CN209643363U - A kind of intelligent weed-eradicating robot based on deep vision, system - Google Patents
A kind of intelligent weed-eradicating robot based on deep vision, system Download PDFInfo
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- CN209643363U CN209643363U CN201920026003.0U CN201920026003U CN209643363U CN 209643363 U CN209643363 U CN 209643363U CN 201920026003 U CN201920026003 U CN 201920026003U CN 209643363 U CN209643363 U CN 209643363U
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Abstract
The utility model discloses a kind of intelligent weed-eradicating robot based on deep vision, system, belong to intelligent robot technology field, it includes industrial personal computer, power plant module, small vehicle main body, crawler belt traveling wheel, hydraulic jaw and weeding apparatus, the crawler belt traveling wheel driven by traveling wheel drive unit is installed in the small vehicle main body, hydraulic jaw and weeding apparatus are mounted on small vehicle main body by the weeding machine arm assembly for adjust the two posture, travel wheel drive unit, hydraulic jaw and weeding apparatus are provided power by power plant module and are controlled by industrial personal computer, it further include for measuring weeds, the depth camera module of crops and small vehicle main body three relative positional relationship, the beneficial effects of the utility model are: can realize the interactive function of double mechanical arms by the interactive operation of Single Mechanical arm, simultaneously by the way of precision weeding, it is protecting Under the premise of demonstrate,proving weeding ratio and precision, the secondary injury to crops is effectively reduced, advances the application and development of intelligent weed-eradicating robot significantly.
Description
Technical field
The utility model relates to a kind of intelligent robot, specifically a kind of intelligent weed-eradicating robot based on deep vision,
System.
Background technique
Weeds in field is almost present in the growing environment of all field-crops, is difficult through environmentally protective, low-carbon high-efficiency
Weeding system prevent its growth, therefore how effectively to remove weeds in field and have very in the agricultural production process in China
Important meaning.However existing intelligent weed-eradicating robot or be that field is carried out by the usage mode of quantitative chemical pesticide
Between weeds remove or be using traditional image processing techniques by the combination of mechanical arm and camera to weeds in field progress
It removes, it is clear that the use of chemical pesticide endangers maximum, although quantitatively controlling its use, its side effect should not be underestimated, machine
The obvious intelligence degree of the combination of tool arm and camera is not high, is generally fixed on mobile vehicle not adjust there are also mechanical arm,
Therefore it can not be suitable for the field of more different weeds environment, the dust in addition generated in weeding process is easy the mirror to camera
Head pollutes the precision for influencing weeding.
Based on technical problem present in above-mentioned intelligent weed-eradicating robot, there has been no relevant solutions；Therefore urgent
Need to seek effective scheme to solve the above problems.
Utility model content
The intelligent weed-eradicating robot that the purpose of this utility model is to provide a kind of based on deep vision, system, to solve
The problems mentioned above in the background art.
To achieve the above object, the utility model provides the following technical solutions:
A kind of intelligent weed-eradicating robot based on deep vision, including industrial personal computer, power plant module, small vehicle main body, crawler belt row
Wheel, hydraulic jaw and weeding apparatus are sailed, the crawler belt traveling wheel driven by traveling wheel drive unit, liquid are installed in the small vehicle main body
Claw and weeding apparatus are mounted on small vehicle main body, traveling wheel drive by the weeding machine arm assembly for both adjust posture
Device, hydraulic jaw and weeding apparatus are provided by power plant module and power and are controlled by industrial personal computer, further include for measure weeds,
The depth camera module of crops and small vehicle main body three relative positional relationship, depth camera module and industrial personal computer are electrically connected,
The LCD touch device connecting with industrial personal computer is also equipped with by LCD touch device bracket in the small vehicle main body.
As a further solution of the present invention: the power plant module is rechargable power supplies, rechargable power supplies are mounted on
In the groove opened up in small vehicle main body, and groove is fixed with power cover, rechargable power supplies are encapsulated in, set in small vehicle main body
There is the charging interface of corresponding rechargable power supplies.
The small vehicle main body is made of Metal plate as a further solution of the present invention, small vehicle main body
Rear is equipped with scram button and start button, and the small vehicle main body is also built-in with standard clump weight, the front and back of the small vehicle main body
Two sides are mounted on trolley bumper, and trolley bumper is made of alloy material.
The depth camera module includes that the first depth camera and second are deep as a further solution of the present invention,
Camera is spent, the first depth camera is mounted on slidably adjusting bracket bar, and slidably adjusting bracket bar is pacified by camera support frame
In small vehicle main body, the notch slidably opened up on the both ends of adjusting bracket bar and camera support frame side wall is matched, and second
Depth camera is mounted on the front end of small vehicle main body.
The model Microsoft Kinect V2 of first depth camera as a further solution of the present invention, the
The model Intel Realsense D435 of two depth cameras.
The weeding machine arm assembly includes pedestal, the first transverse arm, first as a further solution of the present invention,
Vertical arm, the second transverse arm, the second vertical arm and third transverse arm, first transverse arm rotation are mounted on the base, and the first transverse arm is by it
Built-in servo motor driving can be fixed with the first transverse arm and the second transverse arm respectively relative to base rotation, the both ends of the first vertical arm
Connection, the end of the second transverse arm are rotatably connected to the second vertical arm, and the second vertical arm makes it can be relative to the by servo motor driving
The end of two transverse arm rotations, the second vertical arm is connect with third transverse arm rotation, and third transverse arm makes it can phase by servo motor driving
Second vertical arm is rotated, the hydraulic jaw and weeding apparatus of positional symmetry are installed on third transverse arm.
The weeding apparatus includes high-speed rotary motor and is mounted on height as a further solution of the present invention,
Blade on fast rotating electric machine output shaft, and dust cover is fixed at the peripheral position of the weeding apparatus, the hydraulic jaw is
Electric hydaulic handgrip.
The pedestal is mounted in pedestal fixing seat as a further solution of the present invention, and pedestal is by it
The servo motor driving set, rotate it can relative to pedestal fixing seat, and pedestal fixing seat is fixed on slide damper, sliding gear
Plate is fitted in the U-shaped fixed plate with notch, and notch is provided on the side wall of U-shaped fixed plate, and U-shaped fixed plate is fixed on
The surface of small vehicle main body.
A kind of intelligent weed-eradicating robot system based on deep vision comprising the industrial personal computer of electric connection, chargeable electricity
Source, depth camera module, master control borad one and master control borad two, for the rechargable power supplies for powering, master control borad one is small for controlling
The intracorporal traveling wheel drive unit of car owner and encoder, traveling wheel drive unit are used to drive the rotation of crawler belt traveling wheel, coding
Wheel speed information of the device for Real-time Feedback crawler belt traveling wheel, realizes the closed-loop control to small vehicle main body speed；Master control borad two is used for
Control several servo motors, hydraulic jaw and the weeding apparatus in weeding machine arm assembly；Depth camera module is for measuring
Weeds, crops and small vehicle main body three relative positional relationship, and result is exported to industrial personal computer, the control end interface of industrial personal computer
It is electrically connected with LCD touch device.
As a further solution of the present invention: the master control borad one is also electrically connected with GPS positioning and navigation module.
Compared with prior art, the utility model has the beneficial effects that (1) by using synchronous driving crawler belt traveling wheel with
Suitable for different landform, there is bigger road holding in the process of moving, it is not only beautiful same by using trolley bumper
When small vehicle main body can also be played a certain protective role, can effectively reduce trolley collision risk；
(2) dust cover is added in the outside of the weeding apparatus in weeding machine arm assembly, can effectively alleviate weeding process
The dust of middle generation pollutes the camera lens of depth camera, by the weeding apparatus that is had on mechanical arm tail end third transverse arm and
Weeds in field removing and Tree Precise Fertilization work may be implemented in hydraulic jaw, just really realizes multi-purpose content, and an object is multi-functional, and one
Determine the design new direction that intelligent weeding apparatus has been pushed in degree；
(3) use of depth camera module, by two kinds of depth cameras cooperate the precisely position of identification weeds and
On the one hand the form of weeds improves the precision that identifies and positions of weeds, is on the other hand also beneficial to weeding machine arm assembly
Trajectory path planning and weeding operation, improve the efficiency and precision of farmland weeding, and simultaneously two kinds of depth cameras are installed
Different location and angle, analytical calculation weeds and crops apart from when, be able to carry out mean value computation, substantially increase point
Analysis calculates the accuracy rate of weeds and crops distance, reduces relative error；
(4) structure is simple, construction is novel, and the interaction function of double mechanical arms can be realized by the interactive operation of Single Mechanical arm
Can, while by the way of precision weeding, under the premise of guaranteeing weeding ratio and precision, effectively reduce to crops
Secondary injury advances the application and development of intelligent weed-eradicating robot significantly.
Detailed description of the invention
Fig. 1 is a kind of whole Front Frame schematic diagram of the intelligent weed-eradicating robot based on deep vision of the utility model；
Fig. 2 is a kind of whole rear structure schematic diagram of the intelligent weed-eradicating robot based on deep vision of the utility model；
Fig. 3 is a kind of whole side structure schematic diagram of the intelligent weed-eradicating robot based on deep vision of the utility model；
Fig. 4 is that a kind of weeding working method of intelligent weed-eradicating robot based on deep vision of the utility model illustrates meaning
Figure；
Fig. 5 is that a kind of weeds recycling of intelligent weed-eradicating robot based on deep vision of the utility model is illustrated with fertilising
Figure；
Fig. 6 is that a kind of adjustable weeding machine arm of intelligent weed-eradicating robot based on deep vision of the utility model fills
Set structural schematic diagram；
Fig. 7 is a kind of adjustable camera support structure of the intelligent weed-eradicating robot based on deep vision of the utility model
Schematic diagram；
Fig. 8 is a kind of weeding apparatus structural schematic diagram of the intelligent weed-eradicating robot based on deep vision of the utility model；
Fig. 9 is a kind of LCD touch control display apparatus structure of the intelligent weed-eradicating robot based on deep vision of the utility model
Schematic diagram；
Figure 10 is a kind of intelligent weed-eradicating robot system overall schematic based on deep vision of the utility model；
Figure 11 is a kind of intelligent weed-eradicating robot control method schematic diagram based on deep vision of the utility model；
Figure 12 is a kind of working principle diagram of the intelligent weed-eradicating robot based on deep vision of the utility model.
In figure: 1, small vehicle main body；2, crawler belt traveling wheel；3, trolley bumper；4, LCD touch device bracket；5, LCD touch-control
Device；6, camera support frame；7, slidably adjusting bracket bar；8, the first depth camera；9, U-shaped fixed plate；10, slide damper；
11, pedestal fixing seat；12, pedestal；13, the first transverse arm；14, the first vertical arm；15, the second transverse arm；16, the second vertical arm；17, third
Transverse arm；18, hydraulic jaw；19, dust cover；20, weeding apparatus；21, the second depth camera；22, scram button；23, start button；
24, power cover；25, charging interface.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of device and method being described in detail in claims, some aspects disclosed in the present embodiment are consistent.
Embodiment 1
Please refer to Fig. 1~9, in the utility model embodiment, a kind of intelligent weed-eradicating robot based on deep vision, including
Industrial personal computer, power plant module, small vehicle main body 1, crawler belt traveling take turns 2, hydraulic jaw 18 and weeding apparatus 20, pacify in the small vehicle main body 1
Equipped with the crawler belt traveling wheel 2 driven by traveling wheel drive unit, crawler belt traveling wheel 2 engages group with crawler belt by two synchronous driving wheels
At two synchronous driving wheels are rotatablely connected with the output shaft of corresponding traveling wheel drive unit respectively, and 2 pairs of wheel of crawler belt traveling
Claim the two sides for being mounted on small vehicle main body 1, apart from small 1 baseplane 50mm of vehicle main body, the crawler belt traveling wheel 2 passes through synchronous traveling
Mode realizes the normally travel of small vehicle main body 1, realizes trolley by the positive and negative rotation traveling of the crawler belt traveling wheel of small 1 two sides of vehicle main body
The left and right turn of main body 1, the driver travelled in wheel drive unit are also electrically connected with encoder, and encoder is used for Real-time Feedback
The wheel speed information of crawler belt traveling wheel 2, realizes the closed-loop control to small 1 speed of vehicle main body, while the IMU built in encoder can be right
Small 1 athletic posture of vehicle main body carries out real-time control and feedback, the information such as acquisition speed, angle, to guarantee to maintain in driving process
Posture prevents from toppling over, and hydraulic jaw 18 and weeding apparatus 20 are mounted on by the weeding machine arm assembly for adjusting the two posture
In small vehicle main body 1, it is evident that herein, weeding apparatus 20 is for removing weeds, and hydraulic jaw 18 can according to need progress
Fertilising, recycling of weeds of crops etc., traveling wheel drive unit, hydraulic jaw 18 and weeding apparatus 20 are provided by power plant module
It power and is controlled by industrial personal computer, further includes for measuring 1 three's phase of weeds, crops and small vehicle main body in the present embodiment
To the depth camera module of positional relationship, depth camera module and industrial personal computer are electrically connected, and in other words, depth camera module is by work
The control of control machine by determining the relative positional relationship of three, then adjusts 18 He of hydraulic jaw by weeding machine arm assembly herein
The posture of weeding apparatus 20 can injure to avoid in weeding process caused by crops, in order to preferably judge three's
Relative positional relationship is also equipped with GPS positioning and navigation module in small vehicle main body 1, also passes through LCD in the small vehicle main body 1 and touch
Control appliance stand 4 is equipped with the LCD touch device 5 connecting with industrial personal computer, in the present embodiment, passes through LCD touch device bracket 4
It is the cylindrical body that diameter is 30mm, length is 450mm, and is smoothly cut in cylindrical body far from one end of small 1 upper surface of vehicle main body
It is cut into ellipsoid, to realize the installation of LCD touch device 5, the LCD touch device 5 uses high definition LCD resistive touch
Screen, size are 10 cun, can easily realize human-computer interaction by LCD touch device 5, for example, by LCD touch device 5 come
The walking states of small vehicle main body 1 are set, straight trip, backward and steering etc. is realized, can also be adjusted by LCD touch device 5 hydraulic
The operating mode of pawl 18 and weeding apparatus 20.
It should be understood that 5 essence of LCD touch device herein is a kind of high definition Industry Control all-in-one machine, LCD therein
5 essence of touch device is high definition resistive touch display, and similar tablet computer is connect by RS232 interface with industrial personal computer.
Embodiment 2
Please refer to Fig. 1~9, in the utility model embodiment, a kind of intelligent weed-eradicating robot based on deep vision, upper
On the basis of stating embodiment: power plant module is preferably the rechargable power supplies of 48V by the present embodiment, and rechargable power supplies are mounted on trolley
In the groove opened up in main body 1, and groove is fixed with power cover 24, rechargable power supplies are encapsulated in, certainly, small vehicle main body
1 is equipped with the charging interface 25 of corresponding rechargable power supplies.
In the present embodiment, the length, width and height of the small vehicle main body 1 are respectively 1000mm, 600mm and 300mm, small vehicle main body 1
It is made of Metal plate, respectively symmetrically smooth cut goes to corner, the rear of small vehicle main body 1 to the front and back of small vehicle main body 1
Equipped with scram button 22 and start button 23, specifically, the position of scram button 22, start button 23 and charging interface 25
Depending on use demand, the present embodiment does not do specific restriction.And the steadily of centre of gravity in order to guarantee small vehicle main body 1, it is described
Small vehicle main body 1 is also built-in with standard clump weight.
Meanwhile in order to protect small vehicle main body 1, the front and rear sides of the small vehicle main body 1 are mounted on trolley insurance
Thick stick 3, trolley bumper 3 is apart from 1 bottom surface 100mm of moving trolley, and a length of 600mm, width 50mm, with a thickness of 15mm, both ends are in
30mm is stretched at 45 degree of angles, and extend outwardly 50mm at intermediate trisection point, and thickness is also 15mm, and 3 selected materials of trolley bumper are
Alloy.
Embodiment 3
Please refer to Fig. 1~9, in the utility model embodiment, a kind of intelligent weed-eradicating robot based on deep vision, upper
On the basis of stating embodiment: the depth camera module includes the first depth camera 8 and the second depth camera 21, wherein the
One depth camera 8 is mounted on slidably adjusting bracket bar 7, and the expansion in order to realize viewfinder range, and the first depth camera 8 can
To rotate relative to slidably adjusting bracket bar 7, slidably adjusting bracket bar 7 is mounted on trolley by camera support frame 6
In main body 1, in fact, the notch slidably opened up on the both ends of adjusting bracket bar 7 and 6 side wall of camera support frame matches, come
Realize that slidably the position of adjusting bracket bar 7 in the vertical direction is adjusted, camera support frame 6 a length of 600mm, width 30mm are high
For 800mm, used material is the aluminum alloy plate materials of 10mm thickness, and the two sides location footprint close to 6 top of camera support frame is symmetrical
It is provided with a length of 200mm, aperture 20mm, depth is the notch of 10mm, and it is 20mm that slidably adjusting bracket bar 7, which is diameter, a length of
The cylindrical body of 600mm, and there are two the holding frames that length is 100mm at each 175mm in cylindrical body both ends；It is deep for second
It spends for camera 21, the second depth camera 21 is mounted on the front end of small vehicle main body 1.
In the present embodiment, the model of first depth camera 8 is preferably Microsoft Kinect V2, the second depth camera 21
Model be preferably Intel Realsense D435.
When practical application, Kinect V2 uses active light detection mode, utilizes incident optical signal and the signal of reflected light
Both variation carries out the measurement of target range, then recorded in the same visual field by the positional relationship of differentiation weeds and crops
Relative to the angle information of Kinect V2, Realsense D435 uses binocular three-dimensional measuring mode, utilizes point cloud registration method
Determine the distance of target, equally with Kinect V2 depth camera the same visual field in by distinguishing the positions of weeds and crops
Then relationship records angle information of the two relative to Kinect V2, finally carried out by information of the industrial personal computer to acquisition further
Analysis processing.
Embodiment 4
Please refer to Fig. 1~2, in the utility model embodiment, a kind of intelligent weed-eradicating robot based on deep vision, upper
On the basis of stating embodiment: the weeding machine arm assembly includes that pedestal 12, the first transverse arm 13, the first vertical arm 14, second are horizontal
Arm 15, the second vertical arm 16 and third transverse arm 17, first transverse arm 13 are rotatably installed on pedestal 12, and the first transverse arm 13 is by it
Built-in servo motor driving can be rotated relative to pedestal 12, and the both ends of the first vertical arm 14 are horizontal with the first transverse arm 13 and second respectively
Arm 15 is fixedly connected, and the end of the second transverse arm 15 is rotatably connected to the second vertical arm 16, and the second vertical arm 16 is driven by servo motor
It rotate it can relative to the second transverse arm 15, the end of the second vertical arm 16 and third transverse arm 17 are rotatablely connected, and third transverse arm 17
It is rotated can relative to the second vertical arm 16 by servo motor driving, and the hydraulic jaw 18 of positional symmetry is installed on third transverse arm 17
It is able to achieve multivariant rotation in fact, weeding machine arm assembly is a manipulator with weeding apparatus 20, to adjust
The motion path and posture of whole hydraulic jaw 18 and weeding apparatus 20.
Specifically, the weeding apparatus 20 includes high-speed rotary motor and is mounted on high-speed rotary motor output shaft
Blade, the cutting diameter of weeding apparatus 20 are preferably 200mm, and are fixed with dust cover at the peripheral position of the weeding apparatus 20
19, the maximum nock diameter of dust cover is 300mm, and the dust taken up when weeding can be effectively prevent to the visual field of depth camera module
It interferes.The hydraulic jaw 18 is electric hydaulic handgrip, can be realized crawl and release, facilitates and realizes the recycling of weeds and right
The operations such as the fertilising of crops, the quantity of handgrip are preferably three, do not do specific restriction herein.
In addition, in the present embodiment, for the ease of the installation of weeding machine arm assembly, the present embodiment makes following improvement:
The pedestal 12 is mounted in pedestal fixing seat 11, and pedestal 12 makes it can as the servo motor driving built in it
360 degree are rotated relative to pedestal fixing seat 11, pedestal fixing seat 11 is fixed on slide damper 10, and slide damper is generous point long
Not Wei 600mm, 150mm and 20mm steel plate, both ends showing ellipsoidal structure, slide damper 10 is fitted to notch
In U-shaped fixed plate 9, notch is provided on the side wall of U-shaped fixed plate 9, and notch length is 300mm, aperture 20mm, U-shaped fixation
Plate 9 is fixed on small 1 surface of vehicle main body, and such mode can be convenient for the installation and removal of slide damper 10, also, trolley in order to prevent
It is real can also to install bolt and nut additional herein for the phenomenon that the causing weeding machine arm assembly to shake of jolting generated when the movement of main body 1
The fixation of existing slide damper 10 and U-shaped fixed plate 9.
Embodiment 5
It please refers to Fig. 1~10, in the utility model embodiment, also discloses a kind of intelligent weeder based on deep vision
Device people's system comprising industrial personal computer, rechargable power supplies, master control borad one and the master control borad two of electric connection, in the present embodiment, institute
Rechargable power supplies are stated for powering, master control borad one is used to control the traveling wheel drive unit and encoder in small vehicle main body 1, traveling
Wheel drive unit is used to drive the rotation of crawler belt traveling wheel 2, and encoder travels the wheel speed information of wheel 2 for Real-time Feedback crawler belt,
Realize the closed-loop control to small 1 speed of vehicle main body, while the IMU built in encoder can carry out small 1 athletic posture of vehicle main body
Real-time control and feedback, the information such as acquisition speed, angle prevent from toppling over to guarantee to maintain posture in driving process；Master control borad two
For controlling several servo motors in hydraulic jaw 18, weeding apparatus 20 and weeding machine arm assembly；Depth camera module,
For measuring 1 three's relative positional relationship of weeds, crops and small vehicle main body, and result is exported to industrial personal computer, master control borad one
With the low-power chip of the model STM32F103RCT6 of master control borad two, master control borad one and master control borad two and industry control electrical-mechanical connect
It connects, the integrated and same operational administrative platform, while the control end interface of industrial personal computer and LCD touch device 5 are electrically connected, in turn
By the operational administrative platform interface visualization in industrial personal computer.
Preferably, the master control borad one is also electrically connected with GPS positioning and navigation module, GPS positioning and navigation mould
The mutual cooperation of block and depth camera module, in order to can accurately position the location information of weeds and crops.
In conjunction with above-described embodiment, it is apparent from the working principle of the technical program: when user selects accurate weeding operating mode,
User first can star intelligent weed-eradicating robot equipment, and system starts self-test and is prepared to enter into working condition, in LCD touch device
High definition LCD resistive touch screen can show that the state of current device and the carried charge of system spare and theory can work on
Time, then intelligent weed-eradicating robot equipment is started to work under GPS positioning and the cooperation of navigation module and depth camera, in depth
The safety zone in the camera model visual field is spent, industrial personal computer controls in weeding machine arm assembly while carrying out real-time route planning
Weeding apparatus carries out the weeding operation of high-speed, improves working efficiency, the insecure area industrial personal computer in the depth camera visual field exists
Weeding apparatus while carrying out real-time route planning in control weeding machine arm assembly carries out the weeding operation of low rate, thus
The secondary injury to field-crop is avoided, the precision of weeding is improved；When user selects environmentally friendly weeding operating mode, depth camera
Whether distinguishable region is unsafe in the visual field, only removes finding weeds, while only needing weeding apparatus rotation 180 degree can be by institute
It cuts weeds and is recycled to corresponding vehicle-mounted storage box (vehicle-mounted storage box can be fixed on according to actual needs in small vehicle main body)；When with
When family selects weeding and fertilising operating mode, the weeding apparatus of weeding apparatus one end is used to weeding, and the other end passes through weeding apparatus
It rotates 180 degree and realizes the fertilising of mechanical gripper precise positioning.
Embodiment 6
It please refers to Figure 11, in the utility model embodiment, also discloses a kind of intelligent weeding machine based on deep vision
The control method of people, specifically, itself the following steps are included:
S1, training weeds and Crop classification and identification depth model, and by gained weeds and Crop classification and identify
Depth model is deployed in the operating system of industrial personal computer, is completed at the same time the calibration work of depth camera module and weeding machine arm assembly
Make；Specifically: according to the model training method of deep learning training weeds and Crop classification and identification depth model, then will
The weeds and Crop classification and identification depth model that training obtains are deployed to hardware device and meet operation deep learning model
In industrial personal computer operating system, at the same depth camera module and weeding machine arm assembly in outdoor environment according to existing scaling method
Complete corresponding staking-out work.
S2, the operating mode of intelligent weed-eradicating robot is selected by LCD touch device, while starting intelligent weeding machine
People, system start self-test and enter working condition；Specifically: on the basis of completing step S1, LCD touch device can pass through height
Clear LCD resistive touch screen selects the operating mode of intelligent weed-eradicating robot, such as: accurate weeding operating mode, environmentally friendly weeding
Operating mode and weeding and fertilising operating mode, wherein accurate weeding operating mode only carries out accurate weeding, ring to weeds
It protects weeding operating mode and accurate weeding not only is carried out to weeds, will also cut weeds and be recovered to the equipment such as vehicle-mounted storage box,
On the one hand weeding is to be purged to weeds with fertilising operating mode, on the other hand also crops are carried out with located fertilization to subtract
The loss and use of few chemical fertilizer.
S3, the first depth camera obtain the position of the first depth camera of target range using active light detection mode, then
The location information and angle information of weeds and crops are transmitted to industrial personal computer；Specifically: the first depth camera is using actively
Optical detection mode carries out the measurement of target range using the variation of incident optical signal and the signal of reflected light, in the same visual field
Then positional relationship by distinguishing weeds and crops records the opposite angle information with the first depth camera of the two.
S4, the second depth camera obtain the position of same the second depth camera of target range using binocular three-dimensional measuring mode
It sets, the location information and angle information of weeds and crops is equally then transmitted to industrial personal computer；Specifically: the second depth phase
Machine uses binocular three-dimensional measuring mode, the distance of target is determined using point cloud registration method, equally same with the first depth camera
By distinguishing the positional relationship of weeds and crops, then the opposite angle with the second depth camera of both records is believed in one visual field
Breath.
S5, the second depth of industrial personal computer corresponding first depth camera and step S4 of the analysis processing from step S3
The transmission information of camera, then calculates the distance of weeds and crops by angle information, and carries out mean operation and determine phase
To accurate distance；Specifically: after industrial personal computer analysis processing, it can will be divided into safety zone within the field range of depth camera module
Domain and insecure area, wherein safety zone be exactly weeds apart from crops relatively far away from, without considering mechanical arm weeder
Secondary injury is caused to field-crop, insecure area is exactly weeds apart from crops relative close, needs to consider that mechanical arm removes
Careless device causes secondary injury to field-crop.
S6, after the processing by step S5, while according to the intelligent weed-eradicating robot operating mode selected in step S2,
And then weeding machine arm assembly can be instructed to complete accurately trajectory path planning and accurate weeding operation, specifically: in safety
Region, industrial personal computer control the weeding apparatus in weeding machine arm assembly while carrying out real-time route planning and carry out high-speed
Weeding operation, improves working efficiency；In insecure area, industrial personal computer controls weeding machine while carrying out real-time route planning
The weeding operation that weeding apparatus in arm assembly carries out low rate improves weeding to avoid the secondary injury to field-crop
Precision.
Embodiment 7
Figure 12 is please referred to, the first depth camera (Microsoft Kinect V2) (is depth phase in fact using included vision system
The depth camera lens of machine), the weeds obtained in real time and crops depth image are believed by the processing of Intel D4 vision processor
Breath is transmitted to industrial personal computer by corresponding 3.0 interface of USB, while being believed according to the weeds obtained in real time and crops depth image
The breath estimation weeds relative distance and angle information with the first depth camera opposite with crops, then equipped with Radeon
The industrial personal computer of the Intel core i7-8809G processor of RX Vega M GH independent display card is according to image procossing and computer
Weed targets three dimensional representation is determined the position of weed targets using the weeds and crops deep image information of acquisition by vision algorithm
Coordinate is set, while principle can determine a triangle, and then can pass through solving a triangle according to triangle " both sides press from both sides one jiao "
Acquire the first time absolute distance of weeds and crops；At the same time, the second depth camera in front of small vehicle main body (Intel
Realsense D435) using included vision system by the processing of PS1080 system level chip by the weeds obtained in real time and
Crops deep image information is transmitted to industrial personal computer by its corresponding 3.0 interface of USB, while according to the weeds obtained in real time
The relative distance and angle information with the second depth camera opposite with crops with crops deep image information estimation weeds,
Then the industrial personal computer of the Intel core i7-8809G processor equipped with Radeon RX Vega MGH independent display card according to
Image procossing and computer vision algorithms make utilize the weeds obtained and crops deep image information by weed targets three dimensional representation
It further determines that the position coordinates of weed targets, while a triangle can be determined according to triangle " both sides press from both sides one jiao " principle
Shape, and then second of absolute distance of weeds and crops can be acquired by solving a triangle, it is then exhausted according to acquiring twice
It adjusts the distance and accurately weeds and crops absolute distance relatively is obtained by mean operation, lay the foundation for accurate weeding.
The information that industrial personal computer is transmitted according to two depth cameras (i.e. the first depth camera and the second depth camera), point
After analysis obtains result with operation, on the one hand by corresponding serial ports USART1, by serial communication circuit, (serial ports RS232 turns
USART serial ports, using MAX3232 chip by RS232 level conversion at Transistor-Transistor Logic level) control movement system instruction is issued to master control borad one
STM32F103RCT6, master control borad one are sent to after receiving motion control instruction by corresponding I/O mouthfuls of driving circuits
Travel the work of wheel-drive circuit drives, while the encoder circuit Real-time Feedback crawler belt row with traveling wheel-drive circuit connection
The wheel speed information of wheel is sailed, realizes the closed-loop control to small vehicle main body speed, the IMU built in encoder can be to trolley bulk motion
Posture carries out real-time control and feedback, the information such as acquisition speed, angle, and the information of acquisition is fed back to master control borad one again
STM32F103RCT6；In addition master control borad one is connect by corresponding USART3 serial ports with GPS positioning with navigation module, for mentioning
For the real-time positioning and navigation in field.On the other hand serial communication circuit (serial ports RS232 is passed through by corresponding serial ports USART2
Turn USART serial ports, using MAX3232 chip by RS232 level conversion at Transistor-Transistor Logic level) control instruction is issued to master control borad two, master
Control plate two, which receives, to be sent to servo motor driving circuit by corresponding I/O mouthfuls of driving circuit after mechanical arm control instruction and drives
The work of Serve Motor Control circuit, and then the accurate motion planning of weeding machine arm is controlled close to weed targets；Learning weeds
Accurate absolute distance and practical posture with crop, master control borad two send high speed by its I/O mouthfuls of driving circuit and revolve
Rotating motor enabled instruction to high-speed rotary motor driving circuit, high-speed rotary motor driving circuit can then drive high-speed rotary motor
Control circuit work, and then the weeding machine equipment controlled in adjustable weeding machine arm mechanism carries out accurate weeding operation；If
It needs weeds withdrawal or Tree Precise Fertilization, it is only necessary to which weeding can be realized in the servo motor driving rotation 180 degree of third transverse arm
The switching of equipment and hydraulic jaw, concrete operations are when weeding is completed, and master control borad two is sent hydraulic by its I/O mouthfuls of driving circuit
Pawl enabled instruction is to electric hydaulic pawl driving circuit, and then electric hydaulic pawl driving circuit drives electric hydaulic pawl control circuit work
Make, and then realizes the recycling of weeds or the task that accurately applies fertilizer.In addition, 48V rechargable power supplies are led the way by switching surely
Volt circuit is powered to entire industrial personal computer, and then is powered to entire weed-eradicating robot；Electric resistance touch-control circuit passes through liquid crystal drive electricity
The electrical connection of the COM com port of road and industrial personal computer, and then may be implemented to realize by industrial control touch display
The operating mode of intelligent weed-eradicating robot selects and operating instruction control, for realizing human-computer interaction.
It should be strongly noted that the technical program, structure is simple, construction is novel, passes through the interactive operation of Single Mechanical arm
It can realize the interactive function of double mechanical arms, while by the way of precision weeding, guarantee weeding ratio and precision
Under the premise of, the secondary injury to crops is effectively reduced, advances the application and development of intelligent weed-eradicating robot significantly.
Those skilled in the art will readily occur to other realities of the disclosure after considering the disclosure at specification and embodiment
Apply scheme.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or suitable
The variation of answering property follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure or used
Use technological means.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are referred to by claim
Out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (10)
1. a kind of intelligent weed-eradicating robot based on deep vision, including industrial personal computer, power plant module, small vehicle main body (1), crawler belt row
Wheel (2), hydraulic jaw (18) and weeding apparatus (20) are sailed, is equipped on the small vehicle main body (1) by traveling wheel drive unit driving
Crawler belt traveling wheel (2), hydraulic jaw (18) and weeding apparatus (20) pass through the weeding machine arm assembly for adjusting the two posture
It is mounted on small vehicle main body (1), traveling wheel drive unit, hydraulic jaw (18) and weeding apparatus (20) are provided dynamic by power plant module
It power and is controlled by industrial personal computer, which is characterized in that further include opposite for measuring weeds, crops and small vehicle main body (1) three
The depth camera module of positional relationship, depth camera module and industrial personal computer are electrically connected, and are also passed through on the small vehicle main body (1)
LCD touch device bracket (4) is equipped with the LCD touch device (5) connecting with industrial personal computer.
2. a kind of intelligent weed-eradicating robot based on deep vision according to claim 1, which is characterized in that the power
Module is rechargable power supplies, and rechargable power supplies are mounted in the groove opened up on small vehicle main body (1), and groove is fixed with power supply
It covers (24), rechargable power supplies is encapsulated in interior, charging interface (25) of the small vehicle main body (1) equipped with corresponding rechargable power supplies.
3. a kind of intelligent weed-eradicating robot based on deep vision according to claim 1, which is characterized in that the trolley
Main body (1) is made of Metal plate, and the rear of small vehicle main body (1) is equipped with scram button (22) and start button (23), described
Small vehicle main body (1) is also built-in with standard clump weight, and the front and rear sides of the small vehicle main body (1) are mounted on trolley bumper (3),
Trolley bumper (3) is made of alloy material.
4. a kind of intelligent weed-eradicating robot based on deep vision according to claim 1 to 3, which is characterized in that institute
Stating depth camera module includes the first depth camera (8) and the second depth camera (21), and the first depth camera (8) is mounted on and can slide
On dynamic adjusting bracket bar (7), slidably adjusting bracket bar (7) is mounted on small vehicle main body (1) by camera support frame (6), can
The notch opened up on the both ends of slidable adjustment cradling piece (7) and camera support frame (6) side wall matches, the second depth camera (21)
It is mounted on the front end of small vehicle main body (1).
5. a kind of intelligent weed-eradicating robot based on deep vision according to claim 4, which is characterized in that described first
The model Microsoft Kinect V2 of depth camera (8), the model Intel Realsense of the second depth camera (21)
D435。
6. a kind of intelligent weed-eradicating robot based on deep vision, feature described according to claim 1 or 2 or 3 or 5 exist
In the weeding machine arm assembly includes pedestal (12), the first transverse arm (13), the first vertical arm (14), the second transverse arm (15), second
Vertical arm (16) and third transverse arm (17), first transverse arm (13) are rotatably installed on pedestal (12), and the first transverse arm (13) by
Built in it servo motor driving can be rotated relative to pedestal (12), the both ends of the first vertical arm (14) respectively with the first transverse arm (13)
It is fixedly connected with the second transverse arm (15), the end of the second transverse arm (15) is rotatably connected to the second vertical arm (16), and the second vertical arm
(16) it rotate it can relative to the second transverse arm (15) by servo motor driving, the end of the second vertical arm (16) and third transverse arm
(17) it is rotatablely connected, and third transverse arm (17) rotate it can relative to the second vertical arm (16) by servo motor driving, third is horizontal
The hydraulic jaw (18) and weeding apparatus (20) of positional symmetry are installed on arm (17).
7. a kind of intelligent weed-eradicating robot based on deep vision according to claim 6, which is characterized in that the weeding
Equipment (20) includes high-speed rotary motor and the blade that is mounted on high-speed rotary motor output shaft, and the weeding apparatus
(20) it is fixed at peripheral position dust cover (19), the hydraulic jaw (18) is electric hydaulic handgrip.
8. a kind of intelligent weed-eradicating robot based on deep vision according to claim 6, which is characterized in that the pedestal
(12) it is mounted on pedestal fixing seat (11), and pedestal (12) makes it can be relative to pedestal as the servo motor driving built in it
Fixing seat (11) rotation, pedestal fixing seat (11) are fixed on slide damper (10), and slide damper (10), which is fitted to, to be had
In the U-shaped fixed plate (9) of notch, notch is provided on the side wall of U-shaped fixed plate (9), and U-shaped fixed plate (9) is fixed on small car owner
The surface of body (1).
9. a kind of intelligent weed-eradicating robot system based on deep vision characterized by comprising
Rechargable power supplies, for powering；
Master control borad one, for controlling traveling wheel drive unit and encoder in small vehicle main body,
Master control borad two, for controlling several servo motors, hydraulic jaw and weeding apparatus in weeding machine arm assembly；
Depth camera module, for measuring weeds, crops and small vehicle main body three relative positional relationship, and by result export to
Industrial personal computer；
Industrial personal computer, the industrial personal computer is electrically connected rechargable power supplies, master control borad one, master control borad two and depth camera module, described
The control end interface and LCD touch device of industrial personal computer are electrically connected.
10. a kind of intelligent weed-eradicating robot system based on deep vision according to claim 9, which is characterized in that institute
Master control borad one is stated also to be electrically connected with GPS positioning and navigation module.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109511356A (en) * | 2019-01-08 | 2019-03-26 | 安徽农业大学 | A kind of intelligent weed-eradicating robot system and control method based on deep vision |
| CN111903313A (en) * | 2020-07-10 | 2020-11-10 | 梅里科技(广州)有限公司 | Intelligent mower and control method thereof |
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| CN113597874A (en) * | 2021-09-29 | 2021-11-05 | 农业农村部南京农业机械化研究所 | Weeding robot and weeding path planning method, device and medium thereof |
| CN113892333A (en) * | 2021-09-29 | 2022-01-07 | 农业农村部南京农业机械化研究所 | Weeding robot |
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| CN109511356A (en) * | 2019-01-08 | 2019-03-26 | 安徽农业大学 | A kind of intelligent weed-eradicating robot system and control method based on deep vision |
| CN109511356B (en) * | 2019-01-08 | 2023-10-24 | 安徽农业大学 | Intelligent weeding robot system based on depth vision and control method |
| CN111903313A (en) * | 2020-07-10 | 2020-11-10 | 梅里科技(广州)有限公司 | Intelligent mower and control method thereof |
| CN112136381A (en) * | 2020-09-29 | 2020-12-29 | 郑州轻工业大学 | Weeding robot for corn field and control system of weeding robot |
| CN113597874A (en) * | 2021-09-29 | 2021-11-05 | 农业农村部南京农业机械化研究所 | Weeding robot and weeding path planning method, device and medium thereof |
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| CN114747561A (en) * | 2022-04-27 | 2022-07-15 | 中垦种业股份有限公司 | Efficient weeding method for wheat field |
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