CN216219747U - Robot based on agricultural pesticide spraying - Google Patents
Robot based on agricultural pesticide spraying Download PDFInfo
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- CN216219747U CN216219747U CN202122920062.2U CN202122920062U CN216219747U CN 216219747 U CN216219747 U CN 216219747U CN 202122920062 U CN202122920062 U CN 202122920062U CN 216219747 U CN216219747 U CN 216219747U
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- Prior art keywords
- robot
- water pump
- driving motor
- main controller
- lifting platform
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- Expired - Fee Related
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- 239000000575 pesticide Substances 0.000 title claims abstract description 45
- 238000005507 spraying Methods 0.000 title claims abstract description 35
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 36
- 239000007788 liquid Substances 0.000 claims abstract description 17
- 239000007921 spray Substances 0.000 claims abstract description 9
- 230000002146 bilateral effect Effects 0.000 claims abstract description 3
- 238000001514 detection method Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000005086 pumping Methods 0.000 claims description 2
- 239000003905 agrochemical Substances 0.000 claims 1
- 239000003814 drug Substances 0.000 description 15
- 230000003028 elevating effect Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The utility model discloses an agricultural pesticide spraying-based robot, which comprises a pesticide box for storing pesticide liquid to be sprayed to crops and a robot body, wherein a camera module is arranged above the robot body and used for acquiring image information of the crops and then transmitting the images to a main controller, the camera modules are arranged in front of the robot body in a bilateral symmetry mode, the main controller is arranged on a vehicle body between the two camera modules, the output end of the main controller is respectively connected with a track driving motor, a roller driving motor and a steering engine, the track driving motor is used for driving a track to rotate, the roller driving motor is used for driving a roller to rotate, a power supply module supplies power to the whole robot device, the track is positioned on two sides below the robot body, the roller is used for driving a lifting platform to move up and down, and a water pump is arranged on the lifting platform. The utility model sprays the pesticide on different crops or different parts of the same crop.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a robot based on agricultural pesticide spraying.
Background
At present, the agricultural pesticide spraying robot in China is too large in size and inflexible to operate, can often damage crops, most pesticide spraying robots cannot adjust the pesticide spraying height of the pesticide spraying robots, and the pesticide spraying technology still needs to be further improved aiming at different crops or different parts of the same crop without effective pesticide spraying.
Disclosure of Invention
In order to overcome the defects of the prior art, the utility model aims to provide an agricultural pesticide spraying-based robot, which sprays pesticide on different crops or different parts of the same crop.
In order to achieve the purpose, the utility model adopts the technical scheme that:
a robot based on agricultural pesticide spraying comprises a pesticide box 1 for storing pesticide liquid to be sprayed to crops and a robot vehicle body 19, a camera module 8 arranged above the robot vehicle body 19, the camera module 8 is used for acquiring image information of the crops, then the image is transmitted to a main controller 9, the camera modules 8 are arranged in front of a robot body 19 in a bilateral symmetry mode, the main controller 9 is installed on the body 19 between the two camera modules 8, the output end of the main controller 9 is respectively connected with a track driving motor 4, a roller driving motor 18 and a steering engine 15, the track driving motor 4 is used for driving a track to rotate, the roller driving motor 18 is used for driving a roller 12 to rotate, a power supply module 13 supplies power for the whole robot device, the track is located on two sides below the robot body 19, the roller 12 is used for driving the lifting platform 6 to move up and down, and a water pump 16 is arranged on the lifting platform 6.
A traction rope 11 is wound on the roller 12, and the other end of the traction rope 11 is arranged on the lifting platform 6.
The lifting platform 6 is of a cylindrical structure, a traction rope structure 14 is arranged on the outer side wall of the cylindrical structure, and the traction rope 11 is divided into three ropes which are fixed on a round pile for fixing the traction rope structure 14.
The shape of the outer edge of the lifting platform 6 is matched with the shape of the inner wall of the fixed sleeve 5, and the fixed sleeve 5 is used for keeping the whole lifting platform 6 stable.
The height of the camera module 8 is adjusted through a telescopic adjusting rod 7, and the telescopic adjusting rod 7 is arranged on a robot body 19.
The front end of the robot vehicle body 19 is provided with an infrared obstacle avoidance device 10, and the infrared obstacle avoidance device 10 is connected with the main controller 9.
The medicine box 1 is provided with a water pump 16, the water pump 16 is used for pumping out the liquid medicine in the medicine box 1, the end part of the water pump 16 is provided with a spray pipe 17, the water pump 16 is a 385 water pump, the water pump 16 is arranged on a steering engine 15, the steering engine 15 drives the water pump 16 to rotate, and the steering engine 15 is arranged on the lifting platform 6.
The main controller 9 is a Raspberry Pi with the model number of 4B and is used for controlling the crawler driving motor 4, the roller driving motor 18 and the steering engine 15, and a data transmission USB interface is arranged on the main controller 9 for data transmission.
The power module 13 is a 12V rechargeable storage battery and supplies power to the motor and the steering engine 15, and the power module 13 is provided with a USB interface and can supply power to the charging module.
And a liquid level detection alarm device 2 is arranged in the medicine chest 1.
The model of the camera module 8 is OV 10635.
The track drive motor 4 and the roller drive motor 18 are of the type L298N.
The utility model has the beneficial effects that:
this elevating gear possesses can independently adjust and spouts the medicine height, improves the medicine utilization ratio, reduces the manual work and spouts the medicine cost, can effectively prevent the plant diseases and insect pests.
Different pesticides can be filled in the pesticide box aiming at different crops, and the pesticide spraying amount can be flexibly adjusted.
When the liquid level is lower than the set value in the medicine chest, the warning that can be timely to the work of ability automatic pause water pump and steering wheel prevents the water pump idle running wearing and tearing, and practices thrift the power, improves the stand-by time of robot.
The robot can effectively avoid the obstacle in the advancing direction through the infrared obstacle avoidance device.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the lifting device of the present invention.
FIG. 3 is a schematic view of a fixing device according to the present invention.
In the figure: 1-medicine chest, 2-liquid level detection alarm device, 3-track, 4-track driving motor, 5-fixed sleeve, 6-lifting platform, 7-adjustable telescopic rod, 8-camera module, 9-main controller, 10-infrared obstacle avoidance device, 11-traction rope, 12-roller, 13-power module, 14-fixed traction rope structure, 15-steering engine, 16-water pump, 17-spray pipe, 18-roller driving motor and 19-vehicle body
Detailed Description
The present invention will be described in further detail with reference to examples.
As shown in fig. 1, fig. 2, fig. 3: a elevating gear for agricultural spouts medicine mainly includes medical kit 1, liquid level detection alarm device 2, track 3, track driving motor 4 (the model is L298N), fixed sleeve 5, elevating platform 6, adjustable telescopic link 7, camera module 8 (the model is the RGB binocular camera of OV 5647), main control unit 9 (the use is Raspberry Pi 4B), barrier device 10 is kept away to the infrared ray, traction rope 11, gyro wheel 12, power module 13, fixed traction rope structure 14, steering wheel 15, water pump 16 (the model is 385 water pump), spray tube 17, gyro wheel driving motor 18 (the model is L298N), automobile body 19.
The main controller 9 determines whether the vehicle can continue to travel according to the information transmitted from the infrared obstacle avoidance device 10. The camera module 8 is used for acquiring real-time image information of two sides of the robot, then the images are transmitted to the main controller 9, the main controller 9 is used for processing the images, the height of crops and the distance from the robot are extracted, whether pesticide spraying is needed or not is determined, and the pesticide spraying height can be obtained if the pesticide spraying is needed. When it is determined that spraying is not required, the robot proceeds. When the pesticide spraying is needed, according to the height of crops, the main controller 9 can control the roller driving motor 18 to work, the lifting platform 6 is adjusted to the height calculated by the main controller 9, and after the adjustment is completed, the steering engine 15 and the water pump 16 are controlled to work to spray the pesticide. In order to explain the agricultural pesticide spraying robot in more detail, the following is specifically set forth from the hardware system structure.
The robot is identical in both side devices and a description will be given here for one side device. The lifting device consists of a fixed sleeve 5, a lifting platform 6, a traction rope 11, a roller 12, a fixed traction rope structure 14, a steering engine 15, a water pump 16, a spray pipe 17, a roller 12 and a roller driving motor 18.
The shape of the outer edge of the lifting platform 6 is similar to that of the inner wall of the fixed sleeve 5, the whole lifting platform 6 and the upper device are kept stable in the lifting process, and the lifting platform 6 is used for containing a steering engine 15, a water pump 16 and a water spraying pipe 17.
One end of the traction rope 11 is connected with the roller 12, extends downwards, and is divided into three ropes which are fixed on the round pile of the fixed traction rope structure 14. The roller 12 is connected to a drive roller motor 18. The fixing sleeve 5 is combined with the vehicle body 19.
The working principle of the utility model is as follows:
principle of identifying crops
In the moving process of the robot, the camera module 8 can detect images of crops, the robot can control the camera to reach a proper position to collect the images by adjusting the telescopic adjusting rod 7, the main controller 9 can process the obtained images and judge whether the crops exist or not, if the crops exist, the types of the crops are, and then the main controller 9 can send corresponding instructions to other component modules of the robot according to judgment.
Lifting principle of lifting platform
Since the optimum spraying heights required for different crops are different and the spraying positions for crops are different in different seasons, the spraying heights of the pesticides need to be adjusted in real time through the elevating platform 6. The lifting principle is as follows: the main controller 9 drives the roller 12 to move by controlling the work of the roller driving motor 18, the ascending and descending of the lifting platform 6 are determined according to the clockwise and anticlockwise rotation of the roller, the traction rope 11 can be wound on the roller 12, and the lifting platform 6 at the other end of the traction rope 11 determines the height according to the amount of the wound rope on the roller 12.
Principle of spraying medicine
The robot both sides all have camera module and elevating gear, and these devices of both sides can all work alone, and when detecting only one side by crops, only the elevating gear work of this one side when the elevating platform reachs suitable medicine height of spouting, main control unit 9 can control steering wheel and water pump work, and the robot just can be normal spout the medicine. If both sides all detect to need to spout the medicine, the elevating platform can debug suitable height, and the operation mode is the same with the operation mode that only needs one side to spout the medicine.
Liquid level detection alarm principle
In order to prevent the idle running of the water pump caused by the liquid in the water tank being used up and reduce the service life of the water pump, a liquid level detection device is especially arranged. When the liquid level is lower than the set safety value, the buzzer on the water tank can sound, and the main controller can send a signal to control the steering engine and the water pump to stop working.
The main controller 9 controls the height of the lifting platform by controlling the clockwise and anticlockwise rotation of the idler wheels, controls the direction and range of pesticide spraying by the rotation of the steering engine on the lifting platform, and controls the pesticide spraying amount by controlling the 385 water pump.
Different height values can be set for different crops, and the controller controls the motor again, so that the lifting platform can reach the specified height and stop. The liquid level alarm device of medical kit the inside makes and makes looks operating personnel report to the police when the liquid level descends to the value that is less than the setting to give information transfer to main control unit, main control unit can let the water pump stop work at this moment, prevents that the water pump from idle running to damage, and the steering wheel stall also can be controlled to the controller simultaneously.
Claims (10)
1. The robot based on agricultural pesticide spraying is characterized by comprising a pesticide box (1) and a robot body (19), wherein the pesticide box (1) is used for storing pesticide liquid to be sprayed to crops, the camera module (8) is arranged above the robot body (19), the camera module (8) is used for acquiring image information of the crops and then transmitting the images to a main controller (9), the camera modules (8) are arranged in front of the robot body (19) in a bilateral symmetry mode, the main controller (9) is arranged on the robot body (19) between the two camera modules (8), the output end of the main controller (9) is respectively connected with a track driving motor (4), a roller driving motor (18) and a steering engine (15), the track driving motor (4) is used for driving a track to rotate, the roller driving motor (18) is used for driving a roller (12) to rotate, and a power supply module (13) supplies power to the whole robot device, the tracks are located on two sides below the robot body (19), the rollers (12) are used for driving the lifting platform (6) to move up and down, and a water pump (16) is arranged on the lifting platform (6).
2. Agricultural chemical spraying-based robot according to claim 1, characterized in that the roller (12) is wound with a pulling rope (11), and the other end of the pulling rope (11) is arranged on the lifting platform (6).
3. The agricultural pesticide spraying-based robot is characterized in that the lifting platform (6) is of a cylindrical structure, a traction rope structure (14) is arranged on the outer side wall of the cylindrical structure, and the traction rope (11) is divided into three ropes to be fixed on a round pile of the fixed traction rope structure (14).
4. An agricultural pesticide spraying based robot as claimed in claim 1, characterized in that the shape of the outer edge of the lifting platform (6) is matched to the shape of the inner wall of the fixing sleeve (5), the fixing sleeve (5) being used to keep the whole lifting platform (6) stable.
5. Agricultural spray based robot according to claim 1, characterized in that the camera module (8) is height adjusted by means of a telescopic adjustment lever (7), which telescopic adjustment lever (7) is arranged on the robot car body (19).
6. The agricultural pesticide spraying-based robot is characterized in that an infrared ray obstacle avoidance device (10) is arranged at the front end of a robot body (19), and the infrared ray obstacle avoidance device (10) is connected with a main controller (9).
7. The robot based on agricultural pesticide spraying is characterized in that a water pump (16) is arranged on the pesticide box (1), the water pump (16) is used for pumping out pesticide liquid in the pesticide box (1), a spray pipe (17) is arranged at the end of the water pump (16), the water pump (16) is a 385 water pump, the water pump (16) is arranged on a steering engine (15), the steering engine (15) drives the water pump (16) to rotate, and the steering engine (15) is arranged on the lifting platform (6).
8. The agricultural pesticide spraying-based robot according to claim 1, wherein the main controller (9) is a Raspberry Pi with the model number of 4B and is used for controlling the crawler driving motor (4), the roller driving motor (18) and the steering engine (15), and a data transmission USB interface is arranged on the main controller (9) for data transmission.
9. The agricultural pesticide spraying-based robot according to claim 1, wherein the power module (13) is a 12V rechargeable storage battery and supplies power to the motor and the steering engine (15), and the power module (13) is provided with a USB interface and can supply power to the charging module.
10. The agricultural pesticide spraying-based robot is characterized in that a liquid level detection alarm device (2) is arranged inside the pesticide box (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122920062.2U CN216219747U (en) | 2021-11-25 | 2021-11-25 | Robot based on agricultural pesticide spraying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122920062.2U CN216219747U (en) | 2021-11-25 | 2021-11-25 | Robot based on agricultural pesticide spraying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216219747U true CN216219747U (en) | 2022-04-08 |
Family
ID=80956006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122920062.2U Expired - Fee Related CN216219747U (en) | 2021-11-25 | 2021-11-25 | Robot based on agricultural pesticide spraying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216219747U (en) |
-
2021
- 2021-11-25 CN CN202122920062.2U patent/CN216219747U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20220408 |