CN211718763U - Weeding system based on raspberry group - Google Patents
Weeding system based on raspberry group Download PDFInfo
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- CN211718763U CN211718763U CN202020082808.XU CN202020082808U CN211718763U CN 211718763 U CN211718763 U CN 211718763U CN 202020082808 U CN202020082808 U CN 202020082808U CN 211718763 U CN211718763 U CN 211718763U
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Abstract
The utility model discloses a weeding system based on raspberry group, the system includes: the system comprises a singlechip and motors, wherein each motor corresponds to each wheel of a vehicle; the motor control circuit is connected with the single chip microcomputer and each motor and controls the rotation of the motors by receiving PWM signals sent by the single chip microcomputer; the photoelectric sensor circuit comprises a photoelectric sensor, wherein the photoelectric sensor is arranged at the front end of the advancing direction of the trolley, the singlechip is connected with the photoelectric sensor, and the photoelectric sensor collects photoelectric signals and then sends corresponding signals to the singlechip; the ultrasonic modules are arranged on two sides of the vehicle to obtain the distance between ridge backs of the ridges and are connected with the single chip microcomputer; the gyroscope is connected with the single chip microcomputer; the image acquisition device is arranged on the vehicle and used for acquiring images within a view range; and the image processing device is connected with the image acquisition device, receives and processes the image acquired by the image acquisition device, is connected with the singlechip and sends a processing result to the singlechip.
Description
Technical Field
The utility model relates to a weeding system improves technical field, especially relates to a weeding system based on raspberry group.
Background
In agricultural planting, weeds are generated inevitably, and most of the existing weed treatment methods are pesticide treatment, but the residue problem of pesticide treatment cannot be avoided, so that the two methods of pesticide weeding and mechanical weeding are combined.
In agriculture, a mini-tiller is often used for weeding, and is inspired by agricultural mini-tillers to weed in the environment outside a henhouse. The utility model discloses a utility model patent that grant publication number is CN207443475U discloses a gardens weeding equipment with buffer structure, including bearing plate and support, the one end surface fixed mounting of bearing plate has the slope shape baffle, and the upper end surface fixed mounting of bearing plate has walking wheel support, the front end internal surface fixed mounting of walking wheel support has buffer spring, and the lower extreme surface fixed mounting who walks wheel support has the walking wheel, the position department that one side of walking wheel is close to the slope shape baffle is equipped with the cage of weeding, the inside intermediate position department fixed mounting of cage of weeding has the transmission shaft, and the one end fixed mounting of transmission shaft has the pillar.
Because grass roots or larger weeds still exist after weeding, for the weeds, when the mini-tiller in the technical scheme is used for weeding, a good weeding effect cannot be achieved.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the utility model is to provide a weeding system based on raspberry group, when aiming at indoor monitoring alarm that appears, improve the validity that the user reported to the police. The specific technical scheme is as follows:
in order to achieve the above object, the embodiment of the utility model provides a weeding system based on raspberry group, a serial communication port, the system includes:
a single-chip microcomputer,
motors, each motor corresponding to each wheel of the vehicle;
the motor control circuit is connected with the single chip microcomputer and each motor and controls the rotation of the motors by receiving PWM signals sent by the single chip microcomputer;
the photoelectric sensor circuit comprises a photoelectric sensor, wherein the photoelectric sensor is arranged at the front end of the advancing direction of the trolley, the singlechip is connected with the photoelectric sensor, and the photoelectric sensor collects photoelectric signals and sends corresponding signals to the singlechip for controlling the turning of the trolley;
the ultrasonic modules are arranged on two sides of the vehicle to obtain the distance between ridge backs of ridges and control the trolley to travel in a straight way and are connected with the single chip microcomputer;
the gyroscope is connected with the single chip microcomputer and used for accurately controlling the turning angle of the trolley;
the image acquisition device is arranged on the vehicle and used for acquiring images within a view range;
the image processing device is connected with the image acquisition device, receives and processes the image acquired by the image acquisition device, is connected with the singlechip and sends a processing result to the singlechip
Use the embodiment of the utility model provides a weeding system based on raspberry group, the beneficial effect who has as follows:
(1) the utility model discloses a shoot crops and draw the picture through the camera and handle the back through image processing device, through the removal of single chip microcomputer control vehicle, the in-process that removes is through the rotation control of photoelectric sensor circuit, ultrasonic module and gyroscope assistance to the motor, realizes the accurate positioning.
(2) The utility model discloses a camera module (OV2640) carries out image acquisition, compares in high definition digtal camera equipment, and it is with low costs.
(3) The utility model discloses a singlechip is as main control unit, with the direct current power supply, has the characteristics of low-power consumption, and does not receive the influence of AC outage.
Drawings
Fig. 1 is a block diagram of a raspberry pi based weeding system in an embodiment of the invention.
Fig. 2 is a circuit diagram of a raspberry pi based weeding system in an embodiment of the present invention.
Fig. 3 is a circuit diagram of a raspberry pi based weeding system in an embodiment of the present invention.
Fig. 4 is a circuit diagram of a raspberry pi based weeding system in an embodiment of the present invention.
Fig. 5 is a circuit diagram of a raspberry pi based weeding system in an embodiment of the present invention.
Fig. 6 is a circuit diagram of a raspberry pi based weeding system in an embodiment of the present invention.
Fig. 7 is a circuit diagram of a raspberry pi based weeding system in an embodiment of the present invention.
Fig. 8 is a circuit diagram of a raspberry pi based weeding system in an embodiment of the present invention.
FIG. 9 is a circuit diagram of a raspberry group based weeding system in an embodiment of the present invention
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1, there is provided a raspberry pi-based weeding system, the system comprising: the system comprises a singlechip and motors, wherein each motor corresponds to each wheel of a vehicle; the motor control circuit is connected with the single chip microcomputer and each motor and controls the rotation of the motors by receiving PWM signals sent by the single chip microcomputer; the photoelectric sensor circuit comprises a photoelectric sensor, wherein the photoelectric sensor is arranged at the front end of the advancing direction of the trolley, the single chip microcomputer is connected, and the photoelectric sensor collects photoelectric signals and then sends corresponding signals to the single chip microcomputer; the ultrasonic modules are arranged on two sides of the vehicle to obtain the distance between ridge backs of the ridges and are connected with the single chip microcomputer; the gyroscope is connected with the single chip microcomputer; the image acquisition device is arranged on the vehicle and used for acquiring images within a view range; and the image processing device is connected with the image acquisition device, receives and processes the image acquired by the image acquisition device, is connected with the singlechip and sends a processing result to the singlechip.
The image that gathers through image processing apparatus autograph is discerned to confirm whether there is weeds and weeds position, then send to the singlechip, the singlechip confirms the position that removes through the position of weeds in current position and the image, for example advance 0.21m forward 35 degrees, then through the distance of ultrasonic module feedback ridge back of the field in order to confirm the formation of both sides, judge the barrier in the place ahead through photoelectric sensor, and judge the angle of removal through the gyroscope, the part is through the processing procedure of singlechip to photoelectric signal, ultrasonic signal and gyroscope prior art, and the process of image processing and weeds discernment is prior art, the utility model discloses an inventive point does not in software processing, therefore does not contain the object part that software corresponds.
As shown in fig. 2, in the present invention, the motor control circuit includes: the motor control system comprises a rechargeable battery, a switching voltage regulator U10, a first motor control chip U11, a second motor control chip U12, a first motor and a second motor; the anode of the rechargeable battery is connected with the input end of the switching voltage regulator U10, and the output ends of the rechargeable battery and the switching voltage regulator U10 are connected with the voltage end of the first motor control chip U11 and the voltage end of the second motor control chip U12; two input ends of the first motor control chip U11 are connected with the PWM output end of the single chip microcomputer, and two corresponding output ends of the first motor control chip U11 are connected with a first motor; two input ends of the second motor control chip U12 are connected with the PWM output end of the single chip microcomputer, and two corresponding output ends of the second motor control chip U12 are connected with a second motor.
The rechargeable battery can be voltage-regulated by the switching voltage regulator U10, and the regulated voltage is input as the voltage of the first motor control chip U11 and the second motor control chip U12. The PWM input pins of the first motor control chip U11 and the second motor control chip U12 are connected with the PC6, the PC7, the PC8 and the PC9 of the single chip microcomputer, and then the output ends of the first motor control chip U11 and the second motor control chip U12 are connected with each motor so as to control the rotation of the motors.
As shown in fig. 3, the photosensor circuit includes a first three-wire photosensor and a second three-wire photosensor; the output end of the first three-wire photoelectric sensor is connected with the singlechip through a resistor, and the VCC end of the first three-wire photoelectric sensor is connected with working voltage; the output end of the second three-wire photoelectric sensor is connected with the single chip microcomputer through a resistor, and the VCC end of the second three-wire photoelectric sensor is connected with working voltage.
It can be understood that the photoelectric sensors are two in total and are arranged at the front part of the trolley. The two branches respectively control the left two motors and the right two motors of the equipment, the photoelectric sensor is connected with the single chip microcomputer in a serial port communication mode, when the equipment moves to the end of a ridge, the photoelectric sensor sends a signal to the single chip microcomputer, and the single chip microcomputer controls the left turn or the right turn of the equipment through an internal program and an interrupt priority mode. Meanwhile, the single chip microcomputer sends PWM waves to a motor on one side through a timer to enable the motor to rotate reversely, and therefore turning is finished.
As shown in fig. 4, the ultrasonic module includes: the ultrasonic chip U12, a first resistor R1, a second resistor R2, a first capacitor C1 and a second capacitor C2, wherein the type of the ultrasonic chip U12 is IIC-SR 04; an Echo pin of the ultrasonic chip U12 is connected with one end of the first resistor R1, the other end of the first resistor R1 is connected with the single chip microcomputer and one end of the first capacitor C1, and the other end of the first capacitor C1 is grounded;
the Trio pin of the ultrasonic chip U12 is connected with one end of the second resistor R2, the other end of the second resistor R2 is connected with the single chip microcomputer and one end of the second capacitor C2, and the other end of the second capacitor C2 is grounded.
The ultrasonic wave is used for detecting the distance between the equipment and the ridge back of the ridge of the field, and if the trolley is too close to the ridge back, the ultrasonic wave can send a signal to enable the single chip microcomputer to control the motor to slow the rotating speed of one side of the motor until the motor runs linearly. The gyroscope is connected with the singlechip as I2C, and the gyroscope sets the angle of the gyroscope through an internal program of the gyroscope so as to control the trolley to rotate by a certain angle.
As shown in fig. 5, 6 and 7, the image capturing device is composed of a chip OV2640U1, a crystal oscillator port of the chip OV2640U1 is connected to an output terminal of a clock generating circuit, a first pin HREF of the chip OV2640U1 and a second pin PCLK of the chip OV2640U1 are input to an input terminal of a positive nand gate circuit, an output terminal of the positive nand gate circuit is connected to the single chip, and input terminals of a first voltage converting circuit and a second voltage converting circuit are connected to a first voltage; the first voltage is 3.3V, and the second voltage of the output voltage of the first voltage conversion circuit is 2.8V; the third voltage of the output voltage of the second voltage conversion circuit is 1.5V; the first voltage, the second voltage and the third voltage are connected with the chip OV2640U1, and the first voltage is the working voltage of the clock generation circuit and the positive NAND gate circuit.
The HREF signal is input to the input end of the NAND gate circuit through the first pin HREF of the OV2640U1 and the second pin PCLK of the OV2640U1, the output level is controlled to be high or low through the level of the HREF signal based on the clock signal PCLK, so that the output level is sent to the clock signal end of the CPU, the period of reading image data in the image acquisition device by the CPU is controlled, and the problem that the CPU is blocked by a machine or runs slowly due to the fact that the reading frequency is too high is solved.
The first voltage conversion circuit comprises a first voltage conversion chip U2, and the model of the first voltage conversion chip U2 is: XC6206P282, wherein the first voltage is 3.3V, is the voltage of the input end of the first voltage conversion chip U2, and is filtered to output a second working voltage of 2.8V; the first voltage conversion circuit comprises a second voltage conversion chip U3, and the model of the second voltage conversion chip U3 is: XC6206P152, the first voltage is the voltage of the input end of the second voltage conversion chip U3, and the third working voltage is output to be 1.5V after filtering. The first voltage conversion circuit and the second voltage conversion circuit can quickly realize the working voltage required by the chip OV2640 to supply power.
As shown in fig. 8, the apparatus further includes a control circuit, the control circuit including: the circuit comprises a third resistor R19, a fourth resistor R20, a second triode Q1, a first capacitor C10, a diode D1 and a one-way thyristor; one end of the third resistor R19 is connected with a charging voltage VIN1 and the anode of the unidirectional silicon controlled rectifier, the gate of the unidirectional silicon controlled rectifier is connected with the other end of the third resistor R19 and the collector of the second triode Q1, the cathode of the unidirectional silicon controlled rectifier is connected with the anode of the diode D1, and the cathode of the diode D1 is connected with the charging end of the collected rechargeable battery; an emitting electrode of the second triode Q1 is connected with one end of the first capacitor C10 and is grounded, the other end of the first capacitor C10 is connected with a base electrode of the second triode Q1 and one end of the fourth resistor R20, and the other end of the fourth resistor R20 is connected with the single chip microcomputer.
It should be noted that the conduction of the transistor Q1 is controlled by the base voltage, and if the base voltage is high, the transistor Q1 is turned on, so that the charging voltage VIN1 can charge the battery voltage VIN through the silicon controlled rectifier SCR1 and the diode D1, and when the transistor Q1 is not turned on and the silicon controlled rectifier SCR1 is turned off, the limitation on VIN1 is realized, and the VIN cannot be charged. Therefore, the charging voltage is controlled by the thyristor SCR1, the resistor R19, the transistor Q1, the capacitor C10 and the resistor R20.
In the embodiment of the present invention, when the charging of the rechargeable battery is completed, the charging voltage is turned off, for example, a low level signal is output, through the port CTL _ CD of the CPU; when the battery is to be charged (output a high signal), if VIN1 has a voltage, SCR1 is automatically turned on to charge the rechargeable battery.
As shown in fig. 5, the image capturing device further includes a fifth resistor R2, a sixth resistor R3, a seventh resistor R4, and an eighth resistor R1; the fourth ends of the eighth resistor R1, the fifth resistor R2 and the sixth resistor R3 are all connected with a fourth voltage; a fifth end of the eighth resistor R1 is connected to the data line pin SDA of the chip OV2640U1, a fifth end of the fifth resistor R2 is connected to the control line pin SCL of the chip OV2640U1, and a fifth end of the sixth resistor R3 is connected to the restart pin STL of the chip OV2640U 1; one end of the seventh resistor R4 is grounded, and the other end of the seventh resistor R4 is connected to a ground pin PWND of the OV2640U 1; and a data pin of the chip OV2640U1 is connected with the singlechip.
As shown in fig. 9, the alarm device is an audible and visual alarm, and the audible and visual alarm includes: a ninth resistor R7, a tenth resistor R8, a diode VD1, a third triode VT2, a light emitting diode LED1 and a loudspeaker IC 2; the output end of the image acquisition device is connected with the cathode of the diode VD1 through the ninth resistor R7, the anode of the diode VD1 is connected with the base of the third triode VT2, the emitter of the third triode VT2 is grounded, the collector of the third triode VT2 is connected with the cathode of the light-emitting diode LED1, the anode of the light-emitting diode LED1 is connected with working voltage through the tenth resistor R8, and the speaker IC2 is connected between the collector of the third triode VT2 and the working voltage.
When the CPU detects that the battery voltage is insufficient or other dangerous signals, a high-level signal can be sent to drive the triode VT2 to be conducted, so that the loudspeaker IC2 is driven to give an alarm, and a user is reminded to observe or process.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. A raspberry pi based weeding system, said system comprising:
a single-chip microcomputer,
motors, each motor corresponding to each wheel of the vehicle;
the motor control circuit is connected with the single chip microcomputer and each motor and controls the rotation of the motors by receiving PWM signals sent by the single chip microcomputer;
the photoelectric sensor circuit comprises a photoelectric sensor, wherein the photoelectric sensor is arranged at the front end of the advancing direction of the trolley, the singlechip is connected with the photoelectric sensor, and the photoelectric sensor collects photoelectric signals and then sends corresponding signals to the singlechip;
the ultrasonic modules are arranged on two sides of the vehicle to obtain the distance between ridge backs of ridges and control the trolley to travel in a straight way and are connected with the single chip microcomputer;
the gyroscope is connected with the single chip microcomputer;
the image acquisition device is arranged on the vehicle and used for acquiring images within a view range;
and the image processing device is connected with the image acquisition device, receives and processes the image acquired by the image acquisition device, is connected with the singlechip and sends a processing result to the singlechip.
2. The raspberry-based weeding system of claim 1, wherein said motor control circuit comprises: a rechargeable battery, a switching voltage regulator (U10), a first motor control chip (U11), a second motor control chip (U12), a first motor and a second motor;
the anode of the rechargeable battery is connected with the input end of the switching voltage regulator (U10), and the output ends of the rechargeable battery and the switching voltage regulator (U10) are connected with the voltage end of the first motor control chip (U11) and the voltage end of the second motor control chip (U12);
two input ends of the first motor control chip (U11) are connected with the PWM output end of the single chip microcomputer, and two corresponding output ends of the first motor control chip (U11) are connected with a first motor;
two input ends of the second motor control chip (U12) are connected with the PWM output end of the single chip microcomputer, and two corresponding output ends of the second motor control chip (U12) are connected with the second motor.
3. The raspberry-based weeding system according to claim 1 or 2, wherein said photosensor circuit comprises a first three-wire photosensor and a second three-wire photosensor;
the output end of the first three-wire photoelectric sensor is connected with the singlechip through a resistor, and the VCC end of the first three-wire photoelectric sensor is connected with working voltage;
the output end of the second three-wire photoelectric sensor is connected with the single chip microcomputer through a resistor, and the VCC end of the second three-wire photoelectric sensor is connected with working voltage.
4. The raspberry-based weeding system according to claim 3, wherein said ultrasonic module comprises: the ultrasonic chip comprises an ultrasonic chip (U12), a first resistor (R1), a second resistor (R2), a first capacitor (C1) and a second capacitor (C2), wherein the type of the ultrasonic chip (U12) is IIC-SR 04;
an Echo pin of the ultrasonic chip (U12) is connected with one end of the first resistor (R1), the other end of the first resistor (R1) is connected with the single chip microcomputer and one end of the first capacitor (C1), and the other end of the first capacitor (C1) is grounded;
the Trio pin of the ultrasonic chip (U12) is connected with one end of the second resistor (R2), the other end of the second resistor (R2) is connected with the single chip microcomputer and one end of the second capacitor (C2), and the other end of the second capacitor (C2) is grounded.
5. The raspberry pi based weeding system according to claim 4, wherein said image capturing device is composed of a chip OV2640(U1), a crystal oscillator port of said chip OV2640(U1) is connected to an output terminal of a clock generation circuit, a first pin (HREF) of said chip OV2640(U1) and a second Pin (PCLK) of said chip OV2640(U1) are input to an input terminal of a positive NAND gate circuit, an output terminal of said positive NAND gate circuit is connected to said single chip microcomputer, and input terminals of a first voltage conversion circuit and a second voltage conversion circuit are connected to a first voltage;
the first voltage is 3.3V, and the second voltage of the output voltage of the first voltage conversion circuit is 2.8V;
the third voltage of the output voltage of the second voltage conversion circuit is 1.5V;
the first voltage, the second voltage and the third voltage are connected with the chip OV2640(U1), and the first voltage is the working voltage of the clock generation circuit and the positive NAND gate circuit.
6. The raspberry-based weeding system of claim 2, further comprising a control circuit, said control circuit comprising: the circuit comprises a third resistor (R19), a fourth resistor (R20), a second triode (Q1), a first capacitor (C10), a diode (D1) and a one-way thyristor;
one end of the third resistor (R19) is connected with a charging voltage (VIN1) and the anode of the unidirectional silicon controlled rectifier, the gate of the unidirectional silicon controlled rectifier is connected with the other end of the third resistor (R19) and the collector of the second triode (Q1), the cathode of the unidirectional silicon controlled rectifier is connected with the anode of the diode (D1), and the cathode of the diode (D1) is connected with the charging end of the collected rechargeable battery;
an emitting electrode of the second triode (Q1) is connected with one end of the first capacitor (C10) and is grounded, the other end of the first capacitor (C10) is connected with a base electrode of the second triode (Q1) and one end of the fourth resistor (R20), and the other end of the fourth resistor (R20) is connected with the single chip microcomputer.
7. The raspberry-based weeding system according to claim 6, wherein said image capturing device further comprises a fifth resistor (R2), a sixth resistor (R3), a seventh resistor (R4), an eighth resistor (R1);
the fourth ends of the eighth resistor (R1), the fifth resistor (R2) and the sixth resistor (R3) are all connected with a fourth voltage; a fifth end of the eighth resistor (R1) is connected to the data line pin (SDA) of the chip OV2640(U1), a fifth end of the fifth resistor (R2) is connected to the control line pin (SCL) of the chip OV2640(U1), and a fifth end of the sixth resistor (R3) is connected to the restart pin (STL) of the chip OV2640 (U1); one end of the seventh resistor (R4) is grounded, and the other end of the seventh resistor (R4) is connected to a ground Pin (PWND) of the chip OV2640 (U1); and a data pin of the chip OV2640(U1) is connected with the singlechip.
8. The raspberry pi based weeding system according to claim 1, further comprising an alarm device, wherein said alarm device is an audible and visual alarm, said audible and visual alarm comprising: a ninth resistor (R7), a tenth resistor (R8), a diode (VD1), a third triode (VT2), a light-emitting diode (LED1) and a loudspeaker (IC 2);
the output end of the image acquisition device is connected with the cathode of the diode (VD1) through the ninth resistor (R7), the anode of the diode (VD1) is connected with the base of the third triode (VT2), the emitter of the third triode (VT2) is grounded, the collector of the third triode (VT2) is connected with the cathode of the light-emitting diode (LED1), the anode of the light-emitting diode (LED1) is connected with working voltage through a tenth resistor (R8), and the loudspeaker (IC2) is connected between the collector of the third triode (VT2) and the working voltage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020082808.XU CN211718763U (en) | 2020-01-15 | 2020-01-15 | Weeding system based on raspberry group |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020082808.XU CN211718763U (en) | 2020-01-15 | 2020-01-15 | Weeding system based on raspberry group |
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| Publication Number | Publication Date |
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| CN211718763U true CN211718763U (en) | 2020-10-20 |
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| CN202020082808.XU Expired - Fee Related CN211718763U (en) | 2020-01-15 | 2020-01-15 | Weeding system based on raspberry group |
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2020
- 2020-01-15 CN CN202020082808.XU patent/CN211718763U/en not_active Expired - Fee Related
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