Machine vision based adaptive precise mist spray device and method

Abstract

The invention relates to machine vision based adaptive precise mist spray device and method. The device comprises a mechanical arm, a housing, a core calculating module, an image acquiring module and a mist spray module; the housing is fixed on the mechanical arm; the core calculating module is fixed into the housing; the image acquiring module comprises a main camera, a secondary camera and a light compensating lamp which are mounted on the housing and connected with the core calculating module; the mist spray module comprises a medicine storing box, a spraying pipe and a nozzle which are mounted on the mechanical arm; a solenoid valve which is connected with the core calculating module is mounted on the spraying pipe. According to the device, the machine vision technology is utilized, the mist spray task target distribution information is acquired on real time when operating an agricultural mechanism, the single camera path reconstruction technology and kalman filtering algorithm are combined and carried out to estimate the real-time moving track of the mechanism, then the accurate mist spray time of a spray head is calculated according to the moving track of the working mechanism, and therefore, the accurate variable mist spray can be achieved, the use efficiency of drugs can be increased, and the environmental pollution can be reduced.

Description

technical field [0001] The invention belongs to the field of agricultural machinery automation, and relates to an automatic spraying device and method based on machine vision, in particular to an adaptive and precise positioning spraying device and method based on machine vision. Background technique [0002] Traditional agricultural spraying machinery is suitable for large-scale planting. It has many advantages such as economical, efficient, time-saving, and significantly reduces labor intensity and cost. However, it is difficult to accurately spray according to the growth and distribution of crops during the operation, resulting in pesticides Or a large amount of waste of fertilizers, resulting in high production costs and various problems caused by pollution residues to agricultural products and the environment. With the development of machine vision technology and agricultural machinery technology, information acquisition and real-time analysis of field crop growth posit...

AI Technical Summary

Problems solved by technology

However, this method needs to set up a fixed track first, and the equipment cost is relatively high, and the cumulative error effect of the speed sensor in the long-term working process is difficult to eliminate, which will still have a great impact on the accuracy of the spraying operation

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