster pump and sound module, and the booster pump and sound module are connect with the control module.
- The robot 5. fruit tree according to claim 1,2 or 3 based on machine vision sprays, which is characterized in that the spray One end of medicine bar is connect with the elevating mechanism by steering engine to realize that the spray bar rotates in perpendicular.
- The robot 6. fruit tree according to claim 5 based on machine vision sprays, which is characterized in that the spray bar has Two, and be symmetrical set.
- 7. according to claim 1, the fruit tree spray robot described in 2,3 or 6 based on machine vision, which is characterized in that described Elevating mechanism is synchronous belt lifting mechanism, and the synchronous belt lifting mechanism is arranged by synchronous belt carrier in the walking chassis On, the synchronous belt lifting mechanism is driven by stepper motor；The stepper motor is connect with the control module.
- 8. according to claim 1, the fruit tree spray robot described in 2,3 or 6 based on machine vision, which is characterized in that described Control module includes master controller, the master controller respectively with the tracking module, the oriented module, the walking chassis Wheel electrical machine and code-disc, the booster pump of the chemical spraying mechanism, elevating mechanism, steering engine, machine vision module and sound module phase Connection.
- 9. according to claim 1, the fruit tree spray robot described in 2,3 or 6 based on machine vision, which is characterized in that described Tracking module includes tracking sensor.
- 10. according to claim 1, the fruit tree spray robot described in 2,3 or 6 based on machine vision, which is characterized in that described Oriented module includes infrared sensor and nine axle sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920087478.0U CN209498337U (en) | 2019-01-19 | 2019-01-19 | A kind of fruit tree spray robot based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920087478.0U CN209498337U (en) | 2019-01-19 | 2019-01-19 | A kind of fruit tree spray robot based on machine vision |
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| Publication Number | Publication Date |
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| CN209498337U true CN209498337U (en) | 2019-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920087478.0U Expired - Fee Related CN209498337U (en) | 2019-01-19 | 2019-01-19 | A kind of fruit tree spray robot based on machine vision |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112619978A (en) * | 2020-12-02 | 2021-04-09 | 李春群 | Municipal afforestation tree is protector of full-automatic whitewash lime wash winter |
| CN112806342A (en) * | 2021-03-15 | 2021-05-18 | 江西农业大学 | Automatic targeted pesticide application control system based on openMV |
| CN115027594A (en) * | 2022-05-26 | 2022-09-09 | 湖北第二师范学院 | Remove chassis and disinfection and spray dolly |
-
2019
- 2019-01-19 CN CN201920087478.0U patent/CN209498337U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112619978A (en) * | 2020-12-02 | 2021-04-09 | 李春群 | Municipal afforestation tree is protector of full-automatic whitewash lime wash winter |
| CN112806342A (en) * | 2021-03-15 | 2021-05-18 | 江西农业大学 | Automatic targeted pesticide application control system based on openMV |
| CN115027594A (en) * | 2022-05-26 | 2022-09-09 | 湖北第二师范学院 | Remove chassis and disinfection and spray dolly |
| CN115027594B (en) * | 2022-05-26 | 2024-02-09 | 湖北第二师范学院 | Remove chassis and disinfection spraying dolly |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191018 Termination date: 20210119 |