TWM639781U - Spraying system - Google Patents

Abstract

A spraying system, includes a moving device, an identification device which connected to the moving device, and a spraying device which connected to the moving device. The moving device includes a vehicle body, a drive unit, a pole, and an image unit. The identification device includes at least one camera unit, and an image processing module for identifying the positions of the crops. The spraying device includes an accommodating unit, and a plurality of spraying units for spraying a liquid towards many crops. By means of the moving device, the vehicle body can move along a moving path. The image processing module can effectively identify the position of green leaves while the moving device passing by those crops. By activating the corresponding spraying unit, this invention can walk automatically and spray accurately to those crops at the same time.

Description

sprinkler system

The present invention relates to a spraying system, in particular to an agricultural spraying system.

In recent years, my country's agricultural population has gradually declined. In response to the shortage of agricultural manpower, a spraying system capable of automatically irrigating crops has been actively developed. The existing sprinkler system has functions such as automatic watering, automatic spraying of liquid fertilizer or automatic spraying of medicines, etc., and agricultural workers can complete a large number of agricultural operations with limited manpower.

However, the existing sprinkler system can only spray at a fixed location, and when responding to a wide planting area, it takes a lot of cost to set up a large number of sprinklers to complete the watering. As far as a single sprinkler is concerned, it can only spray at a specific height, and it cannot effectively focus on the growing position of fast-growing climbing plants such as grapes or passion fruit, which still requires additional manpower in practice to complete farming. Therefore, in addition to being unable to effectively improve the spraying efficiency, the existing spraying system also easily causes waste of spraying liquid. Accordingly, this existing sprinkler system really has the necessity of improvement.

Therefore, the purpose of the present invention is to provide a spraying system capable of fully automated precise spraying operations.

Therefore, the new spraying system includes a mobile device, an identification device connected to the mobile device, and a spraying device arranged on the mobile device.

The moving device walks along a moving path, and includes a vehicle body, a driving unit arranged on the vehicle body and used for driving the vehicle body, and a vertical pole extending upward from the vehicle body.

The identification device is arranged on the pole, and includes at least one camera unit suitable for shooting a plurality of crops to generate a real-time image, and an information connection to the camera unit and used to identify the crops in the real-time image to generate An image processing module for judging the control signals of the positions of the crops.

The spraying device includes an accommodating unit suitable for accommodating a spray liquid, and a plurality of spraying units arranged on the pole and communicating with the accommodating unit. The spraying units are informationally connected with the image processing module, and the corresponding spraying units are controlled to spray the spraying liquid towards the crops according to the control signal.

The effect of the present invention is that: while the car body is walking along the moving path by the mobile device, the image processing module can effectively identify the green leaf area of the crops in the real-time image, and then start the corresponding spraying accordingly The unit can be sprayed to achieve the effect of automatic and precise spraying.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same numerals.

Referring to Fig. 1, Fig. 2 and Fig. 3, a first embodiment of the new spraying system includes a mobile device 1, an identification device 2 connected to the mobile device 1, and a spraying device 3 arranged on the mobile device 1 , and a remote control device 4 connected with the mobile device 1 information. This first embodiment is suitable for spraying a plurality of crops C, these crops C can illustratively be rice, wheat, carrot, potato, corn, grape or small tomato etc., and this first embodiment here is to walk in The situation in the farmland where these crops C are planted will be described as an example. To simplify the illustration, the crops C in the first embodiment are represented by one crop C.

The mobile device 1 includes a vehicle body 11, a drive unit 12 arranged on the vehicle body 11 and used to drive the vehicle body 11 to move, a vertical pole 13 extending vertically upward from the vehicle body 11, and a The car body 11 is connected to the image capturing unit 14 of the driving unit 12 through information. The vehicle body 11 has a vehicle body 111 for carrying the identification device 2 and the spraying device 3 and is provided with the pole 13, a vehicle head 112 for accommodating the drive unit 12 and connected to the vehicle body 111, and four The wheels 113 are respectively arranged on the bottom of the vehicle body 111 and the front 112 in groups of two. Due to the two-stage design of the body 111 and the head 112, the head 112 can swing relative to the body 111, so that the head 112 can rotate at a large angle of about 80 degrees, so that it can turn and walk relatively smoothly, optimizing the The mobility of the vehicle body 11 is flexible. The pole 13 is arranged along a vertically extending axis L, and is located on a side of the vehicle body 111 away from the vehicle head 112 and is spaced from the vehicle head 112, so that the vehicle body 111 has enough space for the spraying device 3 to be arranged.

The imaging unit 14 is used to assist the driving unit 12 to drive the vehicle body 11 to walk, and has a photographing piece 141 suitable for photographing the surrounding environment to generate an environmental image E, and a photographic piece 141 that is informationally connected and It is used to interpret the environment image E to generate movement information M, and transmit the movement information M to the data processing module 142 of the drive unit 12 . Wherein, the driving unit 12 can be used to store the movement information M, and can drive the vehicle body 11 to walk along a movement path according to the content stored in the movement information M. For example, the moving path may be a field ridge where the crops C are planted, so that the vehicle body 11 can walk among the crops C stably.

Preferably, the imaging unit 14 also has a marking part 143 suitable for being arranged on the ground along the moving path for the photographing part 141 to take pictures. The photographing part 141 can generate the environment image E by photographing the marking part 143 , and transmit the environment image E to the data processing module 142 to generate the movement information M. More preferably, the marking part 143 adopts a color that contrasts with the color of the ground, and its surface is coated with an anti-adhesive coating that prevents dirt from adhering, so that it can be effectively used by the photographing part 141 to obtain a clearer image of the marking part 143. The environment image E can more accurately determine the moving path.

The identification device 2 includes at least one camera unit 21 arranged on the pole 13 and adapted to shoot toward the crops C along a shooting direction to generate a real-time image I, and an information connection to the camera unit 21 for identifying the crops C. The image processing module 22 that generates a control signal S for the crops C in the real-time image I. Wherein, a horizontal line H extending horizontally from the camera unit 21 toward the crops C is defined, and the shooting direction of the camera unit 21 is preferably inclined 10 degrees downwards along the horizontal line H toward the ground to shoot, so as to prevent Too much ambient light shines into the lens of the camera unit 21 and causes image distortion of the real-time image I. Wherein, the image processing module 22 is illustratively an image processor with a transmission function, and can generate the control signal S according to the analysis result after analyzing the image content of the real-time image I.

The spraying device 3 includes an accommodating unit 31 , and a plurality of spraying units 32 disposed on the pole 13 and connected to the accommodating unit 31 . The accommodating unit 31 includes a container 311 suitable for accommodating a spray liquid, a transmission member 312 connected to the container 311 and suitable for circulating the spray liquid, and a transmission member 312 connected to generate a transmission force The pressure part 313. The spraying units 32 are connected with the image processing module 22 in information, and through the control signal S and the transmission force provided by the pressurizing member 313, the corresponding spraying units 32 can spray the crops C smoothly. Spray liquid. Preferably, the spray liquid can be selected from ground water, tap water, nutrients or pesticides and the like. The composition of the nutrient is selected from elements beneficial to plant growth such as nitrogen, phosphorus, potassium, calcium, magnesium, etc., and the pesticide is selected from fungicides, insecticides, herbicides, plant growth regulators, Molluscicide or algaecide, etc.

Each spraying unit 32 has a spray bar 321 extending horizontally from the pole 13, a spray head 322 arranged at the end of the spray bar 321, and a joint between the spray bar 321 and the pole 13 for An adjustment member 323 for adjusting the inclination angle of the spray bar 321 . Each spray rod 321 has a hollow fixed portion 321a connected to the upright rod 13 , and a telescopic portion 321b extending through the fixed portion 321a. Each of the spray heads 322 is individually arranged at the end of the corresponding telescopic portion 321b and can be rotated to adjust its spraying angle, and the telescopic position of the spray head 322 can be further adjusted by moving the corresponding telescopic portion 321b. The adjustment members 323 can adjust the overall inclination angle of the spray bar 321 according to the planting positions of the crops C. The telescopic parts 321b can adjust the telescopic positions of the nozzles 322 according to the body size of the camera unit 21, and by changing the relative distance between the nozzles 322 and the camera unit 21, the camera unit 21 can reduce the number of shots taken by the camera unit 21. The lens is contaminated by the spray liquid, which can improve the accuracy of identification.

In the first embodiment, the spraying device 3 includes three spraying units 32 arranged on the pole 13 at intervals and substantially in the same direction as the photographing direction. The spraying units 32 spray the spraying liquid in the same direction, one of the spraying units 32 is arranged on the pole 13 adjacent to the camera unit 21, and the spraying direction of one of the spraying units 32 is the same as that of the camera unit 21. The photographing direction is the same, and the other two spraying units 32 are arranged at opposite sides of the photographing unit 21 at equidistant intervals. Specifically, the spraying units 32 use solenoid valves as the control elements of the spraying liquid, and can quickly control the corresponding solenoid valves to open or close according to the received control signal S.

The remote control device 4 is in information connection with the drive unit 12 and the data processing module 142 , and is used to transmit a remote control signal F to control the movement of the mobile device 1 to the drive unit 12 . Preferably, the remote control device 4 is exemplarily selected from intelligent communication mobile devices such as smart phones, smart watches, and portable smart tablets, and the data processing module 142 will transmit the environmental image E to the remote control device 4. The remote control device 4 can display the environment image E for the user to interpret, and then transmit the remote control signal F to the mobile device 1 to control its walking. Of course, the remote control device 4 can also manipulate the mobile device 1 to walk by direct visual means, and can directly control the vehicle body 11 to move forward in response to an unexpected situation where the data processing module 142 fails to operate due to a failure. Appropriate repair location to move.

Referring to Fig. 1, Fig. 2 and Fig. 4, after the first embodiment is set up, the user first sets the marker 143 along the moving path, and then in the first embodiment, the photographing member 141 can take pictures of the marker After the environment image E is generated by the component 143 , the movement information M is transmitted to the drive unit 12 through the data processing module 142 . At this point, the drive unit 12 has successfully stored the movement information M, and can enable the mobile device 1 to automatically walk along the movement path. When the first embodiment passes through the crops C, the image processing module 22 will receive the real-time image I from the camera unit 21 to generate the control signal S, and the control signal S will be immediately transmitted to the spraying units 32, enabling the spraying units 32 to complete the opening action within 500 milliseconds, and spray the spraying liquid to the crops C immediately.

In order to accurately identify the positions of the crops C, the image processing module 22 sequentially executes a segmentation program, a definition program, and an operation program to complete the purpose of identifying the green leaves of the crops C. Firstly, the segmentation process is a segmentation process of dividing the real-time image I into a plurality of blocks B corresponding to the spraying units 32 according to the number of the spraying units 32 . Then, the definition procedure is to divide the block B into an effective color block G corresponding to the green leaf position and a background color other than the effective color block G according to the green leaf positions of the crops C in each block B. Block D, and define a threshold value of the area ratio of the effective color block G and the background color block D. Finally, the operating procedure is to transmit the control signal S to the corresponding spraying unit 32 for spraying when the area ratio of any one of the blocks B exceeds the threshold. When the image processing module 22 actually identifies green leaves, the effective color block G is to identify the green area in the real-time image I, and the background color block D refers to the range outside the green area, and in the first embodiment Indicated by a black block.

Among them, the threshold can be flexibly adjusted according to the light and shade of the surrounding environment. Specifically, if the spraying operation is performed during the daytime in the first embodiment, the threshold is exemplarily set to 45%. In the first embodiment, if the spraying operation is performed in dim light such as early morning or dusk, the threshold is exemplarily set to 25%. If the spraying operation is performed at night in the first embodiment, the threshold is exemplarily set at 5-10%. In addition, the threshold can also be adjusted according to the size of the green leaves of the crops C, and the threshold can be raised when the green leaves of the crops C are larger, or lowered when the green leaves of the crops C are smaller , the spray liquid can be accurately sprayed according to the growth status of the crops C, so as to respond to the flexible spraying operation between large-leaved plants such as Ficus lyricus or small-leafed plants such as fenugreek. And when the varieties of the crops C and the spraying period have been determined, the user can set the threshold suitable for the range interval, so that the image processing module 22 can effectively interpret the green leaf area of the crops C, so as to achieve correct The effects of the crops C are identified.

It should be particularly noted that, for the above-mentioned definition program, the image processing module 22 preferably smoothes the image through image processing methods such as Gaussian blur method, and then exemplarily through methods such as python, JAVA, C++, etc. The programming language and information are connected to color recognition databases such as opencv for analysis and comparison. Also, the image processing module 22 can capture the red, green and blue (Red, Blue, Green, RGB) intervals in the real-time image I, and use hue, saturation and lightness (Hue, Saturation, Value , HSV) and other parameter differences are distinguished, and then the color block range from the light green block (36,255,255) to the dark green block (86,255,255) in the real-time image I is regarded as the effective color block G. The range of color blocks mentioned above is to observe the color change of these crops C from budding stage to mature stage, and the setting of the color change caused by these crops C is integrated with environmental light factors. In this way, the image processing module 22 can quickly and correctly interpret the green leaf area in the real-time image I, which improves the identification efficiency.

Referring to Fig. 1, Fig. 2 and Fig. 5, if the actual spraying of these crops C such as rice or wheat, etc. is relatively short, as an example, when the first embodiment goes through these crops C, it is first through the camera The unit 21 shoots the real-time image I, and the image processing module 22 immediately recognizes the green leaf areas of the lower crops C, and then transmits the control signal S to the spraying unit 32 and the spraying unit at the bottom 32. After receiving the control signal S, the above-mentioned two spraying units 32 can perform accurate spraying operations on the green leaf areas of the crops C, so as to achieve the effect of precise spraying.

Referring to Fig. 1, Fig. 2 and Fig. 6, if the actual spraying such as grapes or passion fruit has climbing characteristics and only grows in these crops C at a higher position as the sprayed object as an example. Similarly, the image processing module 22 will identify the green leaves of the crops C at a higher position, and then transmit the control signal S to the spraying unit 32 at the top. In this way, the precise spraying effect can be achieved, and at the same time, the other two spraying units 32 can avoid unnecessary spraying toward areas not covered by the crops C, thereby reducing waste.

Referring to Fig. 7, it is a second embodiment of the new spraying system, the structure of the second embodiment is substantially the same as that of the first embodiment, but the difference is that the spraying device 3 of the second embodiment includes six The spraying units 32 arranged on the vertical pole 13 are arranged in groups of two by two. The spraying units 32 of each two-by-two group are opposite to each other, and the identification device 2 includes two opposite to each other and adjacent to one of the two-by-two spraying units 32 arranged on the pole 13 The camera unit 21 and the other two spraying units 32 in groups of two are arranged on opposite sides of the camera units 21 respectively. In this second embodiment, the crops C are spaced on opposite sides along the moving path, and the spraying direction of one of the spraying units 32 in groups of two is the same as the shooting direction of the camera units 21. The directions are the same and each faces the crops C. In this way, while the vehicle body 11 is walking, the spraying operation can be effectively performed on the crops C located on opposite sides, which greatly saves the spraying time.

To sum up, the new sprinkler system, through the driving unit 12 and the imaging unit 14 , enables the vehicle body 11 to realize automatic walking according to the movement information M transmitted by the data processing module 142 . The image processing module 22 can accurately identify the positions of the green leaves of the crops C in the real-time image I while the vehicle body 11 is moving automatically, and transmit the control signal S to the corresponding spraying unit 32, so that the Wait for crop C to perform a quick and precise spraying operation. In addition, the remote control device 4 can also directly and remotely control the walking of the car body 11 , which can effectively respond to emergencies to meet maintenance needs. Therefore really can reach the purpose of this novelty.

But the above-mentioned ones are only embodiments of the present invention, and should not limit the scope of implementation of the present invention with this. All simple equivalent changes and modifications made according to the patent scope of the present application and the content of the patent specification are still within the scope of the present invention. Within the scope covered by this patent.

1:Mobile device 11: car body 111: body 112: front 113: wheel 12: Drive unit 13: Pole 14: Image acquisition unit 141: Photograph 142: Data processing module 143: Labeling parts 2: Identification device 21: Camera unit 22: Image processing module 3: spraying device 31:Accommodating unit 311: packing box 312:Transmission 313:Pressure parts 32: spraying unit 321: Spray boom 321a: fixed part 321b: telescopic part 322: Nozzle 323: Adjustment parts 4: Remote control device C: crops L: axis H: horizontal line M:Mobile information F: remote control signal E: Environment image I: Live Image S: Control signal B: block G: effective color block D: background color block

Other features and functions of the present invention will be clearly presented in the implementation manner with reference to the drawings, wherein: Fig. 1 is a schematic diagram illustrating a first embodiment of the novel sprinkler system; Fig. 2 is a block diagram illustrating the information connection relationship of a mobile device, an identification device, a spraying device and a remote control device in the first embodiment; Fig. 3 is a partially enlarged perspective view illustrating the connection relationship of the moving device, the identifying device and the spraying device of the first embodiment; FIG. 4 is a schematic diagram illustrating that an image processing module of the first embodiment recognizes images of a plurality of crops; Fig. 5 is a schematic diagram illustrating that the spraying device can open the corresponding sprinklers in response to the positions of the low crops; Fig. 6 is a schematic diagram illustrating that the spraying device can turn on the corresponding sprinklers in response to the higher crop positions; and Figure 7 is a schematic diagram illustrating a second embodiment of the novel sprinkler system.

1:Mobile device

11: car body

111: body

112: front

113: wheel

12: Drive unit

13: Pole

14: Image acquisition unit

141: Photograph

142: Data processing module

143: Labeling parts

2: Identification device

21: Camera unit

22: Image processing module

3: spraying device

31:Accommodating unit

311: packing box

312:Transmission

313:Pressure parts

32: spraying unit

321: Spray boom

322: Nozzle

C: crops

L: axis

H: horizontal line

Claims (10)

A sprinkler system comprising: A moving device, which walks along a moving path, and includes a vehicle body, a drive unit arranged on the vehicle body and used to drive the vehicle body, and a vertical pole extending upward from the vehicle body; An identification device is arranged on the pole, and includes at least one camera unit suitable for shooting a plurality of crops to generate a real-time image, and an information connection to the camera unit for identifying the crops in the real-time image. an image processing module that generates a control signal for determining the position of the crops; and A spraying device is arranged on the mobile device and includes a storage unit suitable for containing a spray liquid, and a plurality of spraying units arranged on the pole and connected to the storage unit, the spraying units and the image The information connection of the processing module is used to control the corresponding spraying unit to spray the spraying liquid towards the crops according to the control signal. The spraying system as described in Claim 1, wherein the spraying device includes three spraying units arranged at intervals on the pole, and the spraying units spray the spraying liquid in the same direction, and the identification device includes a camera unit, the spraying direction of the spraying unit is the same as the photographing direction of the camera unit, and the other two spraying units are respectively arranged on opposite sides of the above-mentioned spraying unit. The spraying system as claimed in claim 1, wherein the spraying device includes six spraying units arranged in groups of two by two and spaced from each other on the pole, and each of the spraying units in groups of two by two is opposite to each other Setting, the identification device includes two camera units that are opposite to each other and are adjacent to one of the two-by-two spraying units on the pole, and one of the two-by-two spraying units The spraying directions are the same as the shooting directions of the camera units, and the other two spray units in pairs are respectively arranged on the opposite sides of the camera units. The spraying system according to any one of claims 1 to 3, wherein the image processing module is used to execute: A segmentation process, according to the number of the spraying units, the real-time image is divided into a plurality of blocks respectively corresponding to the spraying units; A definition program, according to the position of the green leaves of the crops in each block, the block is divided into an effective color block corresponding to the green leaf position, and a background color block other than the effective color block, and defines a a threshold value for the area ratio of the active color patch to the background color patch; and An operation program, when the area ratio of any one of the blocks exceeds the threshold value, the corresponding spraying unit is controlled to perform spraying operations. The spraying system according to any one of claims 1 to 3, wherein the mobile device further includes an imaging unit arranged on the vehicle body and connected to the drive unit in information, the imaging unit has a environment to generate a photographic part of an environmental image, and a data processing module that is connected with the photographic part and used to interpret the environmental image to generate a movement information, and transmits to the drive unit. The spraying system as claimed in item 5, wherein the driving unit is used to store the movement information to make the vehicle body walk along the movement path. The spraying system as described in any one of claims 1 to 3, further comprising a remote control device connected to the drive unit, wherein the remote control device is used to transmit a remote control signal for controlling the movement of the mobile device to the Drive unit. The spraying system according to any one of claims 1 to 3, wherein each spraying unit has a spray bar extending horizontally from the pole, a spray head arranged at the end of the spray bar, and a spray bar connected to the spray bar. An adjustment piece between the spray bar and the vertical bar for adjusting the inclination angle of the spray bar. The spraying system according to claim 8, wherein each of the spray rods has a hollow fixed part connected to the vertical rod, and a telescopic part extending through the fixed part, and the spray heads are respectively arranged on ends of the telescoping portions. The spraying system according to any one of claims 1 to 3, wherein the vehicle body has a vehicle body for carrying the accommodating unit and the spraying unit, and a vehicle body accommodating the drive unit and connected to the vehicle body Make this vehicle body turn the headstock of walking.

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