Precise pesticide applying manipulator based on machine vision

Abstract

The utility model discloses a precise pesticide application manipulator based on machine vision, which comprises a rotating disc, a big arm and a small arm, a machine base is arranged on the rotating disc, the big arm is rotatably arranged by utilizing the machine base, a sliding block is rotatably arranged at the upper end of the big arm, the small arm is slidably arranged on the sliding block, and a screw rod is arranged in the small arm and is in threaded fit with the sliding block. The rotating plane of the large arm and the rotating plane of the small arm are located on the same plane, the visual module is installed in the middle of the small arm, the spray head is rotatably installed at one end of the small arm, the lead screw motor is installed at the other end of the small arm, and the lead screw motor is connected with the lead screw. The six-degree-of-freedom movement of the manipulator can be completed through the x-axis movement of the movable chassis, so that the degree-of-freedom waste is reduced, the size of the whole system is further reduced, the passing rate is improved, and meanwhile, the pesticide applying precision of the five-degree-of-freedom manipulator is higher than that of a common three-degree-of-freedom manipulator.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, and in particular relates to a precise pesticide application manipulator based on machine vision. Background Art

[0002] The current precision pesticide application technology is mainly divided into three types: fog machine application, aerial application and small manipulator application.

[0003] Spraying requires the use of large agricultural machinery equipped with a sprayer, which is difficult to apply to rugged and narrow terrains such as hilly orchards. In addition, since the spray range is not controlled during spraying, high-precision spraying cannot be achieved, resulting in a waste of resources.

[0004] Aerial application of pesticides is a method of spraying pesticides directly from the air on the target area using a medicine box carried by an aircraft. There are problems such as poor droplet penetration on large or dense plants and uneven droplet distribution. The target performance is insufficient when flying at a high altitude, increasing the risk of pesticide drift. In addition, aerial application of pesticides has a small payload capacity, low drug carrying capacity, and short battery life. It is highly professional and requires high operating skills. The flight stability is insufficient and there are problems such as flight hazards.

[0005] Small manipulator spraying is an emerging technology at present. There are few devices actually used in this field. Most of them are still in the research and development test stage and have not yet formed industrialization. The existing solutions on the market have the following problems: the manipulator is not closely integrated with precision spraying. The manipulator is used only to expand the scope of spraying, and it cannot achieve precision spraying well; some small manipulators use array spraying nozzle technology, combined with machine vision to identify the contour of the plant, and control the flow of the array nozzle through algorithms to achieve regional differentiated spraying to fit the plant shape and achieve the purpose of precision spraying. Although this technology has achieved the effect of partial precision spraying, it is unable to change the spraying strategy autonomously according to the severity of the actual disease, resulting in insufficient precision of spraying; some manipulators are not designed for plant characteristics, and can only deal with low and sparse plants. For taller fruit trees, the effective working height of the manipulator is not enough. When the interval between the fruit trees on both sides is large, a single operation can only guarantee the spraying of one side of the fruit tree, and the other side needs to turn around and spray again, which greatly reduces the efficiency.

[0006] At present, there are few research and development design solutions for agricultural spraying devices in hilly and mountainous orchards in the industry. Due to the undulating terrain of hilly and mountainous orchards, fog machine application requires medium and large agricultural machinery to be carried, which is difficult to apply, and aerial application also has defects such as poor accuracy and insufficient flight stability. On the other hand, the current small manipulator application technology has poor application effect on hilly and mountainous orchards, and there is a lot of room for improvement. Therefore, it is very necessary to redesign the manipulator. Utility Model Content

[0007] In order to overcome the above-mentioned deficiencies, the inventor of the utility model has continuously reformed and innovated through long-term exploration and attempts, multiple experiments and efforts, and proposed a precision pesticide application robot based on machine vision. The robot has a simple structure and has five degrees of freedom, which is different from other precision pesticide application robots. The sixth degree of freedom of the robot can be completed by moving the x-axis of the mobile chassis, thereby reducing the waste of degrees of freedom, further reducing the volume of the entire system, and thus improving the pass rate. At the same time, the pesticide application accuracy of the five-degree-of-freedom robot is higher than that of the common three-degree-of-freedom robot.

[0008] To achieve the above purpose, the technical solution adopted by the utility model is: to provide a precise pesticide application manipulator based on machine vision. It includes a rotating disk, a large arm, and a small arm. The base is installed on the rotating disk, the large arm is installed by rotating the base, the slider is installed on the upper end of the large arm, and the small arm is installed by sliding the slider. A screw rod is arranged inside the small arm and cooperates with the thread of the slider. The rotating planes of the large arm and the small arm are in the same plane. A vision module is installed in the middle of the small arm, a nozzle is installed on one end of the small arm, and a screw motor is installed on the other end of the small arm, and the screw motor is connected to the screw rod.

[0009] According to the precision pesticide application robot based on machine vision described in the utility model, a further preferred technical solution is: the rotating disk is installed on the robot base, the edge of the robot base is opened, and bolts pass through the openings to fix it on the mobile chassis.

[0010] According to the precision drug application robot based on machine vision described in the utility model, a further preferred technical solution is: the upper end of the base is set as an arc surface, the lower end of the upper arm cooperates with the arc surface to achieve a rotation range of 180°, and a motor for rotation is set inside the base.

[0011] According to the precision drug dispensing manipulator based on machine vision described in the utility model, a further preferred technical solution is: a notch is set at the upper end of the upper arm, the slider is rotatably installed in the notch, and the lower arm is slidably installed on the slider.

[0012] According to the precision drug dispensing manipulator based on machine vision described in the utility model, a further preferred technical solution is: a slide groove is set on the forearm, the slider is installed in the slide groove, and the starting position of the slide groove is located in the middle of the forearm.

[0013] According to the precision pesticide application robot based on machine vision described in the utility model, a further preferred technical solution is: after the vision module, the nozzle and the screw motor are installed on the forearm, the center of gravity is located at the starting position of the middle slide groove.

[0014] According to the precision drug dispensing robot based on machine vision described in the utility model, a further preferred technical solution is: the forearm is square, and sliding grooves are arranged on both sides thereof, a groove is arranged on the slider to install the forearm, and protrusions that are inserted into the grooves are arranged on both sides of the slider groove.

[0015] According to the precision pesticide application robot based on machine vision described in the utility model, its further preferred technical solution is: the spray head is installed through a rotating device, the rotating device is a mounting groove set at the end of the forearm, a rotating block is installed in the mounting groove, and the spray head is installed on the rotating block.

[0016] According to the precision pesticide application manipulator based on machine vision described in the utility model, a further preferred technical solution is that the rotation direction of the spray head and the rotation direction of the forearm are in the same plane.

[0017] According to the precision drug dispensing robot based on machine vision described in the utility model, a further preferred technical solution is: the vision module is fixedly installed with an upward looking angle between the vision module and the forearm, or the vision module is rotatably installed on the forearm.

[0018] Compared with the prior art, the technical solution of the utility model has the following advantages / benefits:

[0019] 1. The precision pesticide application robot arm of the present invention has excellent extension effect. Taking the ABB 1200 industrial robot of the same volume as an example, its maximum working reach area is 900mm, while the maximum working reach area of ​​the robot designed by the present invention is 1400mm. In addition, compared with the ABB-1600 industrial robot with a working reach area of ​​1450mm, its volume exceeds that of the robot of the present invention by 40%. This allows the robot arm of the present invention to be installed on a mobile chassis with a smaller volume, greatly improving the versatility of the robot in hilly and mountainous areas.

[0020] 2. The utility model has a five-degree-of-freedom manipulator that is different from other precision pesticide application manipulators. The existing technology uses a six-degree-of-freedom manipulator or a three-degree-of-freedom manipulator. Compared with the six-degree-of-freedom manipulator, the precision pesticide application manipulator of the utility model can complete the sixth degree-of-freedom movement of the manipulator by moving the x-axis of the mobile chassis, thereby reducing the waste of degrees of freedom and further reducing the volume of the entire system, thereby improving the pass rate. Under the same mechanism volume, compared with the three-degree-of-freedom manipulator, due to the limitation of the degrees of freedom, the three-degree-of-freedom manipulator can only complete regional pesticide application, with a small effective working area and poor accuracy. The manipulator of the utility model has a larger effective working area and higher pesticide application accuracy.

[0021] 3. The manipulator of the utility model has an overall center of gravity design, and the stability of the manipulator is improved by adjusting the center of gravity of the forearm, and there is still enough motor torque margin at the most extreme position of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the implementation mode of the utility model, the drawings required for use in the implementation mode will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a structural schematic diagram of a precise pesticide application manipulator based on machine vision in the utility model.

[0024] Figure 2 The utility model is a side view of a precise pesticide application manipulator based on machine vision.

[0025] Figure 3 The utility model is a structural schematic diagram of a bottom perspective of a precise pesticide application manipulator based on machine vision.

[0026] The markings in the figure are: 1. robot base 2. rotating disk 3. machine base 4. upper arm 5. slider 6. lower arm 601. slide 602. screw 603. screw motor 7. nozzle 701. rotating device 8. vision module. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the utility model clearer, the technical scheme in the embodiment of the utility model is clearly and completely described below. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Therefore, the detailed description of the embodiment of the utility model provided below is not intended to limit the scope of the utility model claimed for protection, but only represents the selected embodiment of the utility model.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, it may not be further defined or explained in the subsequent drawings.

[0029] Example:

[0030] like Figure 1-Figure 3As shown, a precision pesticide application robot based on machine vision includes a rotating disk 2, an upper arm 4, and a lower arm 6. A machine base 3 is installed on the rotating disk 2, and the upper arm 4 is rotatably installed by the machine base 3. A slider 5 is rotatably installed on the upper end of the upper arm 4, and the lower arm 6 is slidably installed on the slider 5. A screw 602 is arranged inside the lower arm 6 and is threadedly matched with the slider 5. The rotating planes of the upper arm 4 and the lower arm 6 are in the same plane. A vision module 8 is installed in the middle of the lower arm 6, and a nozzle 7 is rotatably installed at one end of the lower arm 6. A screw motor 603 is installed at the other end of the lower arm 6, and the screw motor 603 is connected to the screw 602.

[0031] The rotating disk 2 is installed on the manipulator base 1. The edge of the manipulator base 1 has a hole, and bolts pass through the hole to fix it on the mobile chassis. The mobile chassis refers to the mobile trolley. The manipulator needs to use the forward and backward movement of the X-axis of the trolley to adjust the front and rear positions. The height (Z-axis) and left and right (Y-axis) positions are adjusted by the manipulator itself, that is, the forward and backward movement of the trolley is used to make up for the remaining one degree of freedom of movement direction, thereby realizing the simplified design of the robot arm while meeting the functions of the six-axis arm, achieving the effect of reducing weight and volume. The manipulator has five degrees of freedom. The first degree of freedom is a rotation system composed of a rotating disk 2, in which a motor and a reducer are arranged to provide power for one-axis rotation; the second degree of freedom is a rotation system composed of a base 3 and an upper arm 4, in which a motor and a reducer are arranged to provide power for two-axis rotation; the third degree of freedom is a rotation system composed of an upper arm 4, a slider 5 and a small arm 6, which is also provided with a motor and a reducer to provide power for three-axis rotation; the fourth degree of freedom is a linear movement system composed of a slider 5 and a small arm 6, in which a linear guide structure is arranged on the small arm 6 to ensure that the small arm 6 can be linearly extended and retracted, and at the same time, a screw 602 is arranged inside the small arm 6, and a screw seat is arranged on the slider 5, and the screw motor 603 provides rotational power for the screw 602, thereby providing power for linear motion of four axes; the fifth degree of freedom is a nozzle 7 system composed of a small arm 6 and a rotating device 701, which is provided with a motor and a reducer to provide power for five-axis rotation.

[0032] The upper end of the base 3 is set as an arc surface, and the lower end of the arm 4 cooperates with the arc surface to achieve a rotation range of 180°. A motor for rotation is set inside the base 3. Of course, the position of the motor is built into the base so that its operation will not be hindered. This is just one way, and other installation structures can also be used. The rotation range can be close to 180°.

[0033] A notch is set at the upper end of the upper arm 4, and the slider 5 is rotatably installed in the notch, and the small arm 6 is slidably installed on the slider 5. In fact, the upper arm 4 is also square, and the slider 5 can be installed on the two extended sides of the upper arm 4. Of course, the specifications of the notch setting need to allow the slider 5 to rotate freely with minimal mutual interference. The rotating motor can be set in the slider 5. Of course, there are various forms of rotatable installation of the slider 5 relative to the upper arm 4. The rotating shaft can be fixedly installed on the upper end of the upper arm 4 or fixedly installed on the slider 5. The same applies to the rotating shafts of other parts.

[0034] A slide groove 601 is set on the forearm 6, and the slider 5 is installed in the slide groove 601. The starting position of the slide groove 601 is located in the middle of the forearm 6. The length of the slide groove 601 corresponds to the moving distance of the forearm 6. The starting position of the slide groove 601 is set in the middle of the forearm 6, which is beneficial for the middle of the forearm 6 to be located near the slider 5 after the application of the pesticide is completed, so that the center of gravity is balanced and the movement of the trolley is convenient.

[0035] After the visual module 8, the nozzle 7 and the screw motor 603 are installed on the forearm 6, the center of gravity is located at the starting position of the middle slide 601, which is convenient for the movement of the trolley and the overall balance.

[0036] The forearm 6 is square in shape, and slide grooves 601 are provided on both sides thereof. A groove is provided on the slider 5 to install the forearm 6, and protrusions are provided on both sides of the groove of the slider 5 to fit into the groove. Of course, this is only one form of the forearm 6, and the connection method between the slider 5 and the forearm 6 can be changed according to needs, such as using a circular linear guide rail.

[0037] The spray head 7 is installed through a rotating device 701. The rotating device 701 is to set a mounting groove at the end of the small arm 6, install a rotating block in the mounting groove, and install the spray head 7 on the rotating block. The rotation direction of the spray head 7 is in the same plane as the rotation direction of the small arm 6. Of course, this is only one form. The spray head 7 can also be set to rotate at multiple angles to facilitate spraying of liquid medicine at different positions. The spray head 7 is connected to the medicine pump by a pipeline, and the medicine pump is connected to the flow regulating valve by a pipeline. When the medicine is applied, the medicine pump works and draws liquid pesticides with sufficient pressure from the medicine storage box to supply the spray head 7. A special structural loop is set in the spray head 7. When the liquid pesticide with sufficient pressure passes through the spray head 7, it will be broken into a mist and sprayed out. At this time, the flow control solenoid valve will control the amount of medicine applied and the coverage of the medicine applied together with the medicine pump.

[0038] The visual module 8 is fixedly installed with an angle of upward looking between the forearm 6, or the visual module 8 is rotatably installed on the forearm 6. The visual module 8 can provide image data support for the application site and the movement of the mobile chassis at the same time. The visual module 8 is provided with a depth sensor and an image sensor, which can collect the image and depth information and transmit it to the microcomputer. The microcomputer stores a convolutional neural network target recognition algorithm, which is divided into a plant contour recognition algorithm and a pest and disease recognition algorithm. The above algorithm is calculated in the microcomputer and outputs the plant contour information and the pest and disease contour information. After the contour information is calculated by the manipulator motion planning algorithm, the motion instruction is output to the spraying manipulator to complete the spraying movement of the manipulator. At the same time, the variable spraying planning is coordinated to complete the spraying operation.

[0039] The above-mentioned non-robotic components can all be installed on the mobile chassis. The mobile chassis itself should be equipped with a power source (battery) for power supply. The installation structure and component types can be selected and installed according to needs. There is no technical difficulty and I will not go into details here.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" 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.

[0042] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A precision pesticide application robot based on machine vision, characterized in that: It includes a rotating disk, an upper arm and a lower arm. A machine base is installed on the rotating disk. The upper arm is rotatably installed by the machine base. A slider is rotatably installed on the upper end of the upper arm. The lower arm is slidably installed on the slider. A screw rod is arranged inside the lower arm and cooperates with the thread of the slider. The rotating planes of the upper arm and the lower arm are in the same plane. A visual module is installed in the middle of the lower arm. A nozzle is rotatably installed at one end of the lower arm. A screw motor is installed at the other end of the lower arm, and the screw motor is connected to the screw rod.

2. According to claim 1, a precise drug dispensing manipulator based on machine vision is characterized in that: The rotating disk is installed on the robot base, the edge of the robot base is opened with holes, and bolts pass through the holes to fix the rotating disk on the mobile chassis.

3. The machine vision-based precision drug dispensing robot according to claim 1, characterized in that: The upper end of the machine base is arranged as an arc surface, the lower end of the big arm cooperates with the arc surface to realize a rotation range of 180 degrees, and a motor for rotation is arranged inside the machine base.

4. The machine vision-based precision drug dispensing manipulator according to claim 1, characterized in that: A notch is arranged at the upper end of the big arm, the sliding block is rotatably installed in the notch, and the small arm is slidably installed on the sliding block.

5. The machine vision-based precision drug dispensing robot according to claim 1, characterized in that: A slide groove is arranged on the forearm, a sliding block is installed in the slide groove, and a starting position of the slide groove is located at the middle position of the forearm.

6. The machine vision-based precision drug dispensing robot according to claim 5, characterized in that: After the vision module, the nozzle and the lead screw motor are installed on the forearm, the center of gravity is located at the starting position of the middle slideway.

7. The machine vision-based precision drug dispensing manipulator according to claim 5, characterized in that: The small arm is square, and sliding grooves are arranged on both sides of the small arm. The sliding block is provided with a groove for mounting the small arm, and protrusions that are inserted into the groove are arranged on both sides of the groove of the sliding block.

8. The machine vision-based precision drug dispensing manipulator according to claim 1, characterized in that: The spray head is installed through a rotating device. The rotating device is a device in which a mounting groove is arranged at the end of a small arm, a rotating block is installed in the mounting groove, and the spray head is installed on the rotating block.

9. The machine vision-based precision drug dispensing manipulator according to claim 1, characterized in that: The rotation direction of the spray head and the rotation direction of the small arm are in the same plane.

10. The machine vision-based precision drug dispensing robot according to claim 1, characterized in that: The vision module is fixedly installed with an angle of upward looking between the vision module and the forearm, or the vision module is rotatably installed on the forearm.

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