Precision spraying robot for soybean fields based on computer vision

Abstract

This invention relates to the field of spray weed control technology, specifically to a computer vision-based precision spraying robot for soybean fields. The robot includes a vehicle body, a cross slide, an onboard computer, and a main control mechanism. The vehicle body serves a load-bearing function. A support frame is mounted on one side of the top surface of the vehicle body, and a mounting plate is fixedly connected to the side of the support frame. Two drive wheels are mounted on the bottom of the vehicle body corresponding to the support frame. A camera is mounted on the side of the vehicle body away from the drive wheels. In this invention, the camera on one side of the vehicle body can capture field images. A first detection model extracts information about green plants, while a second detection model identifies and detects crops. By comparing the green plant information with soybean crop information, the location of weeds is determined. The position of the nozzle is adjusted by the cross slide, allowing for accurate spraying of weeds. This helps save herbicides and reduces environmental impact.

Description

Technical Field

[0001] This invention relates to the field of spray weed control technology, specifically a precision spraying robot for soybean fields based on computer vision. Background Technology

[0002] In controlling weed infestations in soybean fields, chemical control is mainly achieved through herbicide spraying. Herbicide spraying is the primary method of weed control, offering numerous advantages such as high efficiency and low cost. By continuously spraying pesticides across the entire field, rapid control can be achieved when crop diseases or weeds occur on a large scale. However, in many cases, pests and weeds do not cover the entire farmland, and only a portion of the pesticides are effectively utilized. This is especially true during the seedling stage when weeds are small and the exposed soil covers the majority of the area. As a result, most of the pesticides fall into the soil, potentially causing environmental pollution and damage, and also leading to significant herbicide waste. Summary of the Invention

[0003] The purpose of this invention is to provide a computer vision-based precision spraying robot for soybean fields to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A computer vision-based precision spraying robot for soybean fields includes a vehicle body, a cross slide, an onboard computer, and a main control mechanism.

[0006] The vehicle body can serve as a load-bearing structure. A support frame is provided 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 drive wheels are provided at the bottom of the vehicle body corresponding to the support frame. A camera is provided on the side of the vehicle body away from the drive wheels.

[0007] The cross slide is mounted on a support frame, and the output end of the cross slide is connected to a fixed bracket. A nozzle is fixedly connected to the bottom of the fixed bracket.

[0008] The vehicle-mounted computer is mounted on the top surface of the mounting plate. The vehicle-mounted computer is equipped with a first detection model, a second detection model, and a weed location information processing module. The camera can transmit the captured visual information to the vehicle-mounted computer, and the vehicle-mounted computer can determine the location of the weeds through the first detection model, the second detection model, and the weed location information processing module.

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

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

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

[0012] The storage mechanism is located on the top of the vehicle body and is capable of storing liquid medicine.

[0013] The steering mechanism is located on the side of the vehicle body away from the drive wheels.

[0014] Furthermore, a fixed housing is provided on the top of the vehicle body between the mounting plate and the storage mechanism. A water pump is installed inside the fixed housing. The water pump input end is connected to a filter fixedly connected to the side of the fixed housing. The water pump output end is connected to a delivery pipe fixedly connected to the inner side of the fixed housing. A flow sensor is installed on the side of the delivery pipe. A flow proportional valve is installed inside the delivery pipe. A flexible hose is connected to one end of the delivery pipe. One end of the flexible hose is connected to the top of the nozzle. A pressure reducing pipe one and a pressure reducing pipe two are connected to the top of the delivery pipe. An electric ball valve is installed on the side of the pressure reducing pipe one, and a manual adjusting valve is installed on the side of the pressure reducing pipe two.

[0015] Furthermore, the storage mechanism includes a housing, which is fixedly connected to the top surface of the support frame. The side of the housing is fixedly connected to the side of the filter and to the side of the fixed shell. An inlet pipe is connected to the top of the inner side of the housing. Two connecting pipes connected to the inlet pipe are fixedly connected to the inner side of the housing. The top ends of pressure reducing pipe one and pressure reducing pipe two are connected to the ends of adjacent connecting pipes. An outlet frame is connected to the bottom of the side of the housing. The filter is connected to a connecting pipe connected to the outlet frame. Control valves are provided inside the inlet pipe and at the bottom of the outlet frame.

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

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

[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. A steering wheel is fixedly connected to the bottom end of the support rod, and a side block is fixedly connected to the top end of the support rod.

[0019] The drive motor is fixedly connected to the inner side of the steering box, and the output end of the support rod is connected to the drive shaft. A drive gear is fixedly sleeved on the side of the drive shaft.

[0020] The limiting frame is fixedly connected to the inner side of the steering box. The inner side of the limiting frame is rotatably connected to the side of the drive shaft. A toothed plate that meshes with the bottom of the drive gear is slidably connected to the inner side of the limiting frame.

[0021] Two tie rods are rotatably connected to both ends of the toothed plate, and one end of each tie rod is rotatably connected to the adjacent side block via a shaft.

[0022] Preferably, a sliding plate that is slidably connected to the top of the inner side of the box and slidably connected to the liquid inlet pipe is provided. Two partitions and two partitions are slidably connected to both sides of the bottom surface of the sliding plate. The partitions are located between two adjacent partitions. The sides of the partitions are slidably connected to the inner side of the box.

[0023] Furthermore, the bottom surface of the sliding plate is fixedly connected to a limiting rod that is slidably connected to the inner side of the second partition, the top inner side of the first partition is slidably connected to a plug plate that is slidably connected to the side of the limiting rod, and the inner side of the box is fixedly connected to two hydraulic rods, the output end of which is connected to the top surface of the sliding plate.

[0024] Preferably, telescopic cylinders are provided on both sides of the interior of the box. One side of the telescopic cylinder is fixedly connected to one side of an adjacent partition, and the other side of the telescopic cylinder is fixedly connected to a fixing plate that is fixedly connected to the inner side of the box. Four telescopic frames are provided inside the telescopic cylinder. Several cross rods are rotatably connected to the four telescopic frames. One end of each telescopic frame is rotatably connected to a sliding seat 1 that is slidably connected to an adjacent partition, and the other end of each telescopic frame is rotatably connected to two sliding seats 2 that are slidably connected to the side of the fixing plate.

[0025] Furthermore, the box body has side frames fixedly connected to both sides, and two adjustment frames fixedly connected to the sides of the box body are provided on the inner side of the side frames. Adjustment blocks fixedly connected to the two sides of adjacent sliding seats are slidably connected to the inner side of the adjustment frames. Bidirectional lead screws screwed into the two adjustment blocks are rotatably connected to the inner side of the adjustment frames. A transmission frame rotatably connected to the bidirectional lead screws is fixedly connected to one end of the two adjustment frames. A power motor is provided on the top of the transmission frame. A transmission rod rotatably connected to the inner side of the transmission frame is driven at the output end of the power motor. Bevel gears are fixedly sleeved on the top and bottom of the side of the transmission rod and one end of the two bidirectional lead screws, and adjacent bevel gears mesh and transmit power.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1. A camera is installed on one side of the vehicle. As the vehicle moves forward, the camera captures images of the field and transmits them to the onboard computer. A first detection model segments the image based on color index to distinguish plants from the environment. This first detection model divides the image into blocks based on the RGB parameters and compares them with common color segments of plants. It extracts green plant information from environmental interference such as soil, stones, and other debris, and outputs the block classification results and color index. A second detection model is used for crop identification and detection. The second detection model uses single-stage detection to reduce post-processing such as maximum suppression. The process involves extracting key features from the image and converting the ground truth key points into a smaller heatmap of the main key points to obtain soybean crop information. The second detection model reduces errors in the conversion process by predicting the local offset of the key points, providing faster response speed and higher accuracy for target detection. Then, the weed location information processing module compares the green plant information with the soybean crop information to obtain the weed location information. The main control mechanism then controls the cross slide to start, and adjusts the position of the nozzle to accurately spray the weeds, which helps to save herbicides and reduce the impact on the environment.

[0028] 2. A sliding plate with partition one and partition two is slidably connected to the bottom surface of the sliding plate. Several partitions one and partition two can form several storage chambers. Different types of herbicides can be stored in the middle and side storage chambers, and clean water is stored in the storage chambers between the herbicides. When it is necessary to spray and control 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 partition one and partition two. This allows for quick switching between different types of herbicides, which is conducive to rapid weed control.

[0029] 3. The tank is equipped with a telescopic cylinder. When cleaning is required, the sliding plate can be moved upward by the hydraulic rod. The sliding plate can then move the plug-in plate and the second partition upward by the limit rod. This forms an S-shaped channel through the first and second partitions. The telescopic cylinder can be extended by the telescopic frame. Water can then be supplied to the inside of the tank through the side of the tank. The water flows between the side of the telescopic cylinder and the inside of the tank, and then moves towards the center of the tank along the S-shaped channel to clean the inside of the tank. The telescopic cylinder occupies space inside the tank, so it is not necessary to fill the tank completely, which helps to save water resources. Attached Figure Description

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

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

[0032] Figure 3 This is a top view schematic diagram of the vehicle body structure in this invention;

[0033] Figure 4 This is a schematic diagram of the conveying pipe structure in this invention;

[0034] Figure 5 This is a top view of the internal structure of the box in this invention;

[0035] Figure 6 This is a schematic diagram of the internal side view of the box structure in this invention;

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

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

[0038] Figure 9 This is a schematic diagram of the telescopic cylinder structure in this invention;

[0039] Figure 10 This is a schematic diagram of the telescopic frame structure in this invention;

[0040] Figure 11 This is a schematic diagram of the internal structure of the side frame in this invention.

[0041] In the diagram: 100, vehicle body; 110, support frame; 111, mounting plate; 112, control panel; 120, drive wheel; 130, camera; 140, mounting housing; 141, filter; 142, connecting pipe; 150, delivery pipe; 151, flow sensor; 152, flow proportional valve; 160, hose; 170, pressure reducing pipe one; 171, electric ball valve; 180, pressure reducing pipe two; 181, manual regulating valve; 200, storage mechanism; 210, housing; 211, inlet pipe; 212, outlet frame; 213, connecting pipe; 214, hydraulic rod; 220, side frame; 221, adjusting frame; 222, adjusting block; 223, double-acting screw; 224, transmission frame; 225, power motor; 226 1. Transmission rod; 227. Bevel gear; 230. Sliding plate; 231. Limiting rod; 240. Partition 1; 241. Insertion plate; 250. Partition 2; 260. Telescopic cylinder; 261. Fixed plate; 262. Telescopic frame; 263. Sliding seat 1; 264. Sliding seat 2; 265. Cross rod; 300. Steering mechanism; 310. Steering box; 320. Support rod; 321. Steering wheel; 322. Side block; 330. Drive motor; 331. Drive shaft; 332. Drive gear; 340. Limiting frame; 341. Tooth plate; 350. Tie rod; 400. Cross slide; 410. Fixed bracket; 420. Nozzle; 430. Infrared ranging sensor; 500. Vehicle computer; 600. Main control mechanism. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Please see Figure 1-4 In this embodiment of the invention, the soybean field precision spraying robot based on computer vision includes a vehicle body 100, a cross slide 400, an on-board computer 500, a main control mechanism 600, a storage mechanism 200, and a steering mechanism 300.

[0044] The vehicle body 100 serves as a load-bearing structure. A support frame 110 is provided 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 provided on the top surface of the mounting plate 111. Two drive wheels 120 are provided at the bottom of the vehicle body 100 corresponding to the support frame 110. The vehicle body 100 is provided with a drive motor for rotating the drive wheels 120, thereby driving the support frame 110 forward. A camera 130 is provided on the side of the vehicle body 100 away from the drive wheels 120. A storage mechanism 200 is provided on the top of the vehicle body 100. The storage mechanism 200 can store liquid medicine. A steering mechanism 300 is provided on the side of the vehicle body 100 away from the drive wheels 120.

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

[0046] Specifically, as the vehicle body 100 moves forward, it can collect field images through the camera 130. The camera 130 can transmit the images to the on-board computer 500. The first detection model of the on-board computer 500 segments the image 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] The first detection model extracts green plant information from environmental disturbances (soil, stones, other debris). It divides the image into blocks by analyzing the RGB parameters and compares them with common color segments of weeds, while outputting block classification results and color indices. The second detection model uses single-stage detection to reduce post-processing steps such as maximum suppression. After extracting key features of the image, it converts the ground truth key points in the image into a smaller heatmap of the main key points. The second detection model reduces the error in the conversion process by predicting the local offset of the key points, which can provide a faster response speed and higher accuracy for target detection.

[0048] The weed location information processing module analyzes the output results of the first detection model and the second detection model, compares the location information of green plants with the location information of soybean crops to obtain the location information of weeds, locates the location of weeds, and sends the weed location information to the main control unit 600 through serial port using parallel synchronous communication.

[0049] After receiving the weed location information, the main control mechanism 600 controls the delivery of 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 spray settling time, when the vehicle body 100 moves to the program-set position, the main control mechanism 600 controls the herbicide delivery to start via serial port.

[0050] The weed location information processing module sends the location information of the weeds 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. After program calculation, the main control mechanism 600 sends the spray height information to the cross slide 400 through the serial port and controls the cross slide 400 to start. The height and left and right position of the nozzle 420 are adjusted by the cross slide 400 so that the nozzle 420 can accurately spray the weeds, which helps to save herbicides and reduce the impact on the environment.

[0051] Example 1

[0052] like Figure 4-5As shown, in this embodiment, a fixed housing 140 is provided on 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 housing 140. The water pump input end is connected to a filter 141 fixedly connected to the side of the fixed housing 140. The water pump output end is connected to a delivery pipe 150 fixedly connected to the inner side of the fixed housing 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. A hose 160 is connected to one end of the delivery pipe 150. One end of the hose 160 is connected to the top of the nozzle 420. A pressure reducing pipe 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 practice, 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 herbicide flow data, and the flow ratio valve 152 can be opened. In this way, the herbicide in the delivery pipe 150 will pass through the flow ratio valve 152 and enter the hose 160, and then be delivered to the nozzle 420 and sprayed out through the nozzle 420. A connecting frame can be set on the vehicle body 100 to support the hose 160. The hose 160 can swing with the nozzle 420 within the connecting frame.

[0054] After receiving weed information, the main control unit 600 controls the opening of the flow proportional valve 152 through a grid coverage algorithm. The grid coverage algorithm can adapt to various weeds of different sizes in the field, providing a better weeding effect. Considering the system communication delay and spray settling time, when the vehicle 100 moves to the program-set position, the main control unit 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 vehicle speed. By considering the system delay and spray settling time, the system automatically extends the spraying time, thereby obtaining higher spraying 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 height, horizontal position, and spray flow rate by combining the nozzle height, weed position, and weed coverage area. The main control mechanism 600 controls the cross slide 400 via serial port to move the nozzle 420 to the designated position. The cross slide 400 drives the nozzle 420 to reciprocate to complete the spraying action, which helps to improve spraying accuracy and reduce pesticide waste. The main control mechanism 600 can control the opening and closing of the electric ball valve 171 via 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, realizing pressure regulation in the spray pipeline. The manual regulating valve 181 can also be adjusted. The herbicide in the delivery pipe 150 can be delivered to the storage mechanism 200 through the pressure reducing pipe 280 for manual pipeline pressure regulation. The spray flow rate can be precisely controlled by controlling the flow proportional valve 152, which can effectively improve the precision spraying effect.

[0056] like Figure 5-7 As shown, in this embodiment, the storage mechanism 200 includes a housing 210, which is fixedly connected to the top surface of the support frame 110. The side of the housing 210 is fixedly connected to the side of the filter 141 and the side of the housing 210 is fixedly connected to the side of the fixed shell 140. The housing 210 can support the fixed shell 140. The top of the inner side of the housing 210 is connected to an inlet pipe 211. Two connecting pipes 213 connected to the inlet pipe 211 are fixedly connected to the inner side of the housing 210. The top ends of the first pressure reducing pipe 170 and the second pressure reducing pipe 180 are connected to the ends of the adjacent connecting pipes 213. The bottom of the side of the housing 210 is connected to an outlet frame 212. The filter 141 is connected to a connecting pipe 142 connected to the outlet frame 212. Control valves are provided inside the inlet pipe 211 and at the bottom of the outlet frame 212. The control valves can seal the inside of the inlet pipe 211 and the outlet frame 212.

[0057] In practice, the control valve in the inlet pipe 211 can be opened to release herbicide into the tank 210 through the inlet pipe 211. The herbicide in the pressure reducing pipe 170 and pressure reducing pipe 280 can be transported to the inlet pipe 211 through the corresponding connecting pipe 213, and then transported to the tank 210 through the inlet pipe 211. The herbicide in the tank 210 can be transported to the connecting pipe 142 through the outlet frame 212, and then enter the filter 141. The herbicide is then transported by a 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 limiting frame 340, and two pull rods 350;

[0059] The steering box 310 is fixedly connected to the side of the housing 210, which supports the steering box 310. Two support rods 320 are rotatably connected to the inner side of the housing 210, and the sides of the support rods 320 are rotatably connected to the inner side of the vehicle body 100. A steering wheel 321 is fixedly connected to the bottom of the support rod 320, and a side block 322 is fixedly connected to the top of the support rod 320. A drive motor 330 is fixedly connected to the inner side of the steering box 310, and a drive shaft 331 is driven through the output end of the support rod 320. A drive gear 332 is fixedly sleeved on the side of the drive shaft 331. A limiting frame 340 is fixedly connected to the inner side of the steering box 310. The inner side of the limiting frame 340 is rotatably connected to the side of the drive shaft 331. A toothed plate 341 that meshes with the bottom of the drive gear 332 is slidably connected to the inner side of the limiting frame 340. The limiting frame 340 can restrict the movement direction of the toothed plate 341. Two pull rods 350 are rotatably connected to both ends of the toothed plate 341 respectively. One end of the pull rod 350 is rotatably connected to the adjacent side block 322 through a shaft.

[0060] In practice, when it is necessary to adjust the forward direction of the vehicle body 100, the drive shaft 331 can be rotated by the drive motor 330. The drive shaft 331 can move the gear plate 341 by the drive gear 332. The gear plate 341 can move the tie rod 350. The tie rod 350 can push the support rod 320 to rotate by the side block 322, thereby adjusting the direction of the steering wheel 321 and thus adjusting the forward direction of the vehicle body 100 as needed.

[0061] Example 2

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

[0063] A limiting rod 231 is fixedly connected to the bottom surface of the sliding plate 230 and slidably connected to the inner side of the partition 250. A plug plate 241 is slidably connected to the inner side of the top of the partition 240 and slidably connected to the side of the limiting rod 231. The plug plate 241 and the partition 250 can move along the limiting rod 231. Two hydraulic rods 214 are fixedly connected to the inner side of the box 210. The output end of the hydraulic rod 214 is connected to the top surface of the sliding plate 230.

[0064] In practical implementation, several storage cavities can be formed between several partitions 240 and 250. Partitions 240 and 250 can be moved to move the corresponding storage cavities to the bottom of the inlet pipe 211. At this time, herbicides or water can be delivered to the corresponding storage cavities through the inlet pipe 211. Different types of herbicides can be stored in the central and side storage cavities, and water can be stored in the cavities between the herbicides. This allows for spraying to control different types of weeds growing in different areas when necessary. The movement of partition 240 and partition 250 moves the storage chamber containing the corresponding herbicide to the top of the liquid outlet frame 212. This allows for quick switching between different types of herbicides, facilitating rapid weed control. If there is still a herbicide remaining, it can be stored in the box 210, and then another herbicide can be used for weed control. There is clean water between the herbicides. When switching herbicides, the pipeline can be flushed with clean water first, and then the positions of partition 240 and partition 250 can be adjusted to complete the switching of herbicides.

[0065] When weeding is completed and the interior of the box 210 needs to be rinsed, the sliding plate 230 can be moved upward by the hydraulic rod 214. The sliding plate 230 can drive the plug plate 241 and the partition 250 to move upward by the limiting rod 231. This creates a gap between the bottom of the partition 250 and the bottom surface of the box 210, and a gap between the middle of the plug plate 241 and the middle of the partition 240. Thus, an S-shaped channel is formed by the partition 240 and the partition 250. Water can be simultaneously delivered to both sides of the interior of the box 210 through the two fixed pipes on the side of the box 210. The water can move along the S-shaped channel towards the middle of the box 210, thereby cleaning the interior of the box 210 and facilitating a more comprehensive rinsing of the interior of the box 210.

[0066] like Figure 6-11As shown, in this embodiment, telescopic cylinders 260 are provided on both sides of the interior of the box 210. Each telescopic cylinder 260 includes a waterproof fabric tube with several annular rods fixed to it, supporting the waterproof fabric tube. 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 fixing plate 261 fixedly connected to the inner side of the box 210. Four telescopic frames 262 are provided inside the telescopic cylinder 260, and several cross rods 265 are rotatably connected to the four telescopic frames 262. Both ends of one side of each telescopic frame 262 are rotatably connected to the adjacent partition 240. The sliding seat 263 is slidably connected, and the other two ends of the telescopic frame 262 are rotatably connected to two sliding seats 264 that are slidably connected to the side of the fixed plate 261. The telescopic frame 262 is composed of several X-shaped frames, which are connected end to end, and the corresponding ends of two adjacent X-shaped frames are rotatably connected by a shaft. 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 helps to improve the stability of the telescopic frame 262. The telescopic frame 262 can support the inside of the telescopic cylinder 260, and the telescopic cylinder 260 can be further expanded by the telescopic frame 262.

[0067] Side frames 220 are fixedly connected to both sides of the housing 210. Two adjusting frames 221 are fixedly connected to the sides of the housing 210 on the inner side of each side frame 220. Adjusting blocks 222, which are fixedly connected to the sides of adjacent sliding seats 264, are slidably connected to the inner side of each adjusting frame 221. Two sliding seats 264, located at the top and bottom, are connected to corresponding adjusting blocks 222 and slidably connected to the inner side of the housing 210. A bidirectional lead screw 223, which is screwed onto the two adjusting blocks 222, is rotatably connected to the inner side of each adjusting frame 221. The two adjusting frames 221... One end is fixedly connected to a transmission frame 224 that is rotatably connected to a bidirectional lead screw 223. The side frame 220 can block the adjustment frame 221 and the transmission frame 224. The fixing tube on the side of the housing 210 can extend to the outside of the side frame 220. A power motor 225 is provided on the top of the transmission frame 224. The output end of the power motor 225 is connected to a transmission rod 226 that is rotatably connected to the inner side of the transmission frame 224. The top and bottom sides of the transmission rod 226 and one end of the two bidirectional lead screws 223 are all fixedly sleeved with bevel gears 227, and the two adjacent bevel gears 227 mesh and transmit power.

[0068] In practice, the transmission rod 226 can be rotated by the power motor 225. The transmission rod 226 can rotate two double-acting lead screws 223 via bevel gear 227. The rotation of the double-acting lead screws 223 can cause two adjusting blocks 222 on them to move towards each other. The adjusting blocks 222 can drive the adjacent sliding seat 264 to move, thereby extending the bottom and top telescopic frame 262. The top and bottom telescopic frame 262 can extend the side telescopic frame 262 via the cross rod 265, thereby moving the side partition 240 and allowing the liquid to enter. After the control valves in pipe 211 and outlet frame 212 are closed, the sliding plate 230 abuts against the top of partition 1 240 and partition 2 250, thus sealing the interior of the central storage chamber. When the side partition 1 240 moves, the partition 1 240 can push the other partitions 1 240 and partition 2 250 to move through the herbicide and water, thereby moving the partitions 1 240 and 2 250 as a whole to adjust the position of the herbicide, or open the control valve in inlet pipe 211 to adjust the side storage chamber to the bottom of inlet pipe 211.

[0069] When rinsing the inside of the tank 210, the control valve can be opened to move the two side partitions 240 towards each other. This allows the partitions 240 and 250 to converge towards the center of the tank 210, and the two telescopic cylinders 260 to extend. When water is delivered to the side of the tank 210 through the fixed pipe, the water will first flow between the side of the telescopic cylinders 260 and the inside of the tank 210, and then move towards the center of the tank 210 along the S-shaped channel formed by the partitions 240 and 250, thereby cleaning the inside of the tank 210. By using the telescopic cylinders 260 to occupy the internal space of the tank 210 and keeping the partitions 240 and 250 as close to each other as possible, the inside of the tank 210 does not need to be filled, which helps to save water resources.

[0070] It will be apparent to those skilled in the art that the present 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 its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0071] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A computer vision-based precision spraying robot for soybean fields, characterized in that, include: The vehicle body serves to bear loads. A support frame is provided on one side of the top surface of the vehicle body, and a mounting plate is fixedly connected to the side of the support frame. Two drive wheels are provided at the bottom of the vehicle body corresponding to the support frame, and a camera is provided on the side of the vehicle body away from the drive wheels. A cross slide is mounted on a support frame. The output end of the cross slide is connected to a fixed bracket, and a nozzle is fixedly connected to the bottom of the fixed bracket. The vehicle-mounted computer is installed on the top surface of the mounting plate. The vehicle-mounted computer is equipped with a first detection model, a second detection model, and a weed location information processing module. The camera can transmit the captured visual information to the vehicle-mounted computer. The vehicle-mounted computer can determine the location of the weeds through the first detection model, the second detection model, and the weed location information processing module. The main control mechanism is located on the top surface of the mounting plate. The main control mechanism can activate the cross slide table according to the weed location information and adjust the position of the nozzle through the cross slide table. Also includes: A storage mechanism is installed on the top of the vehicle body, and the storage mechanism is capable of storing liquid medicine; The steering mechanism is located on the side of the vehicle body away from the drive wheels; A fixed shell is provided on the top of the vehicle body between the mounting plate and the storage mechanism. A water pump is installed inside the fixed shell, and the input end of the water pump is connected to a filter that is fixedly connected to the side of the fixed shell. The storage mechanism includes a box, which is fixedly connected to the top surface of the support frame. The side of the box is fixedly connected to the side of the filter and the side of the box is fixedly connected to the side of the fixed shell. The top of the inner side of the box is connected to an inlet pipe. The top of the inner side of the box is slidably connected to the liquid inlet pipe. Both sides of the bottom surface of the sliding plate are slidably connected to the partition plate 2 and two partition plates 1. The partition plate 2 is located between two adjacent partition plates 1. The side of the partition plate 1 and the side of the partition plate 2 are slidably connected to the inner side of the box. The bottom surface of the sliding plate is fixedly connected to a limiting rod that is slidably connected to the inner side of the second partition. The top inner side of the first partition is slidably connected to a plug plate that is slidably connected to the side of the limiting rod. The inner side of the box is fixedly connected to two hydraulic rods, and the output end of the hydraulic rods is connected to the top surface of the sliding plate.

2. The computer vision-based precision spraying robot for soybean fields according to claim 1, characterized in that, The top surface of the mounting plate is equipped with a control panel, and the bottom end of the fixed bracket is fixedly connected to an infrared ranging sensor.

3. The computer vision-based precision spraying robot for soybean fields according to claim 1, characterized in that, The water pump output end is connected to a delivery pipe that is fixedly connected to the inner side of the fixed housing. A flow sensor is installed on the side of the delivery pipe. A flow proportional valve is installed inside the delivery pipe. A flexible hose is connected to one end of the delivery pipe. One end of the flexible hose is connected to the top of the nozzle. A pressure reducing pipe I and a pressure reducing pipe II are connected to the top of the delivery pipe. An electric ball valve is installed on the side of pressure reducing pipe I, and a manual adjusting valve is installed on the side of pressure reducing pipe II.

4. The computer vision-based precision spraying robot for soybean fields according to claim 3, characterized in that, The inner side of the box is fixedly connected to two connecting pipes that communicate with the inlet pipe. The top ends of the first and second pressure reducing pipes are connected to the ends of the adjacent connecting pipes. The bottom of the side of the box is connected to an outlet frame. The filter is connected to a connecting pipe that communicates with the outlet frame. Control valves are provided inside the inlet pipe and at the bottom of the outlet frame.

5. The computer vision-based precision spraying robot for soybean fields according to claim 4, characterized in that, The steering mechanism includes: The steering box is fixedly connected to the side of the housing; 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. A steering wheel is fixedly connected to the bottom end of the support rod, and a side block is fixedly connected to the top end of the support rod. A drive motor is fixedly connected to the inner side of the steering box, and a drive shaft is connected to the output end of the support rod. A drive gear is fixedly sleeved on the side of the drive shaft. A limiting frame is fixedly connected to the inner side of the steering box. The inner side of the limiting frame is rotatably connected to the side of the drive shaft. A toothed plate that meshes with the bottom of the drive gear is slidably connected to the inner side of the limiting frame. Two pull rods are rotatably connected to both ends of the toothed plate, and one end of each pull rod is rotatably connected to the adjacent side block via a shaft.

6. The computer vision-based precision spraying robot for soybean fields according to claim 4, characterized in that, Telescopic cylinders are provided on both sides of the interior of the box. One side of the telescopic cylinder is fixedly connected to one side of the adjacent partition. The other side of the telescopic cylinder is fixedly connected to a fixing plate that is fixedly connected to the inner side of the box. Four telescopic frames are provided inside the telescopic cylinder. Several cross rods are rotatably connected to the four telescopic frames. One end of each telescopic frame is rotatably connected to a sliding seat 1 that is slidably connected to the adjacent partition. The other end of each telescopic frame is rotatably connected to two sliding seats 2 that are slidably connected to the side of the fixing plate.

7. The computer vision-based precision spraying robot for soybean fields according to claim 6, characterized in that, The box body has side frames fixedly connected to both sides. Two adjustment frames are fixedly connected to the sides of the box body on the inner side of each side frame. Adjustment blocks are slidably connected to the inner side of each adjustment frame and fixedly connected to the two sides of adjacent sliding seats. A bidirectional lead screw is rotatably connected to the inner side of each adjustment frame and screwed into the two adjustment blocks. A transmission frame is fixedly connected to one end of each of the two adjustment frames and rotatably connected to the bidirectional lead screw. A power motor is provided at the top of the transmission frame. A transmission rod is rotatably connected to the output end of the power motor and rotatably connected to the inner side of the transmission frame. Bevel gears are fixedly sleeved on the top and bottom sides of the transmission rod and one end of each of the two bidirectional lead screws, and adjacent bevel gears mesh and transmit power.

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