CN114275163B - Folding arm module, spraying device and driving method - Google Patents
Folding arm module, spraying device and driving method Download PDFInfo
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- CN114275163B CN114275163B CN202210037049.9A CN202210037049A CN114275163B CN 114275163 B CN114275163 B CN 114275163B CN 202210037049 A CN202210037049 A CN 202210037049A CN 114275163 B CN114275163 B CN 114275163B
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Abstract
The embodiment of the invention discloses a folding arm module, spraying equipment and a driving method, wherein the folding arm module is arranged on the spraying equipment for spraying crops in hilly areas and comprises the following components: n arms, wherein the N arms have an extended state and a contracted state; further comprises: the camera module is used for collecting the topographic image information of the hilly land within the preset range of the folding arm module; the processing module is connected with the camera module and used for determining the telescopic state of the folding arm module according to the topographic image information; a driving module is arranged between two adjacent arm rods, and the driving module is connected with the processing module and is used for determining a driving state according to the telescopic state; wherein, the different driving states correspondingly drive the adjacent arm levers to move in different directions and at different speeds. Therefore, intelligent spraying of the spraying equipment is realized by utilizing the folding arm module, and the spraying operation can be accurately performed on crops in hilly lands while the labor cost is reduced.
Description
Technical Field
The invention relates to the technical field of electric power, in particular to a folding arm module, spraying equipment and a driving method.
Background
In the related art, unmanned aerial vehicle spraying and manual spraying are mainly used in crop farms in hilly areas. The unmanned aerial vehicle spraying can realize automatic spraying, but the liquid medicine cannot be sprayed to the back of the leaves, so that the spraying effect is poor; the manual spraying effect is good, but the efficiency is low, the cost is high, and a certain poisoning risk exists. Based on the above, how to ensure the spraying efficiency and the spraying accuracy becomes a technical problem to be solved urgently.
Disclosure of Invention
In order to solve the existing technical problems, the embodiment of the invention provides a folding arm module, spraying equipment and a driving method.
In order to achieve the above object, the technical solution of the embodiment of the present invention is as follows:
the embodiment of the invention provides a folding arm module, which is arranged on a spraying device for spraying crops in hilly areas and comprises the following components: the device comprises N arm rods, wherein the N arm rods are in an extending state and a contracting state, in the extending state, the connecting positions of two adjacent arm rods relative to the two adjacent arm rods are at a first preset angle which is different from 0, and in the contracting state, the connecting positions of two adjacent arm rods relative to the two adjacent arm rods are at a second preset angle which is equal to 0;
the folding arm module still includes:
the camera module is used for collecting the topographic image information of the hilly land within the preset range of the folding arm module;
the processing module is connected with the camera module and used for determining the telescopic state of the folding arm module according to the topographic image information;
a driving module is arranged between two adjacent arm rods, and is connected with the processing module and used for determining a driving state according to the telescopic state; the different driving states correspondingly drive the adjacent arm rods to have different moving directions and moving speeds.
Preferably, each of said N arms includes two ends;
the first end of the 1 st arm rod is fixedly arranged, the second end of the 1 st arm rod is rotatably connected with the first end of the 2 nd arm rod, and the like, the second end of the N-1 st arm rod is rotatably connected with the first end of the N th arm rod, wherein N is a positive integer greater than or equal to 1.
Preferably, the driving module further includes:
the signal sensor is arranged at the joint of the second end of the (N-1) -th arm rod and the first end of the (N) -th arm rod and is used for converting the telescopic state into a numerical signal capable of representing the sub telescopic state of the (N-1) -th arm rod and the (N) -th arm rod; and determining the driving state according to the numerical value signal.
Preferably, the processing module further includes: determining signal generation time sequence information of N signal sensors according to the telescopic state; transmitting a control signal to the signal sensor corresponding to the time sequence information according to the time sequence information;
the signal sensor is further used for converting the telescopic state into a numerical signal representing the sub telescopic state of the N-1 th arm rod and the N th arm rod in response to receiving the control signal.
Preferably, the N arms are four arms;
the driving module is further used for comparing a first number of first numerical value signals used for representing the stretching state with a second number of second numerical value signals used for representing the stretching state in the initial state in the N numerical value signals; responsive to the first number being greater than the second number, determining the actuation state to actuate the N arms to extend; and/or, responsive to the first number being less than the second number, determining the actuation state to actuate retraction of the N arms; and/or, in response to the first number being equal to the second number, determining that the driving state is a stopped driving state.
Preferably, the processing module is further configured to:
determining whether the spraying equipment needs to walk to the next hilly zone according to the topographic image information;
and determining that the telescopic state of the folding arm module is a contracted state in response to the spraying equipment moving to the next hilly zone.
The embodiment of the invention also provides a spraying device, which comprises:
the spray device body and the folding arm module according to any of the above embodiments mounted on the spray device body.
The embodiment of the invention also provides a driving method applied to any folding arm module, wherein the folding arm module is arranged on a spraying device for spraying crops in hilly areas, and comprises the following steps: the device comprises N arm rods, wherein the N arm rods are in an extending state and a contracting state, in the extending state, the connecting positions of two adjacent arm rods relative to the two adjacent arm rods are at a first preset angle which is different from 0, and in the contracting state, the connecting positions of two adjacent arm rods relative to the two adjacent arm rods are at a second preset angle which is equal to 0; the method comprises the following steps:
collecting the topographic image information of the hilly land within the preset range of the folding arm module;
determining the telescopic state of the folding arm module according to the topographic image information;
and determining a driving state according to the telescopic state, wherein different driving states correspondingly drive the adjacent arm rods to have different moving directions and moving speeds.
Preferably, the determining the telescopic state of the folding arm module according to the topographic image information includes:
determining whether the spraying equipment needs to walk to the next hilly zone according to the topographic image information;
in response to the spray device traveling to the next hilly zone, the telescoping state of the folding arm is determined to be a collapsed state.
The embodiment of the invention also provides a folding arm module, which comprises: a processor and a memory for storing a computer and a program capable of running on the processor, wherein the processor is configured to implement any of the driving methods described above when running the computer program.
The folding arm module, the spraying device and the driving method provided in the above embodiments, the folding arm module is disposed on the spraying device for spraying crops in hilly areas, and includes: the device comprises N arm rods, wherein the N arm rods are in an extending state and a contracting state, in the extending state, the connecting positions of two adjacent arm rods relative to the two adjacent arm rods are at a first preset angle which is different from 0, and in the contracting state, the connecting positions of two adjacent arm rods relative to the two adjacent arm rods are at a second preset angle which is equal to 0; the folding arm module still includes: the camera module is used for collecting the topographic image information of the hilly land within the preset range of the folding arm module; the processing module is connected with the camera module and used for determining the telescopic state of the folding arm module according to the topographic image information; a driving module is arranged between two adjacent arm rods, and is connected with the processing module and used for determining a driving state according to the telescopic state; the different driving states correspondingly drive the adjacent arm rods to have different moving directions and moving speeds. Therefore, compare prior art, need the manual work to spray the crops in hilly area, perhaps utilize unmanned aerial vehicle to spray, owing to adopted the folding arm module that can stretch out and draw back automatically to consider unmanned aerial vehicle can't spray the blade back of crops, also can reduce simultaneously that the manual work sprays the spraying inefficiency that arouses, spray risks such as poisoning. Therefore, the folding arm module installed on the spraying equipment can ensure the spraying efficiency and the spraying precision, thereby realizing safe and efficient spraying of crops in hilly areas.
Drawings
FIG. 1 is a schematic diagram of a folding arm module according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a folding arm module according to an embodiment of the invention;
FIG. 3 is a schematic diagram of another embodiment of a folding arm module according to the present invention;
FIG. 4 is a schematic view of a folding arm module according to an embodiment of the invention;
FIG. 5 is a schematic view of a folding arm module according to an embodiment of the present invention;
FIG. 6 is a schematic functional structure of a folding arm module according to an embodiment of the present invention;
FIG. 7 is a flow chart of a driving method according to an embodiment of the invention;
FIG. 8 is a flow chart of a driving method according to an embodiment of the invention;
fig. 9 is a schematic hardware structure of a folding arm module according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In the embodiment of the invention, the application scene of the spraying equipment provided with the folding arm module can be as follows: in a pesticide spraying scene in hilly areas. It will be appreciated that in the prior art, in the pesticide spraying scenario for crops in hilly areas, the spraying is typically performed by unmanned aerial vehicles, or manually. But neither of these two modes of spraying is satisfactory. For example, unmanned aerial vehicle sprays and can appear spraying the phenomenon in place, and the manual work sprays and can appear spraying inefficiency, sprays the pesticide poisoning risk that leads to and is big, and the cost of labor is high.
Based on this, provide the spraying equipment of folding arm module of folding function in this embodiment, can combine unmanned aerial vehicle to spray with artifical spraying again, be applied to the farm environment of complicated topography such as hilly topography, for example, in the orchard environment of hilly topography to solve artifical spraying inefficiency and unmanned aerial vehicle and spray the problem that the precision is not high.
The technical scheme of the invention is further elaborated below by referring to the drawings in the specification and the specific embodiments.
Referring to fig. 1 to 6, an embodiment of the present invention provides a folding arm module 1, the folding arm module 1 is disposed on a spraying device for spraying crops in hilly areas, and includes: n arms, wherein the N arms have an extended state and a contracted state;
the folding arm module 1 further includes:
the camera module 11 is used for collecting the topographic image information of the hilly area within the preset range of the folding arm module 1;
the processing module 12 is connected with the camera module 11 and is used for determining the telescopic state of the folding arm module according to the topographic image information, wherein in the extending state, the joint between two adjacent arm rods is a first preset angle which is different from 0, and in the contracting state, the joint between two adjacent arm rods is a second preset angle which is equal to 0;
a driving module 13 is arranged between two adjacent arm rods, and the driving module 13 is connected with the processing module 12 and is used for determining a driving state according to the telescopic state; the different driving states correspondingly drive the adjacent arm rods to have different moving directions and moving speeds.
It should be noted that the N arm levers have an extended state, and an extended state is provided between any two adjacent arm levers in the N arm levers; the N arm bars have a contracted state, and any two adjacent arm bars in the N arm bars are in the contracted state.
For example, referring back to fig. 1, as shown in fig. 1, the folding bar of the folding arm module 1 has an extended state. For example, referring to fig. 2 again, as shown in fig. 2, the folding bar of the folding arm module 1 has a contracted state.
The camera module 11 here comprises a binocular camera, or a monocular camera. In practical applications, the camera module 11 may be mounted on the arm of the folding arm module 1, or the end of the arm; the system can be used for collecting the topographic image information of the hilly area within the preset range of the folding arm module 1 on the one hand, and can be used for collecting the crop image information of the crops within the preset range of the folding arm module 1 on the other hand. It can be understood that the topographic image information can be used to determine what walking state the spraying device mounted with the folding arm module 1 is in, whether an uphill slope, a downhill slope, etc. are required; the crop image information can be used for judging whether the folding arm module 1 sprays nearby crops or not, so that the folding state among all arm rods of the folding arm can be adjusted according to the judging result of whether the folding arm module sprays, and automatic spraying is realized.
The driving module 13 here may include a motor, which includes but is not limited to a permanent magnet dc motor, or a stepper motor, a push rod, etc., and in any case, under the operation of the motor, can drive the adjacent two arms to move, so as to change the presentation angle of the connection between the adjacent two arms, that is, change the telescopic state between the adjacent two arms.
The processing module 12 may be an upper computer and a lower computer, and the lower computer may be installed in the folding arm module 1 and connected with the camera module 11 and the driving module 13 in the folding arm module 1. The upper computer is used for data processing and can be a computer and the like. The lower computer can be used as a transmitting transfer station of the instruction, wherein the upper computer and the lower computer can be connected through 485, a network and the like.
For example, the upper computer may be Hai Si H3519A, and the lower computer may be Rui SA 4M2. The arm lever in the folding arm module 1 may be a gantry structure.
The moving direction and the moving speed refer to the moving direction and the moving speed of the arm lever driven by the motor. The driving state can be determined according to the telescopic state and the initial state, so that the moving direction and the moving speed of the motor-driven arm lever are obtained. It will be appreciated that in some embodiments, the movement speed may be constant and the movement direction may be based on a comparison of the telescoping state and the initial state. For example, if the initial state of the folding arm module 1 is an extended state, the topographic image information indicates that the folding arm module 1 needs to be in a contracted state, and the moving direction is the direction of opposite movement between two adjacent arm levers; in contrast, if the initial state of the folding arm module 1 is the contracted state, the topographic image information indicates that the folding arm module 1 needs to be in the extended state, and the moving direction is the direction in which the adjacent two arm levers move in opposite directions. Of course, the direction of movement may be non-directional when the initial state is the same as the final desired telescoping state. Of course, in other embodiments, the movement speed may be intelligently changed, and may be determined by topographical image information, for example.
In the above-mentioned embodiment, compare prior art, need the manual work to spray the crops of hilly area, perhaps utilize unmanned aerial vehicle to spray, owing to adopted the folding arm module that can stretch out and draw back automatically to consider unmanned aerial vehicle can not spray the blade back of crops, also can reduce simultaneously that the manual work sprays the spraying inefficiency that arouses, spray risks such as poisoning. Therefore, the folding arm module installed on the spraying equipment can ensure the spraying efficiency and the spraying precision, thereby realizing safe and efficient spraying of crops in hilly areas.
In some embodiments, the processing module 12 is further configured to:
determining whether the spraying equipment needs to walk to the next hilly zone according to the topographic image information;
and determining that the telescopic state of the folding arm module is a contracted state in response to the spraying equipment moving to the next hilly zone.
In the hilly area scene, since each hilly area rises according to a step, the spraying device sprays along each hilly area. When one hilly belt climbs up the other hilly belt, if the folding arm module is in an extended state, the folding arm module is easy to damage. Based on the above, according to the topographic image information, it is determined whether the spraying device needs to travel to the next hilly area, and the telescopic state of the folding arm module is adjusted to be the contracted state.
So, in this embodiment, through determining whether spray equipment need walk under the condition of next hilly area, can confirm that the flexible state of folding arm module is the shrink state to let folding arm module can accomplish under the shrink state and walk next hilly area, thereby can reduce the problem that the folding arm module is easy to damage because the topography is complicated in the spray equipment walking process.
Illustratively, the determining whether the spraying device needs to walk to the next hilly zone according to the topographic image information includes: determining whether the spraying equipment walks to the end part of the current hilly zone according to the topographic image information; if the end of the hilly zone is reached, it is determined that the spraying device needs to travel to the next hilly zone.
Illustratively, determining whether the spraying device walks to the end of the current hilly zone based on the topographic image information comprises: according to the topographic image information, determining gray information in the topographic image information; if the gray information indicates that a region with gray change larger than a change threshold exists; and if the region with the gray level change larger than the change threshold value is determined to be the end part of the hilly zone according to the deep learning model, determining that the spraying equipment walks to the end part of the current hilly zone. So, can discern intelligently whether need shrink the armed lever of folding arm module to reduce the damage to the armed lever in the spraying equipment walking process.
Referring again to fig. 1-5, each of the N arms includes two ends;
the first end of the 1 st arm rod is fixedly arranged, the second end of the 1 st arm rod is rotatably connected with the first end of the 2 nd arm rod, and the like, the second end of the N-1 st arm rod is rotatably connected with the first end of the N th arm rod, wherein N is a positive integer greater than or equal to 1. Therefore, each arm rod can be contracted, and the collision damage of crops on the arm rods which cannot be contracted in the walking process of the spraying equipment, particularly in the climbing and descending process of hilly lands, is reduced.
In other embodiments, referring to fig. 1, the driving module 1 further includes:
the signal sensor is arranged at the joint of the second end of the (N-1) -th arm rod and the first end of the (N) -th arm rod and is used for converting the telescopic state into a numerical signal capable of representing the sub telescopic state of the (N-1) -th arm rod and the (N) -th arm rod; and determining the driving state according to the numerical value information.
The signal sensor may be a metal proximity switch, for example. When the metal approaches, a high level is output and indicated by a value signal 1, and otherwise, a low level is output and indicated by a value signal 0. Illustratively, if retraction is desired, it may be denoted by 0, and if extension is desired, it may be denoted by 1.
The sub-telescopic state is the telescopic state of the pointer to the (N-1) th arm lever and the (N) th arm lever.
Thus, by converting the telescopic state into the digital signal, the signal is simplified, and the corresponding telescopic operation and the like are conveniently read and executed based on the digital signal.
In other embodiments, the processing module 12 further comprises: determining signal generation time sequence information of N signal sensors according to the telescopic state; transmitting a control signal to the signal sensor corresponding to the time sequence information according to the time sequence information;
the signal sensor is further configured to convert the telescopic state into a numerical signal capable of representing the sub telescopic states of the N-1 th arm and the N-th arm in response to receiving the control signal.
Here, the signal generation timing information of the N signal sensors means that each signal sensor has an own priority. For example, referring back to fig. 1 to 5, the third signal sensor 133 has a higher priority than the second signal sensor 132 and than the first signal sensor 131. In this way, according to the priorities of the N signal sensors, the signal generation timing information of the N signal sensors can be determined, so that the respective arms of the arm module 1 can be sequentially extended or contracted. Of course, in some embodiments, the priority of the signal sensor may be determined based on the captured topographical image information, and in some cases, the priority of the second signal sensor 132 may be higher than the priority of the third signal sensor 133, as an example.
In other embodiments, referring to fig. 1 again, as shown in fig. 1, the N arms are four arms;
the driving module 13 is further configured to compare a first number of first numerical signals used to represent the extended state with a second number of second numerical signals used to represent the extended state in the initial state in the N numerical signals; responsive to the first number being greater than the second number, determining the actuation state to actuate the N arms to extend; and/or, responsive to the first number being less than the second number, determining the actuation state to actuate retraction of the N arms; and/or, in response to the first number being equal to the second number, determining that the driving state is a stopped driving state.
In practical application, comparing the number of the sensors of the expansion group to be expanded with the number of the initial state of the sensors of the expansion group to be expanded, and if A is more than B, confirming that the folding arm of the spraying machine needs to be expanded; if A < B, recognizing that the folding arm of the spraying machine needs to be contracted; if a=b, confirm that the spray machine folding arm does not need to act; when the folding arm of the spraying machine needs to be stretched, according to the priority of the stretching group sensor, if the state with low priority in the state of the stretching group sensor needs to be reached is the stretching state, and the state with high priority is not the stretching state, the method is not executed, and the abnormal state is fed back to the upper computer. If the state of the expansion group sensor needs to be normal, confirming whether the actual state of the high priority in the expansion group sensor is shrinkage, and if the actual state of the high priority in the expansion group sensor is expansion, if the actual state is not the expansion, feeding back an abnormality to an upper computer, otherwise, normally expanding; when the folding arm of the spraying machine needs to be contracted, according to the priority of the contraction group sensor, if the state with low priority in the state of the contraction group sensor needs to be reached is a contracted state, and the state with high priority is not the contracted state, the operation is not performed, and the abnormality is fed back to the upper computer. If the shrink group sensor needs to reach the normal state, confirming whether the actual state of the high priority in the shrink group sensor is expansion, and if the actual state of the high priority in the shrink group sensor is contraction, if the actual state is not execution, feeding back an abnormality to the upper computer, otherwise, contracting normally.
The embodiment of the invention also provides a spraying device, which comprises: a spray device body, and a folding arm module as described in any of the above embodiments mounted to the spray device body.
The advantages and contributions of this embodiment over the prior art are the same as those described for the embodiments of the folding arm module described above. Namely, the spraying equipment provided with the folding arm module of the embodiment realizes safe and efficient spraying of crops in hilly areas.
Fig. 7 is a schematic flow chart of a driving method applied to any folding arm module provided in an embodiment of the present invention, where the folding arm module is disposed on a spraying device for spraying crops in hilly areas, and as shown in fig. 7, the method includes:
step 701: collecting the topographic image information of the hilly land within the preset range of the folding arm module;
step 702: determining the telescopic state of the folding arm module according to the topographic image information;
step 703: and determining a driving state according to the telescopic state, wherein different driving states correspondingly drive the adjacent arm rods to have different moving directions and moving speeds.
In some optional embodiments, the determining the telescopic state of the folding arm module according to the topographic image information in step 701 includes:
determining whether the spraying equipment needs to walk to the next hilly zone according to the topographic image information;
in response to the spray device traveling to the next hilly zone, the telescoping state of the folding arm is determined to be a collapsed state.
In some optional embodiments, the determining the driving state in step 703, that is, according to the telescopic state, includes:
the signal sensor is arranged at the joint of the second end of the (N-1) -th arm rod and the first end of the (N) -th arm rod and is used for converting the telescopic state into a numerical signal capable of representing the sub telescopic state of the (N-1) -th arm rod and the (N) -th arm rod; and determining the driving state according to the numerical value signal.
In some alternative embodiments, the method further comprises:
determining signal generation time sequence information of N signal sensors according to the telescopic state; transmitting a control signal to the signal sensor corresponding to the time sequence information according to the time sequence information;
said determining said driving state from said value signal comprises:
and in response to receiving the control signal, converting the telescopic state into a numerical signal capable of representing the sub telescopic state of the (N-1) th arm rod and the (N) th arm rod.
In some alternative embodiments, the determining the driving state according to the value signal includes:
comparing a first number of first ones of the N number of said number signals for characterizing the extended state with a second number of second ones of the extended state in the initial state; responsive to the first number being greater than the second number, determining the actuation state to actuate the N arms to extend; and/or, responsive to the first number being less than the second number, determining the actuation state to actuate retraction of the N arms; and/or, in response to the first number being equal to the second number, determining that the driving state is a stopped driving state.
It should be noted here that: the description of the driving method item is similar to that of the driving module item, and the description of the beneficial effects of the same method is omitted. For technical details not disclosed in the driving method embodiments of the present invention, please refer to the description of the embodiments of the driving module of the present invention.
The present invention also provides an embodiment to further understand the folding arm module, the spraying apparatus and the driving method.
Referring to fig. 8, fig. 8 is a flow chart of a driving method according to an embodiment of the invention, and as shown in fig. 8, the method includes:
step 81: the upper computer sends an instruction to the lower computer;
the upper computer can be an instruction which is generated according to actual conditions and needs to extend or retract the folding arm module, namely, the telescopic state of the folding arm module is determined.
Step 82: analyzing the instruction by the lower computer;
here, the lower computer decomposes the numerical value signal generated by each signal sensor according to the telescopic state required to be displayed by the folding arm module.
Step 83: the lower computer calculates the number A of the sensors of the extension group which need to reach the extension state;
the stretch group sensor may be a sensor of the signal sensor for generating a stretch signal. The shrink group sensor may then be the sensor used to generate the shrink signal in the signal sensor.
Step 84: determining an expansion group and a contraction group sensor priority;
step 85: the lower computer obtains the initial state of the extension group register;
step 86: the lower computer calculates the number B of the initial states of the stretching group sensors as stretching states;
step 87: comparing A with B;
step 871: if A is greater than B, determining whether the requirement state of the extension group sensor is matched with the priority of the extension group sensor;
step 872: if so, confirming whether the initial state of the extension group sensor is matched with the priority of the extension group sensor;
step 873: if yes, normally stretching according to the sequence; otherwise, feeding back the abnormality to the upper computer;
step 874: if A is smaller than B, confirming whether the required state of the shrink group sensor is matched with the priority of the shrink group sensor;
step 875: if so, determining whether the initial state of the shrink group sensor is matched with the priority of the shrink group sensor;
step 876: if so, normal shrinkage is performed in sequence;
step 877: otherwise, feeding back the abnormality to the upper computer;
step 878: if A is equal to B, the operation is not performed.
According to the embodiment of the invention, the problem of safe, efficient and automatic extension and contraction of the folding arm of the spraying machine in a complex hilly terrain orchard environment is solved, so that the damage to the folding arm of the spraying machine in the complex hilly terrain orchard environment is reduced.
As shown in fig. 9, the embodiment of the present invention further provides a folding arm module, which includes a memory 92, a processor 91, and computer instructions stored on the memory 92 and executable on the processor 91; the processor 91, when executing the instructions, implements the steps that apply to the vulnerability scanning method.
In some embodiments, the memory 92 in embodiments of the present invention may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (Double Data Rate SDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and Direct RAM (DRRAM). The memory 92 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
While processor 91 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 91 or by instructions in the form of software. The processor 91 may be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 92 and the processor 91 reads the information in the memory 92 and in combination with its hardware performs the steps of the above method.
In some embodiments, the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For a hardware implementation, the processing units may be implemented within one or more application specific integrated circuits (Application Specific Integrated Circuits, ASIC), digital signal processors (Digital Signal Processing, DSP), digital signal processing devices (DSP devices, DSPD), programmable logic devices (Programmable Logic Device, PLD), field programmable gate arrays (Field-Programmable Gate Array, FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Yet another embodiment of the present invention provides a computer storage medium storing an executable program which, when executed by the processor 91, can implement steps applied to the driving method. Such as one or more of the methods shown in fig. 7 and 8.
In some embodiments, the computer storage medium may include: a U-disk, a removable hard disk, a Read Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: the technical schemes described in the embodiments of the present invention may be arbitrarily combined without any collision.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A folding arm module, characterized in that the folding arm module is disposed on a spraying device for spraying crops in hilly lands, comprising: the device comprises N arm rods, wherein the N arm rods are in an extending state and a contracting state, in the extending state, the connecting positions of two adjacent arm rods relative to the two adjacent arm rods are at a first preset angle which is different from 0, and in the contracting state, the connecting positions of two adjacent arm rods relative to the two adjacent arm rods are at a second preset angle which is equal to 0; each of the N arms includes two ends; the first end of the 1 st arm rod is fixedly arranged, the second end of the 1 st arm rod is rotatably connected with the first end of the 2 nd arm rod, and the like, the second end of the N-1 st arm rod is rotatably connected with the first end of the N th arm rod, wherein N is a positive integer greater than or equal to 1;
the folding arm module still includes:
the camera module is used for collecting the topographic image information of the hilly land within the preset range of the folding arm module;
the processing module is connected with the camera module and used for determining the telescopic state of the folding arm module according to the topographic image information;
a driving module is arranged between two adjacent arm rods, and is connected with the processing module and used for determining a driving state according to the telescopic state; wherein, the different driving states correspondingly drive the adjacent arm levers to have different moving directions and moving speeds; the drive module group still includes: the signal sensor is arranged at the joint of the second end of the (N-1) -th arm rod and the first end of the (N) -th arm rod and is used for converting the telescopic state into a numerical signal capable of representing the sub telescopic state of the (N-1) -th arm rod and the (N) -th arm rod; determining the driving state according to the numerical value signal; the driving module is further used for comparing a first number of first numerical value signals used for representing the stretching state with a second number of second numerical value signals used for representing the stretching state in the initial state in the N numerical value signals; responsive to the first number being greater than the second number, determining the actuation state to actuate the N arms to extend; and/or, responsive to the first number being less than the second number, determining the actuation state to actuate retraction of the N arms; and/or, in response to the first number being equal to the second number, determining that the driving state is a stopped driving state.
2. The folding arm module of claim 1, wherein said processing module further comprises: determining signal generation time sequence information of N signal sensors according to the telescopic state; transmitting a control signal to the signal sensor corresponding to the time sequence information according to the time sequence information;
the signal sensor is further configured to convert the telescopic state into a numerical signal capable of representing the sub telescopic states of the N-1 th arm and the N-th arm in response to receiving the control signal.
3. The folding arm module of claim 1, wherein said N arms are four arms.
4. The folding arm module of claim 1, wherein said processing module is further configured to:
determining whether the spraying equipment needs to walk to the next hilly zone according to the topographic image information;
and determining that the telescopic state of the folding arm module is a contracted state in response to the spraying equipment moving to the next hilly zone.
5. A spraying device, characterized in that it comprises:
a spray device body, and a folding arm module according to any one of claims 1 to 4 mounted on the spray device body.
6. A driving method applied to the folding arm module set according to any one of claims 1 to 4, which is provided on a spraying apparatus for spraying crops in hilly lands, comprising: the device comprises N arm rods, wherein the N arm rods are in an extending state and a contracting state, in the extending state, the connecting positions of two adjacent arm rods relative to the two adjacent arm rods are at a first preset angle which is different from 0, and in the contracting state, the connecting positions of two adjacent arm rods relative to the two adjacent arm rods are at a second preset angle which is equal to 0; the method comprises the following steps:
collecting the topographic image information of the hilly land within the preset range of the folding arm module;
determining the telescopic state of the folding arm module according to the topographic image information;
and determining a driving state according to the telescopic state, wherein different driving states correspondingly drive the adjacent arm rods to have different moving directions and moving speeds.
7. The method of claim 6, wherein determining the telescoping status of the folding arm module based on the topographical image information comprises:
determining whether the spraying equipment needs to walk to the next hilly zone according to the topographic image information;
in response to the spray device traveling to the next hilly zone, the telescoping state of the folding arm is determined to be a collapsed state.
8. A folding arm module, comprising: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor is adapted to implement the driving method of claim 6 when running the computer program.
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| CA2991499A1 (en) * | 2018-01-10 | 2019-07-10 | Universite Laval | New formulation for spraying biopesticides and spraying apparatus to control pest |
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| CN107410255A (en) * | 2017-05-04 | 2017-12-01 | 曲靖师范学院 | A kind of long-distance intelligent control pesticide-spraying cart |
| CN109221062A (en) * | 2018-09-27 | 2019-01-18 | 李昶然 | A kind of self-propelled double rod lifting multi-angle sprinkling Insecticide sprayer |
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