CN109511630A - Intelligent sprayer with target following function - Google Patents

Intelligent sprayer with target following function Download PDF

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Publication number
CN109511630A
CN109511630A CN201710859029.9A CN201710859029A CN109511630A CN 109511630 A CN109511630 A CN 109511630A CN 201710859029 A CN201710859029 A CN 201710859029A CN 109511630 A CN109511630 A CN 109511630A
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China
Prior art keywords
image
target
camera
nozzle
laser lamp
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CN201710859029.9A
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Chinese (zh)
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CN109511630B (en
Inventor
李琦
夏青元
许立松
曹振东
彭玺
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides

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  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention relates to a kind of Intelligent sprayers with target following function, including Self-stabilization holder, camera, laser lamp, nozzle, water storage bottle, image processor, motor and image pick-up card；The nozzle, laser lamp and camera are fixed on Self-stabilization holder, and camera is for shooting image and sending an image to image processor by image pick-up card；Image processor is split the image of acquisition, distinguishes target and background, and target position information is sent to the motion platform for carrying Intelligent sprayer；Laser lamp is used for run-home, and for storing liquid for jetting, nozzle connects water storage bottle with motor.The present invention utilizes image recognition Automatic-searching target, and target is accurately sprayed in realization.

Description

Intelligent sprayer with target following function
Technical field
The present invention relates to agricultural mechanical field more particularly to a kind of Intelligent sprayers with target following function.
Background technique
Currently, the application to unmanned vehicle gradually spreads the every field such as industry, agricultural.
In terms of agricultural or garden plant, existing method is that pesticide spray head is directly carried with manual manipulation unmanned plane mostly, right Crop etc. is sprayed, and has not only consumed a large amount of manpower in this way, but also part pesticide is made to be sprayed to useless place, waste Vast resources.
Summary of the invention
The purpose of the present invention is to provide a kind of Intelligent sprayers with target following function, and making up the prior art can not be certainly The main deficiency for finding target.
Realize the technical solution of the object of the invention are as follows: a kind of Intelligent sprayer with target following function, including self-stabilization Holder, camera, laser lamp, nozzle, water storage bottle, image processor, motor and image pick-up card；The nozzle, laser lamp and phase Machine is fixed on Self-stabilization holder, and camera is for shooting image and sending an image to image processor by image pick-up card； Image processor is split the image of acquisition, distinguishes target and background, and target position information is sent to carrying intelligence The motion platform of spray head；Laser lamp is used for run-home, and for storing liquid for jetting, nozzle connects water storage bottle with motor.
Compared with prior art, advantages of the present invention are as follows:
(1) present invention handles the image of acquisition to obtain the location information of target object, and sends it to carrying Platform, carrying platform make corresponding moving operation to it again, so that corresponding target object enters corresponding sprinkling region It is interior, it does not need professional and carrying platform is directly operated；
(2) present invention can accurately spray target, save vast resources.
Detailed description of the invention
Fig. 1 is the Intelligent sprayer overall construction drawing that the present invention has target following function.
Fig. 2 is nozzle, laser lamp and camera position partial schematic diagram.
Fig. 3 is image processing process flow chart.
Specific embodiment
In conjunction with Fig. 1, Fig. 2, a kind of Intelligent sprayer with target following function, including Self-stabilization holder 1, camera 2, laser Lamp 3, nozzle 4, water storage bottle 5, image processor 6, motor 7 and image pick-up card 8；
The nozzle 4, laser lamp 3 and camera 2 are fixed on Self-stabilization holder 1, and camera 2 is for shooting image and passing through figure As capture card 8 sends an image to image processor 6；6 pairs of image processor acquisition images be split, distinguish target and Target position information is sent to the motion platform for carrying Intelligent sprayer by background；Laser lamp 3 is used for run-home, and water storage bottle 5 is used In storage liquid for jetting, nozzle 4 and motor 7 are connected, and motor 7 is used to draw liquid for jetting from water storage bottle 5 to spray head 4.
Further, laser lamp 3 is fixed on 2 lower section of camera, and nozzle 4 is fixed on 3 lower section of laser lamp, to prevent liquid from spraying It is dropped on camera lens when spilling.
Further, the treatment process of 6 pairs of image processor acquisition images are as follows:
Step 1: the pretreatment of image:
Brightness adjustment, removal noise are carried out to target image, original image is made to be normalized to standard picture；
Due to the similitude of target image structure, after many target image normalization, these images are in this superelevation Distribution not random or at random in space, there are certain rules.Therefore, a lower-dimensional subspace is converted by PCA Target image is described, while required identification information can be saved again.
Target identification is carried out step 2: converting using PCA
(1) training sample set is set as X=(x1, x2..., xN), N is the sum of training sample, xiFor i-th of training sample Image vector；
(2) covariance matrix is calculated:
(3) eigenvalue λ i and corresponding orthogonalization, normalization characteristic vector a are calculatedi, by characteristic value according to from big to small into Row sequence λ1≥λ2≥…≥λn；
(4) d maximum eigenvalue and its corresponding orthogonalization, normalization characteristic vector a before taking out1, a2..., ad, respectively This d feature vector is turned into p row q column matrix and obtains d width image, referred to as characteristic image；By characteristic image a1, a2..., ad? At the proper subspace of a dimensionality reduction；
(5) for any sample f to be identified, by obtaining its coefficient vector to characteristic image subspace projection:
Y=(a1, a2..., ad)Tf
Its reproduced image are as follows:
F '=(a1, a2 ..., ad) Ty
The signal-to-noise ratio of its reconstruction image:
If signal-to-noise ratio is less than threshold θ, target image by no means is sentenced.
Fig. 3 is image procossing main-process stream.Image data is acquired by camera, and is transmitted at image by image pick-up card It manages in device.Image processor carries out image analysis to incoming image data and obtains the location information of target, and then by target position Confidence breath is sent to carrying platform.Carrying platform is moved according to the location information received, finds corresponding target.

Claims (3)

1. a kind of Intelligent sprayer with target following function, which is characterized in that including Self-stabilization holder (1), camera (2), swash Light lamp (3), nozzle (4), water storage bottle (5), image processor (6), motor (7) and image pick-up card (8)；
The nozzle (4), laser lamp (3) and camera (2) are fixed on Self-stabilization holder (1), and camera (2) is for shooting image simultaneously Image processor (6) are sent an image to by image pick-up card (8)；Image processor (6) is split the image of acquisition, Target and background is distinguished, target position information is sent to the motion platform for carrying Intelligent sprayer；Laser lamp (3) is for aiming at Target, water storage bottle (5) is for storing liquid for jetting, nozzle (4) and motor (7) connection.
2. the Intelligent sprayer according to claim 1 with target following function, which is characterized in that laser lamp (3) is fixed Below camera (2), nozzle (4) is fixed below laser lamp (3).
3. the Intelligent sprayer according to claim 1 with target following function, which is characterized in that image processor (6) To the treatment process of acquisition image are as follows:
Step 1: the pretreatment of image
Brightness adjustment, removal noise are carried out to target image, original image is made to be normalized to standard picture；
Target identification is carried out step 2: converting using PCA
(1) training sample set is set as X=(x1, x2..., xN), N is the sum of training sample, xiFor i-th of training sample image Vector；
(2) covariance matrix is calculated:
(3) eigenvalue λ is calculatediAnd corresponding orthogonalization, normalization characteristic vector ai, by characteristic value according to arranging from big to small Sequence λ1≥λ2≥…≥λn。
(4) d maximum eigenvalue and its corresponding orthogonalization, normalization characteristic vector a before taking out1, a2..., ad, respectively by this D feature vector turns to p row q column matrix and obtains d width image, referred to as characteristic image；By characteristic image a1, a2..., adZhang Chengyi The proper subspace of a dimensionality reduction；
(5) for any sample f to be identified, by obtaining its coefficient vector to characteristic image subspace projection:
Y=(a1, a2..., ad)Tf
Its reproduced image are as follows:
F '=(a1, a2..., ad)Ty
The signal-to-noise ratio of its reconstruction image:
If signal-to-noise ratio is less than threshold θ, target image by no means is sentenced.
CN201710859029.9A 2017-09-20 2017-09-20 Intelligent sprayer with target tracking function Active CN109511630B (en)

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Application Number Priority Date Filing Date Title
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CN109511630B CN109511630B (en) 2021-09-21

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Citations (9)

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Publication number Priority date Publication date Assignee Title
CN101295401A (en) * 2008-06-05 2008-10-29 上海交通大学 Infrared point target detecting method based on linear PCA
CN101626489A (en) * 2008-07-10 2010-01-13 苏国政 Method and system for intelligently identifying and automatically tracking objects under unattended condition
CN102680488A (en) * 2012-03-31 2012-09-19 北京农业信息技术研究中心 Device and method for identifying massive agricultural product on line on basis of PCA (Principal Component Analysis)
CN103918636A (en) * 2014-04-29 2014-07-16 青岛农业大学 Intelligent spraying method based on image processing and spraying robot based on image processing
CN103988824A (en) * 2014-04-18 2014-08-20 浙江大学 Automatic targeting and spraying system based on binocular vision technology
CN104430272A (en) * 2014-11-06 2015-03-25 安徽农业大学 Intelligent self-propelled sprayer based on image processing
WO2015161352A1 (en) * 2014-04-22 2015-10-29 Da Costa Goerl Eduardo Unmanned aerial vehicle (uav) used for agricultural activity and the application of pesticides and fertilizers
CN205750557U (en) * 2016-07-06 2016-11-30 河北博鹰通航科技有限公司 A kind of plant protection unmanned plane using differential GPS to navigate
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CN101295401A (en) * 2008-06-05 2008-10-29 上海交通大学 Infrared point target detecting method based on linear PCA
CN101626489A (en) * 2008-07-10 2010-01-13 苏国政 Method and system for intelligently identifying and automatically tracking objects under unattended condition
CN102680488A (en) * 2012-03-31 2012-09-19 北京农业信息技术研究中心 Device and method for identifying massive agricultural product on line on basis of PCA (Principal Component Analysis)
CN103988824A (en) * 2014-04-18 2014-08-20 浙江大学 Automatic targeting and spraying system based on binocular vision technology
WO2015161352A1 (en) * 2014-04-22 2015-10-29 Da Costa Goerl Eduardo Unmanned aerial vehicle (uav) used for agricultural activity and the application of pesticides and fertilizers
CN103918636A (en) * 2014-04-29 2014-07-16 青岛农业大学 Intelligent spraying method based on image processing and spraying robot based on image processing
CN104430272A (en) * 2014-11-06 2015-03-25 安徽农业大学 Intelligent self-propelled sprayer based on image processing
KR20170040606A (en) * 2015-10-05 2017-04-13 조봉현 Apparatus for Paingting Road Sign
CN205750557U (en) * 2016-07-06 2016-11-30 河北博鹰通航科技有限公司 A kind of plant protection unmanned plane using differential GPS to navigate

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