Precise targeting spraying device for Chinese cabbage seedlings

Abstract

The invention provides a precise targeting spraying device for Chinese cabbage seedlings. The precise targeting spraying device comprises a movable vehicle body, a pesticide box, a conveyor, a Chinese cabbage seedling recognition mechanism, a pesticide spraying mechanism, a missed spraying and wrong spraying recognition mechanism, a supplementary spraying mechanism and a control mechanism. The pesticide box is mounted on the movable frame; the conveyor is installed on the movable vehicle body, the input end of the conveyor is connected with a first pipeline, and the end, away from the conveyor, of the first pipeline is connected with the pesticide box. The Chinese cabbage seedling identification mechanism is mounted on one side of the movable vehicle body; the pesticide spraying mechanism is mounted on the movable vehicle body, is arranged on the same side as the Chinese cabbage seedling recognition mechanism and is connected with the output end of the conveyor through a pipeline assembly; the missed spraying and wrong spraying identification mechanism is mounted on the spraying mechanism; the supplementary spraying mechanism is mounted on the side, away from the pesticide spraying mechanism, of the movable vehicle body, and the supplementary spraying mechanism is connected with the pipeline assembly; the control mechanism is installed on the movable vehicle body, and the conveyor, the Chinese cabbage seedling recognition mechanism, the pesticide spraying mechanism, the missed spraying and wrong spraying recognition mechanism and the supplementary spraying mechanism are electrically connected with the control mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of targeted pesticide application, and in particular to a precise targeted spray device for cabbage seedlings. Background Art

[0002] Targeted pesticides refer to pesticide active compounds or pesticide preparations that can recognize and target molecular targets of specific structures to safely and efficiently prevent and control specific pests and diseases.

[0003] The process of pesticide application requires not only efficient and reliable pesticide formulations, but also improved pesticide application technology, that is, selecting equipment and pesticide application methods according to the occurrence patterns of the control targets, environmental factors, types of pesticides and dosage forms, and applying the pesticides to specific places, so as to achieve the purpose of economical, effective and safe control of pests and diseases.

[0004] Targeted application technology is different from targeted pesticides. It sprays the pesticide liquid through the spray parts of the plant protection machinery at the spray target crops or pests and diseases. Targeted application can be achieved with ordinary spray machinery. At present, ground spray boom sprayers and hand-held backpack sprayers can use targeted application technology. Its main feature is the high efficiency of pesticide droplet deposition.

[0005] Sprayers mainly rely on manpower to achieve spraying. During the application process, pesticides are highly toxic and will cause serious physical injuries to the applicators due to the drift of the pesticide liquid. In addition, sprayers are prone to missed spraying and mis-spraying during the spraying process, and the target is not fully applied. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a cabbage seedling precise target spraying device, which can supplement the cabbage seedlings that have been missed or mistakenly sprayed.

[0007] The technical solution adopted by the present invention is as follows:

[0008] A cabbage seedling precision target spray device comprises: a movable vehicle body; a medicine box, the medicine box is installed on the movable vehicle frame; a conveyor, the conveyor is installed on the movable vehicle body, the input end of the conveyor is connected to a pipeline 1, and the end of the pipeline 1 away from the conveyor is connected to the medicine box; a cabbage seedling identification mechanism, the cabbage seedling identification mechanism is installed on one side of the movable vehicle body and is used to identify the cabbage seedling plant heart; a spraying mechanism, the spraying mechanism is installed on the movable vehicle body and is arranged on the same side as the cabbage seedling identification mechanism, the spraying mechanism is used to apply medicine to the cabbage seedling plant heart, and the spraying mechanism passes A pipeline assembly is connected to the output end of the conveyor; a missed spraying and erroneous spraying identification mechanism is installed on the spraying mechanism and is used to identify the missed spraying and erroneous spraying of cabbage seedlings; a supplementary spraying mechanism is installed on the side of the movable body away from the spraying mechanism, and is used to supplement the missed spraying and erroneous spraying of cabbage seedlings, and the supplementary spraying mechanism is connected to the pipeline assembly; a control mechanism is installed on the movable body, and the conveyor, the cabbage seedling identification mechanism, the spraying mechanism, the missed spraying and erroneous spraying identification mechanism and the supplementary spraying mechanism are electrically connected to the control mechanism respectively.

[0009] The movable vehicle body comprises: a frame, which is a multi-layer frame structure; a moving wheel, a wheel frame is fixedly installed at the bottom of the frame, and the moving wheel is rotatably installed in the wheel frame; a driver, which is fixedly installed on the wheel frame, the output end of the driver is rotatably connected to the moving wheel, the driver is used to drive the moving wheel to move, and a speed encoder is installed on the driver.

[0010] The cabbage seedling identification mechanism includes: an electric slide rail 1, which is installed on the frame; a connecting arm, one end of which is fixedly connected to the electric slide rail 1; and a camera 1, which is rotatably connected to the other end of the connecting arm through a damping shaft.

[0011] The pipeline assembly includes: pipeline 2, one end of which is connected to the output end of the conveyor, the other end of which is connected to three-way joint 1, and a filter is installed on pipeline 2; pipeline 3, one end of which is fixedly connected to the end of three-way joint 1, the other end of which is connected to the medicine box, and a safety valve is installed on pipeline 3; pipeline 4, one end of which is fixedly connected to the end of three-way joint 1, the other end of which is installed with three-way joint 2, a pressure-stabilizing tank and a pressure gauge are installed on pipeline 4, and three-way joint 2 is respectively connected to pipeline 5 and pipeline 6.

[0012] The spraying mechanism includes: an electric slide rail 2, which is installed on the frame; and a nozzle 1, which is installed on the electric slide rail 2, the pipeline 5 is connected to the nozzle 1, and the electric slide rail 2 can drive the nozzle 1 to move horizontally; and an electromagnetic valve 1, which is installed on one end of the pipeline 5 close to the nozzle 1.

[0013] The missed spray and mis-spray identification mechanism includes camera 2 and a Z-shaped connecting rod, wherein camera 2 is fixedly connected to one end of the Z-shaped connecting rod, and the other end of the Z-shaped connecting rod is fixedly connected to the electric slide rail 2, and camera 2 is located at the rear side of the nozzle 1 and moves laterally following the nozzle 1.

[0014] The supplementary spraying mechanism includes: an electric slide rail three, which is installed on the frame; and a nozzle two, which is installed on the electric slide rail three, the pipeline six is ​​connected to the nozzle two, and the electric slide rail three can drive the nozzle two to move horizontally; and an electromagnetic valve two, which is installed on one end of the pipeline six close to the nozzle two.

[0015] The control mechanism includes a lower computer, an upper computer and a power module, the power module is electrically connected to the lower computer and the upper computer respectively, the upper computer is communicatively connected to the lower computer, the driver, the electric slide rail 1, the pressure regulating tank, the pressure gauge, the electric slide rail 2, the solenoid valve nozzle 1, the electric slide rail 3 and the nozzle 2 are electrically connected to the lower computer respectively, and the speed encoder, the camera 1 and the camera 2 are communicatively connected to the upper computer.

[0016] Beneficial effects of the present invention:

[0017] The cabbage seedling precise targeted spray device of the present invention obtains the position and size of the cabbage seedlings by means of a cabbage seedling identification mechanism, and realizes precise spraying of liquid medicine on the crop canopy in combination with a pipeline component and a spraying mechanism, so as to prevent and control diseases and insect pests of the cabbage in the seedling stage; in addition, the missed and mistaken spraying cabbage seedlings are detected by means of a missed and mistaken spraying identification mechanism, and combined with a supplementary spraying mechanism arranged behind the spraying mechanism, comprehensive targeted spraying of the cabbage seedlings is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a precise target spray device for cabbage seedlings according to an embodiment of the present invention;

[0019] Figure 2 Another overall structural schematic diagram of the cabbage seedling precision target spraying device according to one embodiment of the present invention;

[0020] Figure 3 The figure is a connection diagram of a pipeline assembly according to an embodiment of the present invention.

[0021] Description of reference numerals:

[0022] 1- movable body, 11- frame, 12- movable wheel, 13- wheel frame, 14- driver, 15- speed encoder;

[0023] 2-Medicine box;

[0024] 3- conveyor, 31- pipeline 1;

[0025] 4-cabbage seedling identification mechanism, 41-electric slide rail one, 42-camera one;

[0026] 5- pipeline assembly, 51- pipeline 2, 52- three-way connector 1, 53- filter, 54- pipeline 3, 55- safety valve, 56- pipeline 4, 57- three-way connector 2, 58- pressure stabilizing tank, 59- pressure gauge, 60- pipeline 5, 70- pipeline 6;

[0027] 6-spraying mechanism, 61-electric slide rail 2, 62-spray head 1, 63-electromagnetic valve 1;

[0028] 7-missing spraying and mis-spraying identification mechanism, 71-camera 2;

[0029] 8-supplementary spraying mechanism, 81-electric slide rail three, 82-spray head two, 83-solenoid valve two;

[0030] 9-control mechanism, 91-lower computer, 92-power module, 93-upper computer. DETAILED DESCRIPTION

[0031] 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.

[0032] like Figure 1-Figure 3 As shown, a cabbage seedling precision target spray device according to an embodiment of the present invention may include a movable body 1, a medicine box 2, a conveyor 3, a cabbage seedling identification mechanism 4, a spraying mechanism 6, a missed spraying and mistaken spraying identification mechanism 7, a supplementary spraying mechanism 8 and a control mechanism 9.

[0033] Specifically, the medicine box 2 is installed on the movable frame 11; the conveyor 3 is installed on the movable body 1, the input end of the conveyor 3 is connected to the pipeline 31, and the end of the pipeline 31 away from the conveyor 3 is connected to the medicine box 2; the cabbage seedling identification mechanism 4 is installed on one side of the movable body 1, and is used to identify the cabbage seedling plant heart; the spraying mechanism 6 is installed on the movable body 1, and is arranged on the same side as the cabbage seedling identification mechanism 4. The spraying mechanism 6 is used to apply medicine to the cabbage seedling plant heart. The spraying mechanism 6 is connected to the input end of the conveyor 3 through the pipeline assembly 5. The output end of the conveyor 3 is connected; the missed spraying and misspraying identification mechanism 7 is installed on the spraying mechanism 6, and is used to identify the missed spraying and missprayed cabbage seedlings; the supplementary spraying mechanism 8 is installed on the side of the movable body 1 away from the spraying mechanism 6, and is used to supplement the missed spraying and missprayed cabbage seedlings, and the supplementary spraying mechanism 8 is connected to the pipeline assembly 5; the control mechanism 9 is installed on the movable body 1, and the conveyor 3, the cabbage seedling identification mechanism 4, the spraying mechanism 6, the missed spraying and misspraying identification mechanism 7 and the supplementary spraying mechanism 8 are electrically connected to the control mechanism 9 respectively.

[0034] In one embodiment of the present invention, Figure 1 As shown, the movable vehicle body 1 may include a frame 11, moving wheels 12 and a driver 14, wherein the frame 11 is a multi-layer frame structure; a wheel frame 13 is fixedly installed at the bottom of the frame 11, and the moving wheel 12 is rotatably installed in the wheel frame 13; the driver 14 is fixedly installed on the wheel frame 13, and the output end of the driver 14 is rotatably connected to the moving wheel 12. The driver 14 is used to drive the moving wheel 12 to move, and a speed encoder 15 is installed on the driver 14.

[0035] The speed encoder 15 is used to monitor the travel speed in real time and transmit the speed information to the PC for display.

[0036] Among them, during the application process, pesticides are highly toxic and can cause serious physical harm to drivers due to the influence of liquid drift. Therefore, in order to reduce the contact between people and pesticides during the application process, the present invention realizes remote control of the device of the present invention, realizes the separation of man and machine, and man and pesticide, and the operator realizes the forward and backward operation of the sprayer through remote control, which protects the safety of the operator and further improves the automation of the machine. A DC brushless motor can be used for the driver 14, which forms a DC brushless hub electric drive wheel with the moving wheel 12.

[0037] In one embodiment of the present invention, Figure 1 As shown, the cabbage seedling identification mechanism 4 may include an electric slide rail 41, a connecting arm and a camera 42, wherein the electric slide rail 41 is installed on the frame 11; one end of the connecting arm is fixedly connected to the electric slide rail 41; the camera 42 is rotatably connected to the other end of the connecting arm through a damping shaft, and the angle between the camera 42 and the ground can be adjusted.

[0038] Among them, the liquid medicine stored in the medicine box 2 is a non-colorless liquid medicine, which appears in colors such as red, and the camera 42 collects images of the cabbage seedlings after spraying.

[0039] In one embodiment of the present invention, Figure 2 and Figure 3 As shown, the pipeline assembly 5 may include pipeline two 51, pipeline three 54 and pipeline four 56, wherein one end of pipeline two 51 is connected to the output end of the conveyor 3, the other end of pipeline two 51 is connected to three-way joint one 52, and a filter 53 is installed on pipeline two 51; one end of pipeline three 54 is fixedly connected to the end of three-way joint one 52, the other end of pipeline three 54 is connected to the medicine box 2, and a safety valve 55 is installed on pipeline three 54; one end of pipeline four 56 is fixedly connected to the end of three-way joint one 52, the other end of pipeline four 56 is installed with three-way joint two 57, a pressure stabilizing tank 58 and a pressure gauge 59 are installed on pipeline four 56, and three-way joint two 57 are respectively connected to pipeline five 60 and pipeline six 70.

[0040] In the present invention, the pipeline assembly 5 is used to ensure the stable flow of the liquid medicine in the entire system, thereby ensuring the efficiency and accuracy of the spraying operation. Exemplarily, the conveyor 3 adopts a diaphragm pump, which, as a power source, provides a continuous and stable power output for the entire drug supply pipeline. Under the command of the control mechanism 9, the diaphragm pump extracts the liquid medicine in the medicine box 2 and sends it to the next link. When the liquid medicine flows through the filter 53, the impurities and particulate matter therein are effectively filtered out. The filtered liquid medicine enters the pressure-stabilizing tank 58, and a compression capsule is installed inside the pressure-stabilizing tank 58. When the solenoid valve of the solenoid valve nozzle 1 62 or the solenoid valve nozzle 2 82 is closed instantly, the pressure in the pipeline will increase instantly, and the compression capsule in the pressure-stabilizing tank 58 will quickly release gas to buffer and stabilize the pressure in the pipeline, ensuring the stable operation of the system. If the pressure in the pipeline exceeds the preset safety value, the safety valve 55 will be pushed open to discharge part of the liquid medicine back to the medicine box 2, thereby effectively reducing the pipeline pressure and preventing the pipeline from being damaged due to excessive pressure.

[0041] In one embodiment of the present invention, Figure 1 As shown, the spraying mechanism 6 may include an electric slide rail 2 61, a nozzle 1 62 and a solenoid valve 1 63, wherein the electric slide rail 2 61 is installed on the frame 11; the nozzle 1 62 is installed on the electric slide rail 2 61, the pipeline 5 60 is connected to the nozzle 1 62, the electric slide rail 2 61 can drive the nozzle 1 62 to move horizontally, and the solenoid valve 1 63 is installed on one end of the pipeline 5 60 close to the nozzle 1 62.

[0042] In one embodiment of the present invention, Figure 1As shown, the missed spray and mis-spray identification mechanism 7 includes a camera 2 71 and a Z-shaped connecting rod, wherein the camera 2 71 is fixedly connected to one end of the Z-shaped connecting rod, and the other end of the Z-shaped connecting rod is fixedly connected to the electric slide rail 2 61, and the camera 2 71 is located at the rear side of the nozzle 1 62 and moves laterally following the nozzle 1 62.

[0043] In one embodiment of the present invention, Figure 2 As shown, the supplementary spray mechanism 8 may include an electric slide rail 3 81, a nozzle 2 82 and a solenoid valve 2 83, wherein the electric slide rail 3 81 is installed on the frame 11; the nozzle 2 82 is installed on the electric slide rail 3 81, the pipeline 6 70 is connected to the nozzle 2 82, the electric slide rail 3 81 can drive the nozzle 2 82 to move horizontally, and the solenoid valve 2 83 is installed on one end of the pipeline 6 70 close to the nozzle 2 82.

[0044] For example, the nozzle 1 62 and the nozzle 2 82 use 65° fan-shaped nozzles produced by Jetsen Spray Co., Ltd. The fan-shaped nozzle sprays a mist in the shape of a fan, and the coverage area of ​​the spray can meet the requirements of covering a single plant. The above-mentioned electric slide rail 3 81, electric slide rail 2 61 and electric slide rail 1 41 are linear slide rails, which are prior art, and their structural principles are not elaborated in detail here. Among them, the nozzle 1 62, the nozzle 2 82 and the camera 1 42 are respectively installed on the slider of the electric slide rail, and follow the slider to make linear motion to adjust their positions.

[0045] In the present invention, camera 42 is used as an image acquisition part to collect cabbage seedling images in real time. The collected images are transmitted via USB to a host computer 93 on which a cabbage seedling recognition and positioning model is deployed. The images are processed by the host computer 93. For example, a portable mobile computer can be selected as the host computer 93 of the system to process the images captured by camera 42 and transmit spraying decision signals to the lower computer 91 to control the nozzle 62 to spray.

[0046] At the same time, the camera 1 42 and the camera 2 71 can use Gemini-3D depth camera. As the visual core of the system of the present invention, the Gemini-3D depth camera has excellent performance parameters, with an ultra-small blind area as low as 0.15m and a depth ranging range of up to 10m. The highest resolution pixel is 1920×1080, and the built-in depth engine MX6600 is responsible for quickly and accurately processing the depth data, providing strong support for subsequent image processing and recognition. For the camera 1 42, it is installed 0.5m above the nozzle 1 62. The camera 1 42 maintains a 20° angle with the ground and collects data forward, while the camera 2 71 is installed vertically downward, maintaining a 90° angle with the ground, and collects data downward. The image of the cabbage seedlings after spraying is collected and transmitted to the upper computer. The upper computer determines whether there is a missed spray or a wrong spray. When a missed spray or a wrong spray occurs, the spraying decision signal is transmitted to the lower computer 91 to control the nozzle 2 82 to perform supplementary spraying.

[0047] It should also be noted that solenoid valve 1 63 and solenoid valve 2 83 use DC-24V waterproof normally closed solenoid valves. The solenoid valves are directly connected to the nozzles, which shortens the transmission distance of the fluid from the solenoid valves to the nozzles. This helps to reduce the energy loss and time delay of the fluid during transmission, thereby improving the response speed of the system. At the same time, the pressure loss is also reduced accordingly. During the fluid transmission process, the pipeline and connectors will produce a certain pressure loss. Directly connecting the solenoid valves to the nozzles can reduce these pressure losses, thereby maintaining stable pressure in the pipeline.

[0048] In one embodiment of the present invention, Figure 1 As shown, the control mechanism 9 includes a lower computer 91, an upper computer 93 and a power module 92. The power module 92 is electrically connected to the lower computer 91 and the upper computer 93 respectively. The upper computer 93 is communicatively connected to the lower computer 91. The driver 14, the electric slide rail 1 41, the pressure regulating tank 58, the pressure gauge 59, the electric slide rail 2 61, the solenoid valve 1 63, the electric slide rail 3 81 and the solenoid valve 2 83 are electrically connected to the lower computer 91 respectively. The speed encoder 15, the camera 1 42 and the camera 2 71 are communicatively connected to the upper computer 93.

[0049] In the target spray system, the lower computer 91 is responsible for receiving the instructions of the upper computer 93 and accurately controlling the opening and closing of the electromagnetic valve to achieve accurate target positioning and spray control. The present invention selects the STC89C52RC microcontroller as the main control chip of the lower computer 91, making full use of its low power consumption, high performance and economical and practical characteristics.

[0050] The host computer 93 receives the image data transmitted by the Gemini-3D depth camera and performs efficient image processing and recognition. It should be noted that the host computer 93 is deployed with a BWT-YOLO model (cabbage seedling identification and positioning model). Through the constructed BWT-YOLO algorithm, the host computer 93 can quickly identify the cabbage seedlings and convert the recognition results into electrical signals, which are transmitted to the microcontroller in real time to control the opening and closing of the nozzle.

[0051] Among them, the present invention improves YOLOv8(n) as the original network model and constructs a lightweight model for detecting cabbage seedlings. Specifically, a wavelet transform convolutional layer (WTConv) is used to replace the C2f convolutional layer in the YOLOv8 model. Without increasing the model parameters, the receptive field of the convolution can be effectively expanded, thereby enhancing the model's ability to resist the loss of image features caused by motion blur.

[0052] In addition, by adding an efficient multi-scale attention mechanism, the model's ability to focus on the features of cabbage seedlings is improved, reducing the impact of interference factors in the image, thereby improving the accuracy and robustness of the model in processing complex visual tasks.

[0053] According to the precise targeted spray device for cabbage seedlings of the embodiment of the present invention, the position and size of the cabbage seedlings are obtained by means of a cabbage seedling identification mechanism, and the precise spraying of the liquid medicine on the crop canopy is achieved in combination with the pipeline assembly and the spraying mechanism, so as to prevent and control diseases and insect pests of the cabbage in the seedling stage; in addition, the missed and mistaken spraying identification mechanism is used to detect the missed and mistaken spraying of cabbage seedlings, and combined with the supplementary spraying mechanism arranged behind the spraying mechanism, comprehensive targeted application of medicine to the cabbage seedlings is achieved.

[0054] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0055] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0057] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0058] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0059] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0060] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0061] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0062] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0063] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A precise target spray device for cabbage seedlings, characterized in that: include: Movable body; A medicine box, the medicine box being mounted on the movable frame; A conveyor, wherein the conveyor is mounted on the movable vehicle body, an input end of the conveyor is connected to a pipeline 1, and an end of the pipeline 1 away from the conveyor is connected to the medicine box; A cabbage seedling identification mechanism, the cabbage seedling identification mechanism is installed on one side of the movable vehicle body and is used to identify the cabbage seedling plant center; A spraying mechanism, which is installed on the movable vehicle body and is arranged on the same side as the cabbage seedling identification mechanism, and is used to spray the cabbage seedlings with a target at the center of the plant, and is connected to the output end of the conveyor through a pipeline assembly; A missed spraying and mis-spraying identification mechanism, which is installed on the spraying mechanism and is used to identify missed spraying and mis-spraying cabbage seedlings; A supplementary spraying mechanism, which is installed on a side of the movable vehicle body away from the spraying mechanism and is used to supplement the spraying of the cabbage seedlings that have been missed or mistakenly sprayed, and is connected to the pipeline assembly; as well as A control mechanism is installed on the movable vehicle body, and the conveyor, the cabbage seedling identification mechanism, the spraying mechanism, the missed spraying and mistaken spraying identification mechanism and the supplementary spraying mechanism are electrically connected to the control mechanism respectively.

2. The cabbage seedling precision target spraying device according to claim 1, characterized in that: The movable vehicle body comprises: A vehicle frame, wherein the vehicle frame is a multi-layer frame structure; A moving wheel, wherein a wheel frame is fixedly mounted on the bottom of the frame, and the moving wheel is rotatably mounted in the wheel frame; and A driver is fixedly mounted on the wheel frame, an output end of the driver is rotationally connected to the moving wheel, the driver is used to drive the moving wheel to move, and a speed encoder is installed on the driver.

3. The cabbage seedling precision target spraying device according to claim 2, characterized in that: The cabbage seedling identification mechanism comprises: An electric slide rail 1, wherein the electric slide rail 1 is mounted on the vehicle frame; A connecting arm, one end of which is fixedly connected to the electric slide rail; and Camera 1, the camera 1 is rotatably connected to the other end of the connecting arm through a damping shaft.

4. The cabbage seedling precision target spraying device according to claim 3, characterized in that: The pipeline assembly comprises: Pipeline 2, one end of which is connected to the output end of the conveyor, the other end of which is connected to three-way connector 1, and a filter is installed on pipeline 2; Pipeline three, one end of which is fixedly connected to the end of the three-way connector one, the other end of which is connected to the medicine box, and a safety valve is installed on the pipeline three; and Pipeline 4, one end of which is fixedly connected to the end of the three-way connector 1, and the other end of which is installed with the three-way connector 2. A pressure-stabilizing tank and a pressure gauge are installed on the pipeline 4, and the three-way connector 2 is respectively connected to pipeline 5 and pipeline 6.

5. The cabbage seedling precision target spraying device according to claim 4, characterized in that: The spraying mechanism comprises: Electric slide rail 2, the electric slide rail 2 is installed on the frame; A nozzle 1, wherein the nozzle 1 is mounted on the electric slide rail 2, the pipeline 5 is connected to the nozzle 1, and the electric slide rail 2 can drive the nozzle 1 to move horizontally; and Solenoid valve 1, the solenoid valve 1 is installed at one end of the pipeline 5 close to the nozzle 1.

6. The cabbage seedling precision target spraying device according to claim 5, characterized in that: The missed spray and mis-spray identification mechanism includes camera 2 and a Z-shaped connecting rod, wherein camera 2 is fixedly connected to one end of the Z-shaped connecting rod, and the other end of the Z-shaped connecting rod is fixedly connected to the electric slide rail 2, and camera 2 is located at the rear side of the nozzle 1 and moves laterally following the nozzle 1.

7. The cabbage seedling precision target spraying device according to claim 6, characterized in that: The supplementary spraying mechanism comprises: An electric slide rail three, wherein the electric slide rail three is mounted on the vehicle frame; A second nozzle, the second nozzle is mounted on the third electric slide rail, the sixth pipeline is connected to the second nozzle, and the third electric slide rail can drive the second nozzle to move laterally; and Solenoid valve 2, the solenoid valve 2 is installed at one end of the pipeline 6 close to the nozzle 2.

8. The cabbage seedling precision target spraying device according to claim 7, characterized in that: The control mechanism includes a lower computer, an upper computer and a power module, the power module is electrically connected to the lower computer and the upper computer respectively, the upper computer is communicatively connected to the lower computer, the driver, the electric slide rail 1, the pressure regulating tank, the pressure gauge, the electric slide rail 2, the solenoid valve nozzle 1, the electric slide rail 3 and the nozzle 2 are electrically connected to the lower computer respectively, and the speed encoder, the camera 1 and the camera 2 are communicatively connected to the upper computer.

Images