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Intelligent spraying method based on image processing and spraying robot based on image processing

An image processing and robotic technology, applied in manipulators, devices for capturing or killing insects, and manufacturing tools, etc., can solve the problems of limiting the function and scope of spraying, causing great physical injury to the operator, and increasing the spraying area. Achieve the effect of speeding up agricultural precision, reducing bodily harm, and reducing usage

Active Publication Date: 2014-07-16
QINGDAO AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the common spraying method in our country is to use a mechanical or electric sprayer on the back of the staff to spray a large area of ​​the field or plants that need to be weeded in a certain area. This method has many disadvantages: 1. The spraying efficiency is low, Increase the investment of farmers; this is because it is necessary to spray all the plants in the area including weeds, resulting in an increase in the area of ​​spraying. In addition, the traditional mechanical or electric spraying machine is inefficient; 2. For the operator Great harm to the body; this is due to the fact that pesticides contain a large number of chemical components, which are toxic to the human body to varying degrees; 3. The negative impact on the environment is large; this is because the liquid medicine can easily enter the soil through infiltration and other channels and water sources, thus indirectly polluting the environment, surveys and studies have shown that pesticide pollution often takes hundreds of years to recover
However, since the device is mainly aimed at the identification of monocot / dicot weeds, it can only intelligently identify specific weeds and cannot spray on specific crops, which greatly limits the function and scope of spraying; at the same time, the image of the system The industrial computer is used for processing, the cost is high, and the power consumption of the industrial computer is relatively large, which is not conducive to use on portable devices

Method used

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  • Intelligent spraying method based on image processing and spraying robot based on image processing

Examples

Experimental program
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Effect test

Embodiment 1

[0034] The intelligent spraying method based on image processing comprises the following steps:

[0035] ① Collect images of the front area in real time through the video acquisition module of the spraying robot, and send the collected images to the digital signal processor 3a for analysis and processing;

[0036] ②The digital signal processor 3a sends the processing results to the embedded controller 3f, and the embedded controller 3f controls the mobile platform 1 to move to the vicinity of the area to be sprayed according to the distribution of plants and weeds in the area where the mobile platform 1 is located; The formula controller 3f drives the spraying manipulator 5 through the spraying manipulator steering gear driver 3c to send the spraying rod 5e to the vicinity of the weeds in the area to be sprayed;

[0037] ③The embedded controller 3f controls the herbicide spraying motor relay 4g to pull in, and then controls the herbicide spraying motor 4e to rotate to spray th...

Embodiment 2

[0047] The difference between this embodiment and Embodiment 1 is that the spraying robot based on image processing also includes a road condition acquisition system, and the road condition acquisition system includes a road condition camera 8a, a two-degree-of-freedom pan / tilt 7 and a wireless video receiver 10, The road condition camera 8a is fixed on the mobile platform 1 by a two-degree-of-freedom platform 7, and the wireless video receiver 10 is connected with the road condition camera 8a by an AV line; the power supply system is connected with the road condition camera 8a and provides power for it; Described two-degree-of-freedom cloud platform 7 comprises two steering gears and steering gear bracket, U-shaped support 7c, base 7d, and described steering gear comprises steering gear A7a1 and steering gear B, and described steering gear A7a1 is connected with steering gear bracket by its steering gear. The U-shaped support 7c is connected, and the U-shaped support 7c is con...

Embodiment 3

[0049] The difference between this embodiment and Embodiment 1 is that the method for intelligent spraying using the image processing-based spraying robot also includes manual intervention steps:

[0050] (a) When spraying pesticides, the wireless video transmitting module transmits the video collected by the road condition camera 8a to the wireless video receiver 10 in real time. Real-time observation of the working environment and working status of the area where the intelligent spraying robot is located;

[0051] (b) According to the results of real-time observation, the staff operates the button module 11g and then transmits the signal through the ZIGBEE coordinator 11c, and the ZIGBEE node 3e transmits the signal to the MSP430 controller 11d after receiving the signal, and the MSP430 controller 11d controls the two-degree-of-freedom cloud The platform driver 3d then controls the action of the two-degree-of-freedom pan-tilt 7, thereby controlling the image acquisition rang...

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Abstract

The invention provides an intelligent spraying method based on image processing and a spraying robot based on image processing. Through the method, the spraying robot can correctly distinguish specific crops and weeds and carry out targeted spraying according to the distribution condition of the crops and the weeds needing to be sprayed, that is, the spraying robot sprays weed killer on the weeds and sprays corresponding disinfectant and other pesticides on the crops, and consequently intelligent spraying without human interference is achieved. Meanwhile, a wireless video transmission mode is additionally adopted, and a worker can monitor and control the spraying robot by holding a monitor in hand. Thus, the intelligent spraying robot not only reduces the labor intensity of the workers and spraying cost but also reduces the use quantity of the pesticides and pesticide residues in the soil environment and has an immeasurable significance in improving spraying intellectualization and modernization of agriculture and accelerating agriculture precision in our country.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and in particular relates to a spraying method, in particular to an intelligent spraying method based on image processing, and also to a spraying robot based on image processing. Background technique [0002] At present, the common spraying method in our country is to use a mechanical or electric sprayer on the back of the staff to spray a large area of ​​the field or plants that need to be weeded in a certain area. This method has many disadvantages: 1. The spraying efficiency is low, Increase the investment of farmers; this is because it is necessary to spray all the plants in the area including weeds, resulting in an increase in the area of ​​spraying. In addition, the traditional mechanical or electric spraying machine is inefficient; 2. For the operator Great harm to the body; this is due to the fact that pesticides contain a large number of chemical components, which are toxic to the h...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01M7/00B25J19/04
Inventor 杨然兵郭亭亭李娟李哲闫法兵柴恒辉李新勇
Owner QINGDAO AGRI UNIV
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