CN211322735U - Door type pesticide spraying robot - Google Patents
Door type pesticide spraying robot Download PDFInfo
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- CN211322735U CN211322735U CN201921827879.1U CN201921827879U CN211322735U CN 211322735 U CN211322735 U CN 211322735U CN 201921827879 U CN201921827879 U CN 201921827879U CN 211322735 U CN211322735 U CN 211322735U
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- medicine
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- spout
- module
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Abstract
The utility model discloses a door type spouts medicine robot, including the chassis, the chassis bottom is installed and is removed running gear, and control module, spout medicine point detection module, spout the medicine device and spout the medicine frame are installed at the chassis top, spout the medicine frame and be door-shaped structure, and its vertical top of installing in the chassis rear end, spout the top and both sides of medicine frame and all install the several shower nozzle, the identification module who is used for discerning weeds and trees sick and worm is all installed to the chassis both sides, and identification module is connected with control module. The utility model discloses have autonomous navigation, diversely spout the medicine, the accurate medicine that spouts, the variable spouts medicine, function such as worm grade judgement.
Description
Technical Field
The utility model relates to a robot technical field is used in the contest, especially a medicine robot is spouted to door type.
Background
The spraying robot project is a sub project of a Chinese robot competition, and the competition rule is as follows: the field is green carpet, and the periphery of the field is provided with a wooden fence with the height of 25CM, and the robot competition field is shown in figure 5. When the competition starts, the robot starts from a specified starting area and sequentially enters A, B, C, D areas to spray the pesticide.
The area A is a pesticide spraying area of the cirrus crops, simulates the growing environment of the cirrus crops in facility agriculture, and is provided with 4 simulation cirrus trees. And the area B is a low crop pesticide spraying area, simulates the growing environment of continuously distributed low crops in facility agriculture, and is randomly provided with six simulated green plants. And the C area is a flower growing weeding pesticide spraying area, simulates the greenhouse fresh peanut growing environment in facility agriculture, and is provided with 20 pots of fresh flowers, wherein ten pots of fresh flowers need to be sprayed with pesticide. And D, simulating a tree crop pesticide spraying area in the facility agriculture, wherein eight tree crops are arranged in the area for simulating the growth environment of the tree crop in the facility agriculture, and four of the eight tree crops need pesticide spraying. Two ends of the spraying area are provided with robot walking guide lines.
Patent document with application number of CN201820276053.X discloses a pesticide spraying robot for teaching and competition, which comprises a chassis, a pesticide spraying device and a control module, wherein the pesticide spraying device and the control module are arranged on the chassis, and the spraying head part of the pesticide spraying device is arranged on a left telescopic mechanism and a right telescopic mechanism; the lower end of the chassis is provided with a walking device, the left side and the right side of the chassis are respectively provided with an injection target detection module, and the signal input and output ends of the injection target detection modules are respectively connected with pins corresponding to a main control chip of the control module; the left and right telescopic mechanisms comprise a pair of electric push rods which are symmetrically arranged left and right, and telescopic ends of the electric push rods are connected with the corresponding spray plates at the spray head parts; the power supply two poles of the electric push rod are connected to the current output ends of the corresponding electromagnetic relays, and the signal control ends of the electromagnetic relays are connected to the corresponding pins of the main control chip. Can realize the accurate medicine of spouting of fixed point and each shower nozzle is controlled alone, vertical range, the flexible operation, the spray range is wide, can avoid unnecessary extravagant. However, the device can only be used for spraying the pesticide on two sides, the pesticide can not be sprayed on the cirrus crops at the top of the robot in the pesticide spraying process of the cirrus crops, the robot needs to manually spray the pesticide on the cirrus crops at the top after spraying the pesticide, and manpower and material resources are increased undoubtedly.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that just to above-mentioned prior art not enough, provide one kind and independently navigate, diversely spout the medicine, the accurate medicine that spouts, variable spouts medicine, the medicine robot that spouts of function such as worm grade judgement.
In order to realize the above purpose, the technical scheme of the utility model is as follows:
the utility model provides a door type spouts medicine robot, includes the chassis, and the chassis bottom is installed and is removed running gear, and control module is installed at the chassis top, spouts medicine point detection module, spouts the medicine device and spouts the medicine frame, spouts medicine point detection module and is connected with control module, spout the medicine frame and be door-shaped structure, and its vertical installation in the chassis rear end, spout the top and both sides of medicine frame and all install the several shower nozzle, the several shower nozzle all with spout the medicine device and be connected, the identification module who is used for discerning weeds and trees sick and worm is all installed to the chassis both sides, identification module and control module are connected.
Preferably, at least two auxiliary supporting rods for installing the spray head are arranged on both sides of the medicine spraying frame.
Preferably, spout medicine frame lower part both sides and all install the firm frame that is used for stablizing spraying medicine frame, the one end fixed mounting that spouts medicine frame is kept away from to firm frame is on the chassis.
Preferably, the medicine spraying frame and the stabilizing frame are integrally formed, and a plurality of mounting holes are formed in the medicine spraying frame and the stabilizing frame.
Preferably, the mobile walking device comprises universal wheels symmetrically arranged in the middle parts of the front side and the rear side of the chassis and wheels symmetrically arranged on the left side and the right side of the chassis, the two wheels are respectively connected with a stepping motor for driving the wheels to rotate, the stepping motor is connected with a driver matched with the stepping motor, and the driver is connected with the control module.
Preferably, the front end of the chassis is provided with a tracking module, the tracking module comprises a fixing support arranged at the bottom of the chassis and a gray sensor arranged on the fixing support, and the gray sensor is connected with the control module.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the pesticide spraying frame is arranged into a door-shaped structure, and the top and two sides of the pesticide spraying frame are provided with the plurality of spray heads, so that multi-directional pesticide spraying can be realized, pesticide spraying of plants of different types can be better adapted, the practical range of the device is improved, the two sides of the lower part of the pesticide spraying frame are provided with the stabilizing frames, the pesticide spraying frame can be stably arranged on the chassis, the pesticide spraying frame and the stabilizing frames are provided with the plurality of mounting holes, and the whole weight of the robot can be reduced;
(2) the identification module is arranged, so that weeds in crops can be identified when the spraying is selected, identification signals are transmitted to the control module after the weeds are identified, the control module controls the spray nozzles to spray the medicaments at fixed points, the selection and the weeding are realized, the identification module can be used for judging the tree body pest disease degree through colors when the spraying is carried out on the tree-shaped crops, the identification module sends corresponding signals to the control module, and the control module controls the spray nozzles with different numbers to start spraying according to different signals and program setting;
(3) the robot can be driven to automatically move by arranging the mobile walking device, two wheels are respectively driven to independently move by using two stepping motors, so that the robot can turn, the robot is more flexible, the manpower is saved, the stepping motors are connected with drivers matched with the stepping motors, the drivers are connected with the control module, and the mobile walking device can be controlled by the control module to realize autonomous navigation;
(4) by arranging the mobile walking device, the pesticide spraying point detection module, the identification module and the pesticide spraying device, the functions of autonomous navigation, precise pesticide spraying, variable pesticide spraying, multifunctional pesticide spraying, pest grade judgment and the like of the robot can be realized in a set competition scene according to competition rules, and various requirements of the competition are met;
(5) the cost is low, the operation is simple and convenient, the device is particularly suitable for teaching and competition, and students can easily perform secondary research and development and study;
(6) has the application prospect of spraying the pesticide in the modern greenhouse, and can reduce the harm of the pesticide to a pesticide sprayer.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the chassis of the present invention;
FIG. 3 is a schematic structural view of the medicine spraying frame of the present invention;
FIG. 4 is a schematic layout view of the booster pump of the present invention;
FIG. 5 is a schematic plan layout of a competition field;
FIG. 6 is a perspective view of a competition field.
The labels in the figure are: the system comprises a chassis, a 2-mobile walking device, 21-wheels, 22-universal wheels, 23-stepping motors, 24-drivers, a 3-control module, a 31-main control chip, a 32-electromagnetic relay controller, a 4-spraying point detection module, a 5-spraying device, a 51-medicine box, a 52-booster pump, a 6-spraying frame, a 7-sprayer, an 8-identification module, a 9-tracking module, a 91-fixing support, a 92-gray level sensor, a 10-auxiliary support rod, a 11-stabilizing frame, a 12-mounting hole, a 13-guide line, a 14-equipment support frame, a 15-sprayer connecting piece and a 16-protective cover.
Detailed Description
The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention:
as shown in fig. 1 to 4, the present embodiment provides a door-shaped pesticide spraying robot, which includes a chassis 1, a mobile walking device 2, a control module 3, a pesticide spraying point detection module 4, a pesticide spraying device 5, a pesticide spraying frame 6, a spray head 7, an identification module 8, a tracking module 9, an auxiliary support rod 10, a stabilizing frame 11, a mounting hole 12, a guide line 13, an equipment support frame 14, a spray head connecting piece 15 and a protective cover 16.
Chassis 1 is the rectangle, and equipment support frame 14 is installed at its top, and control module 3 is installed at equipment support frame 14 top, control module 3 includes main control chip 31 and electromagnetism relay controller 32, and main control chip 31 can adopt conventional prior art such as philips chip, sigmate series chip or teleclips series chip, and electromagnetism relay controller 32 has two and installs respectively on the equipment support frame 14 of main control chip 31 both sides, and electromagnetism relay controller 32's signal end and the corresponding pin connection of main control chip 31, through the opening of main control chip 31 control electromagnetism relay controller 32 and close. The equipment support frame 14 is provided with a protective cover 16 matched with the electromagnetic relay controller 32 through bolts, and the protective cover is used for protecting the electromagnetic relay controller 32.
Install at 1 top on chassis and spout medicine device 5, it includes medical kit 51 and booster pump 52 to spout medicine device 5, medical kit 51 passes through bolt fixed mounting on 1 on the chassis of equipment support frame 14 below, and it has notes liquid mouth and delivery port to open on medical kit 51, and several booster pump 52 is installed at medical kit 51 top, and the water inlet of several booster pump 52 leads to pipe respectively and medical kit 51's delivery port intercommunication, and several booster pump 52 all is connected with electromagnetism relay controller 32 electricity, opens or closes through main control chip 31 control electromagnetism relay controller 32 to control the time that several booster pump 52 opened or closed, and then control the process and the time of spouting the medicine.
The vertical medicine frame 6 that spouts of installing in the top of 1 rear end on chassis, spout medicine frame 6 and be door-shaped structure, it is perpendicular with robot moving direction to spout the plane that medicine frame 6 constitutes, spout 6 both sides of medicine frame and all install two auxiliary strut 10 that are used for installing shower nozzle 7, auxiliary strut 10 is parallel with chassis 1, spout 6 both sides lower part of medicine frame and all install firm frame 11, firm frame 11 is parallel with chassis 1, and its one end of keeping away from to spout medicine frame 6 passes through bolt fixed mounting on chassis 1, guarantee to spout the stability of medicine frame 6.
The medicine spraying frame 6, the auxiliary supporting rod 10 and the stabilizing frame 11 are all provided with a plurality of mounting holes 12, the diameters of the mounting holes 12 are matched with the diameters of the spray heads 7, the spray heads 7 can be conveniently mounted and can be used for lightening the weight of a robot, a plurality of spray head connecting pieces 15 are mounted on the top and two sides of the medicine spraying frame 6 and the auxiliary supporting rod 10, the spray head connecting pieces 15 are in a stepped cylindrical shape, the small ends of the spray head connecting pieces are connected with the medicine spraying frame 6 or the auxiliary supporting rod 10, the large ends of the spray head connecting pieces are connected with the spray heads 7 through the mounting holes 12, water inlets of the plurality of spray heads 7 are respectively connected with water outlets of the corresponding booster pumps 52 through water pipes (not shown in the figure), wherein the plurality of spray heads 7 on the left side of the medicine spraying frame 6 and the plurality of spray heads 7 on the left side auxiliary supporting rod 10 are connected with the same, a plurality of spray heads 7 at the top of the medicine spraying frame 6 are connected with the same booster pump 52, and the liquid medicine in the medicine box 51 is conveyed to the spray heads 7 through the booster pump 52 and is sprayed out of the spray heads 7 to spray medicine; moreover, the spray nozzles 7 at different positions can be controlled by different booster pumps 52 to spray the pesticide, and the positions of the spray nozzles 7 can be adjusted by the mounting holes 12, so that the pesticide spraying positions can be changed according to different environments.
Install removal running gear 2 bottom chassis 1, remove running gear 2 and install the universal wheel 22 at chassis 1 front and back both sides middle part including wheel 21 and the symmetry that the symmetry was installed at chassis 1 left and right sides middle part, two wheel 21 is connected with its pivoted step motor 23 of drive respectively, and step motor 23 adopts closed loop step motor 23, and it passes through motor support fixed mounting in chassis 1 bottom, two step motor 23 is connected with respectively rather than complex driver 24, and driver 24 adopts HBS57 closed loop driver, and driver 24 and main control chip 31 go up corresponding pin and be connected. The main control chip 31 can independently control the two stepping motors 23 to operate, thereby realizing turning.
The chassis 1 front end bottom is installed and is followed tracking module 9, and it has three to follow tracking module 9, and its along chassis 1 width direction evenly distributed, and tracking module 9 is including installing the fixed bolster 91 in chassis 1 bottom and installing the grey level sensor 92 on fixed bolster 91, and the signal transmission and the receiving terminal of grey level sensor 92 are connected with corresponding pin on the main control chip 31 respectively. The grayscale sensor 92 is used to detect the ground guide line 13, and when the detected ground guide line 13 is detected, a corresponding left-turn or right-turn procedure is executed to make the robot complete a left-turn or right-turn.
The chassis 1 is last to be installed the battery that provides the electric energy for the robot, and the battery can adopt chargeable cell structures such as lithium cell, nickel-hydrogen battery commonly used, and the battery is connected with voltage stabilizing module, and the connected mode between battery and each components and parts is conventional prior art, does not do here and describes repeatedly.
The utility model discloses a theory of operation: firstly, the robot is moved to a spraying starting point area, an instruction is sent to a main control chip 31, the main control chip 31 sends a signal to a driver 24 of a stepping motor 23 through a signal line, the driver 24 controls the stepping motor 23 to rotate forwards after receiving the signal, the robot moves forwards to enter an area A, the area A is a vine type crop, when a crop to be sprayed blocks light rays emitted by a spraying point detection module 4, the spraying point detection module 4 sends a high-level signal to the main control chip 31, after the main control chip 31 receives the signal, according to program setting, the main control chip 31 sends a high level signal to an electromagnetic relay controller 32, the electromagnetic relay controller 32 receives the signal and then controls a corresponding booster pump 52 to pump water, and the spray heads 7 at the top and two sides of a spraying frame 6 spray medicine at the same time; when the pesticide spraying point detection module 4 cannot detect the pesticide spraying point, a low signal is sent to the main control chip 31, and after the main control chip 31 receives the signal, the main control chip 31 controls the pesticide spraying device 5 to finish the work according to the program setting, so that the pesticide spraying task is finished. The robot keeps moving straight all the time in the pesticide spraying process, when the robot drives to the point A1, the tracking module 9 detects the guide line 13 and transmits the signal to the main control chip 31, the main control chip 31 controls the two stepping motors 23 to respectively rotate forward and backward to enable the robot to complete right turning, after the right turning, the robot moves straight to a specified distance along the guide line 13 to reach the point B1, at the moment, the main control chip 31 controls the two stepping motors 23 to continue to rotate forward and backward to enable the robot to rotate right again to enter the zone B according to the program setting, then the main control chip 31 sends the signal to the driver 24, and the driver 24 controls the stepping motors 23 to rotate forward to enable the robot to move straight to enter the zone B.
The area B is a low crop pesticide spraying area, when the crops to be sprayed block the light emitted by the pesticide spraying point detection module 4, the pesticide spraying point detection module 4 sends a high-level signal to the main control chip 31, after the main control chip 31 receives the signal, the main control chip 31 sends a high level signal to the electromagnetic relay controller 32 according to the program setting, and after the electromagnetic relay controller 32 receives the signal, the corresponding booster pump 52 is controlled to pump water, so that the sprayers 7 on the two sides of the pesticide spraying frame 6 spray pesticide simultaneously; when the pesticide spraying point detection module 4 cannot detect the pesticide spraying point, a low signal is sent to the main control chip 31, and after the main control chip 31 receives the signal, the main control chip 31 controls the pesticide spraying device 5 to finish the work according to the program setting, so that the pesticide spraying task is finished. The robot keeps moving straight all the time in the pesticide spraying process, when the robot drives to the point B2, the tracking module 9 detects the guide line 13 again and transmits signals to the main control chip 31, the main control chip 31 controls the two stepping motors 23 to respectively rotate forward and backward to enable the robot to complete left rotation according to the program setting, after left rotation, the robot moves straight to the designated distance along the guide line 13 to the point C1, at the moment, the main control chip 31 controls the two stepping motors 23 to continue to rotate forward and backward to enable the robot to rotate left again to enter the zone C according to the program setting, then the main control chip 31 sends signals to the driver 24, and the driver 24 controls the stepping motors 23 to rotate forward to enable the robot to pass straight to enter the zone C.
The C area is a flower growing weeding pesticide spraying area, when a to-be-sprayed crop blocks light emitted by the pesticide spraying point detection module 4, the pesticide spraying point detection module 4 sends a high-level signal to the main control chip 31, the main control chip 31 controls the robot to stop in a timer mode, meanwhile, the main control chip 31 controls the identification module 8 to acquire target image characteristics through a lens, if corresponding weeds are identified, the identification module 8 sends a high-level signal to the main control chip 31, the main control chip 31 sends a high level signal to the electromagnetic relay controller 32, the electromagnetic relay controller 32 controls the corresponding booster pump 52 after receiving the signal, the corresponding spray head 7 starts spraying pesticide, after the pesticide spraying lasts for a certain time, the main control chip 31 controls the pesticide spraying device 5 to finish working, the pesticide spraying task is completed, and the main control chip 31 controls the robot to continue walking. When the robot drives to the point C2, the tracking module 9 detects the guide line 13 again and transmits a signal to the main control chip 31, the main control chip 31 controls the two stepping motors 23 to rotate forward and backward respectively to make the robot complete right turn according to the program setting, the robot moves straight along the guide line 13 to the designated distance to the point D1 after right turn, at this time, the main control chip 31 controls the two stepping motors 23 to continue to rotate forward and backward to make the robot rotate right again to enter the region D according to the program setting, then the main control chip 31 sends a signal to the driver 24, and the driver 24 controls the stepping motors 23 to rotate forward to make the robot move straight to enter the region D.
The D area is a tree-shaped crop pesticide spraying area in the simulated facility agriculture, when the crops to be sprayed block the light emitted by the pesticide spraying point detection module 4, the pesticide spraying point detection module 4 sends a high-level signal to the main control chip 31, the main control chip 31 controls the robot to stop in a timer mode, the main control chip 31 controls the identification module 8, the identification module 8 acquires the color image information of the diseased trees through a lens and feeds the color image information back to the CPU for identifying and judging the degree of the diseased trees, the identification module 8 sends a high-level signal to the main control chip 31, the main control chip 31 sends a high level signal to the electromagnetic relay controller 32, the electromagnetic relay controller 32 receives the signal and then controls the corresponding booster pump 52 to pump water, the corresponding spray head 7 starts spraying pesticide, the pesticide spraying time is controlled according to different degrees of the diseased trees, and after one end of pesticide spraying, the main control chip 31 controls the pesticide spraying device 5 to finish working, and the main control chip 31 controls the robot to continue walking after the spraying task is finished.
Claims (6)
1. The utility model provides a door type spouts medicine robot, includes chassis (1), and removal running gear (2) are installed to chassis (1) bottom, and control module (3), spout medicine point detection module (4), spout medicine device (5) and spout medicine frame (6) are installed at chassis (1) top, spout medicine point detection module (4) and be connected its characterized in that with control module (3): spout medicine frame (6) and be the door shape structure, and its vertical installation is in chassis (1) rear end, and several shower nozzle (7) are all installed to the top and the both sides that spout medicine frame (6), and several shower nozzle (7) all with spout medicine device (5) and be connected, chassis (1) both sides are all installed and are used for discerning identification module (8) that weeds and trees worried worm, and identification module (8) are connected with control module (3).
2. The gate type spraying robot according to claim 1, wherein: at least two auxiliary supporting rods (10) used for installing the spray head (7) are arranged on two sides of the medicine spraying frame (6).
3. Gate-type pesticide spraying robot according to claim 1 or 2, characterized in that: spout medicine frame (6) both sides and all install the firm frame (11) that are used for firm medicine frame (6) that spout, firm frame (11) keep away from the one end fixed mounting who spouts medicine frame (6) on chassis (1).
4. The gate type spraying robot according to claim 3, wherein: the medicine spraying frame (6) and the stabilizing frame (11) are integrally formed, and a plurality of mounting holes (12) are formed in the medicine spraying frame.
5. The gate type spraying robot according to claim 1, wherein: the movable walking device (2) comprises universal wheels (22) symmetrically arranged in the middle of the front side and the rear side of the chassis (1) and wheels (21) symmetrically arranged on the left side and the right side of the chassis (1), the two wheels (21) are respectively connected with a stepping motor (23) for driving the wheels to rotate, the stepping motor (23) is connected with a driver (24) matched with the stepping motor, and the driver (24) is connected with the control module (3).
6. Door-shaped pesticide spraying robot according to claim 5, characterized in that: the chassis is characterized in that a tracking module (9) is installed at the front end of the chassis (1), the tracking module (9) comprises a fixing support (91) installed at the bottom of the chassis (1) and a gray sensor (92) installed on the fixing support (91), and the gray sensor (92) is connected with the control module (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921827879.1U CN211322735U (en) | 2019-10-29 | 2019-10-29 | Door type pesticide spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921827879.1U CN211322735U (en) | 2019-10-29 | 2019-10-29 | Door type pesticide spraying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211322735U true CN211322735U (en) | 2020-08-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921827879.1U Expired - Fee Related CN211322735U (en) | 2019-10-29 | 2019-10-29 | Door type pesticide spraying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211322735U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113558031A (en) * | 2021-07-30 | 2021-10-29 | 浙江大学华南工业技术研究院 | Intelligent targeting pesticide spraying system |
-
2019
- 2019-10-29 CN CN201921827879.1U patent/CN211322735U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113558031A (en) * | 2021-07-30 | 2021-10-29 | 浙江大学华南工业技术研究院 | Intelligent targeting pesticide spraying system |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200825 Termination date: 20211029 |
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| CF01 | Termination of patent right due to non-payment of annual fee |