TWM639781U - Spraying system - Google Patents
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Description
本新型是有關於一種噴灑系統,特別是指一種農用的噴灑系統。The present invention relates to a spraying system, in particular to an agricultural spraying system.
近年來,我國務農人口逐漸下降。為因應務農人力之短缺,故能夠自動灌溉農作物之噴灑系統被積極開發。現有的該噴灑系統具有自動灑水、自動噴灑液肥或自動噴灑藥物等功能,農務人員便可在有限之人力內完成大量農務作業。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.
然而,該現有的噴灑系統僅能在固定位置噴灑,且在因應寬廣的植栽地時,需花費大量成本設置眾多的噴灑器方能完整澆灌。就單一個噴灑器而言,也僅能在特定高度噴灑作業,無法有效針對如葡萄或百香果等具快速生長變化之爬藤類植物之生長位置實行重點噴灑,致實務上仍需額外透過人力來完成農務。故該現有的噴灑系統除了無法有效提升噴灑效率外,還容易造成噴灑液之浪費。據此,該現有的噴灑系統確實有改進之必要性。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.
因此,本新型之目的,即在提供一種能進行全自動化之精準噴灑作業的噴灑系統。Therefore, the purpose of the present invention is to provide a spraying system capable of fully automated precise spraying operations.
於是,本新型噴灑系統,包含一移動裝置、一連接該移動裝置的辨識裝置,及一設置在該移動裝置上噴灑裝置。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.
該移動裝置沿一移動路徑行走,並包括一車體、一設置在該車體且用以驅動該車體的驅動單元,及一自該車體向上延伸的立桿。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.
該辨識裝置設置在該立桿,並包括至少一適用於朝複數個農作物拍攝而產生一即時影像的攝像單元,及一資訊連接該攝像單元且用以辨別該即時影像中之該等農作物而產生一判斷該等農作物位置之控制訊號的影像處理模組。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.
該噴灑裝置包括一適用於容納一噴灑液的容置單元,及複數個設置在該立桿且連通該容置單元的噴灑單元。該等噴灑單元與該影像處理模組資訊連接,並根據該控制訊號來操控對應之該噴灑單元朝向該等農作物噴灑該噴灑液。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.
本新型之功效在於:該車體藉由該移動裝置沿該移動路徑行走的同時,透過該影像處理模組來有效辨識該即時影像中該等農作物之綠葉區域,再據此開啟對應之該噴灑單元以進行噴灑,以達自動化之精準噴灑的效果。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.
在本新型被詳細描述之前,應當注意在以下的說明內容中,類似的元件是以相同的編號來表示。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.
參閱圖1、圖2及圖3,本新型噴灑系統之一第一實施例,包含一移動裝置1、一連接該移動裝置1的辨識裝置2、一設置在該移動裝置1上的噴灑裝置3,及一與該移動裝置1資訊連接的遙控裝置4。本第一實施例適用於噴灑複數個農作物C,該等農作物C可以例示性地為稻米、小麥、胡蘿蔔、馬鈴薯、玉米、葡萄或小番茄等,且本第一實施例在此是以行走在種植該等農作物C之農田中的情況為例而說明。為簡化圖面表達,本第一實施例之該等農作物C是以一個該農作物C來表示。Referring to Fig. 1, Fig. 2 and Fig. 3, a first embodiment of the new spraying system includes a
該移動裝置1包括一車體11、一設置在該車體11且用以驅動該車體11進行移動的驅動單元12、一自該車體11鉛直向上延伸的立桿13,及一設置在該車體11且資訊連接該驅動單元12的取像單元14。該車體11具有一用以乘載該辨識裝置2與該噴灑裝置3且設有該立桿13的車身111、一用以容設該驅動單元12且連接該車身111的車頭112,及四個兩兩一組地分別設置在該車身111與該車頭112底部的車輪113。藉由該車身111與該車頭112之兩段式設計,該車頭112可相對於該車身111擺動,使該車頭112能達到約80度之大角度旋轉,因而得以相對順暢地轉彎行走,優化了該車體11的移動靈活度。該立桿13則是沿一鉛直延伸之軸線L設置,且位於該車身111遠離該車頭112之一側而與該車頭112彼此間隔,使該車身111騰出足夠空間來設置該噴灑裝置3。The
該取像單元14是用以輔助該驅動單元12來帶動該車體11行走,並具有一適用於拍攝周遭環境而產生一環境影像E的拍攝件141,及一與該拍攝件141資訊連接且用以判讀該環境影像E而產生一移動資訊M,並將該移動資訊M傳輸至該驅動單元12的資料處理模組142。其中,該驅動單元12可以用來儲存該移動資訊M,並可依據該移動資訊M所儲存之內容來帶動該車體11沿一移動路徑行走。舉例而言,該移動路徑可以是種植該等農作物C之田埂,便可使該車體11穩定地在該等農作物C間行走。The
較佳地,該取像單元14還具有一適用於沿該移動路徑設置在地面上且供該拍攝件141拍攝的標示件143。該拍攝件141可以透過拍攝該標示件143以產生該環境影像E,並將該環境影像E傳輸至該資料處理模組142以產生該移動資訊M。更佳地,該標示件143是採用與地面色彩反差之顏色,而其表面塗覆有防止泥土沾附之抗沾黏塗層,即可有效地供該拍攝件141拍攝以取得更清晰之該環境影像E,可更準確地判斷出該移動路徑。Preferably, the
該辨識裝置2包括至少一設置在該立桿13且適用於沿一拍攝方向朝該等農作物C拍攝而產生一即時影像I的攝像單元21,及一資訊連接該攝像單元21且用以辨識該即時影像I中之該等農作物C而產生一控制訊號S的影像處理模組22。其中,定義出一自該攝像單元21朝該等農作物C水平延伸的水平線H,該攝像單元21之該拍攝方向較佳是沿該水平線H朝地面向下傾斜10度而進行拍攝,便可防止過多的環境光線照入該攝像單元21之鏡頭而造成該即時影像I的影像失真。其中,該影像處理模組22例示性地為一種具傳輸功能的圖像處理器,且能夠在分析該即時影像I之圖像內容後,根據其分析結果來產生該控制訊號S。The
該噴灑裝置3包括一容置單元31,及複數個設置在該立桿13且連通該容置單元31的噴灑單元32。該容置單元31包括一適用於容納一噴灑液的盛裝箱311、一連通該盛裝箱311且適用於流通該噴灑液的傳輸件312,及一連接該傳輸件312且用以產生一傳輸力的加壓件313。該等噴灑單元32與該影像處理模組22資訊連接,並透過該控制訊號S與該加壓件313所提供之該傳輸力,使對應之該噴灑單元32順利地向該等農作物C噴灑該噴灑液。較佳地,該噴灑液可以選自地下水、自來水、營養劑或農藥等。所述之營養劑之成分係選自含有氮、磷、鉀、鈣、鎂等對植物生長有益之元素,所述之農藥則選自殺菌劑、殺蟲劑、除草劑、植物生長調節劑、除螺劑或除藻劑等。The
每一個該噴灑單元32具有一自該立桿13水平延伸的噴桿321、一設置在該噴桿321末端的噴頭322,及一銜接在該噴桿321與該立桿13之間且用以調整該噴桿321之傾斜角度的調整件323。每一個該噴桿321具有一連接該立桿13而呈中空狀的固定部321a,及一穿伸於該固定部321a的伸縮部321b。每一個該噴頭322是個別設置在對應之該伸縮部321b末端且可透過旋轉來調整其噴灑角度,並搭配移動對應之該伸縮部321b,可以進一步調整該噴頭322的伸縮位置。該等調整件323可以針對該等農作物C之種植位置而調整該噴桿321之整體傾斜角度。該等伸縮部321b則可因應該攝像單元21之機身大小來調整該等噴頭322之伸縮位置,並透過改變該等噴頭322與該攝像單元21的相對距離,可減少該攝像單元21之攝影鏡頭被該噴灑液所沾染,可增進辨識準確度。Each
在本第一實施例中,該噴灑裝置3包括三個彼此間隔設置在該立桿13且與該拍攝方向實質上同向設置的該噴灑單元32。該等噴灑單元32是朝相同方向噴灑該噴灑液,其中一個該噴灑單元32是緊鄰於該攝像單元21而設置在該立桿13,其中一個該噴灑單元32之噴灑方向與該攝像單元21之拍攝方向相同,另外二個該等噴灑單元32則是分別等距間隔設置在該攝像單元21之相反兩側。具體來說,該等噴灑單元32是使用電磁閥作為該噴灑液之控制元件,並可根據所接收之該控制訊號S來快速操控對應之該電磁閥執行開啟或關閉的動作。In the first embodiment, the
該遙控裝置4與該驅動單元12及該資料處理模組142資訊連接,並用以傳輸一操控該移動裝置1行走之遠端操控訊號F至該驅動單元12。較佳地,該遙控裝置4例示性地選自智慧型手機、智慧型手錶、攜帶式智慧型平板等智慧型通訊行動裝置,且該資料處理模組142會將該環境影像E傳輸至該遙控裝置4。該遙控裝置4能夠顯示該環境影像E以供使用者判讀,進而傳輸該遠端操控訊號F至該移動裝置1來操控其行走。當然,該遙控裝置4也可以透過直接目視的方式來操縱該移動裝置1行走,便可因應如該資料處理模組142因故障而無法運作之突發狀況發生時,直接操控該車體11往適當的修繕地點進行移動。The
參閱圖1、圖2及圖4,本第一實施例完成設置後,使用者是先沿該移動路徑設置該標示件143,後續本第一實施例即可藉由該拍攝件141拍攝該標示件143而產生該環境影像E後,再透過該資料處理模組142將該移動資訊M傳輸至該驅動單元12。此時,該驅動單元12已成功儲存該移動資訊M,且可使該移動裝置1沿該移動路徑實現自動化行走。當本第一實施例行經該等農作物C時,該影像處理模組22會自該攝像單元21接收該即時影像I來產生該控制訊號S,該控制訊號S會立刻傳輸至該等噴灑單元32,使該等噴灑單元32能夠在500毫秒內完成開啟動作,即時地向該等農作物C噴灑該噴灑液。Referring to Fig. 1, Fig. 2 and Fig. 4, after the first embodiment is set up, the user first sets the
為準確辨識出該等農作物C之位置,該影像處理模組22是依序執行一分割程序、一定義程序,及一作業程序來完成辨識該等農作物C綠葉之目的。首先,該分割程序是依據該等噴灑單元32之數量,將該即時影像I劃分成多個分別對應該等噴灑單元32之區塊B的分割程序。接著,該定義程序是根據每一個該區塊B中該等農作物C之綠葉位置,將該區塊B區分成一對應該綠葉位置之有效色塊G,與一個該有效色塊G以外之背景色塊D,並定義出一該有效色塊G與該背景色塊D之面積比例的閾值。最後,該作業程序是於任一個該區塊B之面積比例超過該閾值時,便會傳輸該控制訊號S至對應之該噴灑單元32進行噴灑作業。該影像處理模組22在實際辨識綠葉時,該有效色塊G是辨識該即時影像I中的綠色區域,該背景色塊D則是指綠色區域以外的範圍,並在本第一實施例中以黑色色塊來表示。In order to accurately identify the positions of the crops C, the
其中,該閾值能針對周遭環境之光線明暗進行彈性調整。具體而言,若本第一實施例在白天執行噴灑作業時,該閾值例示性地設定為45%。若本第一實施例在清晨或黃昏等光線昏暗時執行噴灑作業,該閾值例示性地設定為25%。若本第一實施例在晚上執行噴灑作業時,該閾值則例示性地設定為5~10%。此外,該閾值也能針對該等農作物C的綠葉大小來進行調整,並當該等農作物C之綠葉較大時調升該閾值,或是在該等農作物C之綠葉較小時調降其閾值,便可精準地針對該等農作物C之生長現況噴灑該噴灑液,以因應在如琴葉榕等大葉片植物或清香木等小葉片植物之間彈性地執行噴灑作業。且當該等農作物C之品種及噴灑時段已決定時,使用者可透過設定適合範圍區間之該閾值,使該影像處理模組22可有效判讀出該等農作物C中的綠葉區域,以達到正確辨識該等農作物C的效果。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
要特別說明的是,針對所述之定義程序,該影像處理模組22較佳是先透過如高斯模糊法等圖像處理方式來平滑圖像,再例示性地透過如python、JAVA、C++等程式語言而資訊連接如opencv等顏色辨識資料庫來進行分析比對。又,該影像處理模組22能針對該即時影像I中的紅色、綠色及藍色(Red, Blue, Green,RGB)區間進行擷取,並以色相、飽和度及明度(Hue, Saturation, Value,HSV)等參數差異進行區分,再將該即時影像I中之淺綠色塊(36,255,255)至深綠色塊(86,255,255)之色塊範圍均視為該有效色塊G。前述之色塊範圍是為了觀察該等農作物C自嫩芽期轉化至成熟期的顏色變化,且綜合了環境光線因素對該等農作物C所造成的顏色變化所做出的設定。如此,該影像處理模組22可快速且正確地判讀出該即時影像I中之綠葉區域,提升了辨識效率。It should be particularly noted that, for the above-mentioned definition program, the
參閱圖1、圖2及圖5,若以實際噴灑如稻米或小麥等較低矮之該等農作物C為例時,當本第一實施例行經該等農作物C,是先藉由該攝像單元21拍攝該即時影像I,該影像處理模組22會立即辨識出較低矮之該等農作物C之綠葉區域,再將該控制訊號S傳輸至該噴灑單元32與位於最下方之該噴灑單元32。上述兩個該噴灑單元32在接收該控制訊號S後,可針對該等農作物C之綠葉區域進行準確的噴灑作業,以達精準噴灑的效果。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
參閱圖1、圖2及圖6,若是以實際噴灑如葡萄或百香果等具爬藤特性,且僅生長在較高位置之該等農作物C作為被噴灑之對象為例時。同樣地,該影像處理模組22會辨識出較高位置之該等農作物C之綠葉區域,再將該控制訊號S傳輸至位於最上方之該噴灑單元32。便可在達成精準噴灑效果的同時,還能避免其它二個該噴灑單元32朝向非該等農作物C所涵蓋之區域而進行無謂的噴灑,可減少浪費。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
參閱圖7,為本新型噴灑系統之一第二實施例,本第二實施例與該第一實施例的結構大致相同,但不同的地方在於:本第二實施例之該噴灑裝置3包括六個兩兩一組而彼此間隔設置在該立桿13之該噴灑單元32。每一個兩兩一組之該等噴灑單元32是彼此反向設置,該辨識裝置2包括二個彼此反向且與其中一個兩兩一組之該等噴灑單元32緊鄰而設置在該立桿13之該攝像單元21,另外二個兩兩一組之該等噴灑單元32則是分別設置在該等攝像單元21之相反兩側。在本第二實施例中,該等農作物C是沿該移動路徑間隔在相反兩側,所述之其中一個兩兩一組之該等噴灑單元32之噴灑方向是與該等攝像單元21之拍攝方向相同而各自朝向該等農作物C。如此,可在該車體11行走的同時,有效針對位於相反兩側之該等農作物C執行噴灑作業,大幅節省了噴灑時間。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
綜上所述,本新型噴灑系統,透過該驅動單元12及該取像單元14,使該車體11能依循該資料處理模組142所傳輸之該移動資訊M來實現自動行走。該影像處理模組22則可以在該車體11進行自動行走的同時,準確辨識該即時影像I中該等農作物C之綠葉位置,並傳輸該控制訊號S至對應之該噴灑單元32,使該等農作物C執行快速且精準的噴灑作業。此外,該遙控裝置4還能夠直接遠端操控該車體11行走,可有效因應突發狀況的發生以滿足維修需求。故確實能達成本新型之目的。To sum up, the new sprinkler system, through the driving
惟以上所述者,僅為本新型之實施例而已,當不能以此限定本新型實施之範圍,凡是依本新型申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾,皆仍屬本新型專利涵蓋之範圍內。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:移動裝置
11:車體
111:車身
112:車頭
113:車輪
12:驅動單元
13:立桿
14:取像單元
141:拍攝件
142:資料處理模組
143:標示件
2:辨識裝置
21:攝像單元
22:影像處理模組
3:噴灑裝置
31:容置單元
311:盛裝箱
312:傳輸件
313:加壓件
32:噴灑單元
321:噴桿
321a:固定部
321b:伸縮部
322:噴頭
323:調整件
4:遙控裝置
C:農作物
L:軸線
H:水平線
M:移動資訊
F:遠端操控訊號
E:環境影像
I:即時影像
S:控制訊號
B:區塊
G:有效色塊
D:背景色塊
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:
本新型之其他的特徵及功效,將於參照圖式的實施方式中清楚地呈現,其中: 圖1是一示意圖,說明本新型噴灑系統的一第一實施例; 圖2是一方塊圖,說明該第一實施例中,一移動裝置、一辨識裝置、一噴灑裝置與一遙控裝置的資訊連接關係; 圖3是一局部放大的立體圖,說明該第一實施例的該移動裝置、該辨識裝置及該噴灑裝置的連接關係; 圖4是一示意圖,說明該第一實施例的一影像處理模組針對複數個農作物之影像進行辨識; 圖5是一示意圖,說明該噴灑裝置能因應低矮之該等農作物位置開啟對應之該等噴頭; 圖6是一示意圖,說明該噴灑裝置能因應較高之該等農作物位置開啟對應之該噴頭;及 圖7是一示意圖,說明本新型噴灑系統的一第二實施例。 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:移動裝置 1:Mobile device
11:車體 11: car body
111:車身 111: body
112:車頭 112: front
113:車輪 113: wheel
12:驅動單元 12: Drive unit
13:立桿 13: Pole
14:取像單元 14: Image acquisition unit
141:拍攝件 141: Photograph
142:資料處理模組 142: Data processing module
143:標示件 143: Labeling parts
2:辨識裝置 2: Identification device
21:攝像單元 21: Camera unit
22:影像處理模組 22: Image processing module
3:噴灑裝置 3: spraying device
31:容置單元 31:Accommodating unit
311:盛裝箱 311: packing box
312:傳輸件 312:Transmission
313:加壓件 313:Pressure parts
32:噴灑單元 32: spraying unit
321:噴桿 321: Spray boom
322:噴頭 322: Nozzle
C:農作物 C: crops
L:軸線 L: axis
H:水平線 H: horizontal line
Claims (10)
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TW111212956U TWM639781U (en) | 2022-11-24 | 2022-11-24 | Spraying system |
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TW111212956U TWM639781U (en) | 2022-11-24 | 2022-11-24 | Spraying system |
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Publication Number | Publication Date |
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TWM639781U true TWM639781U (en) | 2023-04-11 |
Family
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI832782B (en) * | 2023-07-05 | 2024-02-11 | 國立屏東科技大學 | Field sprinkler system |
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2022
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI832782B (en) * | 2023-07-05 | 2024-02-11 | 國立屏東科技大學 | Field sprinkler system |
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