A multi-spray path controllable spray width precision target weeding module based on artificial intelligence technology

Abstract

The present invention discloses a multi-spray path controllable spray width precision targeted weeding module based on artificial intelligence technology, which relates to the field of agricultural machinery, and is specifically applied to intelligent field weeding of various crops in the agricultural field. The module is used on a variety of mounting platforms and can be quickly installed. The device is suitable for field weeding of various field crops in different growth cycles. The device uses a lightweight convolutional neural network to identify weed information, and provides a basis for the selection of agent varieties, automatic optimization of target spraying parameters flow, pressure, nozzle angle, and settlement area planning. The multi-channel target spraying unit can spray a variety of different types of herbicides on different types of weeds. The synchronous belt slide drives the nozzle to move horizontally to achieve precise targeted spraying of weeds, and can adjust the spraying range according to the size of weed aggregation. The targeted spraying system can reduce the use of pesticides, reduce ecological environmental pollution, and effectively improve work efficiency.

Description

Technical Field

[0001] The invention discloses a multi-spray path controllable spray width precise target weeding module based on artificial intelligence technology, which relates to the fields of agricultural machinery, automatic control and artificial intelligence, and is specifically applied to intelligent field weeding of various crops in the agricultural field. Background Art

[0002] Grain production is related to the country's food security, but in the process of agricultural production operations, farmland weeds and excessive use of pesticides pose a serious threat to grain production and production safety: farmland weeds compete with crops for resources such as light, heat, water, and fertilizer, affecting grain production. Survey data show that in 2018, the total grain output in China reached 657.89 million tons, and 30 billion kilograms of grain were lost due to weeds, and the loss of grain output caused by weeds was as high as 4.56%. Therefore, in order to overcome the harm of weeds to agricultural production, the current weeding methods at home and abroad are mainly manual weeding, mechanical weeding, chemical weeding, and biological weeding. Domestic and foreign research institutions have also studied laser weeding and electric current weeding, but the current technology is still immature. Due to the low efficiency of manual weeding, time-consuming and labor-intensive, it is no longer suitable for the development of modern agriculture. Mechanical weeding is efficient, but the problem of seedling injury still exists. Biological weeding is expensive and targeted and cannot solve the problem of multi-variety weeds in the field. Over the past 50 years, chemical weed control has become an important part of modern agricultural production around the world. However, chemical weed control currently uses extensive "carpet-style" and "wide-area" herbicide delivery methods, resulting in serious waste of herbicide resources and ecological and environmental pollution. Excessive pesticide input leads to non-point source pollution and continuous environmental deterioration, which not only directly increases agricultural production costs, but also indirectly increases environmental governance costs. The importance of pesticide reduction and pest control for transforming agricultural production methods and promoting green agricultural development is self-evident. Traditional herbicide spraying operations completely ignore the differences in regional distribution of weeds and adopt extensive "carpet-style" herbicide delivery methods, resulting in serious waste of herbicide resources and ecological and environmental pollution. Excessive pesticide input leads to non-point source pollution and continuous environmental deterioration, which not only directly increases agricultural production costs, but also indirectly increases environmental governance costs. The importance of pesticide reduction and pest control for transforming agricultural production methods and promoting green agricultural development is self-evident. Traditional herbicide spraying operations completely ignore the differences in regional distribution of weeds and adopt extensive "carpet-style" herbicide delivery methods, resulting in serious waste of herbicide resources and ecological and environmental pollution. It can be seen that how to reduce the amount and increase the efficiency and improve the utilization rate of liquid medicine has become a research hotspot in the current chemical weed control technology. Driven by the policy of "precision agriculture" and with the rapid development of artificial intelligence technology, it will bring opportunities for the research and application of variable targeted spraying equipment based on weed identification and detection. Summary of the invention

[0003] Aiming at the extensive "carpet-style" and "wide-width" herbicide delivery methods for chemical weeding, which have caused serious waste of herbicide resources and ecological environmental pollution, the present invention has designed a multi-spray path controllable spray width precision targeted weeding module based on artificial intelligence technology. The module can be mounted on a variety of agricultural machinery platforms and can be quickly installed. The device is suitable for field weeding in different growth cycles of various field crops. The device uses a lightweight convolutional neural network to identify weed information, providing a basis for the selection of pesticide varieties, automatic optimization of target spraying parameters flow, pressure, nozzle angle, and settlement area planning; the multi-channel target spraying unit can target different types of weeds and spray a variety of different types of herbicides. The synchronous belt slide drives the nozzle to move horizontally to achieve precise targeted spraying of weeds, and can adjust the spraying range according to the size of weed aggregation. The targeted spraying system can reduce the use of pesticides, reduce ecological environmental pollution, and effectively improve work efficiency.

[0004] To achieve the above-mentioned purpose, the technical solution provided by the present invention is a multi-spray path controllable spray width precision target weeding module based on artificial intelligence technology, which is characterized in that the device consists of a fixed part, an image collector, a first layer of a mobile part, a second layer of a mobile part, three groups of movable structures and a new controllable spray width nozzle unit. The fixed part consists of a square steel skeleton 1, a first layer of square steel plate 9, a linear guide rail 10, a second layer of square steel plate 5, a synchronous belt slide fixed seat 19, a synchronous belt slide 6, a motor fixed block 7, an 86 stepper motor 8, a linear displacement sensor fixed card 26, a linear displacement sensor 27, a 3D printed pad 4, a second layer of synchronous belt slide fixed steel plate 31, a solenoid valve 2, and a solenoid valve fixed steel plate 3. The image collector consists of an industrial camera 16, The camera is fixed with a steel plate 17, the first layer of the moving part is composed of a slider 18, a first layer of a nozzle unit fixed aluminum plate 13, a connecting aluminum plate 20, a slide slider fixed aluminum plate 21, and a linear displacement sensor connected aluminum plate 22. The second layer of the moving part is composed of a slider 18, a second layer of a nozzle unit fixed aluminum plate 23, a connecting aluminum plate 20, a second layer of a slide slider fixed aluminum plate 25, and a second layer of a linear displacement sensor connected aluminum plate 24. The variable range nozzle group is composed of a 3D printed shell 14, a metal servo 28, a servo gear 29, a nozzle 15, a nozzle gear 30, a two-position 4-hole air distribution row 12, and an air distribution row plug 11. One layer of square steel plate 9 is fixed to the square steel frame 1 by bolts, and the linear guide 10 is fixed to a layer of square steel plate by bolts 9, the camera fixing steel plate 17 is fixed to the bottom of the first layer of square steel plate 9, the industrial camera 16 is fixed to the camera fixing steel plate 17 by bolts, the 86 stepper motor 8 is connected to the synchronous belt slide 6 by the motor fixing block 7, the synchronous belt slide fixing seat 19 fixes the synchronous belt slide 6 to the first layer of square steel plate 9, the second layer of square steel plate 5 is connected to the square steel skeleton 1 by bolts, the linear displacement sensor 17 is fixed to the second layer of square steel plate 5 by the linear displacement sensor fixing card 26, the linear guide 10 is fixed to the second layer of square steel 5 by bolts, the second layer of synchronous belt slide fixing steel plate 25 is connected to the second layer of square steel plate 5 by the 3D printing pad 4 and fixed by bolts, the 86 stepper motor 8 is connected to the synchronous belt slide 6 by the motor fixing block 7, the synchronous belt slide The table fixing seat 19 fixes the synchronous belt slide 6 to the second-layer synchronous belt slide fixing steel plate 31, the solenoid valve fixing steel plate 3 is connected to the second-layer square steel plate 5 through the 3D printed pad 4 and fixed by bolts, the solenoid valve 2 is fixed on the solenoid valve fixing steel plate 3, the servo gear 29 is fixed to the metal servo 28, and then the metal servo 28 is fixed to the 3D printed shell 14, the two redundant holes of the two-position 4-hole air distribution row 12 are blocked with the air distribution row plug 11, the nozzle 15 is fixed to the lowest vent hole of the two-position 4-hole air distribution row 12, the nozzle gear 30 is fixed to the nozzle 15, the nozzle gear 30 is engaged with the servo gear 29, a layer of nozzle fixing aluminum plate 13 is used as the main body to fix the slider 18 thereunder, and the slider 18 is slid into the linear guide rail 10,The new controllable spray head unit, the connecting aluminum plate 20, and the linear displacement sensor connecting aluminum plate 22 are fixed thereon with bolts, the synchronous belt slide 6 is connected to the connecting aluminum plate 20 through the slide slider fixing aluminum plate 21, and the linear displacement sensor connecting aluminum plate 22 is connected to the linear displacement sensor 27, the slider 18 is fixed below the second-layer nozzle fixing aluminum plate 23 as the main body, and the slider 18 is slid into the linear guide rail 10, the new controllable spray head unit and the connecting aluminum plate 20 are fixed thereon with bolts, the synchronous belt slide 6 is connected to the connecting aluminum plate 20 through the second-layer slide slider fixing aluminum plate 25, the second-layer linear displacement sensor connecting aluminum plate 24 is fixed on the second-layer slide slider fixing aluminum plate 25, and the second-layer linear displacement sensor connecting aluminum plate 24 is connected to the linear displacement sensor 27.

[0005] The whole machine is connected to the carrying platform through the square steel frame 1. The module integrates three groups of laterally movable spray paths. The three spray paths are responsible for different types of weeds. Each spray path has three new controllable spray width nozzle units. The three new controllable spray width nozzle units are jointly responsible for the coverage area of ​​one ridge width. The whole machine is connected to the carrying platform through the square steel frame 1. The industrial camera 16 is located above the center of the module coverage area to identify the seedlings and grasses. After visual inspection, after detecting the type of weeds, the spray path for spraying the corresponding herbicide is driven by the synchronous belt slide 6 to drive the slide slider to fix the aluminum plate 21, connect the aluminum plate 20, and fix the aluminum plate 13 with a layer of nozzle units, thereby driving the entire spray path to realize the lateral displacement of the three new controllable spray width nozzle units, thereby achieving precise target spraying. Wherever there is grass, spray it, only spray weeds but not seedlings. What kind of weeds can be sprayed to kill this large category of weeds. At the same time, driven by the aluminum plate 13 fixed on the first layer of the nozzle unit, the linear displacement sensor connected to the aluminum plate 22 drives the linear displacement sensor 27, and the overall displacement of the first layer of the moving part is fed back in real time to form a closed loop. After the industrial camera 16 recognizes the weeds, it will collect the information of the weeds, increase the spray coverage range for the weeds with large agglomeration areas, and adjust the spray cone angle of the controllable spray nozzle through the transmission of the servo gear 29 and the nozzle gear 30 under the drive of the metal servo 28, and realize the large grass spray more, small grass spray less, variable spraying, reduce the use of herbicides, and reduce ecological environmental pollution.

[0006] Compared with the existing traditional wide-width chemical weed control method, the present invention has the following advantages and beneficial effects: The present invention aims at the problems of soil, drinking water, environmental pollution and pesticide residues caused by the wide-width, extensive, high-dose and high-concentration spraying of herbicides by existing chemical weed control equipment. It adopts artificial intelligence technology, uses a visual system to identify seedlings and weeds, accurately locates weeds, and realizes precise target spraying, spraying only weeds but not seedlings, and reducing the problems of herbicide residues on crops and soil and environmental pollution. Through deep learning of the visual system to identify the types of weeds, combined with the multi-spray path design of the module, it is possible to realize what kind of medicine is sprayed on what kind of grass, reduce the drug resistance of weeds and the toxicity of mixed types of herbicides to crops and soil. Through the visual system to identify the size of the weed aggregation area, combined with the design of the new controllable spray nozzle unit of this module, it can realize more spraying of large grass and less spraying of small grass, and variable spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 A schematic diagram of the present invention

[0008] Figure 2 A side view of the present invention

[0009] Figure 3 The front view of the present invention

[0010] Figure 4 The internal structure diagram of the present invention

[0011] Figure 5 It is a single spray path mobile functional unit of the present invention

[0012] Figure 6 The novel controllable spray nozzle unit of the present invention DETAILED DESCRIPTION

[0013] It is a multi-spray path controllable spray width precision target weeding module based on artificial intelligence technology, which is characterized in that the device consists of a fixed part, an image collector, a first layer of a mobile part, a second layer of a mobile part, three groups of movable structures and a new controllable spray width nozzle unit. The fixed part consists of a square steel skeleton 1, a first layer of square steel plate 9, a linear guide 10, a second layer of square steel plate 5, a synchronous belt slide fixed seat 19, a synchronous belt slide 6, a motor fixed block 7, an 86 stepper motor 8, a linear displacement sensor fixed card 26, a linear displacement sensor 27, a 3D printed pad 4, a second layer of synchronous belt slide fixed steel plate 31, a solenoid valve 2, and a solenoid valve fixed steel plate 3. The image collector consists of an industrial camera 16 and a camera fixed steel plate 17. The first layer of the mobile part consists of a slider 18 and a first layer The nozzle unit is fixed with an aluminum plate 13, a connecting aluminum plate 20, a slide block is fixed with an aluminum plate 21, and a linear displacement sensor is connected with an aluminum plate 22. The second layer of the moving part is composed of a slider 18, a second layer of nozzle unit fixed with an aluminum plate 23, a connecting aluminum plate 20, a second layer of slide block fixed with an aluminum plate 25, and a second layer of linear displacement sensor connected with an aluminum plate 24. The variable range nozzle group is composed of a 3D printed shell 14, a metal servo 28, a servo gear 29, a nozzle 15, a nozzle gear 30, a two-position 4-hole air distribution row 12, and an air distribution row plug 11. One layer of square steel plate 9 is fixed to the square steel frame 1 by bolts, and the linear guide 10 is fixed to the first layer of square steel plate 9 by bolts. The camera fixing steel plate 17 is fixed to the bottom of the first layer of square steel plate 9, and the industrial camera 16 is fixed to the bottom of the first layer of square steel plate 9. The 86 stepper motor 8 is connected to the synchronous belt slide 6 through the motor fixing block 7, and the synchronous belt slide fixing seat 19 fixes the synchronous belt slide 6 to the first layer of square steel plate 9. The second layer of square steel plate 5 is connected to the square steel frame 1 through bolts. The linear displacement sensor 17 is fixed to the second layer of square steel plate 5 through the linear displacement sensor fixing card 26. The linear guide 10 is fixed to the second layer of square steel 5 through bolts. The second layer of synchronous belt slide fixing steel plate 25 is connected to the second layer of square steel plate 5 through the 3D printed pad 4 and fixed by bolts. The 86 stepper motor 8 is connected to the synchronous belt slide 6 through the motor fixing block 7. The synchronous belt slide fixing seat 19 fixes the synchronous belt slide 6 to the second layer of synchronous belt slide fixing steel plate 31. The solenoid valve fixing steel plate 3 is connected to the second layer of square steel plate 5 through the 3D printed pad 4 and fixed by bolts, the solenoid valve 2 is fixed on the solenoid valve fixing steel plate 3, the steering gear 29 is fixed to the metal steering gear 28, and then the metal steering gear 28 is fixed to the 3D printed shell 14, the two redundant holes of the second position 4-hole air distribution row 12 are blocked with the air distribution row plug 11, the nozzle 15 is fixed to the lowest vent hole of the second position 4-hole air distribution row 12, the nozzle gear 30 is fixed to the nozzle 15, the nozzle gear 30 is engaged with the steering gear 29, a layer of nozzle fixing aluminum plate 13 is used as the main body to fix the slider 18 thereunder, and the slider 18 is slid into the linear guide rail 10, and the new controllable spray width nozzle unit, the connecting aluminum plate 20, and the linear displacement sensor connecting aluminum plate 22 are fixed thereon with bolts,The synchronous belt slide 6 is connected to the connecting aluminum plate 20 through the slide slider fixing aluminum plate 21, and the linear displacement sensor connecting aluminum plate 22 is connected to the linear displacement sensor 27. The slider 18 is fixed below the second-layer nozzle fixing aluminum plate 23 as the main body, and the slider 18 is slid into the linear guide rail 10. The new controllable spray nozzle unit and the connecting aluminum plate 20 are fixed thereon with bolts, and the synchronous belt slide 6 is connected to the connecting aluminum plate 20 through the second-layer slide slider fixing aluminum plate 25. The second-layer linear displacement sensor connecting aluminum plate 24 is fixed on the second-layer slide slider fixing aluminum plate 25, and the second-layer linear displacement sensor connecting aluminum plate 24 is connected to the linear displacement sensor 27.

[0014] The whole machine is connected to the carrying platform through the square steel frame 1. The module integrates three groups of laterally movable spray paths. The three spray paths are responsible for different types of weeds. Each spray path has three new controllable spray width nozzle units. The three new controllable spray width nozzle units are jointly responsible for the coverage area of ​​one ridge width. The whole machine is connected to the carrying platform through the square steel frame 1. The industrial camera 16 is located above the center of the module coverage area to identify the seedlings and grasses. After visual inspection, after detecting the type of weeds, the spray path for spraying the corresponding herbicide is driven by the synchronous belt slide 6 to drive the slide slider to fix the aluminum plate 21, connect the aluminum plate 20, and fix the aluminum plate 13 with a layer of nozzle units, thereby driving the entire spray path to realize the lateral displacement of the three new controllable spray width nozzle units, thereby achieving precise target spraying. Wherever there is grass, spray it, only spray weeds but not seedlings. What kind of weeds can be sprayed to kill this large category of weeds. At the same time, driven by the aluminum plate 13 fixed on the first layer of the nozzle unit, the linear displacement sensor connected to the aluminum plate 22 drives the linear displacement sensor 27, and the overall displacement of the first layer of the moving part is fed back in real time to form a closed loop. After the industrial camera 16 recognizes the weeds, it will collect the information of the weeds, increase the spraying coverage for the weeds with large agglomeration areas, and adjust the spray cone angle of the controllable spray nozzle through the transmission of the servo gear 29 and the nozzle gear 30 under the drive of the metal servo 28, and realize the large grass spray more, small grass spray less, variable spraying, reduce ecological environmental pollution, and effectively improve work efficiency.

Claims

1. A multi-spray path controllable spray width precision target weeding module based on artificial intelligence technology, characterized by: The invention is composed of a fixed part, an image collector, a first layer of a movable part, a second layer of a movable part, three groups of movable structures and a new controllable spray nozzle unit. The fixed part is composed of a square steel frame (1), a first layer of a square steel plate (9), a linear guide rail (10), a second layer of a square steel plate (5), a synchronous belt slide fixed seat (19), a synchronous belt slide (6), a motor fixed block (7), an 86 stepper motor (8), a linear displacement sensor fixed card (26), a linear displacement sensor (27), a 3D printed pad (4), a second layer of a synchronous belt slide fixed steel plate (31), a solenoid valve (2), and a solenoid valve fixed steel plate (3). The image collector is composed of an industrial camera (16) and a camera fixed steel plate (17). The first layer of the movable part is composed of a slider ( 18), a first layer of nozzle fixing aluminum plate (13), a connecting aluminum plate (20), a first layer of slide block fixing aluminum plate (21), and a linear displacement sensor connecting aluminum plate (22); the second layer of the moving part is composed of a slider (18), a second layer of nozzle fixing aluminum plate (23), a connecting aluminum plate (20), a second layer of slide block fixing aluminum plate (25), and a second layer of linear displacement sensor connecting aluminum plate (24); the new controllable spray nozzle unit is composed of a 3D printed shell (14), a metal steering gear (28), a steering gear gear (29), a nozzle (15), a nozzle gear (30), a two-position 4-hole air distribution exhaust (12), and an air distribution exhaust plug (11); one layer of square steel plate (9) is fixed to the square steel frame (1) by bolts The linear guide rail (10) is fixed to a layer of square steel plate (9) by bolts, the camera fixing steel plate (17) is fixed to the bottom of the layer of square steel plate (9), the industrial camera (16) is fixed to the camera fixing steel plate (17) by bolts, the 86 stepper motor (8) is connected to the synchronous belt slide (6) through the motor fixing block (7), the synchronous belt slide fixing seat (19) fixes the synchronous belt slide (6) to the layer of square steel plate (9), the second layer of square steel plate (5) is connected to the square steel frame (1) by bolts, the linear displacement sensor (27) is fixed to the second layer of square steel plate (5) by the linear displacement sensor fixing card (26), the linear guide rail (10) is fixed to the second layer of square steel plate (5) by bolts, the second layer of synchronous belt slide fixing The steel plate (31) is connected to the second-layer square steel plate (5) through the 3D printed pad (4) and fixed by bolts. The 86 stepper motor (8) is connected to the synchronous belt slide (6) through the motor fixing block (7). The synchronous belt slide fixing seat (19) fixes the synchronous belt slide (6) to the second-layer synchronous belt slide fixing steel plate (31). The solenoid valve fixing steel plate (3) is connected to the second-layer square steel plate (5) through the 3D printed pad (4) and fixed by bolts. The solenoid valve (2) is fixed to the solenoid valve fixing steel plate (3). After the steering gear (29) is fixed to the metal steering gear (28), the metal steering gear (28) is fixed to the 3D printed housing (14). The redundant two holes of the two-position 4-hole air distribution row (12) are blocked with the air distribution row plug (11).The nozzle (15) is fixed on the lowest vent hole of the two-position 4-hole air distribution row (12), and the nozzle gear (30) is fixed on the nozzle (15). The nozzle gear (30) is engaged with the steering gear (29). The slider (18) is fixed under the nozzle fixing aluminum plate (13) with a layer of nozzle fixing aluminum plate (13) as the main body, and the slider (18) is slid into the linear guide rail (10). The new controllable spray nozzle unit, the connecting aluminum plate (20), and the linear displacement sensor connecting aluminum plate (22) are fixed on the nozzle fixing aluminum plate (13) with bolts, and the synchronous belt slide (6) is connected to the connecting aluminum plate (20) through a slide slider fixing aluminum plate (21). The linear displacement sensor connecting aluminum plate (22) is connected to The linear displacement sensor (27) is connected, the slider (18) is fixed under the second-layer nozzle fixing aluminum plate (23) with the second-layer nozzle fixing aluminum plate (23) as the main body, and the slider (18) is slid into the linear guide rail (10), the new controllable spray nozzle unit and the connecting aluminum plate (20) are fixed on the second-layer nozzle fixing aluminum plate (23) by bolts, the synchronous belt slide (6) is connected to the connecting aluminum plate (20) through the second-layer slide slider fixing aluminum plate (25), the second-layer linear displacement sensor connecting aluminum plate (24) is fixed on the second-layer slide slider fixing aluminum plate (25), and the linear displacement sensor (27) is connected through the second-layer linear displacement sensor connecting aluminum plate (24). The module integrates three groups of laterally movable spray paths, three Each spray path is responsible for different types of weeds. Each spray path has three new controllable spray width nozzle units. The three new controllable spray width nozzle units are jointly responsible for covering an area with a ridge width. The whole machine is connected to the carrying platform through a square steel frame (1). The industrial camera (16) is located above the center of the module coverage area to identify the seedlings and grasses. After visual inspection, after the type of weeds is detected, the spray path for spraying the corresponding herbicide is driven by a synchronous belt slide (6) to drive a layer of slide slider fixed aluminum plate (21), a connecting aluminum plate (20), and a layer of nozzle fixed aluminum plate (13), thereby driving the entire spray path to realize the lateral displacement of the three new controllable spray width nozzle units, thereby realizing precise target spraying, spraying only weeds but not seedlings, and being able to spray different types of weeds. Different herbicides are applied, and at the same time, under the drive of a layer of nozzle fixed aluminum plate (13), a linear displacement sensor connected to an aluminum plate (22) drives a linear displacement sensor (27), and the overall displacement of a layer of the moving part is fed back in real time to form a closed loop. The module integrates three groups of laterally movable spray paths, and the three spray paths are responsible for different types of weeds. Each spray path has three new controllable spray nozzle units. After the industrial camera (16) recognizes the weeds, the information of the weeds will be collected, and the spray coverage range will be increased for the weeds with large agglomeration areas. Under the drive of the metal steering gear (28), the transmission of the steering gear gear (29) and the nozzle gear (30) is used to achieve the adjustment of the variable range nozzle spray cone angle, and the duty cycle of the solenoid valve (2) is adjusted to achieve multiple spraying of large weeds.Spray less on small grasses and use variable spraying to reduce the amount of herbicides used and reduce ecological environmental pollution.

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