CN110710519A - Intelligent pesticide spraying robot - Google Patents
Intelligent pesticide spraying robot Download PDFInfo
- Publication number
- CN110710519A CN110710519A CN201910950431.7A CN201910950431A CN110710519A CN 110710519 A CN110710519 A CN 110710519A CN 201910950431 A CN201910950431 A CN 201910950431A CN 110710519 A CN110710519 A CN 110710519A
- Authority
- CN
- China
- Prior art keywords
- spraying
- spraying robot
- controller
- spray
- plant
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 89
- 239000000575 pesticide Substances 0.000 title claims abstract description 44
- 239000007921 spray Substances 0.000 claims abstract description 51
- 239000003814 drug Substances 0.000 claims abstract description 29
- 239000000126 substance Substances 0.000 claims description 13
- 239000007788 liquid Substances 0.000 claims description 8
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 239000003153 chemical reaction reagent Substances 0.000 claims 4
- 238000013461 design Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 2
- 230000011218 segmentation Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 7
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 244000038559 crop plants Species 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
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
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an intelligent pesticide spraying robot which comprises three parts, namely a hardware circuit component, a software algorithm and a mechanical structure; the spraying robot mechanical structure comprises a turning plate; the hardware circuit component of the spraying robot mainly comprises an STM main controller; the software algorithm of the spraying robot is a fuzzy control algorithm; the utility model provides an intelligence pesticide spraying robot, distance between test shower nozzle and the plant through ultrasonic inductor, the controller of being convenient for controls the height of electric telescopic handle adjustment shower nozzle, make spray range and plant area match, reach the best effect of spraying, gather plant information through the image acquisition camera, the controller control solenoid valve of being convenient for opens and shuts and the size of opening and shutting, thereby improve the medicament and spray efficiency, practice thrift the medicament simultaneously, combine together through fuzzy algorithm and mechanical structure, make STM32 main control unit calculate the best parameter of spraying, through the intra-box segmentation design of medicament, be convenient for pack into different grade type medicaments simultaneously, thereby improve the medicament result of use.
Description
Technical Field
The invention relates to the field of pesticide spraying, in particular to an intelligent pesticide spraying robot.
Background
With the development of science and technology and the continuous improvement of living standard, the population is also in a growing trend. Great pressure is brought to all aspects of the society, and especially in the aspect of grain supply, pesticide spraying provides guarantee for the healthy growth of grains. The traditional pesticide spraying technology consumes huge manpower and material resources, and the pesticide utilization rate is not high. The extensive manual pesticide spraying not only wastes seriously, but also causes environmental pollution.
Under the modern development trend of agriculture, the agricultural spraying device actively responds to the national policy call, improves the existing pesticide spraying technology and makes self contribution to the modern development of agriculture. Based on a fuzzy control algorithm, the pesticide spraying amount is optimally controlled according to the area of a target plant and the distance between a spray head and the plant, and intelligent pesticide spraying is realized. Therefore, the intelligent spraying robot based on the fuzzy control algorithm becomes the inevitable choice of the intelligent agriculture.
The intelligent pesticide spraying robot is different from a traditional variable spraying system, the robot is based on a fuzzy control algorithm, and the optimal control parameters of the system are obtained by taking different crop plant areas and the distance between a spray head and plants as the input quantity of the system. The specific expression is that the spraying amount of the system changes along with the change of the plant spacing and the distance between the spray head and the plant in real time so as to spray the optimal amount of the pesticide and ensure the healthy growth of different plants to the maximum extent. The fuzzy adaptive PID control is based on PID algorithm, takes error and error change rate as input, utilizes fuzzy rule to carry out fuzzy reasoning, inquires fuzzy matrix table to carry out parameter adjustment, and meets the requirements of self-tuning PID parameters at different moments, and the fuzzy control basic principle is as follows: two input parameters are adopted to respectively obtain the area A of the crop plants acquired by the image acquisition and the distance D between the spray head and the plants. The method comprises the steps of selecting a proper fuzzy algorithm, carrying out fuzzy decision and non-fuzzy to finally obtain two control parameters required by a spraying system, controlling and selecting a sprayer combination and the opening size of a relay driving electromagnetic valve, establishing corresponding fuzzy division and fuzzy control quantity of plant area parameters and the distance between a sprayer and a plant, C, and then respectively converting continuous domains of the fuzzy control quantity of the area, the distance and the opening control quantity C into corresponding discrete domains.
Disclosure of Invention
The invention aims to provide an intelligent pesticide spraying robot which has the advantages of plant information acquisition, plant distance sensing, adjustable spraying area, adjustable spraying agent, support of using multiple agents simultaneously and excellent spraying effect, and solves the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent pesticide spraying robot comprises a hardware circuit component, a software algorithm and a mechanical structure;
the spraying robot mechanical structure includes: the automatic spraying device comprises a vehicle plate, a chemical box, electric telescopic rods, a controller, a hose, a spraying rod, electric wheels, spray heads, an ultrasonic sensor and an image acquisition camera, wherein four electric wheels are uniformly arranged at the bottom of the vehicle plate, the electric wheel heads are all fixed on the vehicle plate through bolts, the chemical box is arranged in front of the top of the vehicle plate and is fixed on the vehicle plate through bolts, two electric telescopic rods are arranged at the rear of the chemical box and are all fixed on the vehicle plate through bolts, the spraying rod is arranged at the top of each electric telescopic rod and is fixed on each electric telescopic rod through a buckle, the hose is arranged at the left end of each spraying rod, the hose is connected onto the spraying rod through a hose connector, the other end of the hose is communicated with the chemical box through a copper connector, four spray heads are uniformly arranged at the bottom of the right end of each spraying rod, and are all fixed on the spraying rods, the middle of the bottom of the spray rod is provided with an ultrasonic sensor, the ultrasonic sensor is fixed on the spray rod through a buckle, the right end of the top of the spray rod is provided with an image acquisition camera, the image acquisition camera is fixed on the spray rod through a buckle, a controller is arranged behind the electric telescopic rod, and the controller is fixed on the spray rod through a bolt;
the hardware circuit component of the spraying robot mainly comprises an STM main controller, a camera acquisition module, an ultrasonic ranging module, a relay module, a power supply module, a serial port and the like;
the spraying robot software algorithm is a fuzzy control algorithm.
Preferably, the electric telescopic rod is of the following model: JS-TGZ-U1, the model of the ultrasonic sensor is as follows: HT-BEG, the model of image acquisition camera is: EZ-M721E.
Preferably, the target plant is gathered to the image acquisition camera, calculates plant area A by STM main control unit, and through intelligent decision-making, the control shower nozzle selects the combination to realize the best shower liquid medicine volume.
Preferably, the controller transmits the plant image to a computer in a monitoring room through a serial port.
Preferably, the ultrasonic sensor detects the distance between the spray head and the plant, and then controls the opening size of the electromagnetic valve of the spray head and the optimal spraying amount through intelligent decision.
Preferably, electric telescopic handle can stretch out and draw back according to actual conditions is automatic, avoids shower nozzle and plant to bring the difficulty of spraying apart from D too closely or too far away.
Preferably, a spraying device is arranged in the medicament box, and different types of liquid medicines can be filled into the medicament box simultaneously due to the separated design of the medicament box.
Preferably, the control algorithm is a fuzzy algorithm, the plant area and the distance between the spray head and the plant are used as input parameters, and the optimal liquid medicine spraying amount is controlled and realized through intelligent decision.
Preferably, the fuzzy algorithm type is: the PID control algorithm is combined with a discrete theory, and the fuzzy algorithm and the discrete theory respectively use two parameters: area a and distance D.
Preferably, be equipped with control switch in the controller, control switch passes through the cable and connects with the power, control switch passes through cable connection director, spray set, electric telescopic handle, ultrasonic sensor and the image acquisition camera in the medicament case are connected respectively to the controller through the cable.
Compared with the prior art, the invention has the following beneficial effects: the utility model provides an intelligence pesticide sprayer robot, distance between test shower nozzle and the plant through ultrasonic inductor, the controller of being convenient for controls the height of electric telescopic handle adjustment shower nozzle, make spray range and plant area match, reach the best effect of spraying, gather plant information through the image acquisition camera, the controller control solenoid valve of being convenient for opens and shuts and the size of opening and shutting, thereby improve the medicament and spray efficiency, practice thrift the medicament simultaneously, combine together through fuzzy algorithm and mechanical structure, make STM32 main control unit calculate the best parameter that sprays, through the incasement design of cutting of medicament, be convenient for pack different grade type medicaments simultaneously, thereby improve the medicament result of use.
Drawings
FIG. 1 is a general schematic view of a mechanical mechanism of an intelligent pesticide spraying robot according to the present invention;
FIG. 2 is a schematic diagram of a variable spray control system of an intelligent pesticide spraying robot according to the present invention;
FIG. 3 is a schematic diagram of a hardware circuit design of an intelligent pesticide spraying robot according to the present invention;
FIG. 4 is a schematic view of an image acquisition process of the intelligent pesticide spraying robot of the present invention;
FIG. 5 is a schematic view of the spraying structure of the intelligent pesticide spraying robot of the present invention;
FIG. 6 is a schematic diagram of the fuzzy quantity change of the area A in the fuzzy algorithm of the intelligent pesticide spraying robot;
FIG. 7 is a schematic diagram of the fuzzy quantity change of the distance D in the fuzzy algorithm of the intelligent pesticide spraying robot;
FIG. 8 is a schematic diagram of fuzzy quantity variation of control quantity in a fuzzy algorithm of the intelligent pesticide spraying robot;
FIG. 9 is a schematic diagram of the fuzzy quantity change of the area A in the fuzzy algorithm discrete theory of the intelligent pesticide spraying robot of the invention;
FIG. 10 is a schematic diagram of the distance D fuzzy quantity change in the fuzzy algorithm discrete theory of the intelligent pesticide spraying robot of the present invention;
FIG. 11 is a schematic diagram of the fuzzy quantity variation of the control quantity in the fuzzy algorithm discrete theory of the intelligent pesticide spraying robot of the present invention;
fig. 12 is a schematic diagram of fuzzy control rules in the fuzzy algorithm of the intelligent pesticide spraying robot of the present invention.
The figures are labeled as follows: 1 sweep, 2 medicament casees, 3 electric telescopic handle, 4 controllers, 5 hoses, 6 spray poles, 7 electric wheels, 8 shower nozzles, 9 ultrasonic sensor, 10 image acquisition cameras.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by persons skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-12, an intelligent pesticide spraying robot includes three parts of a hardware circuit composition, a software algorithm and a mechanical structure; the spraying robot mechanical structure includes: sweep 1, chemical tank 2, electric telescopic handle 3, controller 4, hose 5, spray rod 6, electronic round 7, shower nozzle 8, ultrasonic sensor 9, image acquisition camera 10, sweep 1 bottom evenly is equipped with four electronic rounds 7, electronic round 7 all passes through the bolt fastening on sweep 1, sweep 1 top front is equipped with chemical tank 2, be equipped with spray set in chemical tank 2, chemical tank 2 is the partition design, chemical tank 2 passes through the bolt fastening on sweep 1, 2 backs of chemical tank are equipped with two electric telescopic rod 3, electric telescopic handle 3's model does: JS-TGZ-U1, thereby adjust the distance D between 8 to the plant of shower nozzle of change through electric telescopic handle 3, electric telescopic handle 3 is flexible by controller 4 control, avoid shower nozzle and plant to bring the difficulty of spraying too closely or too far away from D, electric telescopic handle 3 all passes through the bolt fastening on sweep 1, 3 tops of electric telescopic handle are equipped with shower nozzle 6, shower nozzle 6 all fixes on electric telescopic handle 3 through the buckle, 6 left ends of shower nozzle are equipped with hose 5, hose 5 passes through the rubber tube coupling and connects on shower nozzle 6, the hose 5 other end passes through the copper joint intercommunication with medicament case 2, 6 right-hand member bottoms of shower nozzle evenly are equipped with four shower nozzles 8, shower nozzle 8 all fixes on shower nozzle 6 through threaded engagement, be equipped with ultrasonic sensor 9 in the middle of shower nozzle 6 bottoms, ultrasonic sensor 9's model does: HT-BEG, through ultrasonic sensor 9 detection shower nozzle to the distance D between the plant and to data transmission controller 4, ultrasonic sensor 9 detection shower nozzle and plant distance, and then through intelligent decision-making, control shower nozzle solenoid valve opening size, ultrasonic sensor 9 passes through the buckle to be fixed on spray bar 6, and 6 top right-hand members of spray bar are equipped with image acquisition camera 10, and image acquisition camera 10's model number does: EZ-M721E, an image acquisition camera 10 acquires a target plant, an STM32 main control system calculates the area A of the plant, and through intelligent decision making, a control spray head is selected and combined to realize the optimal amount of sprayed liquid medicine, the image acquisition camera 10 is fixed on a spray rod 6 through a buckle, a controller 4 is arranged behind an electric telescopic rod 3, a control switch is arranged in the controller 4 and is connected with a power supply through a cable, the control switch is connected with the controller 4 through a cable, the controller 4 is respectively connected with a spray device in a medicine box 2, the electric telescopic rod 3, an ultrasonic sensor 9 and the image acquisition camera through cables, a data serial port is arranged in the controller 4, the controller 4 transmits a plant image to a monitoring room computer through the data serial port, and the controller 4 is fixed on the spray rod 6 through a bolt; the hardware circuit component of the spraying robot mainly comprises an STM32 main controller, a camera head acquisition module, an ultrasonic ranging module, a relay module, a power supply module, a serial port and the like; the software algorithm of the spraying robot is a fuzzy control algorithm, the control algorithm is a fuzzy algorithm, the area of a plant and the distance between a spray head and the plant are used as input parameters, the optimal spraying amount of the liquid medicine is controlled and realized through intelligent decision, and the type of the fuzzy algorithm is as follows: the PID control algorithm is combined with a discrete theory, and the fuzzy algorithm and the discrete theory respectively use two parameters: area a and distance D.
The working principle is as follows: the invention relates to an intelligent pesticide spraying robot, before use, one or more medicaments are poured into a medicament box, when in use, a power supply is switched on through a control switch, the control switch starts a controller 4 through a cable, the controller 4 controls to start an ultrasonic sensor 9 and an image acquisition camera 10 through the cable, the ultrasonic sensor 9 and the image acquisition camera 10 respectively acquire information of plants on the ground and transmit signals back to an ultrasonic ranging module and a camera acquisition module in the controller 4 through the cable, an STM32 main controller acquires information in the ultrasonic ranging module and the camera acquisition module and calls a fuzzy algorithm, the controller 4 sends signals to the controller 4 through the cable, the controller 4 controls an electric wheel 7 to move forwards through the cable, the controller 4 controls an electric 3 to adjust the distance from a spray head to a plant through the cable and the controller 4 controls the spray head to adjust the spray amount through a spray device and a relay module through the cable, the effect of the best volume of spouting the medicine is realized, this pesticide spraying robot possesses the memory function, after the liquid medicine is spouted, returns and loads liquid medicine, and intelligence is sprayed the department from the beginning and is continued to spray next, when spraying the end, this robot gets back to initial position, and when the use was ended, it can to press control switch, closes this device.
While there have been shown and described the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference in the claims is not intended to be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.
Claims (10)
1. Intelligent pesticide spraying robot its characterized in that: the system comprises a hardware circuit composition, a software algorithm and a mechanical structure;
the spraying robot mechanical structure includes: the automatic spraying device comprises a vehicle plate (1), a reagent box (2), electric telescopic rods (3), a controller (4), a hose (5), spraying rods (6), electric wheels (7), a spray head (8), an ultrasonic sensor (9) and an image acquisition camera (10), wherein the four electric wheels (7) are uniformly arranged at the bottom of the vehicle plate (1), the electric wheels (7) are all fixed on the vehicle plate (1) through bolts, the reagent box (2) is arranged in front of the top of the vehicle plate (1), the reagent box (2) is fixed on the vehicle plate (1) through bolts, two electric telescopic rods (3) are arranged behind the reagent box (2), the electric telescopic rods (3) are all fixed on the vehicle plate (1) through bolts, the spraying rods (6) are arranged at the top of the electric telescopic rods (3), and the spraying rods (6) are all fixed on the electric telescopic rods (3) through buckles, the left end of the spraying rod (6) is provided with a hose (5), the hose (5) is connected to the spraying rod (6) through a hose joint, the other end of the hose (5) is communicated with the chemical box (2) through a copper joint, four spray heads (8) are uniformly arranged at the bottom of the right end of the spray rod (6), the spray heads (8) are all fixed on the spray rod (6) through threaded engagement, the middle of the bottom of the spray rod (6) is provided with an ultrasonic sensor (9), the ultrasonic sensor (9) is fixed on the spray rod (6) through a buckle, the right end of the top of the spray rod (6) is provided with an image acquisition camera (10), the image acquisition camera (10) is fixed on the spray rod (6) through a buckle, a controller (4) is arranged behind the electric telescopic rod (3), and the controller (4) is fixed on the spraying rod (6) through a bolt;
the hardware circuit component of the spraying robot mainly comprises an STM32 main controller, a camera acquisition module, an ultrasonic ranging module, a relay module, a power supply module, a serial port and the like;
the spraying robot software algorithm is a fuzzy control algorithm.
2. The intelligent pesticide spraying robot of claim 1, wherein: the electric telescopic rod (3) is characterized in that the model is as follows: JS-TGZ-U1, the model of the ultrasonic sensor (9) is as follows: HT-BEG, the model of the image acquisition camera (10) is as follows: EZ-M721E.
3. The intelligent pesticide spraying robot of claim 1, wherein: the image acquisition camera (10) acquires a target plant, the STM32 main controller calculates the plant area A, and the optimal spraying amount of pesticide is realized by controlling the spray head to select and combine through intelligent decision.
4. The intelligent pesticide spraying robot of claim 1, wherein: the controller (4) is internally provided with a data serial port, and the controller (4) transmits the plant image to a computer of a monitoring room through the data serial port.
5. The intelligent pesticide spraying robot of claim 1, wherein: the ultrasonic sensor (9) detects the distance D between the spray head and the plant, and then controls the size of the opening of the spray head electromagnetic valve through intelligent decision.
6. The intelligent pesticide spraying robot of claim 1, wherein: electric telescopic handle (3) are flexible by controller (4) control, avoid shower nozzle and plant to bring the difficulty of spraying apart from D too closely or too far away.
7. The intelligent pesticide spraying robot of claim 1, wherein: the spraying device is arranged in the chemical box (2), and the chemical box (2) is designed in a separated mode.
8. The intelligent pesticide spraying robot of claim 1, wherein: the control algorithm is a fuzzy algorithm, plant area and the distance between a spray head and a plant are used as input parameters, and the optimal liquid medicine spraying amount is controlled and realized through intelligent decision.
9. The intelligent pesticide spraying robot of claim 1, wherein: the fuzzy algorithm type is as follows: the PID control algorithm is combined with a discrete theory, and the fuzzy algorithm and the discrete theory respectively use two parameters: area a and distance D.
10. The intelligent pesticide spraying robot of claim 1, wherein: be equipped with control switch in controller (4), control switch is connected with the power through the cable, control switch passes through cable connection director (4), spray set, electric telescopic handle (3), ultrasonic inductor (9) and image acquisition camera in medicament case (2) are connected respectively through the cable in controller (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910950431.7A CN110710519A (en) | 2019-10-08 | 2019-10-08 | Intelligent pesticide spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910950431.7A CN110710519A (en) | 2019-10-08 | 2019-10-08 | Intelligent pesticide spraying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110710519A true CN110710519A (en) | 2020-01-21 |
Family
ID=69212264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910950431.7A Pending CN110710519A (en) | 2019-10-08 | 2019-10-08 | Intelligent pesticide spraying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110710519A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111813155A (en) * | 2020-06-18 | 2020-10-23 | 五邑大学 | Target spraying system control method and device based on fuzzy PID and storage medium |
| CN111838109A (en) * | 2020-06-28 | 2020-10-30 | 江苏大学 | Intelligent spraying device with adjustable spraying range and operation method thereof |
| CN113331160A (en) * | 2021-06-02 | 2021-09-03 | 河南省农业科学院烟草研究所 | Special accurate medicine system that spouts of tobacco |
| CN113766190A (en) * | 2021-09-05 | 2021-12-07 | 无锡联友塑业有限公司 | Automatic control platform using image monitoring |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103891697A (en) * | 2014-03-28 | 2014-07-02 | 南通职业大学 | Drug spraying robot capable of moving indoors autonomously and variable drug spraying method thereof |
| CN205567572U (en) * | 2016-02-26 | 2016-09-14 | 李金泽 | Orchard is with intelligent plant protection robot |
| CN210929318U (en) * | 2019-10-08 | 2020-07-07 | 桂林理工大学 | Intelligent pesticide spraying robot |
-
2019
- 2019-10-08 CN CN201910950431.7A patent/CN110710519A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103891697A (en) * | 2014-03-28 | 2014-07-02 | 南通职业大学 | Drug spraying robot capable of moving indoors autonomously and variable drug spraying method thereof |
| CN205567572U (en) * | 2016-02-26 | 2016-09-14 | 李金泽 | Orchard is with intelligent plant protection robot |
| CN210929318U (en) * | 2019-10-08 | 2020-07-07 | 桂林理工大学 | Intelligent pesticide spraying robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111813155A (en) * | 2020-06-18 | 2020-10-23 | 五邑大学 | Target spraying system control method and device based on fuzzy PID and storage medium |
| CN111838109A (en) * | 2020-06-28 | 2020-10-30 | 江苏大学 | Intelligent spraying device with adjustable spraying range and operation method thereof |
| CN113331160A (en) * | 2021-06-02 | 2021-09-03 | 河南省农业科学院烟草研究所 | Special accurate medicine system that spouts of tobacco |
| CN113331160B (en) * | 2021-06-02 | 2022-09-27 | 河南省农业科学院烟草研究所 | Special accurate medicine system that spouts of tobacco |
| CN113766190A (en) * | 2021-09-05 | 2021-12-07 | 无锡联友塑业有限公司 | Automatic control platform using image monitoring |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110710519A (en) | Intelligent pesticide spraying robot | |
| DE102017201425A1 (en) | Autonomous agricultural robot machine and system of it | |
| CN103918636A (en) | Intelligent spraying method based on image processing and spraying robot based on image processing | |
| CN207284200U (en) | Intelligent translational formula water-fertilizer-pesticide integration sprinkling irrigation equipment | |
| CN111084173A (en) | Automatic spray head flow adjusting method for profiling variable pesticide applying system of spraying machine | |
| CN113040035B (en) | Self-adaptive intelligent irrigation system and method based on cloud platform monitoring | |
| CN203860305U (en) | Spraying robot based on image processing | |
| CN109168372A (en) | A kind of intelligentized long-range control fertilizing equipment | |
| CN210929318U (en) | Intelligent pesticide spraying robot | |
| CN203152172U (en) | Mobile fine spraying device | |
| CN207978792U (en) | A kind of guide tracked mechanical arm spraying system | |
| CN206900661U (en) | A kind of agricultural unmanned plane | |
| CN216135075U (en) | Agricultural is with spouting pesticide equipment | |
| CN211129537U (en) | Pesticide spraying robot | |
| CN210632326U (en) | Multi-functional atomizer of spraying scope adjustable | |
| CN207502949U (en) | A kind of brainpower insufflation robot | |
| CN110262603A (en) | A kind of intelligence orchard managing and control system | |
| CN206389774U (en) | A kind of multifunctional intelligent weed-eradicating robot | |
| CN220023767U (en) | Agricultural automatic irrigation device | |
| CN221179041U (en) | Vertical multirow atomizer of tobacco field traction type | |
| CN217826488U (en) | Intelligent mosquito-repelling, irrigating, fertilizing, killing and irrigating system for garden and courtyard | |
| CN213603966U (en) | Potato spouts medicine machine of mixing that uses | |
| CN215074965U (en) | Agricultural pest control sprinkler | |
| CN220734160U (en) | Self-propelled medicine device that spouts of wheat | |
| CN215380324U (en) | Ground rail type movable micro-sprinkling irrigation unit suitable for sunlight greenhouse |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |