CN220157435U - Medicine spraying device for citrus planting - Google Patents
Medicine spraying device for citrus planting Download PDFInfo
- Publication number
- CN220157435U CN220157435U CN202321607086.5U CN202321607086U CN220157435U CN 220157435 U CN220157435 U CN 220157435U CN 202321607086 U CN202321607086 U CN 202321607086U CN 220157435 U CN220157435 U CN 220157435U
- Authority
- CN
- China
- Prior art keywords
- control module
- module
- power device
- tripod
- vision module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003814 drug Substances 0.000 title claims abstract description 30
- 241000207199 Citrus Species 0.000 title claims abstract description 29
- 238000005507 spraying Methods 0.000 title claims abstract description 28
- 235000020971 citrus fruits Nutrition 0.000 title claims abstract description 27
- 229940079593 drug Drugs 0.000 title description 6
- 239000007921 spray Substances 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 2
- 239000007788 liquid Substances 0.000 description 6
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 239000000575 pesticide Substances 0.000 description 3
- 235000008733 Citrus aurantifolia Nutrition 0.000 description 1
- 244000175448 Citrus madurensis Species 0.000 description 1
- 235000005976 Citrus sinensis Nutrition 0.000 description 1
- 240000002319 Citrus sinensis Species 0.000 description 1
- 235000017317 Fortunella Nutrition 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 241001093501 Rutaceae Species 0.000 description 1
- 235000011941 Tilia x europaea Nutrition 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004571 lime Substances 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
Landscapes
- Catching Or Destruction (AREA)
Abstract
The utility model relates to a medicine spraying device for citrus planting, which comprises a device main body, a landing frame component and an identification component, wherein the landing frame component is arranged at the bottom of the device main body, and the identification component is arranged on the landing frame component. One use of one embodiment of the present utility model is to achieve automatic, intelligent spray of citrus planting. Through setting up mounting panel upper surface mounting device main part, set up the bolster at the mounting panel lower surface to when the device lands, alleviate the vibration that the device body received. The tripod is driven to horizontally rotate by the first power device, and the identification component rotates along with the tripod; the second power device drives the second recognition module to incline and rotate left and right, and the third power device drives the second vision module to incline and rotate up and down, so that the posture of the second recognition module is adjusted.
Description
Technical Field
The utility model relates to the field of agricultural spraying, and more particularly relates to a spraying device for citrus planting.
Background
Citrus is a common crop, but citrus is generally known as citrus and is a rutaceae, citrus plant, as is well known. The product has good warm and humid climate, and has cold resistance slightly stronger than that of fructus Citri Grandis, lime and sweet orange. The Rutaceae citrus subfamily is distributed between 16 degrees and 37 degrees in north latitude. Is a tropical and subtropical evergreen tree, and is used as economic cultivation in 3 genera: trifoliate, citrus and kumquat. However, the citrus is required to be sprayed according to the requirement in the planting process, so that the disease and pest resistance of the citrus is enhanced, and better fruits are obtained. Traditional crop spouts medicine device adopts the manual work to carry the atomizer, holds and spouts the medicine pole and go on, however citrus tree has certain height, and traditional manual mode is difficult to spout medicine to citrus tree top, is inconvenient for from top to bottom to spout medicine operation, so traditional crop spouts medicine device is unsuitable for spouting medicine operation to citrus.
At present, along with the continuous development of science and technology, there is the mode that adopts unmanned aerial vehicle to spout the medicine as the basis, but to current unmanned aerial vehicle spouts medicine equipment, its intellectuality, degree of automation are lower, often need the staff to carry out the operation through remote sensing control unmanned aerial vehicle, and all evenly spray, can't the pertinence spray.
Disclosure of Invention
It is an object of one embodiment of the present utility model to provide a spray device for citrus planting to achieve automatic, intelligent spray for citrus planting.
In one aspect, a citrus planting pesticide spraying device is described, comprising a device body comprising a battery module, a control module, a rotor, a spraying assembly, a pesticide tank and a first vision module, wherein the battery module provides power for the control module, the rotor and the spraying assembly, the spraying assembly is connected with the pesticide tank, the control module receives and processes user signals and transmits the signals to an actuator so that the actuator performs actions corresponding to the signals according to the signals, the actuator comprises the rotor, the spraying assembly and the first vision module, the control module acquires and processes the signals of the actuator and sends the signals to a user, and the first vision module acquires a scene on the way of the device and uploads the scene to the control module so that the control module controls the rotor to act according to the flying scene; a landing rack assembly including a tripod installed at the bottom of the apparatus body; and the identification component is contained in the executing mechanism and is arranged on the landing frame component, the identification component comprises a second vision module, the second vision module collects an image of a target area and uploads the image to the control module, so that the control module identifies the area according to the image of the area collected by the second vision module, coordinates the area when the image is identified as a preset area image, and plans a flight working path of the device and the spraying quantity of different coordinate areas according to a built-in control algorithm, and controls the rotor wing and the spraying component to execute actions according to the plan.
Preferably, the drop frame assembly further comprises a mounting plate having an upper surface defining a mounting plate for receiving the device body described above; a buffer member arranged on the lower surface of the mounting plate; and the connecting plate is arranged at the top of the tripod, and the buffer piece is fixedly arranged on the upper surface of the connecting plate.
Preferably, the landing rack assembly further comprises a first power device, the first power device drives the tripod to horizontally rotate, and when the tripod horizontally rotates, the identification assembly rotates along with the tripod; the identification component comprises; the second power device can drive the second vision module to incline left and right to rotate; the third power device can drive the second vision module to tilt up and down; wherein the first power device, the second power device and the third power device are contained in the actuating mechanism.
Preferably, the device body further comprises a liquid level detection device configured to monitor the liquid level of the medicament in the medicament tank.
The utility model has the following advantages:
the utility model discloses a second vision module gathers target area image and uploads to control module to make control module discern according to the regional image that the second vision module gathered, when discernment is predetermineeing regional image, carry out the coordinated with this region, and plan the device flight working way and the spraying amount of different coordinate region according to built-in control algorithm, control above-mentioned rotor, spray the subassembly and carry out the action with this planning, realize intelligent, the automatic medicine that spouts that citrus was planted, simultaneously, the scene in the middle of the flight through first vision module collection device is uploaded to control module, with make control module control rotor action according to the flight scene, thereby realize the discernment of barrier, avoid.
Through setting up mounting panel upper surface mounting device main part, set up the bolster at the mounting panel lower surface to when the device lands, alleviate the vibration that the device body received.
The tripod is driven to horizontally rotate by the first power device, and the identification component rotates along with the tripod; the second power device drives the second vision module to incline and rotate left and right, and the third power device drives the second vision module to incline and rotate up and down, so that the posture of the second vision module is adjusted.
Drawings
FIG. 1 illustrates a schematic structural view of a medicine spraying device;
FIG. 2 illustrates a front view of the spray device of FIG. 1;
FIG. 3 is a schematic view illustrating the structure of the device body in the medicine-spraying device shown in FIG. 1;
fig. 4 illustrates a partial enlarged view I in the device body shown in fig. 3;
FIG. 5 illustrates a partial schematic view of the spray device of FIG. 1;
fig. 6 illustrates a side view of the partial structure shown in fig. 5.
Detailed Description
Reference will now be made in detail to the exemplary embodiments illustrated in the drawings. It should be understood that the following description is not intended to limit the embodiments to one preferred embodiment. On the contrary, it is intended to cover alternatives, modifications and equivalents as may be included within the spirit and scope of the embodiments as defined by the appended claims.
FIGS. 1-2 illustrate a citrus planting spray apparatus that can be improved by incorporating embodiments of the present utility model. As with the other figures included, this figure is shown for illustrative purposes and is not limiting of the possible embodiments of the utility model or the claims.
The drawing includes a device main body 100, a drop frame assembly 200, and an identification assembly 300, the drop frame assembly 200 being mounted at the bottom of the device main body 200, the identification assembly 300 being mounted on the drop frame assembly 200.
As shown in fig. 2 to 3, the device main body 100 includes a battery module 104, a control module 103, a rotor 101, a spraying assembly 105, a medicine box 106, and a first vision module 108, wherein the battery module 104 is connected with the control module 103, the rotor 101, and the spraying assembly 105, the spraying assembly 105 is connected with the medicine box 106, and the rotor is connected with the spraying assembly 105 and the control module;
as shown in fig. 2, the landing frame assembly 200 includes a tripod 301, a mounting plate 202, a buffer 204, a first power device 203, and a connection plate 205, and the device body 100 is fixedly mounted on the upper surface of the mounting plate 202; a connecting plate 205 is arranged below the mounting plate 202, a buffer piece 204 is arranged between the mounting plate 202 and the connecting plate 205, flexible connection between the mounting plate and the connecting plate is realized through the buffer frame, a first power device 203 is arranged at the top of the tripod, and the output end of the first power device is connected with the connecting plate, wherein the first power device comprises, but is not limited to, a servo motor, a stepping motor or other devices capable of driving the connecting plate to rotate. The first power device is connected with the control module and the battery module.
As shown in fig. 4, the recognition assembly 300 includes a second vision module 300, a mounting frame 301, a second power device 302, a connecting frame 303, and a third power device 305, where the mounting frame 301 is fixedly installed at the lower part of the tripod, the second power device 302 is fixedly installed at the bottom side of the mounting frame 301, the connecting frame 303 is installed at the output end of the second power device 302, the second power device 302 includes but is not limited to a servo motor, a stepper motor, or other devices capable of driving the second vision module to tilt left and right, the third power device is installed at the side of the connecting frame 303 away from the second power device 302, one side of the second vision module is connected with the output end of the third power device 305, and the other side of the second vision module is connected with the connecting frame in a rotating manner, where the third power device 305 includes but is not limited to a servo motor, a stepper motor, or other devices capable of driving the second vision module to tilt up and down. The second vision module, the second power device and the third power device are all connected with the control module and the battery module.
The battery module 104 provides power for the executing mechanism, the control module receives and processes the control signal of the user and transmits the control signal to the executing mechanism, so that the executing mechanism executes actions corresponding to the signal according to the signal, the executing mechanism comprises the rotor wing, the spraying component, the first vision module 108, the identifying component 300 and the like, the control module acquires and processes the signal of the executing mechanism and transmits the signal to the user, the second vision module 300 acquires a target area image and uploads the target area image to the control module 103, so that the control module identifies the area image acquired by the second vision module, when the area image is identified as a preset area image, the control module coordinates the area according to a built-in algorithm, and plans a flight working path of the device according to a built-in control algorithm, meanwhile, the citrus planting density, the citrus growth height, the citrus growth condition and the like in the identified image are analyzed, the area is divided according to analysis conditions, and accordingly the rotor wing driving device is controlled to fly along the planned path, and the spraying component is controlled to spray medicines with different dosages according to different divided areas. The first vision module 108 collects scenes in the middle of the flight of the device and uploads the scenes to the control module 103, so that the control module 103 controls the action of the rotor wing according to the flight scenes, and recognition and avoidance of obstacles can be achieved. Realizing the intellectualization and automation of the spraying of the citrus planting medicament.
In the flight process, the control module can acquire the gesture of the device, so that the first power device, the second power device and the third power device are controlled to execute actions according to the gesture of the device, the gesture of the second vision module is adjusted, and the accuracy of image acquisition is ensured.
In order to timely control the device to return the supplemental medication, the device body 100 further includes a fluid level detection device 107 configured to monitor the level of medication in the medication tank. The liquid level detection device 107 detects the liquid level in the medicine box and continuously sends signals to the control module, and when the control module identifies the signal to analyze that the liquid level in the medicine box is reduced to the minimum liquid level threshold value, the control module controls the rotor to drive the device to return to navigate to supplement medicine.
When the device is in the landing of returning, the buffer piece can buffer the vibration received by the device body, so that the impact received by the device body during landing is reduced, and the device body is prevented from being damaged.
The foregoing description of embodiments of the utility model has been presented for the purposes of illustration and description. It is not intended to be exhaustive and does not limit the utility model to the precise form described; numerous modifications and variations are possible in light of the above teachings. The embodiments were chosen and described in order to best explain the principles of the utility model and its practical application, to thereby enable others skilled in the art to best utilize the utility model in various embodiments and with various modifications as are suited to the particular use contemplated. It is therefore to be understood that the utility model is intended to cover all modifications and equivalents that fall within the scope of the appended claims.
Claims (4)
1. The utility model provides a citrus planting is with spouting medicine device which characterized in that includes
The device comprises a device body, wherein the device body comprises a battery module, a control module, a rotor wing, a spraying assembly, a medicament box and a first vision module, the battery module provides power for the control module, the rotor wing and the spraying assembly, the spraying assembly is connected with the medicament box, the control module receives and processes a user signal and transmits the signal to an actuating mechanism so that the actuating mechanism executes actions corresponding to the signal according to the signal, the actuating mechanism comprises the rotor wing, the spraying assembly and the first vision module, the control module acquires and processes the signal of the actuating mechanism and sends the signal to a user, and the first vision module acquires a scene in the middle of flight of the device and uploads the scene to the control module so that the control module controls the rotor wing to act according to the flying scene;
a landing rack assembly including a tripod installed at the bottom of the apparatus body; and
the identification component is contained in the actuating mechanism and is arranged on the landing frame component, the identification component comprises a second vision module, the second vision module collects images of target areas and uploads the images to the control module, so that the control module identifies the areas according to the images of the areas collected by the second vision module, coordinates the areas when the images of the areas are identified as preset area images, and plans the flight working path of the device and the spraying quantity of the areas with different coordinates according to a built-in control algorithm, and controls the rotor wing and the spraying component to execute actions according to the plan.
2. The citrus planting spray apparatus of claim 1 wherein said drop rack assembly further comprises
A mounting plate having an upper surface defining a device body for receiving the device;
a buffer member arranged on the lower surface of the mounting plate; and
the connecting plate is arranged at the top of the tripod, and the buffer piece is fixedly arranged on the upper surface of the connecting plate.
3. The citrus planting spray apparatus of claim 2 wherein said drop rack assembly further comprises
The first power device drives the tripod to horizontally rotate, and when the tripod horizontally rotates, the identification component rotates along with the tripod;
the identification component comprises;
the second power device can drive the second vision module to incline left and right to rotate; and
the third power device can drive the second vision module to tilt up and down;
wherein the first power device, the second power device and the third power device are contained in the actuating mechanism.
4. The citrus planting spray apparatus of claim 1 wherein said apparatus body further comprises a fluid level detection device configured to monitor the level of the medicament in the medicament tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321607086.5U CN220157435U (en) | 2023-06-25 | 2023-06-25 | Medicine spraying device for citrus planting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321607086.5U CN220157435U (en) | 2023-06-25 | 2023-06-25 | Medicine spraying device for citrus planting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220157435U true CN220157435U (en) | 2023-12-12 |
Family
ID=89062912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321607086.5U Active CN220157435U (en) | 2023-06-25 | 2023-06-25 | Medicine spraying device for citrus planting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220157435U (en) |
-
2023
- 2023-06-25 CN CN202321607086.5U patent/CN220157435U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109258601B (en) | Intelligent automatic targeting spraying flow control device and method for weeding unmanned aerial vehicle | |
| CN110235882B (en) | Accurate variable fruit tree pesticide application robot based on multiple sensors | |
| WO2018014838A1 (en) | Self-moving gardening robot and system thereof | |
| CN109122633A (en) | The accurate variable-rate spraying device of the plant protection drone of Decision of Neural Network and control method | |
| CN108519775A (en) | A kind of UAV system and its control method precisely sprayed | |
| CN108196580A (en) | The spray method and unmanned plane of a kind of unmanned plane | |
| CN109631903A (en) | Cereal handles automated driving system and its automatic Pilot method and paths planning method | |
| CN205284757U (en) | Indoor multipurpose removes spouts medicine robot | |
| CN106814745A (en) | UAV Intelligent medicine supplies spray method and system | |
| CN204969074U (en) | Self -propelled greenhouse air curtain type electrostatic spray car | |
| EP3042253B1 (en) | Sprinkler control system | |
| CN109429598A (en) | Agricultural planting auxiliary robot and its automatic job method | |
| CN109353521A (en) | A kind of UAV system and its control method precisely sprayed | |
| CN203860304U (en) | Automatic targeting and spraying system | |
| CN205345343U (en) | Plant protection unmanned aerial vehicle of liquid medicine is sprayed to high efficiency | |
| CN106614481A (en) | Drone-based controllable pesticide spraying system | |
| CN110178540A (en) | A kind of tea picking and working method based on image procossing | |
| CN111587872A (en) | Robot for spraying pesticide | |
| CN220157435U (en) | Medicine spraying device for citrus planting | |
| AU2019419580B2 (en) | Grain processing self-driving system, self-driving method, and automatic recognition method | |
| CN105984587A (en) | Intelligent chemical application adjustment system applied to remote controlled multi-rotor-wing plant protection machine | |
| CN113917947B (en) | Unmanned aerial vehicle variable spraying control method and control system and unmanned aerial vehicle | |
| CN210503198U (en) | Double-cavity medicine box capable of being carried on unmanned aerial vehicle and spraying operation device based on medicine box | |
| CN106172334A (en) | Self-propelled greenhouse air curtain type electrostatic spray car | |
| CN211721622U (en) | Multi-functional automatic plant protection dispensing machine control system of warmhouse booth |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |