TWI724924B - Plant pest judgment spraying device - Google Patents

Abstract

A plant pest judgment spraying device which disposing an image identification system and an injection device in a mechanical arm system and cooperating the image identification system with an main control system to judge whether the plant is sprayed or not, and then driving a mechanical arm to move according to the default application path of the mechanical arm system, so as to judge and spray the whole plant, further, a moving system is used to transport the image identification system, the main control system, the mechanical arm system and a spraying system, achieving the objects of plural plant pest location and automatic spraying.

Description

Plant disease and insect pest judging spraying device

The invention relates to an automatic spraying vehicle using artificial intelligence, in particular to a spraying device for judging plant diseases and insect pests.

In Taiwan, crop losses caused by pests and diseases are increasing year by year. In order to prevent pests and weeds, the average pesticide consumption per hectare reached 10.88 kg from 2010 to 2014, which is only lower than Japan’s 18.94 kg per hectare, compared to China’s 10.45 kg per hectare. Mexico’s 7.87 kilograms per hectare, Brazil’s 6.17 kilograms per hectare, and Germany 5.12 kilograms per hectare. Therefore, farmers in Taiwan have a high demand for pesticides and the cost of epidemic prevention. Therefore, reducing the amount of pesticides used by Taiwan farmers and the prevention and control of pests and diseases need to be taken seriously. .

However, it is difficult to distinguish the types of diseases and insect pests in agricultural fields. Although Taiwan provides pictures of common diseases and insect pests corresponding to different crops in the agricultural drug poison test, it is still difficult for ordinary farmers to distinguish the corresponding symptoms of diseases and insect pests, which delays the application time. The wrong application dosage and application type lead to ineffective pest control and crop loss. Therefore, it is very important to accurately distinguish pests and diseases to choose pesticides and application dosages.

For this reason, a plant disease and insect pest judging spraying device that can automatically and accurately locate the location of the pests and spray pesticides is needed.

The invention provides a spraying device for judging plant diseases and insect pests, and the intended purpose is to automatically and accurately locate the location of the pests and automatically spray the medicine.

In order to achieve the foregoing objectives, the spraying device for judging plant diseases and insect pests of the present invention includes:

An image recognition system having a photographing device for capturing a plant picture;

A main control system is connected to the image recognition system information. The main control system is used to receive the plant screen, the main control system is used to build a data database through deep learning technology, and the main control system provides comparison Obtain a spray signal from the plant screen and the samples in the data database;

A robotic arm system has a robotic arm and a control device, the photographing device is installed in the robotic arm, the robotic arm and the control device are connected with information, the control device is connected with the master control system, and the control device is provided with Receiving the spray signal of the main control system, and the control device is used to drive the robotic arm to move along a moving path;

A medicine spraying system has a medicine container, a first control chip, a delivery tube, a solenoid valve, a motor, and a liquid spraying device. The medicine container is provided for accommodating medicine, and the delivery tube extends into the medicine container , For delivering medicines, the motor is connected to the delivery tube for exporting the medicines from the medicine container, the solenoid valve is connected to the delivery tube in series, the solenoid valve is used to control whether to output the medicine, the liquid spraying device and the The delivery pipe is connected, the liquid spraying device is installed in the robot arm, the liquid spraying device is used to spray the medicine from the delivery pipe, the first control chip is connected to the main control system information, and the first control chip is used to receive the Spraying signal, the first control chip is in control connection with the solenoid valve, the motor and the liquid spraying device;

A mobile system with a self-propelled vehicle and a second control chip, the second control chip is connected to the self-propelled vehicle control, the image recognition system, the main control system, the robotic arm system, and the spray system are set up On the self-propelled vehicle, the second control chip is connected to the main control system information, and the second control chip is connected to the self-propelled vehicle control; and

A power system is electrically connected to the main control system, the image recognition system, the robotic arm system, the spray system, and the mobile system, and the power system is provided with power.

From the foregoing, the plant disease and insect pest judging spraying device of the present invention is mainly by installing the image recognition system and the spraying device on the robotic arm system, and through the cooperation of the image recognition system and the main control system, judging the spraying and No, then drive the robotic arm to move according to the spraying path preset by the robotic arm system to judge and spray the entire plant. Furthermore, the image recognition system, main control system, and machinery can be carried by the moving system. The arm system and spraying system are able to locate the pests and diseases of multiple plants and spray pesticides automatically.

The present invention provides a spraying device for judging plant diseases and insect pests, please refer to Figures 1 to 9, including:

An image recognition system 10 has a camera device 11, the sensor of the camera device 11 can be CCD or CMOS, the camera device 11 can be an analog camera, a coaxial high-definition camera or a web camera but is not limited to this, the camera device 11 Used to capture pictures of plants, such as capturing leaves;

A main control system 20 is connected to the image recognition system 10 for information. In this embodiment, the main control system 20 is connected to the image recognition system 10 via USB communication protocol. The main control system 20 can be an industrial computer. The main control system 20 is used to receive the plant picture, the main control system 20 is used to build a data database through deep learning technology, and the main control system 20 is also used to compare the plant picture and the samples in the data database. To get a spray signal or a non-spray signal;

A robotic arm system 30 has a robotic arm 31 and a control device 32. The photographing device 11 is installed on the robotic arm 31. The robotic arm 31 and the control device 32 are connected in information. In this embodiment, the robotic arm 31 And the control device 32 communicates via Ethernet, the control device 32 is connected to the main control system 20, and the control device 32 is used to receive the spray signal or non-spray signal of the main control system 20. In this embodiment The control device 32 communicates with the main control system 20 via Ethernet. The programming language of the control device 32 can be written in UR Script. The user can input and set the movement path of the robotic arm 31 through the control device 32. In this embodiment, the robotic arm 31 is a six-axis robotic arm, and the UR5 Robot robotic arm manufactured by Universal Robots of Denmark can be used;

A spray system 40 has a drug container 41, a first control chip 42, a delivery pipe 43, a solenoid valve 44, a control valve 45, a motor 46, and a liquid spray device 47. The drug container 41 is supplied with To contain medicines, the delivery tube 43 extends into the medicine container 41 for delivery of medicines, the motor 46 is connected to the delivery tube 43 for exporting medicines from the medicine container 41, and the control valve 45 is connected in series The delivery pipe 43, the control valve 45 are used to control the flow rate of the medicine output, the solenoid valve is connected in series to the delivery pipe, and the solenoid valve is used to control whether to output the medicine. In this embodiment, the solenoid valve 44 can be selected from Taiwan The product SAS-10A manufactured by CHELIC company, the liquid spraying device 47 is connected to the conveying pipe 43, the liquid spraying device 47 is installed on the robot arm 31, and the liquid spraying device 47 is provided with the conveying pipe The medicine in 43 is ejected, the first control chip 42 is connected to the main control system 20, the first control chip 42 is connected to the main control system 20 through the USB communication protocol, and the first control chip 42 is used to receive the Spraying signal, the first control chip 42 is connected to the solenoid valve 44, the motor 46, and the liquid spraying device 47. When the first control chip 42 receives the spraying signal, the solenoid valve 44 is opened and the solenoid valve 44 is driven. Liquid spray device 47 sprays medicine;

A mobile system 50 having a self-propelled vehicle 51 and a second control chip 52, the second control chip 52 is controlly connected to the self-propelled vehicle 51, the image recognition system 10, the main control system 20, and the robotic arm system 30. The spraying system 40 is installed on the self-propelled vehicle 51. In this embodiment, the self-propelled vehicle 51 has four wheels. The second control chip 52 is connected to the main control system 20 for information. The second control chip 52 is connected to the main control system 20 through the USB communication protocol, the second control chip 52 is controlly connected to the self-propelled vehicle 51, the second control chip 52 has a preset walking path, the second control The chip 52 drives the self-propelled vehicle 51 to move according to the traveling path;

A power system 60 is electrically connected to the main control system 20, the image recognition system 10, the robotic arm system 30, the spraying system 40, and the mobile system 50. The power system 60 has at least one battery 61 and an inverse transformer 62. The battery 61 and the inverse transformer 62 are electrically connected. The battery 61 is used to provide direct current, and the reverse transformer 62 is used to convert the direct current to alternating current. In this embodiment, the power system 60 is provided to provide direct current to the solenoid valve. 44. The motor 46, the liquid spray device 47, and the power system 60 provide AC power to the main control system 20, the robotic arm system 30, and the like.

Preferably, the control device 32 of the robotic arm system 30 has a preset application route. Please refer to Figures 7 and 8. The application route defines a plurality of heights, each of which has a judgment Position and a spraying position, the spraying path starts from the judgment position of the first height, and the picture of the plant is captured by the photographing device 11, and the master control system 20 judges the plant picture and the sample in the data database If the main control system 20 obtains the spraying signal, the robotic arm 31 moves to the spraying position, so that the spraying device 47 sprays the plants. After the spraying is completed, the robotic arm 31 moves to the second height On the contrary, if the main control system 20 obtains the non-spraying signal, the robot arm 31 will directly move from the first height judgment position to the second height judgment position for judgment, and so on.

In this embodiment, referring to Figs. 7 and 8, the robotic arm 31 can first turn to the left L, and the spray path defines four heights. Four heights have the judgment position and the spray position. The application path starts from the judgment position of the first height (marked as point 1 in FIG. 8), and the picture of the plant is captured by the photographing device 11, and the plant picture and data are judged through the main control system 20 For samples in the library, if the main control system 20 obtains a spraying signal, the robotic arm 31 moves to the spraying position (marked as point 2 in FIG. 8), so that the spraying device 47 sprays the plants After the spraying is completed, the robotic arm 31 moves to the judgment position of the second height (marked as point 3 in FIG. 8). On the contrary, if the main control system 20 obtains the non-spraying signal, the robotic arm 31 directly Move from the judgment position of the first height (marked as point 1 in FIG. 8) to the judgment position of the second height (marked as point 3 in FIG. 8) for judgment, and so on, until the robot arm 31 moves to the first height. After the four height judgment positions (marked as point 8 in FIG. 8), the robotic arm 31 can turn to the right R to perform the spraying operations at the four heights again. Since the process is the same, it will not be repeated.

The operation flow of the spraying device for judging plant diseases and insect pests of the present invention. Please also refer to FIG. 9. First, the second control chip 52 has the walking path, and drives the self-propelled vehicle 51 to travel according to the walking path. When the self-propelled When the cart 51 moves to the first spraying place, it stops moving, and the robotic arm 31 moves according to the spraying path. When the spraying path is scanned, the self-propelled vehicle 51 moves to the second spraying location, and the robotic arm 31 moves to the second spraying location. The spraying is executed according to the movement of the spraying path. After the scanning of the spraying path is completed, the self-propelled vehicle 51 moves to the third spraying place until the walking path is completed.

10: Image recognition system 11: Photography installation 20: Main control system 30: Robotic arm system 31: Robotic arm 32: control device 40: Spraying system 41: medicine container 42: The first control chip 43: Conveying pipe 44: Solenoid valve 45: control valve 46: Motor 47: Liquid spraying device 50: mobile system 51: Self-propelled car 52: second control chip 60: Power System 61: Battery 62: Inverse transformer L: left R: Right

Figure 1 is a three-dimensional view of the spraying device for judging plant diseases and insect pests according to the present invention. Figure 2 is a partial three-dimensional view of the spraying device for judging plant diseases and insect pests of the present invention. Figure 3 is a partial three-dimensional view of the spraying device for judging plant diseases and insect pests of the present invention. Figure 4 is a partial three-dimensional view of the spraying device for judging plant diseases and insect pests of the present invention. Fig. 5 is a schematic diagram of the structure of the spraying device for judging plant diseases and insect pests according to the present invention. Fig. 6 is a schematic diagram of the structure of the spraying device for judging plant diseases and insect pests according to the present invention. Figure 7 is a schematic diagram of the application path of the robotic arm system of the present invention. Figure 8 is a schematic diagram of the application path of the robotic arm system of the present invention. Fig. 9 is a schematic diagram of the operation flow of the spraying device for judging plant diseases and insect pests of the present invention.

10: Image recognition system

11: Photography installation

30: Robotic arm system

31: Robotic arm

32: control device

40: Spraying system

41: medicine container

43: Conveying pipe

44: Solenoid valve

45: control valve

46: Motor

47: Liquid spraying device

50: mobile system

51: Self-propelled car

Claims (8)

A spraying device for judging plant diseases and insect pests, comprising: an image recognition system with a photographing device for capturing a plant picture; a main control system connected with the image recognition system information, and the main control system is provided with Receiving the plant picture, the master control system is used to build a data database through deep learning technology, and the master control system is used to compare the plant picture with the samples in the data database to obtain a spray signal ; A robotic arm system with a robotic arm and a control device, the photographing device is installed in the robotic arm, the robotic arm and the control device are connected with information, the control device is connected with the master control system, and the control device is provided for To receive the spray signal of the main control system, the control device is used to drive the robotic arm to move along a moving path; a spray system has a medicine container, a first control chip, a delivery tube, and a solenoid valve , A motor and a liquid spraying device, the medicine container is used to contain the medicine, the delivery tube extends into the medicine container for delivery of the medicine, and the motor is connected to the delivery tube for guiding the medicine out of the medicine container , The solenoid valve is connected in series to the delivery pipe, the solenoid valve is used to control whether to output medicine, the liquid spray device is installed in the robot arm, the liquid spray device is connected to the delivery pipe, and the liquid spray device is used to convey The medicine is ejected from the tube, the first control chip is connected to the main control system, the first control chip is used to receive the spray signal, and the first control chip is controlly connected to the solenoid valve, the motor, and the liquid spraying device ; A mobile system with a self-propelled vehicle and a second control chip, the second control chip is connected to the self-propelled vehicle control, the image recognition system, the main control system, the robotic arm system, the spray system Set on the self-propelled vehicle, the second control chip is connected to the main control system information; and an electric system is connected to the main control system, the image recognition system, the robotic arm system, the spray system, and the mobile system Electrically connected, the power system is supplied with power; The control device of the robotic arm system has a preset spraying path, the spraying path defines a plurality of heights, each of the heights has a judgment position and a spraying position, the spraying path is from the first height When the judgment position starts, if the main control system obtains the spraying signal, the robotic arm moves to the spraying position so that the spraying device sprays the plants. After spraying, the robotic arm moves to the second height On the contrary, if the main control system obtains the non-spraying signal, the robotic arm will directly move from the first height judgment position to the second height judgment position for judgment. The spraying device for judging plant diseases and insect pests according to claim 1, wherein the sensor of the photographing device is a CCD or CMOS, and the photographing device is an analog camera, a coaxial high-definition camera or a web camera. The plant disease and insect pest judgment spraying device according to claim 1, wherein the main control system and the image recognition system are connected via USB communication protocol information, and the main control system is an industrial computer. The spraying device for judging plant diseases and insect pests according to claim 1, wherein the robot arm communicates with the control device through an Ethernet network. The spraying device for judging plant diseases and insect pests according to claim 1, wherein the first control chip and the main control system are connected through a USB communication protocol. The spraying device for judging plant diseases and insect pests according to claim 1, wherein the second control chip and the main control system are connected through a USB communication protocol. The spraying device for judging plant diseases and insect pests according to claim 1, wherein the spraying system further has a control valve, the control valve is serially connected to the delivery pipe, and the control valve is used to control the flow rate of the medicine output. The plant disease and insect pest judgment spraying device according to claim 1, wherein the power system has at least one battery and an inverse transformer, the battery and the inverse transformer are electrically connected, the battery is provided for providing direct current, and the inverse transformer is provided for Convert the direct current to alternating current.

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