Intelligent killing agricultural harmful insect cruise vehicle

Abstract

The present application relates to intelligent killing agricultural harmful insect cruise vehicle, including caterpillar car, killing part, image processing module, control module and image acquisition system, the caterpillar car includes the car body, the top of the car body is equipped with the rotary table, the rotary motor is fixed in the car body below the rotary table, the killing part is arranged above the rotary table, the first camera is installed on the killing part, the image processing module is electrically connected with the storage module, the image processing module is configured to: the image collected by the image acquisition system is identified and judged, the first camera and multiple second cameras are used for collecting images, the collected images are identified and judged through the image processing module, the harmful insects are automatically determined, the first camera is controlled to track the harmful insects through the image processing module and the control module, and the laser emitter is controlled to aim at the harmful insects, so that the harmful insects are killed, and the use is convenient and fast.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural pest killing, and particularly relates to an intelligent agricultural pest killing cruise vehicle. BACKGROUND

[0002] Agricultural pests include numerous agricultural insects, such as locusts, longicorn beetles, and scarab beetles. These organisms cause huge economic losses to agricultural production every year. Currently, chemical agents such as pesticides and toxic baits are commonly used for killing, but such methods pollute the environment and affect food safety.

[0003] In the prior art, a crawler type surface-coated crawling insect killing device is disclosed in Chinese Patent No. CN102771460A. The technical solution is that the movement of the crawler walking mechanism is controlled by a control box and a cable, a monitor and a camera monitor insect eggs, and a laser device kills the insect eggs, thereby solving the problem of insect egg killing. However, the device is inconvenient for use in agricultural pest killing. SUMMARY

[0004] The present application aims to provide an intelligent agricultural pest killing cruise vehicle, which automatically identifies, tracks, aims at, and kills pests, is convenient and fast, and has a high degree of automation.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows.

[0006] The intelligent agricultural pest killing cruise vehicle comprises a crawler vehicle, a killing component, an image processing module, a control module, and an image acquisition system.

[0007] The crawler vehicle comprises a vehicle body, a rotating table is installed on the top of the vehicle body, a rotating motor is fixed in the vehicle body below the rotating table, and the rotating motor is connected with the rotating table.

[0008] The output end of the killing component is arranged above the rotating table.

[0009] The image acquisition system acquires images around the crawler vehicle.

[0010] The image processing module is electrically connected with a storage module, the storage module stores multi-angle images of various pests, and the image processing module is configured to identify and judge the images acquired by the image acquisition system.

[0011] The control module is configured to control the rotating motor and the crawler vehicle to move according to the image recognition data of the image processing module, so that the image acquisition system moves to track the pests, and the output end of the killing component aims at the pests, and the killing component kills the aimed pests.

[0012] Preferably, two fixed plates are vertically arranged on the rotating table; the killing component is rotatably fixed between the two fixed plates; an adjusting motor is fixed to any one of the fixed plates away from the killing component; the adjusting motor is connected with the rotating shaft, and the adjusting motor is electrically connected with the control module.

[0013] Preferably, the killing component comprises a laser emitter, the laser emitter is electrically connected with a laser controller, the control module controls the laser emitter through the laser controller; the laser emitter is rotatably fixed between the two fixed plates; the first camera is installed on the laser emitter through a fixing frame, and the shooting direction of the first camera is the same as the emitting direction of the laser emitter; the laser emitter is electrically connected with the control module.

[0014] Preferably, the killing component comprises a gas gun; the gas gun is rotatably fixed between the two fixed plates; the first camera is installed on the gas gun, and the shooting direction of the first camera is the same as the barrel direction of the gas gun; the gas gun is internally provided with a bullet; the rotating table is provided with an air pump; the control module is electrically connected with the air pump, and the air pump is controlled by the control module to charge air into the gas gun to shoot the bullet;

[0015] The tail of the bullet is fixed with a connecting line; the tail of the gas gun is fixed with a fixed seat; the fixed seat is internally hollow and is installed with a take-up reel; the connecting line is wound on the take-up reel through the gas gun and the fixed seat; the fixed seat is externally fixed with a take-up motor; the output shaft of the take-up motor is connected with the take-up reel through the fixed seat; the control module is electrically connected with the take-up motor.

[0016] Preferably, the head of the bullet is provided with a plurality of barbs; the vehicle body is annularly provided with a containing bin along the rotating table.

[0017] Preferably, the head of the bullet is provided with an injection hole; one end of the injection hole away from the bullet head is communicated with a fixed hole; a push rod is slidably installed in the injection hole; the push rod extends to the fixed hole through the injection hole; the fixed hole is connected with a spring; the spring is connected with the push rod; the injection hole is filled with insecticide, and the push rod can push the insecticide in the injection hole out of the bullet.

[0018] Preferably, the part of the vehicle body higher than the track is table-shaped; a plurality of solar panels are installed on the inclined side surface of the table-shaped part of the vehicle body; the plurality of solar panels are electrically connected with the storage battery of the track carrier.

[0019] Preferably, the image acquisition system comprises a first camera, the first camera is installed on the killing component, the first camera transmits the captured image to the image processing module, and the control module controls the rotation of the rotating motor and the adjusting motor and the movement of the track carrier, so that the first camera moves to track the harmful organisms.

[0020] Preferably, the image acquisition system further comprises a plurality of second cameras, which are installed at intervals on the vehicle body, and the plurality of second cameras transmit the captured images to the image processing module.

[0021] Preferably, a charging tray is provided at the bottom of the vehicle body; the charging tray is electrically connected to the battery of the crawler vehicle through a charging module; the vehicle body is wirelessly charged through the charging tray and several solar charging piles set up in the farmland.

[0022] The present invention collects images of the environment surrounding the crawler vehicle through a first camera and multiple second cameras, identifies and judges the collected images through an image processing module, automatically determines harmful organisms, and controls the first camera to track the harmful organisms and controls the killing component to aim at the harmful organisms and kill the harmful organisms through the image processing module and the control module; the harmful organisms are killed by using a laser emitter or an air gun as the killing component, which is convenient to use; and solar panels are installed on the side of the vehicle body, which facilitates extending the operating time of the cruise vehicle and saving energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural diagram of Example 1;

[0024] Figure 2 It is a schematic diagram of the structure of a rotating motor;

[0025] Figure 3 This is a schematic diagram of the structure of Example 2 Figure 1 ;

[0026] Figure 4 This is a schematic diagram of the structure of Example 2 Figure 2 ;

[0027] Figure 5 Schematic diagram of the internal structure of the air gun;

[0028] Figure 6 Schematic diagram of the bullet structure Figure 1 ;

[0029] Figure 7 Schematic diagram of the bullet structure Figure 2 . DETAILED DESCRIPTION

[0030] The present invention is further described below with reference to the accompanying drawings and specific embodiments.

[0031] Example 1:

[0032] like Figures 1-2 As shown, the intelligent agricultural pest killing cruise vehicle of the present invention includes a crawler vehicle 1, a killing component, an image processing module, a control module and an image acquisition system.

[0033] The crawler trolley 1 comprises a vehicle body 11, a rotating table 12 is installed on the vehicle body 11; a rotating motor 13 is fixed in the vehicle body 11 below the rotating table 12; the rotating motor 13 is connected with the rotating table 12, wherein the crawler trolley 1 is prior art, the vehicle body 11 of the crawler trolley 1 is provided with a storage battery, the crawler trolley 1 is driven to walk by electricity and supplies power to other components, the crawler trolley 1 can move according to a predetermined walking route, and can also be remotely controlled;

[0034] Two fixed plates 14 are vertically arranged on the rotating table 12; the killing component is rotatably fixed between the two fixed plates 14; an adjusting motor 15 is fixed on the side of any one of the fixed plates 14 away from the laser emitter 21; the adjusting motor 15 is connected with the rotating shaft, the height of the emission port of the killing component is adjusted by the adjusting motor 15, the killing range is increased, the adjusting motor 15 is electrically connected with the control module, the adjusting motor 15 and the rotating motor 13 are controlled by the control module;

[0035] The output end of the killing component is arranged above the rotating table 12; the killing component comprises a laser emitter 21, wherein the laser emitter 21 is preferably a pulse laser emitter, the pulse laser emitted by the laser emitter 21 is used for killing harmful organisms, the laser emitter 21 is electrically connected with a laser controller, the laser controller can adjust the laser emitted by the laser emitter 21, the control module controls the laser emitter 21 by the laser controller, and the control module controls the laser emitter 21 to kill harmful organisms; the laser emitter 21 is rotatably fixed between the two fixed plates 14;

[0036] The image acquisition system acquires images around the crawler trolley; the image acquisition system comprises a first camera 3 and a plurality of second cameras 4;

[0037] The first camera 3 is installed on the laser emitter 21 through a fixing frame, the shooting direction of the first camera 3 is the same as the emission direction of the laser emitter 21, the first camera 3 rotates on the rotating table 12 together with the laser emitter 21, the surroundings of the crawler trolley 1 are photographed or filmed by the first camera 3, the first camera transmits the photographed images to an image processing module, and harmful organisms are detected and tracked, wherein the first camera 3 and the second camera 4 can be infrared night-vision cameras, so that the cruise vehicle can work at night;

[0038] A plurality of second cameras 4 are installed on the vehicle body 11 at intervals, and the plurality of second cameras 4 facilitate scanning of 360° around the crawler vehicle 1. The second cameras 4 are preferably pan-tilt cameras or wide-angle cameras. The pan-tilt cameras can rotate freely to adjust the angle of shooting. By setting the rotation angle and rotation time of each pan-tilt camera, the plurality of second cameras can scan the environment around the crawler vehicle 1 simultaneously or within a certain time. The wide-angle cameras have a larger shooting range. By setting a plurality of wide-angle cameras, the environment around the crawler vehicle 1 can be scanned simultaneously. The plurality of second cameras 4 are electrically connected to the image processing module, and the images captured by the plurality of second cameras 4 are transmitted to the image processing module. The plurality of second cameras 4 scan the environment around the crawler vehicle 1 to provide the position information of the harmful organisms and the information of the obstacles around the crawler vehicle 1, so that the crawler vehicle 1 can avoid the obstacles.

[0039] The image processing module is electrically connected to a storage module. The storage module stores multi-angle images of various harmful organisms. Before using the cruise vehicle, the multi-angle images of the harmful organisms are input into the storage module. The image processing module is configured to identify and judge the images collected by the image acquisition system, i.e., to identify and judge the images collected by the first camera 3 and the plurality of second cameras 4. The image processing module compares the collected images with the images of the harmful organisms in the storage module. When the comparison is consistent, the harmful organisms are determined. The image processing module compares the real-time video image data with the previous video image data to determine whether the harmful organisms move. When the harmful organisms move, the control module controls the rotation motor 13, the adjusting motor 15, and the movement of the crawler vehicle 1 to control the rotation of the rotating table 12, so that the first camera 3 moves intelligently to track the harmful organisms. The emission port of the laser emitter 21 is aligned with the harmful organisms. The image processing module can calculate the position and occupied space of the harmful organisms in the collected images. According to the obtained data, the position of the emission port of the laser emitter 21 is adjusted by controlling the adjusting motor 15 and the rotation motor 13, so that the laser emitter 21 aims at the harmful organisms. When the target organisms stop moving or the speed of the target organisms is lower than a certain threshold, the control module controls the laser emitter 21 to emit pulsed laser to kill the aimed harmful organisms. The image processing module and the control module can be placed in the vehicle body 11 and are electrically connected to the laser emitter 21, the first camera 3, and the adjusting motor 15 on the rotating table through a rotating slip ring.

[0040] In this embodiment, the part of the vehicle body 11 higher than the track is table-shaped; the inclined side of the table-shaped part of the vehicle body 11 is provided with a plurality of solar panels 16; the plurality of solar panels 16 are electrically connected with the battery of the crawler 1. By setting the part of the vehicle body 11 higher than the track as table-shaped, it is convenient to install the solar panels 16, increase the area of the solar panels 16, and increase the emission angle of the laser emitter 21. When the pests are beside the crawler 1, it will not affect the emission of the laser emitter 21. When it rains, it is convenient to drain water. By installing the solar panels 16, the light energy is converted into electrical energy, which is input into the battery of the crawler 1, so as to prolong the running time of the patrol vehicle, and power the rotating motor 13, the adjusting motor 15, the first camera 3, the laser emitter 21, the image processing module, the control module and the second camera.

[0041] In this embodiment, as shown in Figure 2 The inner bottom of the vehicle body 11 is provided with a charging disc 18; the charging disc 18 is electrically connected with the battery of the crawler 1 through a charging module, wherein the charging module is used to control the charging switch and convert the wireless charging alternating current into direct current; the vehicle body 11 is wirelessly charged through the charging disc 18 and a plurality of solar charging piles arranged in the farmland, wherein the charging disc 18 is internally provided with an electromagnetic induction coil, the charging disc 18 is matched with the charger of the solar charging pile, when the charging disc 18 is close to the charger of the solar charging pile, the magnetic induction coil inside the charger of the solar charging pile will generate an electric current in the electromagnetic induction coil of the charging disc 18 based on a certain frequency of alternating current and through electromagnetic induction, so as to emit energy to the charging disc 18, thereby achieving the purpose of wirelessly charging the crawler 1, wherein the solar charging pile is provided with an infrared signal emitter, and the crawler 1 is internally provided with an infrared signal receiver. The infrared signal emitter of the solar charging pile constantly emits infrared signals outward. When the power of the crawler 1 is less than a certain amount, the infrared signal receiver of the crawler 1 judges its own position by the number and position of the received signals, and then plans a route to the side of the solar charging pile, so that the charging disc 18 is close to the charger of the solar charging pile.

[0042] Embodiment 2:

[0043] As Figures 3-5As shown, the killing component includes a gas gun 22; the gas gun 22 is rotationally fixed between the two fixed plates 14; the first camera 3 is installed on the gas gun 22, and the first camera 3 is in the same direction as the muzzle of the gas gun 22; the gas gun 22 is provided with a bullet 221; the tail of the bullet 221 is fixed with a connecting line 222; the tail of the gas gun 22 is fixed with a fixed seat 223; the fixed seat 223 is hollow inside and is provided with a take-up wheel 224, wherein the take-up wheel 224 is an I-shaped wheel; the connecting line 222 is wound on the take-up wheel 224 through the gas gun 22 and the fixed seat 223, and rotating the take-up wheel 224 can make the bullet 221 be recycled; the fixed seat 223 is fixed with a take-up motor 225 outside; the output shaft of the take-up motor 225 is connected with the take-up wheel 224 through the fixed seat 223, and rotating the take-up wheel 224 by the take-up motor 225 makes the connecting line 222 be wound on the take-up wheel 224, so that the bullet 221 is recycled, facilitating repeated use and recycling of the bullet 221;

[0044] The rotating table 12 is provided with an air pump 17 for providing air source for the gas gun 22; the air pump 17 fills compressed air into the gas gun 22, the compressed air pushes the bullet 221 to be shot out, and the connecting line 222 is unwound from the take-up wheel 224; when the bullet 221 hits the harmful organisms or after a certain period of time, the take-up motor 225 is started to recycle the bullet 221; the control module is electrically connected with the air pump 17 and the take-up motor 225, the air pump 17 is controlled by the control module to fill air into the gas gun 22, the bullet 221 is shot out to kill the harmful organisms, and the take-up motor 225 is controlled by the control module to recycle the bullet 221; the remaining features are the same as those of example 1,

[0045] In this embodiment, as shown in Figures 3-6 The head of the bullet 221 is provided with a plurality of barbs 2211; when the bullet 221 is shot into the body of the harmful organisms and the harmful organisms are killed, the take-up motor 225 is started to recycle the bullet 221, and the barbs 2211 on the head of the bullet 221 tear or pull the harmful organisms back to the vehicle body; the vehicle body 11 is provided with a containing bin 18 along the rotating table 12 in a ring shape; when the small harmful organisms are pulled by the barbs 2211 on the head of the bullet 221 and hit the muzzle of the gas gun 22, the small harmful organisms fall into the containing bin 18 for collection and killing, preventing the harmful organisms from not being killed.

[0046] In another embodiment, as shown in Figures 3-5 And Figure 7As shown, the head of the bullet 221 is provided with an injection hole 2212; a fixed hole is communicated with the injection hole 2212 away from the bullet head; a push rod 2213 is slidably installed in the injection hole 2212; the push rod 2213 extends to the fixed hole through the injection hole 2212; a spring 2214 is connected in the fixed hole; the spring 2214 is connected with the push rod 2213; the injection hole 2212 is filled with insecticide, and the push rod 2213 can push the insecticide in the injection hole 2212 out of the bullet 221; when the bullet 221 is shot into the body of the harmful organism, due to inertia, the push rod 2213 moves to the head of the bullet 221, pushes the insecticide to be injected into the body of the harmful organism for killing, and the spring 2214 is stretched when the push rod 2213 moves; when the spring 2214 is retracted, the push rod 2213 moves back, and the take-up motor 225 is started to recover the bullet 221, so that the bullet 221 can repeatedly pass through the insecticide for killing, the death of the harmful organism is accelerated by the insecticide, and the harmful organism is prevented from not being killed.

[0047] The use method of the present application is as follows: the walking route is input into the crawler 1 or remotely controls the crawler 1, and the multi-angle image of the harmful organism is input into the storage module, the crawler 1 is started, the first camera 3 and the plurality of second cameras 4 scan around the crawler 1, the collected image is input into the image processing module for identification, the image processing module is compared with the image of the harmful organism in the storage module, when the comparison is consistent, the harmful organism is determined, and the image processing module compares the real-time video image data with the previous video image data to obtain whether the harmful organism moves, when the harmful organism moves, the rotating motor 13 and the adjusting motor 15 are controlled to rotate by the control module, and the crawler 1 is controlled to move, so that the first camera 3 is controlled to rotate and move, and the first camera 3 intelligently moves to track the harmful organism,

[0048] When the killing component is the laser emitter 21, the emitting port of the laser emitter 21 is aligned with the harmful organism, when the target organism stops moving or the moving speed of the target organism is lower than a certain threshold, the control module controls the laser emitter 21 to emit pulsed laser to kill the aimed harmful organism;

[0049] When the killing component is the air gun 22, the muzzle of the air gun 22 is aligned with the harmful organism, when the target organism stops moving or the moving speed of the target organism is lower than a certain threshold, the control module controls the air pump 17 to charge air into the air gun 22, the bullet 221 is shot out, the harmful organism is killed, and the take-up motor 225 is controlled to recover the bullet 221.

Claims

1. Intelligent agricultural pest control cruise vehicle, characterized by: It includes a crawler trolley (1), a killing component, an image processing module, a control module and an image acquisition system; The crawler trolley (1) includes a vehicle body (11), a rotating platform (12) is installed on the top of the vehicle body (11); a rotating motor (13) is fixed in the vehicle body (11) below the rotating platform (12); the rotating motor (13) is connected to the rotating platform (12); The output end of the killing component is arranged above the rotating platform (12); The image acquisition system acquires images around the crawler vehicle (1); The image processing module is electrically connected to a storage module; the storage module stores multi-angle images of various harmful organisms; the image processing module is configured to: identify and judge the images collected by the image acquisition system; The control module is configured to: control the rotation of the rotary motor (13) and the movement of the crawler trolley (1) based on the image recognition data of the image processing module, so that the image acquisition system moves to track the harmful organisms, and the output end of the killing component is aimed at the harmful organisms, and the killing component is controlled to kill the targeted harmful organisms; Two fixed plates (14) are vertically provided on the rotating platform (12); the killing component is rotatably fixed between the two fixed plates (14) via a rotating shaft; an adjusting motor (15) is fixed on a side of any one of the fixed plates (14) away from the killing component; the adjusting motor (15) is connected to the rotating shaft, and the adjusting motor (15) is electrically connected to the control module; The image acquisition system comprises a first camera (3), which is mounted on the killing component. The first camera (3) transmits the captured image to the image processing module. The control module controls the rotation of the rotating motor (13), the regulating motor (15) and the movement of the crawler trolley (1), so that the first camera (3) moves to track the harmful organisms. The first camera (3) is an infrared night vision camera. The killing component includes an air gun (22); the air gun (22) is rotatably fixed between two fixing plates (14); the first camera (3) is mounted on the air gun (22), and the shooting direction of the first camera (3) is the same as the muzzle direction of the air gun (22); a bullet (221) is provided in the air gun (22); an air pump (17) is provided on the rotating platform (12); the control module is electrically connected to the air pump (17), and the air pump (17) is controlled by the control module to inflate the air gun (22) and shoot the bullet (221); A connecting line (222) is fixed to the tail of the bullet (221); a fixing seat (223) is fixed to the tail of the air gun (22); the fixing seat (223) is hollow inside and is equipped with a take-up wheel (224); the connecting line (222) passes through the air gun (22) and the fixing seat (223) and is wound around the take-up wheel (224); a take-up motor (225) is fixed outside the fixing seat (223); an output shaft of the take-up motor (225) passes through the fixing seat (223) and is connected to the take-up wheel (224); the control module is electrically connected to the take-up motor (225); The head of the bullet (221) is provided with a plurality of barbs (2211); a receiving chamber is provided in a ring shape along the rotating platform (12) on the vehicle body (11); The head of the bullet (221) is provided with an injection hole (2212); an end of the injection hole (2212) away from the bullet head (221) is connected to a fixing hole; a push rod (2213) is slidably mounted in the injection hole (2212); the push rod (2213) passes through the injection hole (2212) and extends toward the fixing hole; a spring (2214) is connected in the fixing hole; the spring (2214) is connected to the push rod (2213); an insecticide is contained in the injection hole (2212), and the push rod (2213) can push the insecticide in the injection hole (2212) out of the bullet (221).

2. The intelligent agricultural killing cruise vehicle according to claim 1 is characterized in that: The portion of the vehicle body (11) that is higher than the crawler track is in a platform shape; a plurality of solar panels (16) are installed on the oblique side surface of the platform-shaped portion of the vehicle body (11); and the plurality of solar panels (16) are electrically connected to the battery of the crawler trolley (1).

3. The intelligent agricultural killing cruise vehicle according to claim 1 is characterized in that: The image acquisition system further comprises a plurality of second cameras (4), wherein the plurality of second cameras (4) are installed at intervals on the vehicle body (11), and the plurality of second cameras (4) transmit the captured images to the image processing module.

4. The intelligent agricultural pest control cruise vehicle according to claim 1, characterized in that: A charging tray (18) is provided at the bottom of the vehicle body (11); the charging tray (18) is electrically connected to the battery of the crawler vehicle (1) through a charging module; and the vehicle body (11) is wirelessly charged through the charging tray (18) and a plurality of solar charging piles arranged in a farmland.

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