CN109601517A - A kind of device and method of the pesticide spraying for multiclass weeds - Google Patents
A kind of device and method of the pesticide spraying for multiclass weeds Download PDFInfo
- Publication number
- CN109601517A CN109601517A CN201811543699.0A CN201811543699A CN109601517A CN 109601517 A CN109601517 A CN 109601517A CN 201811543699 A CN201811543699 A CN 201811543699A CN 109601517 A CN109601517 A CN 109601517A
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- Prior art keywords
- weeds
- processing system
- pesticide spraying
- sprinkling
- pesticide
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Classifications
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- 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
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
- A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
Abstract
The invention discloses a kind of device and methods of pesticide spraying for multiclass weeds, are made of multiple medicine slot medicine-chest, timing agitation equipment, camera, sensor, control system, computer processing system, sprinkling equipment, mechanical arm.The information such as type, position, the size of weeds are detected in conjunction with position sensor by CCD camera and are passed to computer processing system, the running of control system realization device and mechanical arm carry out the classification sprinkling precisely of pesticide, while weeding situation can be understood in real time by host computer.The present invention saves manpower, improves the utilization rate of pesticide, while improving the precision of pesticide hydrojet, realizes precise operation, can be applied to pesticide spraying in farmland and go to cut weeds.
Description
Technical field
The invention belongs to intelligent recognition and sensor technical field more particularly to a kind of pesticide sprayings for multiclass weeds
Device and method.
Background technique
Farmland weed is to adapt to ecological conditions and other social factors such as local crop, farming, weather for a long time and survive down
Come.Weed growth affects the yield of crops, increases production cost, brings very big loss to agricultural production.Pass through
It sprays insecticide and weeds can be effectively removed, improve crop yield.
Currently, the spraying operation of China's pesticide mainly has the modes such as artificial sprinkling and unmanned plane sprinkling.The side manually sprayed
Formula low efficiency lavishes labor on and generates injury to human body.Unmanned plane sprinkling saves manpower, but can only be directed to large area farming
The sprinkling on object surface, can not achieve precise operation, and the weeds sprayed for needs from cauline leaf cannot play spraying operation well.
In addition, spraying operation is mostly that a kind of pesticide is sprayed in one piece of farmland, and such pesticide handles some type weeds and imitates
Fruit is unsatisfactory, causes farmland weeding ineffective.
In conclusion to solve above-mentioned defect.Devise the pesticide for multiclass weeds of a precise operation
The device of sprinkling provides new approach for the pesticide spraying in farmland.
Summary of the invention
The present invention proposes a kind of device of pesticide spraying for multiclass weeds to solve deficiency in the prior art
And method, it is therefore intended that can be realized precise operation.
The technical solution adopted in the present invention is as follows:
A kind of device of the pesticide spraying for multiclass weeds, including fuselage, medicine-chest, sprinkling equipment, control system and meter
Calculation machine processing system,
The fuselage is equipped with several cameras, and the image information of acquisition is transmitted to computer disposal system by the camera
System；The medicine-chest and sprinkling equipment are arranged on fuselage, and the sprinkling equipment includes spray head and mechanical arm, and spray head passes through mechanical arm
It is fixedly mounted with fuselage,
The medicine-chest be multiple medicine slot medicine-chest, each group of drug slot include timing agitation device, light-duty water pump, flow sensor and
Liquid level sensor connects spray head by the way that liquid outlet is arranged on light-duty water pump, and the flow sensor and liquid level sensor connect respectively
Connect computer processing system, by drug slot flow and liquid level information be transferred in computer processing system；
The computer processing system is separately connected control system, and control output information is input to control system；It is described
Computer disposal system also carries out the real-time delivery of information by wireless communication with the end PC host computer,
Control system controls the running of spray head, mechanical arm and flusher, adjusts spray angle, side by control mechanical arm
To controlling the sprinkling of spray head；
Further, the control system can be handled using single-chip microcontroller；
Further, the fuselage is also provided with position sensor, and the position sensor connects computer processing system,
For the determination of weeds position, and the determination of row center line can be carried out in conjunction with camera；
Further, the fuselage is also provided with human body sensor, and the human body sensor connects computer processing system,
Characteristics of human body can be detected；
Further, the camera is CCD camera, and is equipped with 3, is separately positioned at fuselage headstock；
Further, the running of the flusher is energized by battery, and the battery connection cell voltage passes
Sensor, and battery voltage sensor connects computer processing system, and accumulator electric-quantity information is transferred to computer processing system；
A method of for the pesticide spraying of multiclass weeds, comprising the following steps:
Data acquisition: acquisition weeds information establishes data set；
Fluid injection: selecting pesticide variety according to weeds information, required pesticide is proportionally modulated mixing, injection is corresponding
Drug slot in；
Navigation and identification: it is equipped and is started by the end PC PC control, computer processing system is according to camera and position
Sensor combines acquisition data, is handled by Threshold segmentation, detects the line space and row center line of crops, and cooks up spray
The reference line for spilling device traveling, realizes the independent navigation function of equipment, while camera data information collected passes through volume
The characteristics of image of weeds is identified after product neural network (CNN) and filter process；
Sprinkling: being passed to control system for the judgement information that computer system gives, and obtained by flow sensor
The flow velocity of information control pesticide is to control the dose sprayed insecticide, and realization is sprayed according to the size of weeds plant, mechanical arm
It is stretched over the position sprayed needed for weeds, is sprayed, realizes precise operation；
Terminate: when in the image information of equipment acquisition without going out existing center line, spray drug operation is completed, and equipment stops,
The next step running of the end PC control equipment.
Further, the characteristics of image of the weeds includes weeds type, weeds color, growth position, plant size characteristic；
Further, the judgement information are as follows: the type and dose of the pesticide of the position of weeds and required sprinkling.
Beneficial effects of the present invention:
A kind of device and method of pesticide spraying for multiclass weeds proposed by the invention, can be automatically according to weeds
The more pesticide sprayings of feature progress are with strong points, and herbicidal effect is more preferable, and the pesticide spraying for avoiding large area pollutes, and save labor
Power and will not to human body generate injury.Mechanical arm application can carry out precise operation, reduce pesticide loss, and the end PC monitors in real time,
It can effectively prevent to equip out-of-control condition.
Detailed description of the invention
Fig. 1 is apparatus of the present invention overall structure figure；
Fig. 2 is medicine-chest partial enlarged view of the present invention；
Fig. 3 is connection relationship block diagram of the present invention；
Fig. 4 is apparatus of the present invention walking path；
Fig. 5 is apparatus of the present invention workflow；
In figure, 1, spray head, 2, mechanical arm, 3, liquid outlet, 4, light-duty water pump, 5, timing agitation device, 6, liquid inlet, 7, more
Drug slot medicine-chest, 8, CCD camera.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, the specific embodiments are only for explaining the present invention, not
For limiting the present invention.
As shown in Figure 1,3, the device of a kind of pesticide spraying for multiclass weeds proposed by the present invention, before fuselage 9
Portion carries out image acquisition equipped with 3 CCD cameras 8, and image information is input to computer processing system and is handled, and handles
The characteristics of image of weeds is obtained afterwards；Be also equipped with multiple medicine slot medicine-chest on the top of fuselage 9, can according to weeds type in farmland into
The quantity of row setting drug slot, as shown in Fig. 2, being equipped with timing agitation device 5, light-duty water pump 4, flow sensor in each group of drug slot
And liquid level sensor, medical fluid in medicine-chest is extracted by light-duty water pump 4, liquid outlet 3 passes through hose and 2 upper nozzle 1 of mechanical arm successively
Connection, flow sensor and liquid level sensor in drug slot are separately connected computer processing system, by drug slot flow and
Liquid level information is transferred in computer processing system and is handled, and flow sensor is according to the big ditty of weeds plant identified
Whole formulation rate improves the efficiency of weeding, and liquid level sensor is located in multiple medicine slot medicine-chest 7, and liquid level sensor can detect that in medicine-chest
Medical fluid surplus, when liquid level is lower than certain position,
PC host computer observer receives modulates information medical fluid, and equipment stops and carries out the supplement of medical fluid；Each group of drug slot is also
Equipped with liquid inlet 6, for adding medicament into drug slot.Mechanical arm 2 is set in the tail portion of fuselage 9, the top of mechanical arm 2 is spray head
1.Computer and the end pc host computer are the transmitting carried out between information by the wireless communication module (or bluetooth) on equipment, the end pc
The main starting that information and equipment that the medical fluid surplus, electricity surplus, camera equipped obtain is shown and control etc..
Such as Fig. 4, fuselage 9 is also provided with position sensor, and position sensor connects computer processing system, is used for weeds
The determination of position, and the determination of row center line can be carried out in conjunction with camera；Fuselage 9 is also provided with human body sensor, human body
Sensor connects computer processing system, will test characteristics of human body's information and is transmitted to computer processing system, when recognizing people
When body characteristics, equipment stops spraying insecticide to ensure personal safety,.
In the device of pesticide spraying of the present invention, flusher is energized by battery, and the battery connects battery
Voltage sensor, and battery voltage sensor connects computer processing system, and accumulator electric-quantity information is transferred at computer
Reason system；When not enough power supply, PC host computer observer can replace power supply in time.
Computer system is to the received camera 8 of institute, position sensor, flow sensor, liquid level sensor, cell voltage
The information that sensor, human body sensor are inputted is handled, and processing result is transmitted to control system, control system control
The work of mechanical arm 2 and spray head 1.And the real-time delivery of information is carried out between computer system and control system by wireless communication
Information.
Such as Fig. 5, a kind of method of pesticide spraying for multiclass weeds based on counter device set by the present invention, including it is following
Step:
Data acquisition: first the Crop Information in experimental plot is acquired using preceding, to the weeds in the experimental plot of acquisition
Information carries out statistics gatherer weeds information, establishes data set；
Fluid injection: selecting pesticide variety according to weeds information, required pesticide is proportionally modulated mixing, injection is corresponding
Drug slot in；
Navigation and identification: it is equipped and is started by the end PC PC control, computer processing system is according to camera and position
Sensor combines acquisition data, is handled by Threshold segmentation, detects the line space and row center line of crops, and cooks up dress
The standby reference line advanced realizes the independent navigation function of equipment, while camera data information collected passes through convolution mind
Through identifying the figures such as the weeds type of weeds, weeds color, growth position, plant size after network (CNN) and filter process
As feature；
Sprinkling: being passed to control system for the judgement information that computer system gives, and obtained by flow sensor
The flow velocity of information control pesticide is to control the dose sprayed insecticide, and realization is sprayed according to the size of weeds plant, mechanical arm
It is stretched over the position sprayed needed for weeds, is sprayed, realizes precise operation；
Terminate: when in the image information of equipment acquisition without going out existing center line, spray drug operation is completed, and equipment stops,
The next step running of the end PC control equipment.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (10)
1. a kind of device of the pesticide spraying for multiclass weeds, which is characterized in that equipped including fuselage (9), medicine-chest, sprinkling,
Control system and computer processing system；
The fuselage (9) is equipped with several cameras, and the image information of acquisition is transmitted to computer processing system by the camera；
The medicine-chest and sprinkling equipment are arranged on fuselage (9), and the sprinkling equipment includes spray head (1) and mechanical arm (2), spray head (1)
It is fixedly mounted by mechanical arm (2) and fuselage (9)；
The medicine-chest is multiple medicine slot medicine-chest, and each group of drug slot includes timing agitation device (5), light-duty water pump (4), flow sensor
And liquid level sensor, spray head (1) is connected by the way that liquid outlet (3) are arranged on light-duty water pump (4), the flow sensor and liquid level pass
Sensor is separately connected computer processing system；
The computer processing system connects control system, and control output information is input to control system；At the computer
Reason system also carries out the real-time delivery of information by wireless communication with the end PC host computer；
Control system controls the running of spray head (1), mechanical arm (2) and flusher, adjusts jet angle by control mechanical arm (2)
Degree, direction control the sprinkling of spray head (1).
2. a kind of device of pesticide spraying for multiclass weeds according to claim 1, which is characterized in that the control
System uses single-chip microcontroller.
3. a kind of device of pesticide spraying for multiclass weeds according to claim 1, which is characterized in that the fuselage
(9) it is additionally provided with position sensor, the position sensor connects computer processing system, for the determination of weeds position, and can
The determination of row center line is carried out in conjunction with camera.
4. a kind of device of pesticide spraying for multiclass weeds according to claim 1, which is characterized in that the fuselage
(9) it is also provided with human body sensor, the human body sensor connects computer processing system, and characteristics of human body can be detected.
5. a kind of device of pesticide spraying for multiclass weeds according to claim 1, which is characterized in that the camera shooting
Head is CCD camera, and is equipped with 3, is separately positioned at fuselage (9) headstock.
6. a kind of device of pesticide spraying for multiclass weeds according to claim 1, which is characterized in that the sprinkling
Device is energized by battery, and the battery connects battery voltage sensor, and battery voltage sensor connects computer
Accumulator electric-quantity information is transferred to computer processing system by processing system.
7. a kind of method based on the pesticide spraying described in claim 1 for multiclass weeds, which is characterized in that including following
Step:
Data acquisition: acquisition weeds information establishes data set；
Fluid injection: selection pesticide variety injects in corresponding drug slot；
Navigation and identification: flusher starts, and computer processing system acquires data according to camera in conjunction with position sensor,
It plans travel path, realizes the independent navigation function of equipment, while camera data information collected passes through convolutional Neural
The characteristics of image of weeds is identified after network and filter process；
Sprinkling: the judgement information that computer system gives is passed to control system, controls the dose sprayed insecticide, mechanical arm is stretched
The position for opening up sprinkling needed for weeds, is sprayed；
Terminate: when in the image information of equipment acquisition without going out existing center line, spray drug operation is completed, and equipment stops, the end PC
The next step running of control equipment.
8. a kind of method of pesticide spraying for multiclass weeds according to claim 7, which is characterized in that the weeds
Characteristics of image include weeds type, weeds color, growth position, plant size characteristic.
9. a kind of method of pesticide spraying for multiclass weeds according to claim 7, which is characterized in that the judgement
Information are as follows: the type and dose of the pesticide of the position of weeds and required sprinkling.
10. a kind of method of pesticide spraying for multiclass weeds according to claim 7, which is characterized in that planning row
The method of inbound path are as follows: data collected are handled by Threshold segmentation, detect the line space and row center line of crops,
And cook up the reference line of flusher traveling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811543699.0A CN109601517B (en) | 2018-12-17 | 2018-12-17 | Device and method for spraying pesticide to various weeds |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811543699.0A CN109601517B (en) | 2018-12-17 | 2018-12-17 | Device and method for spraying pesticide to various weeds |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109601517A true CN109601517A (en) | 2019-04-12 |
| CN109601517B CN109601517B (en) | 2021-08-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811543699.0A Active CN109601517B (en) | 2018-12-17 | 2018-12-17 | Device and method for spraying pesticide to various weeds |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110063321A (en) * | 2019-04-24 | 2019-07-30 | 河池学院 | A kind of pesticide robot system |
| CN111700051A (en) * | 2020-07-20 | 2020-09-25 | 国网山东省电力公司鄄城县供电公司 | Circuit protection method and device and electronic equipment |
| CN111754186A (en) * | 2019-12-30 | 2020-10-09 | 广州极飞科技有限公司 | Spraying control method and device and electronic equipment |
| CN112189645A (en) * | 2020-10-27 | 2021-01-08 | 江苏大学 | Double-online pesticide mixing sprayer suitable for intercropping and working method |
| CN113396883A (en) * | 2021-03-03 | 2021-09-17 | 丰疆智能(深圳)有限公司 | Air-assisted plant protection equipment |
| CN114025607A (en) * | 2019-05-08 | 2022-02-08 | 拜耳公司 | Unmanned air vehicle |
| CN114073247A (en) * | 2021-11-17 | 2022-02-22 | 绍兴职业技术学院 | Weeding and pesticide spreading device based on weed identification |
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| CN205357927U (en) * | 2016-03-03 | 2016-07-06 | 国网安徽省电力公司检修公司 | Remote control spouts medicine formula weeding robot |
| CN206443013U (en) * | 2017-01-20 | 2017-08-29 | 福建省农业科学院农业生态研究所 | A kind of sprayer apparatus for cutting weeds |
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| US20140130405A1 (en) * | 2009-01-15 | 2014-05-15 | Johnny Lee Kubacak | Method and apparatus for a spray system |
| CN204722111U (en) * | 2015-05-28 | 2015-10-28 | 江苏大学 | The comprehensive weeder of a kind of intelligent crops |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110063321A (en) * | 2019-04-24 | 2019-07-30 | 河池学院 | A kind of pesticide robot system |
| CN114025607A (en) * | 2019-05-08 | 2022-02-08 | 拜耳公司 | Unmanned air vehicle |
| CN114025607B (en) * | 2019-05-08 | 2024-01-12 | 拜耳公司 | Unmanned aerial vehicle |
| CN111754186A (en) * | 2019-12-30 | 2020-10-09 | 广州极飞科技有限公司 | Spraying control method and device and electronic equipment |
| CN111700051A (en) * | 2020-07-20 | 2020-09-25 | 国网山东省电力公司鄄城县供电公司 | Circuit protection method and device and electronic equipment |
| CN112189645A (en) * | 2020-10-27 | 2021-01-08 | 江苏大学 | Double-online pesticide mixing sprayer suitable for intercropping and working method |
| CN112189645B (en) * | 2020-10-27 | 2023-12-15 | 江苏大学 | Double-online medicine mixing sprayer suitable for intercropping and working method |
| CN113396883A (en) * | 2021-03-03 | 2021-09-17 | 丰疆智能(深圳)有限公司 | Air-assisted plant protection equipment |
| CN114073247A (en) * | 2021-11-17 | 2022-02-22 | 绍兴职业技术学院 | Weeding and pesticide spreading device based on weed identification |
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| Publication number | Publication date |
|---|---|
| CN109601517B (en) | 2021-08-03 |
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