CN210929318U - Intelligent pesticide spraying robot - Google Patents
Intelligent pesticide spraying robot Download PDFInfo
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- CN210929318U CN210929318U CN201921671053.0U CN201921671053U CN210929318U CN 210929318 U CN210929318 U CN 210929318U CN 201921671053 U CN201921671053 U CN 201921671053U CN 210929318 U CN210929318 U CN 210929318U
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Abstract
The utility model discloses an intelligent pesticide spraying robot, which comprises a hardware circuit component, a software algorithm and a mechanical structure; the spraying robot mechanical structure comprises a turning plate; the hardware circuit component of the spraying robot mainly comprises an STM main controller; the software algorithm of the spraying robot is a fuzzy control algorithm; the utility model provides an intelligence pesticide spraying robot, distance between test shower nozzle and the plant through ultrasonic inductor, the controller of being convenient for controls the height of electric telescopic handle adjustment shower nozzle, make spray range and plant area match, reach the best effect of spraying, gather plant information through the image acquisition camera, the controller control solenoid valve of being convenient for opens and shuts and the size of opening and shutting, thereby improve the medicament and spray efficiency, practice thrift the medicament simultaneously, combine together through fuzzy algorithm and mechanical structure, make STM32 main control unit calculate the best parameter of spraying, through the intra-box segmentation design of medicament, be convenient for pack into different grade type medicaments simultaneously, thereby improve the medicament result of use.
Description
Technical Field
The utility model relates to a pesticide sprays the field, specifically is an intelligence pesticide spraying robot.
Background
With the development of science and technology and the continuous improvement of living standard, the population is also in a growing trend. Great pressure is brought to all aspects of society, and especially in the aspect of grain supply, pesticide spraying provides the assurance for the healthy growth of grains. The traditional pesticide spraying technology consumes huge manpower and material resources, and the pesticide utilization rate is not high. The extensive manual pesticide spraying not only wastes seriously, but also causes environmental pollution, and violates the environmental protection principle of 'green water green mountain'; the untight control of the pesticide spraying amount causes pesticide residue to be too much to be in the health idea of people.
The thirteen-five plan specifically incorporates the intelligent agriculture, and the planning target of the agriculture is still to further realize the modernization of the agriculture. Under the 'internet +' wave tide proposed by the Like force general theory, network agriculture presents a good development trend. Under the modern development trend of agriculture, the agricultural spraying device actively responds to the national policy call, improves the existing pesticide spraying technology and makes self contribution to the modern development of agriculture. Based on a fuzzy control algorithm, the pesticide spraying amount is optimally controlled according to the area of a target plant and the distance between a spray head and the plant, and intelligent pesticide spraying is realized. Therefore, the intelligent spraying robot based on the fuzzy control algorithm becomes the inevitable choice of the intelligent agriculture.
The intelligent pesticide spraying robot is different from a traditional variable spraying system, the robot is based on a fuzzy control algorithm, and the optimal control parameters of the system are obtained by taking different crop plant areas and the distance between a spray head and plants as the input quantity of the system. The specific expression is that the spraying amount of the system is changed along with the change of the plant spacing and the distance between the spray head and the plant in real time so as to spray the optimal amount of the liquid medicine and ensure the healthy growth of different plants to the maximum extent. The fuzzy adaptive PID control is based on PID algorithm, takes error and error change rate as input, utilizes fuzzy rule to carry out fuzzy inference, inquires fuzzy matrix table to carry out parameter adjustment, and meets the requirements of self-tuning PID parameters at different moments, and the basic principle of fuzzy control is as follows: two input parameters are adopted to respectively obtain the area A of the crop plants acquired by the image acquisition and the distance D between the spray head and the plants. The method comprises the steps of selecting a proper fuzzy algorithm, carrying out fuzzy decision and non-fuzzification to finally obtain two control parameters required by a spraying system, controlling and selecting a spray head combination and the opening size of a relay driving electromagnetic valve, establishing corresponding fuzzy division and fuzzy quantity control quantity of plant area parameters and spray head distances from plants and fuzzy division and fuzzy quantity of C, and then respectively converting continuous domains of fuzzy control quantity of area, distance and opening control quantity C into corresponding discrete domains.
Disclosure of Invention
An object of the utility model is to provide an intelligence pesticide spraying robot has plant information acquisition, plant apart from the response, sprays that the area is adjustable, spray that the medicament is adjustable, support to use multiple medicament simultaneously, spray the advantage that the effect is excellent, has solved the problem among the prior art.
In order to achieve the above object, the utility model provides a following technical scheme: an intelligent pesticide spraying robot comprises a hardware circuit component, a software algorithm and a mechanical structure;
the spraying robot mechanical structure includes: the automatic spraying device comprises a turning plate, a chemical box, electric telescopic rods, a controller, a hose, a spraying rod, electric wheels, spray heads, an ultrasonic sensor and an image acquisition camera, wherein four electric wheels are uniformly arranged at the bottom of the turning plate, the electric wheel heads are all fixed on the turning plate through bolts, the chemical box is arranged in front of the top of the turning plate and is fixed on the turning plate through bolts, two electric telescopic rods are arranged at the rear of the chemical box and are all fixed on the turning plate through bolts, the spraying rod is arranged at the top of each electric telescopic rod and is fixed on each electric telescopic rod through a buckle, the hose is arranged at the left end of each spraying rod, the hose is connected onto the spraying rod through a hose connector, the other end of the hose is communicated with the chemical box through a copper connector, four spray heads are uniformly arranged at the bottom of the right end of each spraying rod, and are all fixed on the spraying, the middle of the bottom of the spray rod is provided with an ultrasonic sensor, the ultrasonic sensor is fixed on the spray rod through a buckle, the right end of the top of the spray rod is provided with an image acquisition camera, the image acquisition camera is fixed on the spray rod through the buckle, a controller is arranged behind the electric telescopic rod, and the controller is fixed on the spray rod through a bolt;
the hardware circuit component of the spraying robot mainly comprises an STM main controller, a camera acquisition module, an ultrasonic ranging module, a relay module, a power supply module, a serial port and the like;
the spraying robot software algorithm is a fuzzy control algorithm.
Preferably, the electric telescopic rod is of the following model: JS-TGZ-U1, the model of the ultrasonic sensor is: HT-BEG, the model of image acquisition camera is: EZ-M721E.
Preferably, the target plant is gathered to the image acquisition camera, calculates plant area A by STM main control unit, and through intelligent decision-making, the control shower nozzle selects the combination to realize the best shower liquid medicine volume.
Preferably, the controller transmits the plant image to a computer in a monitoring room through a serial port.
Preferably, the ultrasonic sensor detects the distance between the spray head and the plant, and then controls the opening size of the electromagnetic valve of the spray head and the optimal spraying amount through intelligent decision.
Preferably, electric telescopic handle can stretch out and draw back according to actual conditions is automatic, avoids shower nozzle and plant to bring the difficulty of spraying apart from D too closely or too far away.
Preferably, a spraying device is arranged in the medicament box, and different types of liquid medicines can be filled into the medicament box simultaneously due to the separated design of the medicament box.
Preferably, the control algorithm is a fuzzy algorithm, the plant area and the distance between the spray head and the plant are used as input parameters, and the optimal liquid medicine spraying amount is controlled and realized through intelligent decision.
Preferably, the fuzzy algorithm type is: the PID control algorithm is combined with a discrete theory, and the fuzzy algorithm and the discrete theory respectively use two parameters: area a and distance D.
Preferably, be equipped with control switch in the controller, control switch is connected with the power through the cable, control switch passes through cable connection director, spray set, electric telescopic handle, ultrasonic inductor and the image acquisition camera in the medicament case are connected respectively to the controller through the cable.
Compared with the prior art, the beneficial effects of the utility model are as follows: the utility model provides an intelligence pesticide spraying robot, distance between test shower nozzle and the plant through ultrasonic inductor, the controller of being convenient for controls the height of electric telescopic handle adjustment shower nozzle, make spray range and plant area match, reach the best effect of spraying, gather plant information through the image acquisition camera, the controller control solenoid valve of being convenient for opens and shuts and the size of opening and shutting, thereby improve the medicament and spray efficiency, practice thrift the medicament simultaneously, combine together through fuzzy algorithm and mechanical structure, make STM32 main control unit calculate the best parameter of spraying, through the intra-box segmentation design of medicament, be convenient for pack into different grade type medicaments simultaneously, thereby improve the medicament result of use.
Drawings
Fig. 1 is an overall schematic view of a mechanical mechanism of the intelligent pesticide spraying robot of the utility model;
fig. 2 is a schematic view of a variable spray control system of the intelligent pesticide spraying robot of the present invention;
fig. 3 is a schematic diagram of a hardware circuit design of the intelligent pesticide spraying robot of the present invention;
fig. 4 is a schematic view of an image acquisition flow of the intelligent pesticide spraying robot of the utility model;
fig. 5 is a schematic view of the spraying structure of the intelligent pesticide spraying robot of the present invention;
FIG. 6 is a schematic diagram of the fuzzy quantity change of the area A in the fuzzy algorithm of the intelligent pesticide spraying robot of the present invention;
FIG. 7 is a schematic diagram of the fuzzy quantity change of the distance D in the fuzzy algorithm of the intelligent pesticide spraying robot of the present invention;
fig. 8 is a schematic diagram of the fuzzy quantity variation of the control quantity in the fuzzy algorithm of the intelligent pesticide spraying robot of the utility model;
fig. 9 is a schematic diagram of the fuzzy quantity change of the area a in the fuzzy algorithm discrete theory of the intelligent pesticide spraying robot of the present invention;
fig. 10 is a schematic diagram of distance D fuzzy quantity variation in the fuzzy algorithm discrete theory of the intelligent pesticide spraying robot of the present invention;
fig. 11 is a schematic diagram of the fuzzy quantity variation of the control quantity in the fuzzy algorithm discrete theory of the intelligent pesticide spraying robot of the present invention;
fig. 12 is a schematic diagram of the fuzzy control rule in the fuzzy algorithm of the intelligent pesticide spraying robot of the present invention.
The figures are labeled as follows: 1 sweep, 2 medicament casees, 3 electric telescopic handle, 4 controllers, 5 hoses, 6 spray poles, 7 electric wheels, 8 shower nozzles, 9 ultrasonic sensor, 10 image acquisition cameras.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Referring to fig. 1-12, an intelligent pesticide spraying robot includes three parts of a hardware circuit composition, a software algorithm and a mechanical structure; the spraying robot mechanical structure includes: sweep 1, chemical tank 2, electric telescopic handle 3, controller 4, hose 5, spray rod 6, electronic round 7, shower nozzle 8, ultrasonic sensor 9, image acquisition camera 10, sweep 1 bottom evenly is equipped with four electronic rounds 7, electronic round 7 all passes through the bolt fastening on sweep 1, sweep 1 top the place ahead is equipped with chemical tank 2, be equipped with spray set in chemical tank 2, chemical tank 2 is for separating the design, chemical tank 2 passes through the bolt fastening on sweep 1, 2 backs of chemical tank are equipped with two electric telescopic handle 3, electric telescopic handle 3's model does: JS-TGZ-U1, thereby adjust the distance D between shower nozzle 8 and the plant through electric telescopic handle 3, electric telescopic handle 3 is flexible by controller 4 control, avoid shower nozzle and plant to bring the difficulty of spraying too closely or too far away from D, electric telescopic handle 3 all through the bolt fastening on sweep 1, 3 tops of electric telescopic handle are equipped with shower nozzle 6, shower nozzle 6 all fixes on electric telescopic handle 3 through the buckle, 6 left ends of shower nozzle are equipped with hose 5, hose 5 passes through the rubber tube coupling and connects on shower nozzle 6, the hose 5 other end passes through the copper joint intercommunication with medicament case 2, 6 right-hand member bottoms of shower nozzle evenly are equipped with four shower nozzles 8, shower nozzle 8 all fixes on shower nozzle 6 through the thread engagement, be equipped with ultrasonic sensor 9 in the middle of shower nozzle 6 bottoms, ultrasonic sensor 9's model does: HT-BEG, through ultrasonic sensor 9 detection shower nozzle to the distance D between the plant and to data transmission to controller 4, ultrasonic sensor 9 detection shower nozzle and plant distance, and then through intelligent decision-making, control shower nozzle solenoid valve opening size, ultrasonic sensor 9 passes through the buckle to be fixed on spray bar 6, and 6 top right-hand members of spray bar are equipped with image acquisition camera 10, and image acquisition camera 10's model is: EZ-M721E, an image acquisition camera 10 acquires a target plant, an STM32 main controller calculates the area A of the plant, and through intelligent decision making, the control spray head is selected and combined to realize the optimal amount of sprayed pesticide, the image acquisition camera 10 is fixed on a spray rod 6 through a buckle, a controller 4 is arranged behind an electric telescopic rod 3, a control switch is arranged in the controller 4 and connected with a power supply through a cable, the control switch is connected with the controller 4 through a cable, the controller 4 is respectively connected with a spraying device in a pesticide box 2, the electric telescopic rod 3, an ultrasonic sensor 9 and the image acquisition camera through cables, a data serial port is arranged in the controller 4, the controller 4 transmits a plant image to a monitoring room computer through the data serial port, and the controller 4 is fixed on the spray rod 6 through a bolt; the hardware circuit component of the spraying robot mainly comprises an STM32 main controller, a camera acquisition module, an ultrasonic ranging module, a relay module, a power supply module, a serial port and the like; the software algorithm of the spraying robot is a fuzzy control algorithm, the control algorithm is a fuzzy algorithm, the area of a plant and the distance between a spray head and the plant are used as input parameters, the optimal liquid medicine spraying amount is controlled and realized through intelligent decision, and the type of the fuzzy algorithm is as follows: the PID control algorithm is combined with a discrete theory, and the fuzzy algorithm and the discrete theory respectively use two parameters: area a and distance D.
The working principle is as follows: the utility model relates to an intelligent pesticide spraying robot, before using, pour into one or more medicaments in the medicament case, when using, through control switch-on, control switch passes through cable start control ware 4, controller 4 starts ultrasonic sensor 9 and image acquisition camera 10 through cable control, ultrasonic sensor 9 and image acquisition camera 10 gather subaerial plant information respectively, and convey the signal back to ultrasonic ranging module and camera acquisition module in controller 4 through the cable, gather the information in ultrasonic ranging module and camera acquisition module and transfer fuzzy algorithm by STM32 main control unit, send the signal to controller 4 through the cable, controller 4 controls electric wheel 7 to move forward through the cable, controller 4 controls electric telescopic handle 3 through the cable to adjust the distance from shower nozzle to plant and controller 4 controls the spray amount of spray head and relay module through the cable, the effect of the best volume of spouting the medicine is realized, this pesticide spraying robot possesses the memory function, after the liquid medicine is spouted, returns and loads liquid medicine, and intelligence is sprayed the department from the beginning and is continued to spray next, when spraying the end, and this robot gets back to initial position, and when using the end, press control switch, it can to close this device.
Having shown and described the basic principles and principal features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (3)
1. Intelligent pesticide spraying machine people, its characterized in that: the automatic spraying device comprises a vehicle plate (1), a reagent box (2), electric telescopic rods (3), a controller (4), a hose (5), spraying rods (6), electric wheels (7), a spray head (8), an ultrasonic sensor (9) and an image acquisition camera (10), wherein the four electric wheels (7) are uniformly arranged at the bottom of the vehicle plate (1), the electric wheels (7) are all fixed on the vehicle plate (1) through bolts, the reagent box (2) is arranged in front of the top of the vehicle plate (1), the reagent box (2) is fixed on the vehicle plate (1) through bolts, two electric telescopic rods (3) are arranged behind the reagent box (2), the electric telescopic rods (3) are all fixed on the vehicle plate (1) through bolts, the spraying rods (6) are arranged at the top of the electric telescopic rods (3), and the spraying rods (6) are all fixed on the electric telescopic rods (3) through buckles, the left end of the spraying rod (6) is provided with a hose (5), the hose (5) is connected to the spraying rod (6) through a hose joint, the other end of the hose (5) is communicated with the chemical box (2) through a copper joint, four spray heads (8) are uniformly arranged at the bottom of the right end of the spray rod (6), the spray heads (8) are all fixed on the spray rod (6) through threaded engagement, the middle of the bottom of the spray rod (6) is provided with an ultrasonic sensor (9), the ultrasonic sensor (9) is fixed on the spray rod (6) through a buckle, the right end of the top of the spray rod (6) is provided with an image acquisition camera (10), the image acquisition camera (10) is fixed on the spray rod (6) through a buckle, the rear of the electric telescopic rod (3) is provided with a controller (4), and the controller (4) is fixed on the spraying rod (6) through a bolt.
2. The intelligent pesticide spraying robot of claim 1, wherein: the electric telescopic rod (3) is characterized in that the model is as follows: JS-TGZ-U1, the model of the ultrasonic sensor (9) is as follows: HT-BEG, the model of the image acquisition camera (10) is as follows: EZ-M721E.
3. The intelligent pesticide spraying robot of claim 1, wherein: the spraying device is arranged in the chemical box (2), and the chemical box (2) is designed in a separated mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921671053.0U CN210929318U (en) | 2019-10-08 | 2019-10-08 | Intelligent pesticide spraying robot |
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| CN201921671053.0U CN210929318U (en) | 2019-10-08 | 2019-10-08 | Intelligent pesticide spraying robot |
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| CN210929318U true CN210929318U (en) | 2020-07-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110710519A (en) * | 2019-10-08 | 2020-01-21 | 桂林理工大学 | Intelligent pesticide spraying robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110710519A (en) * | 2019-10-08 | 2020-01-21 | 桂林理工大学 | Intelligent pesticide spraying robot |
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