CN110754458A - Automatic laser imaging pesticide spraying robot - Google Patents
Automatic laser imaging pesticide spraying robot Download PDFInfo
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- CN110754458A CN110754458A CN201910919679.7A CN201910919679A CN110754458A CN 110754458 A CN110754458 A CN 110754458A CN 201910919679 A CN201910919679 A CN 201910919679A CN 110754458 A CN110754458 A CN 110754458A
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- pesticide
- display
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- laser scanning
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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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
-
- 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
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a laser imaging automatic pesticide spraying robot which comprises a shell, wherein two trundles are arranged on two sides of the lower part of the front part of the shell, a laser scanning imager is arranged above the front part of the shell, a spherical motor is arranged below the laser scanning imager, a nozzle is arranged on a rotor of the spherical motor, the water inlet end of the nozzle is connected with one end of a guide pipe, the other end of the guide pipe is positioned in a water storage tank, a liquid level sensor is arranged in the water storage tank, a display is arranged above the rear part of the shell, a control device is arranged below the display, and the control device is respectively connected with the laser scanning imager, the display, the nozzle and the. The laser scanning imaging system is used for identifying the target, automatically controlling the direction of the nozzle and the spraying amount of the pesticide, reducing the deposition of the pesticide on a non-target object or an area, improving the deposition rate of the pesticide on the target, greatly improving the effective utilization rate of the pesticide, and reducing the harm of the pesticide to pesticide applying personnel and the pollution to the environment.
Description
Technical Field
The invention relates to agricultural auxiliary equipment, in particular to a laser imaging automatic pesticide spraying robot.
Background
At present, agricultural machinery is widely applied to actual production, but the operation of spraying pesticide on the existing machinery is fixed, pesticide spraying can not be carried out on various crops which are arranged in a planting mode in a targeted mode, the pesticide spraying range and time are not accurate, pesticide liquid waste is caused, and the harm to pesticide application personnel and the pollution to the environment are easily caused.
Chinese patent document CN107484744A discloses an "automatic pesticide spraying device". The device comprises a pesticide storage box, a pesticide delivery hose and a storage battery, wherein the top of the pesticide storage box is provided with a vertical sleeve, a motor and a pressure pump, the inner wall of the sleeve is provided with a sliding groove and a rack which can slide up and down in the sliding groove, the top end of the rack is provided with a supporting rod, the top end of the supporting rod is provided with a spray head, the output end of the motor is provided with a gear, the gear and the rack are mutually occluded, the pesticide storage box and the spray head are connected through the pesticide delivery hose and the pressure pump, the pesticide delivery hose extends to the bottom of the pesticide storage box, the storage battery is connected with the pesticide storage box, the storage battery is electrically connected with the motor and the pressure pump, and the device can enable a person to.
Disclosure of Invention
The invention mainly solves the technical problems of inaccurate spraying range and time, low pesticide utilization rate and pollution to pesticide applying personnel and environment in the prior art, and provides the laser imaging automatic pesticide spraying robot.
The technical problem of the invention is mainly solved by the following technical scheme: the invention comprises a shell and is characterized in that two trundles are arranged on two sides below the front part of the shell, a laser scanning imager is arranged above the front part of the shell, a spherical motor is arranged below the laser scanning imager, a nozzle is arranged on a rotor of the spherical motor, the water inlet end of the nozzle is connected with one end of a guide pipe, the other end of the guide pipe is positioned in a water storage tank, a liquid level sensor is arranged in the water storage tank, a display is arranged above the rear part of the shell, two handles are arranged at the lower edge of the shell close to the display, a control device is arranged below the display, and the control device is respectively connected with the laser scanning imager, the display, the. The automatic spraying robot transmits a laser beam to scan a target scene through the laser scanning imager and receives laser radiation reflected by the scene to generate continuous analog signals, the analog signals are restored to images displaying the target scene in real time through the control device on the display, the control device analyzes the images to realize the identification of pesticide spraying targets, meanwhile, the automatic spraying robot is automatically controlled to automatically control the spherical motor and the nozzle to automatically spray pesticides, and the automatic spraying robot is provided with the trundles and the handles to push the automatic spraying robot and flexibly moves among different greenhouses.
Preferably, the control device comprises a data acquisition module, the data acquisition module is respectively connected with the laser scanning imager, the liquid level sensor and the data entry module, the data entry module is connected with the central processing unit, the central processing unit is respectively connected with the angle control module, the injection amount control module, the monitoring management cloud platform and the display, the angle control module is connected with the spherical motor, and the injection amount control module is connected with the spray head. The data acquisition module is used for gathering the scanning data of laser scanning imager and liquid level sensor's liquid level information, and through data entry module with data transmission to central processing unit, central processing unit realizes the differentiation to the pesticide spraying target through analysis image data, and then the turned angle of spherical motor is controlled through angle control module, switch and the size of injection volume through injection volume control module control nozzle, the deposit at non-target object or region has been reduced, pesticide deposition rate and pesticide availability on the target have been improved, send data to monitoring management cloud platform simultaneously and record, and show on the display, make the user know the progress that the pesticide sprays more directly perceivedly.
Preferably, a supporting leg, a limiting blocking piece and a limiting ring are arranged below the rear part of the shell, the supporting leg is L-shaped, and the long end of the supporting leg penetrates through the limiting ring. The arm brace is used for playing a supporting role when the automatic spraying robot is static, the bottom end of the arm brace is abutted to the ground during use, and the L-shaped short end of the arm brace is abutted to the lower end of the limiting blocking piece through rotation.
Preferably, the limiting blocking piece is a circular metal ring with a notch, and the width of the notch of the limiting blocking piece is larger than the diameter of the supporting foot. The L-shaped short end of the arm brace can move up and down through the notch of the limiting blocking piece, when the automatic spraying robot moves, the L-shaped short end of the arm brace moves up to the upper part of the limiting blocking piece, and the L-shaped short end of the arm brace is abutted against the upper end of the limiting blocking piece through rotation, so that the arm brace is prevented from falling down.
Preferably, a plurality of spherical motors and spray heads are arranged side by side. Can spray the pesticide to a plurality of targets in order to improve work efficiency.
Preferably, the display is a touch screen. The user can directly control the automatic spraying robot through the display screen, check the work process and realize the switching of different working states aiming at different crops.
The invention has the beneficial effects that: the laser scanning imaging system is used for identifying the target, automatically controlling the direction of the nozzle and the spraying amount of the pesticide, reducing the deposition of the pesticide on a non-target object or an area, improving the deposition rate of the pesticide on the target, greatly improving the effective utilization rate of the pesticide, and reducing the harm of the pesticide to pesticide applying personnel and the pollution to the environment.
Drawings
FIG. 1 is a block diagram of the present invention.
Fig. 2 is a block diagram of a schematic connection arrangement of the present invention.
In the figure, 1 shell, 2 trundles, 3 handles, 4 laser scanning imaging instruments, 5 control devices, 5.1 data acquisition modules, 5.2 data input modules, 5.3 central processing units, 5.4 angle control modules, 5.5 injection quantity control modules, 6 displays, 7 spray heads, 8 spherical motors, 9 guide pipes, 10 water storage tanks, 11 supporting legs, 12 limiting blocking pieces, 13 limiting rings, 14 liquid level sensors and 15 monitoring management cloud platforms
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. Example (b): the automatic robot that sprays of laser imaging pesticide of this embodiment, as shown in fig. 1, including shell 1, 1 front portion below both sides of shell are equipped with two truckles 2, and laser scanning imager 4 is installed to the anterior top, and spherical motor 8 is installed to laser scanning imager 4 below, install shower nozzle 7 on the spherical motor 8 active cell, can be equipped with a plurality of spherical motors 8 simultaneously and shower nozzle 7 in order to increase improvement work efficiency to a plurality of targets that spray. The end of intaking of shower nozzle 7 is connected with pipe 9 one end, and the pipe 9 other end is located storage water tank 10, install level sensor 14 in the storage water tank 10, level sensor 14 is used for monitoring the pesticide volume in the storage water tank 10, if the pesticide is not enough sends out the police dispatch newspaper through display 6. Display 6 is installed to shell 1 rear portion top, and display 6 is the touch-sensitive screen, and the user can be through 6 direct control automatic spraying robot of display in order to switch different gears and deal with different crops. Two handles 3 are provided at the lower edge of the housing 1 near the display 6, and casters 2 and handles 3 mounted on the housing are used to move the automatic spray robot. A control device 5 is arranged below the display 6, and the control device 5 is respectively connected with the laser scanning imager 4, the display 6, the spray head 7 and the spherical motor 8. The rear portion of the shell 1 is provided with a supporting leg 11, a limiting blocking piece 12 and a limiting ring 13, the supporting leg is L-shaped, the long end of the supporting leg 11 penetrates through the limiting ring 13, the limiting blocking piece 12 is a circular metal ring with a notch, and the notch width of the limiting blocking piece 12 is larger than the diameter of the supporting leg 11. The supporting foot 11 is used for supporting when the automatic spraying robot is static, the L-shaped short end of the supporting foot 11 can move up and down through the gap of the limiting blocking piece 12, when the supporting foot 11 is used, the bottom end of the supporting foot 11 is abutted against the ground, and the L-shaped short end of the supporting foot 11 is abutted against the lower end of the limiting blocking piece 12 through rotation; when the automatic spraying robot moves, the L-shaped short end of the arm brace 11 moves upwards to the position above the limit baffle 12, and the L-shaped short end of the arm brace 11 is abutted against the upper end of the limit baffle 12 through rotation, so that the arm brace 11 is prevented from falling down.
As shown in fig. 2, the control device 5 comprises a data acquisition module 5.1, the data acquisition module 5.1 is respectively connected with the laser scanning imager 4, the liquid level sensor 14 and the data entry module 5.2, the data entry module 5.2 is connected with a central processing unit 5.3, the central processing unit 5.3 is respectively connected with an angle control module 5.4, an injection amount control module 5.5 and a display 6, the angle control module 5.4 is connected with a spherical motor 8, the injection amount control module 5.5 is connected with a spray head 7, and the central processing unit 5.3 is remotely and wirelessly connected with a monitoring management cloud platform 15.
When the automatic pesticide spraying device works, a user adds sufficient pesticides into the water storage tank 10, moves the supporting feet 11 to the upper end of the limiting baffle 12, and pushes the automatic spraying robot to start pesticide spraying. Firstly, a laser scanning imager 4 sends a laser beam to scan a target scene and receives laser radiation reflected by the scene to generate continuous analog signals, a data acquisition module 5.1 acquires scanning data of the laser scanning imager 4 and liquid level information of a liquid level sensor 14, and sends the data to a central processing unit 5.3 through a data entry module 5.2, the central processing unit 5.3 sends the analog signals to a display 6, the obtained analog signals are restored to an image for displaying the target scene in real time on the display 6, then the central processing unit 5.3 identifies a pesticide spraying target through analyzing the image data, further controls the rotation angle of a spherical motor 8 through an angle control module 5.4, controls the opening and closing of a nozzle 7 and the size of the spraying quantity through a spraying quantity control module 5.5 to realize the accurate spraying of pesticide and reduce the deposition of the pesticide on non-target objects or areas, the deposition rate of the pesticide on the target and the effective pesticide utilization rate are improved, the monitoring data and the pesticide spraying data are sent to the monitoring management cloud platform 15 to be recorded, and the monitoring management cloud platform is displayed on the display 6, so that a user can know the working progress of pesticide spraying more intuitively. If the pesticide amount monitored by the liquid level sensor 14 is insufficient, the central processing unit 5.3 sends out an alarm signal to remind a user to replenish the pesticide in time through the display 6.
Claims (6)
1. The utility model provides an automatic robot that sprays of laser imaging pesticide, includes shell (1), its characterized in that, shell (1) front portion below both sides are equipped with two truckles (2), and laser scanning imager (4) are installed to the front portion top, and spherical motor (8) are installed to laser scanning imager (4) below, install shower nozzle (7) on the spherical motor (8) active cell, shower nozzle (7) intake end is connected with pipe (9) one end, and the pipe (9) other end is located storage water tank (10), install level sensor (14) in storage water tank (10), display (6) are installed to shell (1) rear portion top, and the lower limb department that shell (1) is close to display (6) is equipped with two handles (3), and display (6) below is equipped with controlling means (5), controlling means (5) respectively with laser scanning imager (4), the display (6) and the spray head (7) are connected with the spherical motor (8).
2. The automatic laser imaging pesticide spraying robot is characterized in that the control device (5) comprises a data acquisition module (5.1), the data acquisition module (5.1) is respectively connected with the laser scanning imager (4), the liquid level sensor (14) and the data entry module (5.2), the data entry module (5.2) is connected with the central processing unit (5.3), the central processing unit (5.3) is respectively connected with the angle control module (5.4), the injection quantity control module (5.5), the monitoring management cloud platform (15) and the display (6), the angle control module (5.4) is connected with the spherical motor (8), and the injection quantity control module (5.5) is connected with the spray head (7).
3. The automatic laser imaging pesticide spraying robot as claimed in claim 1, wherein a supporting leg (11), a limiting blocking piece (12) and a limiting ring (13) are arranged below the rear portion of the housing (1), the supporting leg is L-shaped, and the long end of the supporting leg (11) penetrates through the limiting ring (13).
4. The automatic pesticide spraying robot with the laser imaging function as claimed in claim 3, wherein the limiting baffle (12) is a circular metal ring with a notch, and the notch width of the limiting baffle (12) is larger than the diameter of the supporting foot (11).
5. The automatic laser imaging pesticide spraying robot as claimed in claim 3, characterized in that a plurality of spherical motors (8) and spray heads (7) are arranged side by side.
6. The laser imaging automatic pesticide spraying robot as claimed in claim 3, wherein the display (6) is a touch screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910919679.7A CN110754458A (en) | 2019-09-26 | 2019-09-26 | Automatic laser imaging pesticide spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910919679.7A CN110754458A (en) | 2019-09-26 | 2019-09-26 | Automatic laser imaging pesticide spraying robot |
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| Publication Number | Publication Date |
|---|---|
| CN110754458A true CN110754458A (en) | 2020-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910919679.7A Pending CN110754458A (en) | 2019-09-26 | 2019-09-26 | Automatic laser imaging pesticide spraying robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114467688A (en) * | 2020-10-26 | 2022-05-13 | 永嘉一本机械有限公司 | Farmland sprinkler |
Citations (10)
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| JPH07197554A (en) * | 1993-12-29 | 1995-08-01 | Nishimatsu Constr Co Ltd | Autonomously traveling type intelligent work robot |
| EP1000540A1 (en) * | 1998-11-16 | 2000-05-17 | McLoughlin, Daniel | Image processing |
| CN101927220A (en) * | 2010-07-05 | 2010-12-29 | 中国农业大学 | Accurate intelligent targeted spraying machine |
| CN202129163U (en) * | 2010-12-30 | 2012-02-01 | 镇江和盛环境科技有限公司 | Self-regulating efficient static pesticide spraying machine for greenhouse |
| CN203424190U (en) * | 2013-06-14 | 2014-02-12 | 西北农林科技大学 | Orchard intelligent pesticide spraying machine based on tree shape reconstruction |
| CN103999841A (en) * | 2014-04-18 | 2014-08-27 | 浙江大学 | Automatic targeting and spraying system |
| CN204104581U (en) * | 2014-04-18 | 2015-01-21 | 浙江大学 | A kind of automatic target detection spraying system based on binocular vision technology |
| CN206687003U (en) * | 2017-05-16 | 2017-12-01 | 山西省农业科学院果树研究所 | A kind of fruit tree vehicle-mounted sprayer based on Internet of Things |
| CN206780829U (en) * | 2017-10-29 | 2017-12-22 | 莫凡鼎胜（重庆）科技有限公司 | A kind of plastic grain transport trolley component |
| CN110178825A (en) * | 2019-07-08 | 2019-08-30 | 河北农业大学 | Garden accurate spraying system based on Kinect |
-
2019
- 2019-09-26 CN CN201910919679.7A patent/CN110754458A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07197554A (en) * | 1993-12-29 | 1995-08-01 | Nishimatsu Constr Co Ltd | Autonomously traveling type intelligent work robot |
| EP1000540A1 (en) * | 1998-11-16 | 2000-05-17 | McLoughlin, Daniel | Image processing |
| CN101927220A (en) * | 2010-07-05 | 2010-12-29 | 中国农业大学 | Accurate intelligent targeted spraying machine |
| CN202129163U (en) * | 2010-12-30 | 2012-02-01 | 镇江和盛环境科技有限公司 | Self-regulating efficient static pesticide spraying machine for greenhouse |
| CN203424190U (en) * | 2013-06-14 | 2014-02-12 | 西北农林科技大学 | Orchard intelligent pesticide spraying machine based on tree shape reconstruction |
| CN103999841A (en) * | 2014-04-18 | 2014-08-27 | 浙江大学 | Automatic targeting and spraying system |
| CN204104581U (en) * | 2014-04-18 | 2015-01-21 | 浙江大学 | A kind of automatic target detection spraying system based on binocular vision technology |
| CN206687003U (en) * | 2017-05-16 | 2017-12-01 | 山西省农业科学院果树研究所 | A kind of fruit tree vehicle-mounted sprayer based on Internet of Things |
| CN206780829U (en) * | 2017-10-29 | 2017-12-22 | 莫凡鼎胜（重庆）科技有限公司 | A kind of plastic grain transport trolley component |
| CN110178825A (en) * | 2019-07-08 | 2019-08-30 | 河北农业大学 | Garden accurate spraying system based on Kinect |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114467688A (en) * | 2020-10-26 | 2022-05-13 | 永嘉一本机械有限公司 | Farmland sprinkler |
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Application publication date: 20200207 |