A cotton topping machine and a topping method for realizing self-walking and targeting

Abstract

The application relates to a cotton topping machine and a topping method for realizing self-walking and target shooting, and the topping machine comprises a self-walking vehicle body, an image acquisition module, a control module and a target shooting spraying module; the self-walking vehicle body is used for driving to a topping point position according to a preset step distance; the image acquisition module is used for acquiring a cotton top image of the topping point position and transmitting the cotton top image to the control module; the control module is used for determining a target cotton top bud and a target cotton bud top position according to the cotton top image; the target shooting spraying module comprises a plurality of rotary spray rods, the control module controls the rotary spray rods to rotate above the target cotton top bud position, and determines a target nozzle to perform chemical topping on the target cotton top bud. The cotton topping machine is simple in structure, the rotary spray rods can realize automatic target shooting, the target shooting mode is simple and accurate, the topping rate is high, and the waste of pesticide application is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery, and particularly relates to a cotton topping machine capable of self-walking and target shooting and a topping method. BACKGROUND

[0002] Cotton is one of the main economic crops in China, and topping cotton can effectively promote the yield of cotton. Timely and proper topping can eliminate the top end advantage of cotton, so that the nutrients are more easily absorbed by the cotton bolls, achieving the purpose of high yield and high yield of cotton. Artificial topping is time-consuming and labor-intensive and requires a large amount of labor, which restricts the scale of cotton production. Chemical topping can effectively delay and inhibit the growth of the top of cotton, achieve the effect of topping, and has the potential to replace artificial topping. The chemical topping method mainly includes manual backpack spraying machine spraying, which has the problems of inaccurate spraying position and large spraying amount causing waste, and manual spraying has safety hazards such as drug poisoning. In order to solve the problems of large amount of chemical topping and inaccurate spraying position, it is urgent to develop a method and device capable of accurately spraying on the rake. SUMMARY

[0003] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme: a cotton topping machine capable of self-walking and target shooting, comprising: a self-walking vehicle body, an image acquisition module, a control module and a target shooting spraying module.

[0004] The self-walking vehicle body is used to drive to the topping position according to the preset step distance.

[0005] The image acquisition module is used to acquire the cotton top image of the topping position and transmit it to the control module.

[0006] The control module is used to determine the target cotton top bud and the target cotton bud top position according to the cotton top image.

[0007] The target shooting spraying module comprises a plurality of rotating spray rods, the control module controls the rotating spray rods to rotate above the target cotton top bud position, and determines the target spray head to perform chemical topping on the target cotton top bud.

[0008] Further, the self-walking vehicle body comprises a vehicle frame, a wheel, a spray rod support and a power device, the spray rod support is arranged at the rear end of the vehicle frame, the rotating spray rod is arranged on the spray rod support, a plurality of the rotating spray rods are on the same straight line in a transverse horizontal state and have a spacing, and each rotating spray rod is independently connected to a stepping motor.

[0009] Further, the power device comprises a power battery and a driving motor.

[0010] Further, the image acquisition module comprises a plurality of first cameras and a plurality of second cameras, the first cameras are arranged at the front end of the self-propelled vehicle body, and are used to acquire images of the front driving environment to determine the step distance; the second cameras are arranged above the rotary spray rods, and are used to acquire top images of the cotton.

[0011] Further, the target spraying module comprises a liquid supply tank, a chemical mixing device, a diaphragm pump, a pressure regulating valve, a distributor, a plurality of spray pipelines, and the rotary spray rods connected in sequence, and each rotary spray rod is connected with a plurality of spray heads through an electromagnetic valve.

[0012] Further, the rotary spray rods are horizontally adjustable on the spray rod support.

[0013] In a second aspect, a cotton topping method for self-propelled target spraying is provided, comprising:

[0014] S1: acquiring image information of the cotton to be topped in front, and setting a step distance according to the cotton image information;

[0015] S2: controlling the topping machine to move forward according to the set step distance, reaching a topping point position after each step distance, acquiring top images of the cotton in the spraying coverage range of each rotary spray rod, and determining the target cotton bud and the target cotton bud position corresponding to each rotary spray rod according to the top images of the cotton;

[0016] S3: determining a topping sequence of the rotary spray rods according to the target cotton bud position, controlling the rotary spray rods to rotate to the corresponding target cotton bud one by one according to the topping sequence, and determining the target spray head of each target cotton bud;

[0017] S4: controlling the target spray head to spray and chemically top the target cotton bud, and then moving to the next topping point position according to the preset step distance to top again.

[0018] Further, the step distance setting method comprises:

[0019] obtaining the projection of each row of cotton on the horizontal plane according to the cotton image information;

[0020] determining the projection edge lines of the left and right sides of each row of cotton according to the cotton projection, establishing a horizontal coordinate axis on the projection horizontal plane, and determining the maximum coordinate point and the minimum coordinate point of the projection edge lines of each row of cotton on the coordinate axis;

[0021] drawing a pair of parallel lines corresponding to each row of cotton in the forward direction through the maximum coordinate point and the minimum coordinate point respectively, taking a point on the center line of each pair of parallel lines as the center, and taking the length of the rotary spray rod as the diameter to draw a circle, and obtaining the chord intersected by each pair of parallel lines and the circle;

[0022] The chord length of the parallel line intersecting the circle is set as the step distance.

[0023] Further, before the S1, the positions of the rotating spray rods are adjusted according to the center distances between the cotton rows to be topped so that the center distances of the rotating spray rods in the horizontal direction are equal to the center distances of the corresponding cotton rows to be topped.

[0024] Further, the target spray head of each target cotton bud top in the S3 specifically includes:

[0025] The distance between the target cotton bud top and each spray head on the rotating spray rod is calculated;

[0026] The spray head closest to the target cotton bud top is taken as the target spray head.

[0027] Compared with the prior art, the present application has the beneficial effects that:

[0028] The cotton topping machine can determine the step distance of the topping machine according to the front and back coverage ranges of the rotating spray rod when rotating, stop the forward movement of the topping machine every time the step distance is advanced, start to acquire the cotton in the acquisition coverage range by the image acquisition module, determine the positions of the cotton bud tops contained, and control the rotating spray rod to rotate to the top of the cotton bud top of the corresponding row, so as to determine the target spray head that can spray and cover the cotton bud top and realize the chemical topping of the cotton bud top. The cotton topping machine has simple structure, the rotating spray rod can realize automatic targeting, the targeting mode is simple and efficient, the spraying accuracy is high, the cotton topping effect is good, the topping rate is high, and the waste of spraying is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 The figure is a connection schematic diagram of the cotton topping machine in the embodiment of the present application;

[0030] Figure 2 The figure is a perspective structural schematic diagram of the cotton topping machine in the embodiment of the present application;

[0031] Figure 3 The figure is a flow chart of the self-moving targeting cotton topping method in the embodiment of the present application. EMBODIMENT

[0032] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0033] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. Embodiment 1

[0034] As Figures 1-2 It can be known that the cotton topping machine for self-walking and target shooting of the present application comprises a self-walking vehicle body 1, an image acquisition module 2, a control module 3 and a target shooting spraying module 4.

[0035] The self-walking vehicle body 1 comprises a vehicle frame 101, vehicle wheels 102, a spraying rod support 103 and a power device 104, the spraying rod support 103 is arranged at the rear end of the vehicle frame 101; in the embodiment of the present application, the power device 104 comprises a power battery 1041 and a driving motor 1042, the driving motor 1042 is connected with the front vehicle wheels through a transmission mechanism; in the embodiment of the present application, the self-walking vehicle body 1 is used for driving to the topping position according to the preset step distance.

[0036] The target spraying module 4 comprises a liquid supply tank 401, a chemical mixer 402, a diaphragm pump 403, a pressure regulating valve 404, a distributor 405, a plurality of spraying pipelines 406, and the rotating spray rods 407 connected in sequence. The liquid supply tank 401, the chemical mixer 402, the diaphragm pump 403, the pressure regulating valve 404, and the distributor 405 are connected in sequence through liquid pipes (not shown). Each rotating spray rod 407 is connected to a plurality of spray heads 409 through an electromagnetic valve 408. Each electromagnetic valve 408 is connected to a control module, which can control the opening and closing of each electromagnetic valve to control the spraying of the corresponding spray head. The target spraying module comprises a plurality of rotating spray rods 407, which are arranged on the spray rod support 103. Preferably, the height of the spray rod support 103 can be adjusted to accommodate cotton of different heights. The present application does not specifically limit the height adjustment mechanism of the spray rod support 103. The plurality of rotating spray rods 407 are arranged on the same line in a horizontal state and have a spacing to ensure that each rotating spray rod 407 does not interfere with each other when rotating. In the embodiment of the present application, in order to ensure that the spray heads on the rotating spray rod can cover the cotton bud top at each position of the corresponding ridge cotton during actual work, the spraying coverage width of each rotating spray rod is set to 1 m according to the width of the cotton ridge in reality, and the spraying coverage range of each spray head on the rotating spray rod is connected to each other. Each rotating spray rod 407 is independently connected to a stepping motor 5, and each stepping motor is connected to a control module 3. The control module 3 includes an independent sub-module for controlling the stepping motor, so that each stepping motor can work independently. Preferably, in the embodiment of the present application, the horizontal position of the rotating spray rod 407 on the spray rod support 103 is adjustable. Since the distance between each ridge of cotton is not consistent, the position of the rotating spray rod 407 is adjusted to accommodate cotton with different ridge distances. The horizontal position adjustment method of the rotating spray rod 407 on the spray rod support 103 is not specifically limited in the embodiment of the present application, which can be preferably automatically controlled (not shown) or manually adjusted. As long as the position of the rotating spray rod 407 can be changed, it is acceptable.

[0037] The image acquisition module 2 is used for acquiring the cotton top image of the topping position and transmitting to the control module 3; specifically, the image acquisition module 2 comprises a plurality of first cameras 201 and a plurality of second cameras 202, the first camera is arranged at the front end of the self-propelled vehicle body 1, and is used for acquiring the image of the front driving environment to determine the step distance; the second camera 202 is arranged above the corresponding rotating spray rod 407, in the embodiment of the application, specifically arranged at the side of the spray rod support 103 above the rotating spray rod 407, the projection of the line connecting the second camera 202 and the center point of the rotating spray rod in the horizontal direction is consistent with the advancing direction. The second camera 202 is used for acquiring the cotton top image to determine the cotton bud top position. It should be noted that the acquisition range of each second camera should cover the corresponding rotating spray rod 407 and the spraying range thereof, and when the rotating spray rod 407 needs to move the position to adapt to the cotton with different inter-row distances, the corresponding second camera can move the position synchronously to realize the image acquisition range covering the image in the rotating spray rod and the corresponding spraying range thereof.

[0038] The control module 3 is used for determining the target cotton top bud and the target cotton bud top position according to the cotton top image, the control module 3 controls the rotating spray rod 407 to rotate to above the target cotton top bud position, and determines the target spray head according to the distance between the target cotton bud top and each spray head on the corresponding rotating spray rod 407, so as to perform chemical topping on the target cotton top bud. Embodiment 2

[0039] The embodiment of the application provides a cotton topping method for self-propelled target, which applies the self-propelled cotton topping machine in embodiment 1, as shown in the figure, comprising: Figure 3 The embodiment of the application provides a cotton topping method for self-propelled target, which applies the self-propelled cotton topping machine in embodiment 1, as shown in the figure, comprising:

[0040] S1: acquiring the cotton image information of the front to-be-topped operation, and setting the step distance according to the cotton image information; the setting method of the step distance comprises:

[0041] obtaining the projection of each row of cotton in the horizontal plane according to the cotton image information;

[0042] determining the projection edge lines of the left and right sides of each row of cotton according to the cotton projection, establishing the coordinate axis in the horizontal direction on the projection horizontal plane, and determining the maximum coordinate point and the minimum coordinate point of the projection edge lines of each row of cotton on the coordinate axis;

[0043] drawing a pair of parallel lines corresponding to each row of cotton in the advancing direction through the maximum coordinate point and the minimum coordinate point respectively, drawing a circle with a point on the center line of each pair of parallel lines as the center and the length of the rotating spray rod as the diameter, and obtaining the chord intersected by each pair of parallel lines and the circle;

[0044] setting the chord intersected by the parallel line and the circle with the shortest length as the step distance.

[0045] It should be noted that in the embodiment of the present application, at a point, the spray coverage of each rotating spray rod is a circle with the length of the rotating spray rod as the diameter; in the embodiment of the present application, at a fixed point, the length of each rotating spray rod is calculated to completely cover the corresponding cotton row in the transverse direction, and the shortest length covered by each rotating spray rod is taken as the step distance, so that when the machine advances by one step distance, the coverage of each rotating spray rod at the current point can be seamlessly connected with the coverage at the previous point, and there is no missed topping, thereby improving the topping completeness.

[0046] Before S1, the height of the spray rod support is adjusted according to the height of the cotton to make the rotating spray rod reach the target spray height, in the embodiment of the present application, the average height of the cotton can be determined by collecting the image of the cotton, and the height of the rotating spray rod is determined according to the average height of the cotton, which is recorded as the target spray height, which can be set to be 50 cm higher than the average height of the cotton, of course, the height of the highest cotton in the image of the cotton can also be used as the basis for setting the target spray height; and the cotton rows corresponding to the topping operation of each rotating spray rod are determined, and the position of the rotating spray rod is adjusted according to the center distance between the cotton rows to be topped, so that the center distance of each rotating spray rod in the horizontal state is equal to the center distance of the corresponding cotton row to be topped, and the cotton of the corresponding row is chemically topped when each rotating spray rod sprays, it should be noted that when the position of the rotating spray rod is adjusted, the position of the second camera corresponding to the rotating spray rod should also be adjusted synchronously, so that the second camera can collect the image of the top of the cotton within the coverage range of the corresponding rotating spray rod and its spray range; it should be noted that in the embodiment of the present application, each rotating spray rod has a certain range of position adjustment, when the coverage range of the second camera can collect images of each position within the adjustable position range of the corresponding rotating spray rod and the images within the spray range of the rotating spray rod, the position of the second camera can also not be adjusted with the adjustment of the rotating spray rod.

[0047] S2: control the topping machine to advance according to the set step distance, and collect the top image of the cotton within the spray coverage of each rotating spray rod when the machine moves by one step distance to reach the topping point, and determine the target cotton bud and the position of the target cotton bud corresponding to each rotating spray rod according to the top image of the cotton; for example, when the step distance is 1 m, the machine stops every 1 m, and then starts to spray and top the cotton within the coverage range of the rotating spray rod at the current position.

[0048] S3: determining the topping order of each rotating spray bar according to the target cotton bud position, controlling the rotating spray bar to rotate to the corresponding target cotton bud above according to the topping order, and determining the target spray head of each target cotton bud; the topping order of each rotating spray bar according to the target cotton bud position is specifically: calculating the rotation angle required for the rotating spray bar to rotate to each target cotton bud above according to the position of the current rotating spray bar and the position of the target cotton bud corresponding to the rotating spray bar, and determining the topping order of the rotating spray bar in the order of the required rotation angle from small to large. In the embodiment of the present application, the target spray head of each target cotton bud is specifically determined by: calculating the distance between the target cotton bud and each spray head on the corresponding rotating spray bar; and taking the spray head closest to the target cotton bud as the target spray head. In the embodiment of the present application, when calculating the distance between the target cotton bud and each spray head on the corresponding rotating spray bar, the position of the spray head needs to be determined first. When the position of the rotating spray bar in the horizontal direction can be automatically controlled and adjusted, the position of each spray head can be calculated according to the relative position relationship of the spray head relative to the rotating spray bar, the original position of the rotating spray bar, the horizontal movement distance of the rotating spray bar and the rotation angle of the rotating spray bar; when the position adjustment of the rotating spray bar in the horizontal direction is manual adjustment, the image including the rotating spray bar, each spray head thereof and the top of the cotton collected by the second camera can be processed and calculated to determine.

[0049] S4: controlling the target spray head to spray chemical topping on the target cotton bud, and after the topping is completed, advancing to the next topping position by a preset step distance and topping again.

[0050] The cotton topping machine can determine the step distance of the topping machine according to the front and back coverage range of the rotating spray bar when rotating, stop advancing the topping machine every time it advances a step distance, start acquiring the cotton in the coverage range thereof by the image acquisition module, determine the position of the cotton bud contained, control the rotating spray bar to rotate to the top of the cotton bud of the corresponding ridge, and determine the target spray head that can spray and cover the cotton bud to realize chemical topping of the cotton top bud. The cotton topping machine has simple structure, the rotating spray bar can realize automatic targeting, the targeting mode is simple and efficient, the spraying accuracy is high, the cotton topping effect is good, and the waste of spraying caused by low spraying accuracy is reduced.

[0051] The above only describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cotton topping machine that implements self-walking to target, characterized in that, The application relates to a self-propelled cotton chemical topping machine. The self-propelled vehicle body is used for driving to a topping point position according to a preset step distance. The image acquisition module is used for collecting a cotton top image of the topping point position and transmitting the cotton top image to the control module. The control module is used for determining target cotton top buds and target cotton bud positions according to the cotton top image. The target spraying module comprises a plurality of rotating spray rods, the control module controls the rotating spray rods to rotate above the target cotton top buds, and determines target nozzles for spraying chemicals on the target cotton top buds. The image acquisition module is also used for obtaining cotton image information of front cotton to be topped, so as to set the step distance. The step distance setting method comprises the following steps: According to the cotton image information, the projection of each ridge cotton in a horizontal plane is obtained. According to the cotton projection, the projection edge lines of the left and right sides of each ridge cotton are determined, a coordinate axis in the horizontal direction is established on the projection horizontal plane, and the maximum coordinate point and the minimum coordinate point of the projection edge lines of each ridge cotton on the coordinate axis are determined. A pair of parallel lines corresponding to each ridge cotton in the advancing direction is drawn through the maximum coordinate point and the minimum coordinate point respectively, a point on the center line of each pair of parallel lines is taken as the center, and the length of the rotating spray rod is taken as the diameter to draw a circle, so that the chord of the intersection of each pair of parallel lines and the circle is obtained. The chord with the shortest length of the intersection of the parallel lines and the circle is set as the step distance.

2. The cotton topping machine of claim 1, wherein, The self-propelled vehicle body comprises a vehicle frame, wheels, a spray rod support and a power device.

3. The cotton topping machine of claim 2, wherein, The power device comprises a power battery and a driving motor.

4. The cotton topping machine of claim 1, wherein, The target spraying module comprises a liquid supply tank, a chemical mixing device, a diaphragm pump, a pressure regulating valve, a distributor, a plurality of spraying pipelines and the rotating spray rods which are sequentially connected.

5. The cotton topping machine of claim 2, wherein, The horizontal position of the rotating spray rod on the spray rod support is adjustable.

6. A cotton topping method for self-walking to target, characterized in that, The application relates to a self-propelled cotton chemical topping machine. S1: cotton image information of front cotton to be topped is obtained, and a step distance is set according to the cotton image information. S2: the topping machine is controlled to advance according to the set step distance, reaches a topping point position after moving a step distance, collects a cotton top image in the spraying coverage range of each rotating spray rod on the topping machine, and determines target cotton buds and target cotton bud positions corresponding to each rotating spray rod according to the cotton top image. S3: the topping sequence of each rotating spray rod is determined according to the target cotton bud positions, the rotating spray rods are controlled to rotate above the corresponding target cotton buds in sequence according to the topping sequence, and target nozzles of each target cotton bud are determined. S4: the target nozzles are controlled to spray chemicals on the target cotton buds, and after topping is completed, the topping machine is controlled to advance to the next topping point position again according to the preset step distance. The step distance setting method in S1 comprises the following steps: According to the cotton image information, the projection of each ridge cotton in a horizontal plane is obtained. According to the cotton projection, the projection edge lines of the left and right sides of each ridge cotton are determined, a coordinate axis in the horizontal direction is established on the projection horizontal plane, and the maximum coordinate point and the minimum coordinate point of the projection edge lines of each ridge cotton on the coordinate axis are determined. According to the cotton projection, a projection edge line on the left and right sides of each ridge of cotton is determined, a coordinate axis in a horizontal direction is established on a projection horizontal plane, and a maximum coordinate point and a minimum coordinate point of the projection edge line of each ridge of cotton on the coordinate axis are determined; A pair of parallel lines corresponding to each ridge of cotton in a forward direction is drawn through the maximum coordinate point and the minimum coordinate point respectively, a circle is drawn with a point on a center line of each pair of parallel lines as a center and a length of the rotating spray rod as a diameter, and a chord obtained by intersecting each pair of parallel lines with the circle is obtained; The chord obtained by intersecting the parallel line with the circle with the shortest length is set as a step distance.

7. The cotton topping method of claim 6, wherein, The S1 further includes determining each ridge of cotton corresponding to a topping operation of each rotating spray rod, adjusting a position of the rotating spray rod according to a ridge center distance between each ridge of cotton to be topped, and making a center distance of each rotating spray rod in a horizontal direction equal to a center distance of each ridge of cotton to be topped.

8. The cotton topping method of claim 6, wherein, The target spray head of the S3 includes: calculating a distance between the target cotton bud top and each spray head on the corresponding rotating spray rod; taking the spray head closest to the target cotton bud top as the target spray head.

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