Soybean field precision spraying robot based on computer vision

Abstract

The invention relates to the technical field of spraying and weeding, in particular to a soybean field precise spraying robot based on computer vision, which comprises a vehicle body, a cross sliding table, a vehicle-mounted computer and a main control mechanism, the vehicle body can play a role in bearing, a support frame is arranged on one side of the top surface of the vehicle body, and a mounting plate is fixedly connected to the side surface of the support frame; two driving wheels are arranged at the bottom of the vehicle body corresponding to the supporting frame, and a camera is arranged on the side, away from the driving wheels, of the vehicle body. The camera is arranged on one side of the vehicle body, field images can be collected through the camera, green plant information is extracted through the first detection model, the second detection model is used for recognizing and detecting crops, weed position information is obtained by comparing the green plant information with soybean crop information, and the position of the spray head is adjusted through the cross-shaped sliding table. The sprayer can accurately spray weeds, so that the herbicide can be saved, and the influence on the environment can be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of spray weeding, and in particular to a soybean field precision spraying robot based on computer vision. Background Art

[0002] In the process of controlling the infestation of weeds in soybean fields, chemical control is mainly carried out by spraying herbicides. As the most important method of weed control, spraying herbicides has many advantages such as high operating efficiency and low cost. By spraying pesticides continuously and uninterruptedly to fully cover the field, when crop diseases or weeds occur seriously on a large scale, they can be quickly controlled. However, in most cases, pests and diseases do not cover the entire farmland, and only part of the pesticides are effectively used. Especially when weeding in the seedling stage of crops, the weed plants are small and the exposed land occupies the main area. Most of the pesticides fall into the soil, which can easily cause certain pollution and damage to the environment, and it is also easy to waste a lot of herbicides. Summary of the invention

[0003] The purpose of the present invention is to provide a soybean field precision spraying robot based on computer vision to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A soybean field precision spraying robot based on computer vision, including a vehicle body, a cross slide, an onboard computer, and a main control mechanism;

[0006] The vehicle body can play a bearing role, a support frame is arranged on one side of the top surface of the vehicle body, a mounting plate is fixedly connected to the side of the support frame, two driving wheels are arranged at the bottom of the vehicle body corresponding to the support frame, and a camera is arranged on the side of the vehicle body away from the driving wheel;

[0007] The cross slide is arranged on the support frame, the output end of the cross slide is transmission-connected with a fixed bracket, and the bottom of the fixed bracket is fixedly connected with a nozzle;

[0008] The on-board computer is arranged on the top surface of the mounting plate, and the on-board computer is provided with a first detection model, a second detection model, and a weed position information processing module. The camera can transmit the captured visual information to the on-board computer, and the on-board computer can determine the weed position through the first detection model, the second detection model and the weed position information processing module;

[0009] The main control mechanism is arranged on the top surface of the mounting plate, and the main control mechanism can start the cross slide according to the weed position information, and adjust the position of the nozzle through the cross slide.

[0010] Furthermore, a control panel is provided on the top surface of the mounting plate, and an infrared ranging sensor is fixedly connected to the bottom end of the fixing bracket.

[0011] Furthermore, it also includes a storage mechanism and a steering mechanism;

[0012] The storage mechanism is arranged on the top of the vehicle body, and the storage mechanism can store the medicine liquid;

[0013] The steering mechanism is arranged on a side of the vehicle body away from the driving wheel.

[0014] Furthermore, a fixed shell is provided on the top of the vehicle body between the mounting plate and the storage mechanism, a water pump is provided inside the fixed shell, an input end of the water pump is connected to a filter fixedly connected to the side of the fixed shell, an output end of the water pump is connected to a delivery pipe fixedly connected to the inner side of the fixed shell, a flow sensor is provided on the side of the delivery pipe, a flow proportional valve is provided inside the delivery pipe, one end of the delivery pipe is connected to a hose, one end of the hose is connected to the top of the nozzle, a pressure reducing pipe 1 and a pressure reducing pipe 2 are connected to the top of the delivery pipe, an electric ball valve is provided on the side of the pressure reducing pipe 1, and a manual regulating valve is provided on the side of the pressure reducing pipe 2.

[0015] Furthermore, the storage mechanism includes a box body, the box body is fixedly connected to the top surface of the support frame, the side surface of the box body is fixedly connected to the side surface of the filter, and the side surface of the box body is fixedly connected to the side surface of the fixed shell, the top of the inner side surface of the box body is connected to a liquid inlet pipe, the inner side surface of the box body is fixedly connected to two connecting pipes connected to the liquid inlet pipe, the top ends of the pressure reducing pipe 1 and the pressure reducing pipe 2 are both connected to the ends of adjacent connecting pipes, the bottom of the side surface of the box body is connected to a liquid outlet frame, the filter is connected to a connecting pipe connected to the liquid outlet frame, and control valves are provided inside the liquid inlet pipe and at the bottom of the liquid outlet frame.

[0016] Furthermore, the steering mechanism includes a steering box, two support rods, a drive motor, a limit frame, and two pull rods;

[0017] The steering box is fixedly connected to the side of the box body;

[0018] Two support rods are rotatably connected to the inner side of the box body, the side of the support rod is rotatably connected to the inner side of the vehicle body, the bottom end of the support rod is fixedly connected to a steering wheel, and the top end of the support rod is fixedly connected to a side block;

[0019] The driving motor is fixedly connected to the inner side of the steering box, the output end of the support rod is drivingly connected to the driving shaft, and the side of the driving shaft is fixedly sleeved with a driving gear;

[0020] The limit frame is fixedly connected to the inner side of the steering box, the inner side of the limit frame is rotatably connected to the side of the driving shaft, and the inner side of the limit frame is slidably connected to a toothed plate meshing with the bottom of the driving gear;

[0021] The two pull rods are rotatably connected to the two ends of the tooth plate respectively, and one end of the pull rod is rotatably connected to the adjacent side block through a shaft rod.

[0022] Preferably, a sliding plate is slidably connected to the top of the inner side surface of the box body with which it is slidably connected to the liquid inlet pipe, and partition 2 and two partition ones are slidably connected on both sides of the bottom surface of the sliding plate, and partition 2 is located between two adjacent partition ones, and the side surface of partition one and the side surface of partition two are both slidably connected to the inner side surface of the box body.

[0023] Furthermore, the bottom surface of the sliding plate is fixedly connected to a limit rod that is slidably connected to the inner side surface of the second partition, the top inner side surface of the first partition is slidably connected to a plug-in plate that is slidably connected to the side surface of the limit rod, and the inner side surface of the box body is fixedly connected to two hydraulic rods, and the output ends of the hydraulic rods are transmission-connected to the top surface of the sliding plate.

[0024] Preferably, telescopic cylinders are provided on both sides inside the box body, one side of the telescopic cylinder is fixedly connected to a side of an adjacent partition, the other side of the telescopic cylinder is fixedly connected to a fixed plate fixedly connected to the inner side of the box body, four telescopic frames are provided inside the telescopic cylinder, the four telescopic frames are rotatably connected to a plurality of cross rods, both ends of one side of the telescopic frame are rotatably connected to a sliding seat 1 slidably connected to an adjacent partition, and both ends of the other side of the telescopic frame are rotatably connected to two sliding seats 2 slidably connected to the side of the fixed plate.

[0025] Furthermore, the two side surfaces of the box body are fixedly connected to side frames, the inner side surfaces of the side frames are provided with two adjustment frames fixedly connected to the side surfaces of the box body, the inner side surfaces of the adjustment frames are slidably connected to adjustment blocks fixedly connected to two side surfaces of adjacent sliding seats, the inner side surfaces of the adjustment frames are rotatably connected to a bidirectional screw rod screwed together with the two adjustment blocks, one end of the two adjustment frames is fixedly connected to a transmission frame rotatably connected to the bidirectional screw rod, a power motor is provided on the top of the transmission frame, the output end of the power motor is transmission-connected to a transmission rod rotatably connected to the inner side surface of the transmission frame, the top and bottom of the side surfaces of the transmission rod and one end of the two bidirectional screw rods are fixedly sleeved with bevel gears, and two adjacent bevel gears are meshed for transmission.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. A camera is set on one side of the vehicle body. When the vehicle body moves forward, the camera can be used to collect field images and transmit them to the on-board computer. The first detection model is used to segment the image based on the color index and distinguish the plant from the environment. The first detection model can process the image by partitioning the RGB parameters in the image, compare it with the common color segments of the plant, extract the green plant information from the environmental interference such as soil, stones, and other debris, and output the block classification results and color index at the same time. The second detection model is used to identify and detect crops. The second detection model uses single-stage detection to reduce post-processing such as maximum suppression. The method comprises the following steps: extracting the key features of the image and converting the true key points in the image into a smaller-sized main key point heat map to obtain soybean crop information; the second detection model reduces the error in the conversion process by predicting the local offset of the key points, which can provide faster response speed and higher accuracy for target detection; the weed position information processing module obtains the weed position information by comparing the green plant information with the soybean crop information; the main control mechanism controls the start of the cross slide, and adjusts the position of the nozzle through the cross slide, so that the nozzle can spray the weeds accurately, which is beneficial to saving herbicides and reducing the impact on the environment.

[0028] 2. The bottom surface of the sliding plate is slidably connected with a partition plate 1 and a partition plate 2, and a plurality of partition plates 1 and 2 can form a plurality of storage chambers. Different types of herbicides can be stored in the storage chambers in the middle and on both sides, and clean water can be stored in the storage chambers between the herbicides. In this way, when it is necessary to spray different types of weeds growing in different areas, the storage chamber containing the corresponding herbicide can be moved to the top of the liquid outlet frame by moving the partition plate 1 and the partition plate 2, so that different types of herbicides can be quickly switched, which is conducive to the rapid weeding;

[0029] 3. A telescopic cylinder is arranged inside the box. When the inside of the box needs to be cleaned, the sliding plate can be moved upwards by the hydraulic rod, and the sliding plate can drive the plug-in plate and the partition plate 2 to move upwards through the limit rod. In this way, an S-shaped channel can be formed through the partition plate 1 and the partition plate 2, and the telescopic cylinder can be extended by the telescopic frame. At this time, water can be transported to the inside of the box through the side of the box, so that the water flows between the side of the telescopic cylinder and the inside of the box, and then moves along the S-shaped channel to the middle of the box, thereby cleaning the inside of the box. The telescopic cylinder occupies the internal space of the box, and there is no need to fill the inside of the box, which is beneficial to saving water resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall structure of the soybean field precision spraying robot based on computer vision of the present invention;

[0031] Figure 2 It is a schematic diagram of the vehicle body structure in the present invention;

[0032] Figure 3 It is a schematic diagram of the structure of the vehicle body in the present invention from a top view;

[0033] Figure 4 It is a schematic diagram of the structure of the delivery pipe in the present invention;

[0034] Figure 5 It is a schematic diagram of the top view of the internal structure of the box body in the present invention;

[0035] Figure 6 It is a schematic diagram of the internal side view of the box body in the present invention;

[0036] Figure 7 It is a schematic diagram of the sliding plate structure in the present invention;

[0037] Figure 8 It is a schematic diagram of the structure of a partition in the present invention;

[0038] Fig. 9 It is a schematic diagram of the telescopic cylinder structure in the present invention;

[0039] Fig.10 It is a schematic diagram of the telescopic frame structure of the present invention;

[0040] Fig.11 It is a schematic diagram of the internal structure of the side frame in the present invention.

[0041] In the figure: 100, vehicle body; 110, support frame; 111, mounting plate; 112, control panel; 120, driving wheel; 130, camera; 140, fixed shell; 141, filter; 142, connecting pipe; 150, delivery pipe; 151, flow sensor; 152, flow proportional valve; 160, hose; 170, pressure reducing pipe 1; 171, electric ball valve; 180, pressure reducing pipe 2; 181, manual regulating valve; 200, storage mechanism; 210, box; 211, liquid inlet pipe; 212, liquid outlet frame; 213, connecting pipe; 214, hydraulic rod; 220, side frame; 221, regulating frame; 222, regulating block; 223, two-way screw rod; 224, transmission frame; 225, power motor; 226 , transmission rod; 227, bevel gear; 230, sliding plate; 231, limiting rod; 240, partition one; 241, plug-in board; 250, partition two; 260, telescopic cylinder; 261, fixed plate; 262, telescopic frame; 263, sliding seat one; 264, sliding seat two; 265, cross rod; 300, steering mechanism; 310, steering box; 320, support rod; 321, steering wheel; 322, side block; 330, driving motor; 331, driving shaft; 332, driving gear; 340, limiting frame; 341, tooth plate; 350, pull rod; 400, cross slide; 410, fixed bracket; 420, nozzle; 430, infrared ranging sensor; 500, on-board computer; 600, main control mechanism. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] See also Figure 1-4 In the embodiment of the present invention, the soybean field precision spraying robot based on computer vision includes a vehicle body 100, a cross slide 400, a vehicle-mounted computer 500, a main control mechanism 600, a storage mechanism 200, and a steering mechanism 300;

[0044] The vehicle body 100 can play a bearing role. A support frame 110 is arranged on one side of the top surface of the vehicle body 100. A mounting plate 111 is fixedly connected to the side of the support frame 110. A control panel 112 is arranged on the top surface of the mounting plate 111. Two driving wheels 120 are arranged at the bottom of the vehicle body 100 corresponding to the support frame 110. The vehicle body 100 is provided with a travel motor for driving the driving wheels 120 to rotate, thereby driving the support frame 110 forward. A camera 130 is arranged on the side of the vehicle body 100 away from the driving wheels 120. A storage mechanism 200 is arranged on the top of the vehicle body 100. The storage mechanism 200 can store liquid medicine. A steering mechanism 300 is arranged on the side of the vehicle body 100 away from the driving wheels 120.

[0045] The cross slide 400 is arranged on the support frame 110, and the output end of the cross slide 400 is transmission-connected with the fixed bracket 410, and the bottom of the fixed bracket 410 is fixedly connected with the nozzle 420, and the vehicle-mounted computer 500 is arranged on the top surface of the mounting plate 111, and the mounting plate 111 can support the control panel 112, the vehicle-mounted computer 500 and the main control mechanism 600, and the vehicle-mounted computer 500 is provided with a first detection model, a second detection model, and a weed position information processing module, and the camera 130 can transmit the captured visual information to the vehicle-mounted computer 500, and the vehicle-mounted computer 500 can determine the weed position through the first detection model, the second detection model and the weed position information processing module, and the main control mechanism 600 is arranged on the top surface of the mounting plate 111, and the main control mechanism 600 can start the cross slide 400 according to the weed position information, and adjust the position of the nozzle 420 through the cross slide 400, and the bottom end of the fixed bracket 410 is fixedly connected with an infrared ranging sensor 430.

[0046] Specifically, when the vehicle body 100 moves forward, the camera 130 can collect field images, and the camera 130 can transmit the images to the onboard computer 500. The first detection model of the onboard computer 500 segments the images based on the color index and distinguishes the plants from the environment. The second detection model is used to identify and detect soybean crops, and send the crop location information to the weed location information processing module.

[0047] Among them, the first detection model extracts green plant information from environmental interference (soil, stones, and other debris). The first detection model can partition the image by using the RGB parameters in the image, compare it with the common color segments of weeds, and output the block classification results and color index at the same time. The second detection model uses single-stage detection to reduce post-processing steps such as maximum suppression. After extracting the key features of the image, the true value key points in the image are converted into a smaller-sized main key point heat map. The second detection model reduces the error in the conversion process by predicting the local offset of the key points, which can provide faster response speed and higher accuracy for target detection.

[0048] The weed position information processing module analyzes the output results of the first detection model and the second detection model, obtains the weed position information by comparing the green plant position information with the soybean crop position information, locates the weed position, and sends the weed position information to the main control mechanism 600 through the serial port using parallel synchronous communication;

[0049] After receiving the weed position information, the main control mechanism 600 controls the delivery of the herbicide through a grid coverage algorithm. The grid coverage algorithm divides the image into X and Y grids, where X refers to the effective working width of the nozzle 420 at the current height, and Y refers to the physical length of the weeds in the forward direction of the vehicle body 100. Considering the system communication delay and the spray settling time, when the vehicle body 100 moves to the program-set position, the main control mechanism 600 controls the herbicide delivery through the serial port;

[0050] The weed position information processing module sends the weed position information and the length and width of the weed coverage to the main control mechanism 600. The infrared ranging sensor 430 can transmit the height information of the nozzle 420 to the main control mechanism 600. The main control mechanism 600 calculates the spray height information through the serial port to the cross slide 400 after the program, and controls the start of the cross slide 400. The height and left and right position of the nozzle 420 are adjusted through the cross slide 400, so that the nozzle 420 can spray the weeds accurately, which is beneficial to saving herbicides and reducing the impact on the environment.

[0051] Embodiment 1

[0052] like Figure 4-5As shown, in the present embodiment, a fixed shell 140 is provided at the top of the vehicle body 100 between the mounting plate 111 and the storage mechanism 200, a water pump is provided inside the fixed shell 140, an input end of the water pump is connected to a filter 141 fixedly connected to the side of the fixed shell 140, an output end of the water pump is connected to a delivery pipe 150 fixedly connected to the inner side of the fixed shell 140, a flow sensor 151 is provided on the side of the delivery pipe 150, a flow proportional valve 152 is provided inside the delivery pipe 150, one end of the delivery pipe 150 is connected to a hose 160, one end of the hose 160 is connected to the top of the nozzle 420, a pressure reducing pipe 1 170 and a pressure reducing pipe 2 180 are connected to the top of the delivery pipe 150, an electric ball valve 171 is provided on the side of the pressure reducing pipe 170, and a manual regulating valve 181 is provided on the side of the pressure reducing pipe 2 180.

[0053] In specific implementation, the water pump can be started by the main control mechanism 600, so that the herbicide in the storage mechanism 200 enters the filter 141, and then enters the delivery pipe 150 through the water pump. The flow sensor 151 detects the flow data of the herbicide, and the flow proportional valve 152 can be opened, so that the herbicide in the delivery pipe 150 will pass through the flow proportional valve 152 and enter the hose 160, and then be transported to the nozzle 420, and sprayed out through the nozzle 420. A connection frame can be set on the vehicle body 100, and the hose 160 can be supported by the connection frame, and the hose 160 can swing with the nozzle 420 in the connection frame;

[0054] After receiving the weed information, the main control mechanism 600 controls the opening of the flow proportional valve 152 through the grid coverage algorithm. The grid coverage algorithm can adapt to various weeds of different sizes in the field and provide better weed control effects. Considering the system communication delay and the spray settling time, when the vehicle body 100 moves to the program set position, the main control mechanism 600 controls the flow proportional valve 152 to open through the serial port. The continuous opening time of the flow proportional valve 152 is calculated by the weed coverage area and the travel speed of the vehicle body 100. By considering the system delay and the spray settling time, the system automatically extends the spray time, thereby obtaining a higher spray accuracy.

[0055] The infrared ranging sensor 430 can transmit the height information of the nozzle 420 to the main control mechanism 600. The main control mechanism 600 automatically calculates the optimal nozzle 420 height, nozzle 420 horizontal position, and spray flow rate in combination with the nozzle 420 height, weed position, and weed coverage area. The main control mechanism 600 controls the cross slide 400 through the serial port to move the nozzle 420 to the specified position, and drives the nozzle 420 to reciprocate through the cross slide 400 to complete the spraying action, which is beneficial to improve the spraying accuracy and reduce the waste of liquid medicine. The main control mechanism 600 can control the switch of the electric ball valve 171 through the serial port. At this time, the herbicide in the delivery pipe 150 can be re-delivered to the storage mechanism 200 through the pressure reducing pipe 170 to achieve pressure regulation in the spray pipeline, and the manual regulating valve 181 can be adjusted. The herbicide in the delivery pipe 150 can be delivered to the storage mechanism 200 through the pressure reducing pipe 2 180 to perform manual pipeline pressure regulation. The spray flow rate can be accurately controlled by controlling the flow proportional valve 152, which can effectively improve the precise spraying effect.

[0056] like Figure 5-7 As shown, in the present embodiment, the storage mechanism 200 comprises a box body 210, the box body 210 is fixedly connected to the top surface of the support frame 110, the side surface of the box body 210 is fixedly connected to the side surface of the filter 141, and the side surface of the box body 210 is fixedly connected to the side surface of the fixed shell 140, the box body 210 can support the fixed shell 140, the top of the inner side surface of the box body 210 is connected to a liquid inlet pipe 211, the inner side surface of the box body 210 is fixedly connected to two connecting pipes 213 connected to the liquid inlet pipe 211, the top ends of the pressure reducing pipe 1 170 and the pressure reducing pipe 2 180 are both connected to the ends of the adjacent connecting pipes 213, the bottom of the side surface of the box body 210 is connected to a liquid outlet frame 212, the filter 141 is connected to a connecting pipe 142 connected to the liquid outlet frame 212, the inside of the liquid inlet pipe 211 and the bottom of the liquid outlet frame 212 are both provided with control valves, and the control valves can block the inside of the liquid inlet pipe 211 and the inside of the liquid outlet frame 212.

[0057] During specific implementation, the control valve in the liquid inlet pipe 211 can be opened, and the herbicide can be stored in the box 210 through the liquid inlet pipe 211. The herbicide in the pressure reducing pipe 1 170 and the pressure reducing pipe 2 180 can be transported to the liquid inlet pipe 211 through the corresponding connecting pipe 213, and then transported to the box 210 through the liquid inlet pipe 211. The herbicide in the box 210 can be transported to the connecting pipe 142 through the liquid outlet frame 212, and then enters the filter 141, and the herbicide is transported by the water pump.

[0058] like Figure 3 As shown, in this embodiment, the steering mechanism 300 includes a steering box 310, two support rods 320, a drive motor 330, a limit frame 340, and two pull rods 350;

[0059] The steering box 310 is fixedly connected to the side of the box body 210, and the box body 210 can support the steering box 310. The two support rods 320 are rotatably connected to the inner side of the box body 210. The side of the support rod 320 is rotatably connected to the inner side of the vehicle body 100. The bottom end of the support rod 320 is fixedly connected to a steering wheel 321, and the top end of the support rod 320 is fixedly connected to a side block 322. The drive motor 330 is fixedly connected to the inner side of the steering box 310, and the output end of the support rod 320 is transmission-connected to a drive shaft 331 A driving gear 332 is fixedly sleeved on the side of the driving shaft 331, a limit frame 340 is fixedly connected to the inner side of the steering box 310, the inner side of the limit frame 340 is rotatably connected to the side of the driving shaft 331, the inner side of the limit frame 340 is slidably connected to a tooth plate 341 meshing with the bottom of the driving gear 332, the limit frame 340 can limit the moving direction of the tooth plate 341, two pull rods 350 are rotatably connected to the two ends of the tooth plate 341, and one end of the pull rod 350 is rotatably connected to the adjacent side block 322 through an axle.

[0060] During specific implementation, when it is necessary to adjust the forward direction of the vehicle body 100, the driving motor 330 can be used to drive the driving shaft 331 to rotate, and the driving shaft 331 can move the tooth plate 341 through the driving gear 332, and the tooth plate 341 can drive the pull rod 350 to move. The pull rod 350 can push the support rod 320 to rotate through the side block 322 to adjust the direction of the steering wheel 321, thereby adjusting the forward direction of the vehicle body 100 as needed.

[0061] Embodiment 2

[0062] Based on the first embodiment, Figure 6-8 As shown, in this embodiment, a sliding plate 230 slidably connected to the liquid inlet pipe 211 is slidably connected to the top of the inner side of the box body 210, and a partition plate 250 and two partition plates 1 240 are slidably connected on both sides of the bottom of the sliding plate 230. The partition plate 250 is located between two adjacent partition plates 1 240, and the side of the partition plate 1 240 and the side of the partition plate 250 are both slidably connected to the inner side of the box body 210, and the partition plate 1 240 and the partition plate 2 250 can move along the inside of the box body 210;

[0063] The bottom surface of the sliding plate 230 is fixedly connected to a limit rod 231 that is slidably connected to the inner side surface of the partition plate 250. The top inner side surface of the partition plate 1 240 is slidably connected to a plug-in plate 241 that is slidably connected to the side surface of the limit rod 231. The plug-in plate 241 and the partition plate 250 can move along the limit rod 231. Two hydraulic rods 214 are fixedly connected to the inner side surface of the box body 210, and the output end of the hydraulic rod 214 is transmission-connected to the top surface of the sliding plate 230.

[0064] In a specific implementation, a plurality of storage chambers can be formed between the plurality of partitions 1 240 and the partitions 2 250. The partitions 1 240 and the partitions 2 250 can be moved to move the corresponding storage chambers to the bottom of the liquid inlet pipe 211. At this time, the herbicide or clean water can be transported to the corresponding storage chambers through the liquid inlet pipe 211. Different types of herbicides can be stored in the storage chambers in the middle and on both sides, and clean water can be stored in the storage chambers between the herbicides. In this way, when it is necessary to spray different types of weeds growing in different areas, the partitions 1 can be moved to the bottom of the liquid inlet pipe 211. 240 and the second partition 250 move, so that the storage chamber containing the corresponding herbicide moves to the top of the liquid outlet frame 212, so that different types of herbicides can be quickly switched, which is conducive to the rapid weeding. When one herbicide is still left, the herbicide can still be stored in the box 210, and then another herbicide can be used for weeding. There is clean water between the herbicides. When switching the herbicides, the pipeline can be flushed with clean water first, and then the position of the partition 1 240 and the partition 2 250 can be adjusted to complete the switching of the herbicides;

[0065] When weeding is completed and the inside of the box 210 needs to be flushed, the sliding plate 230 can be moved upward by the hydraulic rod 214, and the sliding plate 230 can drive the plug plate 241 and the partition 250 to move upward through the limit rod 231, so that a gap can be formed between the bottom of the partition 250 and the bottom surface of the box 210, and a gap can be formed between the middle of the plug plate 241 and the middle of the partition 1 240, so that an S-shaped channel is formed through the partition 1 240 and the partition 2 250, and water can be transported to both sides of the inside of the box 210 at the same time through the two fixed pipes on the side of the box 210, and the water can move along the S-shaped channel to the middle of the box 210, and then the inside of the box 210 is cleaned, which is conducive to a more comprehensive flushing of the inside of the box 210.

[0066] like Figure 6-11As shown, in this embodiment, telescopic cylinders 260 are arranged on both sides of the box body 210, and the telescopic cylinder 260 includes a waterproof cloth cylinder, on which a plurality of annular rods are fixed, and the waterproof cloth cylinder is supported by the annular rods, and one side of the telescopic cylinder 260 is fixedly connected to the side of the adjacent partition 240, and the other side of the telescopic cylinder 260 is fixedly connected to a fixing plate 261 fixedly connected to the inner side of the box body 210, and four telescopic frames 262 are arranged inside the telescopic cylinder 260, and the four telescopic frames 262 are rotatably connected to a plurality of cross rods 265, and both ends of one side of the telescopic frame 262 are rotatably connected to the adjacent partition 240. The sliding seat 1 263 is slidably connected, and the two ends of the other side of the telescopic frame 262 are rotatably connected with two sliding seats 264 slidably connected to the side of the fixed plate 261. The telescopic frame 262 is composed of a plurality of X-shaped frames, which are connected end to end, and the corresponding ends of two adjacent X-shaped frames are rotatably connected through an axle rod. The cross rod 265 is rotatably connected at the intersection of the corresponding X-shaped frames. The cross rod 265 can support the four telescopic frames 262, which is beneficial to improve the stability of the telescopic frame 262. The telescopic frame 262 can support the inside of the telescopic tube 260, and the telescopic tube 260 is further stretched through the telescopic frame 262;

[0067] The two sides of the box body 210 are fixedly connected to the side frames 220, and the inner side of the side frames 220 is provided with two adjustment frames 221 fixedly connected to the side of the box body 210. The inner side of the adjustment frame 221 is slidably connected to the adjustment block 222 fixedly connected to the side of the adjacent sliding seat 264. The two sliding seats 264 located at the top and the bottom are connected to the corresponding adjustment blocks 222 and are slidably connected to the inner side of the box body 210. The inner side of the adjustment frame 221 is rotatably connected to the two adjustment blocks 222. The two adjustment frames 221 One end is fixedly connected with a transmission frame 224 rotatably connected to the bidirectional screw rod 223, the side frame 220 can block the adjustment frame 221 and the transmission frame 224, the fixed tube on the side of the box body 210 can extend to the outside of the side frame 220, and a power motor 225 is arranged on the top of the transmission frame 224. The output end of the power motor 225 is transmission-connected with a transmission rod 226 rotatably connected to the inner side surface of the transmission frame 224, and the top and bottom of the side of the transmission rod 226 and one end of the two bidirectional screw rods 223 are fixedly sleeved with bevel gears 227, and two adjacent bevel gears 227 are meshed for transmission.

[0068] In specific implementation, the power motor 225 can drive the transmission rod 226 to rotate, and the transmission rod 226 can drive the two bidirectional screw rods 223 to rotate through the bevel gear 227. The rotation of the bidirectional screw rod 223 can make the two adjustment blocks 222 on it move toward each other, and the adjustment block 222 can drive the adjacent sliding seat 264 to move, thereby extending the bottom and top telescopic frames 262. The top and bottom telescopic frames 262 can drive the side telescopic frames 262 to extend through the cross rod 265, so that the side partition 1 240 moves, and the liquid inlet After the control valve in the tube 211 and the liquid outlet frame 212 is closed, the sliding plate 230 abuts against the top of the partition 1 240 and the partition 2 250, so that the inside of the middle storage chamber is sealed. When the side partition 1 240 moves, the partition 1 240 can push the other partitions 1 240 and the partition 2 250 to move through the herbicide and clean water, thereby moving the partition 1 240 and the partition 2 250 as a whole, adjusting the position of the herbicide, or opening the control valve in the liquid inlet pipe 211, and only adjusting the storage chamber on the side to the bottom of the liquid inlet pipe 211;

[0069] When flushing the interior of the box body 210, the control valve can be opened to allow the partitions 1 240 on both sides to move toward each other, so that the partitions 1 240 and the partition 2 250 can be gathered to the middle of the box body 210, and the two telescopic cylinders 260 can be extended. When water is transported to the side of the box body 210 through the fixed pipe, the water will first flow between the side of the telescopic cylinder 260 and the interior of the box body 210, and then move toward the middle of the box body 210 along the S-shaped channel formed by the partitions 1 240 and the partitions 2 250, and then clean the interior of the box body 210. The telescopic cylinder 260 occupies the internal space of the box body 210, and the partitions 1 240 and the partitions 2 250 are made as close to each other as possible. In this way, there is no need to fill up the interior of the box body 210, which is beneficial to saving water resources.

[0070] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0071] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A soybean field precision spraying robot based on computer vision, characterized in that: include: A vehicle body (100) is capable of carrying a load, a support frame (110) is arranged on one side of the top surface of the vehicle body (100), a mounting plate (111) is fixedly connected to the side of the support frame (110), two driving wheels (120) are arranged at the bottom of the vehicle body (100) corresponding to the support frame (110), and a camera (130) is arranged on one side of the vehicle body (100) away from the driving wheels (120); A cross slide (400) is arranged on the support frame (110); the output end of the cross slide (400) is drivingly connected to a fixed support (410); and the bottom of the fixed support (410) is fixedly connected to a nozzle (420); An on-board computer (500) is arranged on the top surface of the mounting plate (111), the on-board computer (500) is provided with a first detection model, a second detection model, and a weed position information processing module, the camera (130) can transmit the captured visual information to the on-board computer (500), and the on-board computer (500) can determine the weed position through the first detection model, the second detection model and the weed position information processing module; The main control mechanism (600) is arranged on the top surface of the mounting plate (111), and the main control mechanism (600) can start the cross slide (400) according to the weed position information, and adjust the position of the nozzle (420) through the cross slide (400).

2. The soybean field precision spraying robot based on computer vision according to claim 1, characterized in that: A control panel (112) is disposed on the top surface of the mounting plate (111), and an infrared distance measuring sensor (430) is fixedly connected to the bottom end of the fixing bracket (410).

3. The soybean field precision spraying robot based on computer vision according to claim 1, characterized in that: Also includes: A storage mechanism (200) is arranged on the top of the vehicle body (100), and the storage mechanism (200) is capable of storing liquid medicine; The steering mechanism (300) is arranged on a side of the vehicle body (100) away from the driving wheel (120).

4. The soybean field precision spraying robot based on computer vision according to claim 3, characterized in that: A fixed shell (140) is disposed on the top of the vehicle body (100) between the mounting plate (111) and the storage mechanism (200), a water pump is disposed inside the fixed shell (140), an input end of the water pump is communicated with a filter (141) fixedly connected to a side surface of the fixed shell (140), an output end of the water pump is communicated with a delivery pipe (150) fixedly connected to an inner side surface of the fixed shell (140), and a flow sensor (151) is disposed on the side surface of the delivery pipe (150), A flow proportional valve (152) is arranged inside the delivery pipe (150); one end of the delivery pipe (150) is connected to a hose (160); one end of the hose (160) is connected to the top of the nozzle (420); the top of the delivery pipe (150) is connected to a pressure reducing pipe 1 (170) and a pressure reducing pipe 2 (180); an electric ball valve (171) is arranged on the side of the pressure reducing pipe 1 (170); and a manual regulating valve (181) is arranged on the side of the pressure reducing pipe 2 (180).

5. The soybean field precision spraying robot based on computer vision according to claim 4, characterized in that: The storage mechanism (200) comprises a box body (210), the box body (210) is fixedly connected to the top surface of the support frame (110), the side surface of the box body (210) is fixedly connected to the side surface of the filter (141), and the side surface of the box body (210) is fixedly connected to the side surface of the fixed shell (140), the top of the inner side surface of the box body (210) is connected to a liquid inlet pipe (211), the inner side surface of the box body (210) is fixedly connected to two connecting pipes (213) connected to the liquid inlet pipe (211), the top ends of the first pressure reducing pipe (170) and the second pressure reducing pipe (180) are both connected to the ends of adjacent connecting pipes (213), the bottom of the side surface of the box body (210) is connected to a liquid outlet frame (212), the filter (141) is connected to a connecting pipe (142) connected to the liquid outlet frame (212), and control valves are provided inside the liquid inlet pipe (211) and at the bottom of the liquid outlet frame (212).

6. The soybean field precision spraying robot based on computer vision according to claim 5, characterized in that: The steering mechanism (300) comprises: A steering box (310) is fixedly connected to a side surface of the box body (210); Two support rods (320) are rotatably connected to the inner side of the box body (210); the side of the support rod (320) is rotatably connected to the inner side of the vehicle body (100); the bottom end of the support rod (320) is fixedly connected to a steering wheel (321); and the top end of the support rod (320) is fixedly connected to a side block (322); A driving motor (330) is fixedly connected to the inner side of the steering box (310); the output end of the support rod (320) is drivingly connected to a driving shaft (331); and a driving gear (332) is fixedly sleeved on the side of the driving shaft (331); A limit frame (340) is fixedly connected to the inner side of the steering box (310), the inner side of the limit frame (340) is rotatably connected to the side of the driving shaft (331), and the inner side of the limit frame (340) is slidably connected to a toothed plate (341) meshing with the bottom of the driving gear (332); Two pull rods (350) are rotatably connected to the two ends of the tooth plate (341), and one end of the pull rod (350) is rotatably connected to the adjacent side block (322) via a shaft.

7. The soybean field precision spraying robot based on computer vision according to claim 5, characterized in that: A sliding plate (230) slidably connected to the top of the inner side surface of the box body (210) is slidably connected to the liquid inlet pipe (211), and partition plate 2 (250) and two partition plates 1 (240) are slidably connected on both sides of the bottom surface of the sliding plate (230), and partition plate 2 (250) is located between two adjacent partition plates 1 (240), and the side surface of partition plate 1 (240) and the side surface of partition plate 2 (250) are both slidably connected to the inner side surface of the box body (210).

8. The soybean field precision spraying robot based on computer vision according to claim 7, characterized in that: The bottom surface of the sliding plate (230) is fixedly connected to a limit rod (231) that is slidably connected to the inner side surface of the second partition (250); the top inner side surface of the first partition (240) is slidably connected to a plug-in board (241) that is slidably connected to the side surface of the limit rod (231); the inner side surface of the box body (210) is fixedly connected to two hydraulic rods (214); the output end of the hydraulic rod (214) is transmission-connected to the top surface of the sliding plate (230).

9. The soybean field precision spraying robot based on computer vision according to claim 7, characterized in that: Telescopic cylinders (260) are provided on both sides of the box body (210), one side of the telescopic cylinder (260) is fixedly connected to the side of an adjacent partition (240), and the other side of the telescopic cylinder (260) is fixedly connected to a fixed plate (261) fixedly connected to the inner side of the box body (210). Four telescopic frames (262) are provided inside the telescopic cylinder (260), and the four telescopic frames (262) are rotatably connected to a plurality of cross rods (265). Both ends of one side of the telescopic frame (262) are rotatably connected to a sliding seat (263) slidably connected to an adjacent partition (240), and both ends of the other side of the telescopic frame (262) are rotatably connected to two sliding seats (264) slidably connected to the side of the fixed plate (261).

10. The soybean field precision spraying robot based on computer vision according to claim 9, characterized in that: The two sides of the box body (210) are fixedly connected to the side frames (220), the inner side of the side frame (220) is provided with two adjustment frames (221) fixedly connected to the side of the box body (210), the inner side of the adjustment frame (221) is slidably connected to an adjustment block (222) fixedly connected to the side of the adjacent sliding seat (264), the inner side of the adjustment frame (221) is rotatably connected to a bidirectional screw rod (223) screwed together with the two adjustment blocks (222), and the two adjustment frames (2 21) is fixedly connected at one end with a transmission frame (224) rotatably connected to a bidirectional screw rod (223), a power motor (225) is arranged at the top of the transmission frame (224), and the output end of the power motor (225) is transmission-connected with a transmission rod (226) rotatably connected to the inner side surface of the transmission frame (224), and bevel gears (227) are fixedly sleeved at the top and bottom of the side surface of the transmission rod (226) and at one end of the two bidirectional screw rods (223), and two adjacent bevel gears (227) are meshed for transmission.

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